✨ feat(planning): 添加离线飞拍规划能力

* 固化离线飞拍轨迹加载、保存和规划结果。

* 真机初始化失败时保留模型加载后的离线规划能力。

* 更新状态接口、调试页和回归测试覆盖。

tests/Flyshot.Core.Tests/FanucControllerRuntimeDenseTests.cs

@@ -900,47 +900,6 @@ public sealed class FanucControllerRuntimeDenseTests
         Assert.Equal(0, commands[^1].WriteIoValue);
     }
 
-    /// <summary>
-    /// 验证仿真模式下即使传入稠密路点，也会回退到单点同步更新。
-    /// </summary>
-    [Fact]
-    public void ExecuteTrajectory_WithDenseWaypoints_SimulationMode_FallsBackToSinglePoint()
-    {
-        var runtime = new FanucControllerRuntime();
-        var robot = TestRobotFactory.CreateRobotProfile();
-        runtime.ResetRobot(robot, "FANUC_LR_Mate_200iD");
-        runtime.SetActiveController(sim: true);
-        runtime.Connect("192.168.10.101");
-        runtime.EnableRobot(bufferSize: 2);
-
-        var denseTrajectory = new[]
-        {
-            new[] { 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6 },
-            new[] { 0.008, 0.11, 0.21, 0.31, 0.41, 0.51, 0.61 },
-            new[] { 0.016, 0.12, 0.22, 0.32, 0.42, 0.52, 0.62 }
-        };
-
-        var result = new TrajectoryResult(
-            programName: "demo",
-            method: PlanningMethod.Icsp,
-            isValid: true,
-            duration: TimeSpan.FromSeconds(0.016),
-            shotEvents: Array.Empty<ShotEvent>(),
-            triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
-            artifacts: Array.Empty<TrajectoryArtifact>(),
-            failureReason: null,
-            usedCache: false,
-            originalWaypointCount: 4,
-            plannedWaypointCount: 4,
-            denseJointTrajectory: denseTrajectory);
-
-        runtime.ExecuteTrajectory(result, [0.12, 0.22, 0.32, 0.42, 0.52, 0.62]);
-
-        var snapshot = runtime.GetSnapshot();
-        Assert.False(snapshot.IsInMotion);
-        Assert.Equal([0.12, 0.22, 0.32, 0.42, 0.52, 0.62], snapshot.JointPositions);
-    }
-
     /// <summary>
     /// 验证稠密执行前若 J519 首次未就绪，会先尝试一次 EnableRobot，再在 500ms 后复查状态。
     /// </summary>
@@ -997,24 +956,6 @@ public sealed class FanucControllerRuntimeDenseTests
         Assert.Contains("seq=22", exception.Message, StringComparison.Ordinal);
     }
 
-    /// <summary>
-    /// 验证 StopMove 在没有任何后台发送任务运行时不会抛出异常。
-    /// </summary>
-    [Fact]
-    public void StopMove_DoesNotThrowWhenNoSendTaskRunning()
-    {
-        var runtime = new FanucControllerRuntime();
-        var robot = TestRobotFactory.CreateRobotProfile();
-        runtime.ResetRobot(robot, "FANUC_LR_Mate_200iD");
-        runtime.SetActiveController(sim: true);
-        runtime.Connect("192.168.10.101");
-        runtime.EnableRobot(bufferSize: 2);
-
-        var exception = Record.Exception(() => runtime.StopMove());
-        Assert.Null(exception);
-        Assert.False(runtime.GetSnapshot().IsInMotion);
-    }
-
     /// <summary>
     /// 验证 IO 地址组中的地址号按 writeIoIndex=1 的手册语义映射为 writeIoValue 位掩码。
     /// </summary>
@@ -1171,7 +1112,6 @@ public sealed class FanucControllerRuntimeDenseTests
 
     private static void ForceRealModeEnabled(FanucControllerRuntime runtime, double speedRatio)
     {
-        SetPrivateField(runtime, "_activeControllerIsSimulation", false);
         SetPrivateField(runtime, "_connectedRobotIp", "127.0.0.1");
         SetPrivateField(runtime, "_isEnabled", true);
         SetPrivateField(runtime, "_bufferSize", 2);

tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs

@@ -16,40 +16,6 @@ namespace Flyshot.Core.Tests;
 /// </summary>
 public sealed class RuntimeOrchestrationTests
 {
-    /// <summary>
-    /// 验证 FANUC 最小运行时执行轨迹后会更新状态快照与最终关节位置。
-    /// </summary>
-    [Fact]
-    public void FanucControllerRuntime_ExecuteTrajectory_UpdatesSnapshotAndFinalJointPositions()
-    {
-        var runtime = new FanucControllerRuntime();
-        var robot = TestRobotFactory.CreateRobotProfile();
-        runtime.ResetRobot(robot, "FANUC_LR_Mate_200iD");
-        runtime.SetActiveController(sim: true);
-        runtime.Connect("192.168.10.101");
-        runtime.EnableRobot(bufferSize: 2);
-
-        var result = new TrajectoryResult(
-            programName: "demo",
-            method: PlanningMethod.Icsp,
-            isValid: true,
-            duration: TimeSpan.FromSeconds(1.2),
-            shotEvents: Array.Empty<ShotEvent>(),
-            triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
-            artifacts: Array.Empty<TrajectoryArtifact>(),
-            failureReason: null,
-            usedCache: false,
-            originalWaypointCount: 4,
-            plannedWaypointCount: 4);
-
-        runtime.ExecuteTrajectory(result, [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]);
-
-        var snapshot = runtime.GetSnapshot();
-        Assert.Equal("Connected", snapshot.ConnectionState);
-        Assert.False(snapshot.IsInMotion);
-        Assert.Equal([1.0, 2.0, 3.0, 4.0, 5.0, 6.0], snapshot.JointPositions);
-    }
-
     /// <summary>
     /// 验证真机运行时会把 TCP 10010 状态通道健康度映射为可诊断连接状态。
     /// </summary>
@@ -761,7 +727,6 @@ public sealed class RuntimeOrchestrationTests
     {
         var service = TestRobotFactory.CreateCompatService();
         service.SetUpRobot("FANUC_LR_Mate_200iD");
-        service.SetActiveController(sim: true);
         service.Connect("192.168.10.101");
         service.EnableRobot(2);
 
@@ -803,7 +768,6 @@ public sealed class RuntimeOrchestrationTests
             };
 
             service.SetUpRobot("FANUC_LR_Mate_200iD");
-            service.SetActiveController(sim: false);
             service.Connect("192.168.10.101");
             service.EnableRobot(2);
             runtime.SetSpeedRatio(0.5);
@@ -849,7 +813,6 @@ public sealed class RuntimeOrchestrationTests
                 new RobotConfigLoader());
 
             service.SetUpRobot("FANUC_LR_Mate_200iD");
-            service.SetActiveController(sim: false);
             service.Connect("192.168.10.101");
             service.EnableRobot(2);
             service.UploadTrajectory(TestRobotFactory.CreateUploadedTrajectoryWithSingleShot());
@@ -894,7 +857,6 @@ public sealed class RuntimeOrchestrationTests
                 new RobotConfigLoader());
 
             service.SetUpRobot("FANUC_LR_Mate_200iD");
-            service.SetActiveController(sim: false);
             service.Connect("192.168.10.101");
             service.EnableRobot(2);
             service.UploadTrajectory(TestRobotFactory.CreateUploadedTrajectoryWithSingleShot());
@@ -938,7 +900,6 @@ public sealed class RuntimeOrchestrationTests
                 new RobotConfigLoader());
 
             service.SetUpRobot("FANUC_LR_Mate_200iD");
-            service.SetActiveController(sim: false);
             service.Connect("192.168.10.101");
             service.EnableRobot(2);
             service.UploadTrajectory(TestRobotFactory.CreateUploadedTrajectoryWithSingleShot());
@@ -979,7 +940,6 @@ public sealed class RuntimeOrchestrationTests
                 new RobotConfigLoader());
 
             service.SetUpRobot("FANUC_LR_Mate_200iD");
-            service.SetActiveController(sim: false);
             service.Connect("192.168.10.101");
             service.EnableRobot(2);
             service.UploadTrajectory(TestRobotFactory.CreateUploadedTrajectoryWithSingleShot());
@@ -1030,7 +990,6 @@ public sealed class RuntimeOrchestrationTests
                 new RobotConfigLoader());
 
             service.SetUpRobot("FANUC_LR_Mate_200iD");
-            service.SetActiveController(sim: false);
             service.Connect("192.168.10.101");
             service.EnableRobot(2);
             service.UploadTrajectory(TestRobotFactory.CreateUploadedTrajectoryWithSingleShot());
@@ -1081,7 +1040,6 @@ public sealed class RuntimeOrchestrationTests
                 new RobotConfigLoader());
 
             service.SetUpRobot("FANUC_LR_Mate_200iD");
-            service.SetActiveController(sim: false);
             service.Connect("192.168.10.101");
             service.EnableRobot(2);
             service.UploadTrajectory(TestRobotFactory.CreateUploadedTrajectoryWithSingleShot());
@@ -1240,8 +1198,8 @@ public sealed class RuntimeOrchestrationTests
                 $"ActualSend 应按当前 speedRatio 的执行视图导出，不能再用旧 JointDetialTraj 规划时长约束点数。actual={pointRows.Length}, planningRows={planningExportRowsAtServoPeriod}");
             Assert.Equal(0.0, pointRows[0][0], precision: 6);
             Assert.Equal(0.008, pointRows[1][0], precision: 6);
-            Assert.Equal(0.008, timingRows[1][2], precision: 6);
-            Assert.Equal(1.0, timingRows[1][3], precision: 6);
+            Assert.Equal(0.004, timingRows[1][2], precision: 6);
+            Assert.Equal(0.5, timingRows[1][3], precision: 6);
             Assert.Equal(0.5, timingRows[1][4], precision: 6);
             Assert.Equal(0.0, timingRows[1][5], precision: 6);
             Assert.Contains("\"trigger_window_seconds\": 0.1", shotEventsJson);
@@ -1371,6 +1329,142 @@ public sealed class RuntimeOrchestrationTests
         return configRoot;
     }
 
+    /// <summary>
+    /// 验证未加载机器人模型时仍可上传、列出和删除飞拍资产。
+    /// </summary>
+    [Fact]
+    public void ControllerClientCompatService_ManagesFlyshotAssetsWithoutRobotSetup()
+    {
+        var configRoot = CreateTempConfigRoot();
+        try
+        {
+            var options = new ControllerClientCompatOptions { ConfigRoot = configRoot };
+            var service = new ControllerClientCompatService(
+                options,
+                new ControllerClientCompatRobotCatalog(options, new RobotModelLoader()),
+                new RecordingControllerRuntime(),
+                new ControllerClientTrajectoryOrchestrator(),
+                new RobotConfigLoader());
+
+            service.UploadTrajectory(TestRobotFactory.CreateUploadedTrajectoryWithSingleShot());
+
+            Assert.Contains("demo-flyshot", service.ListTrajectoryNames());
+            Assert.Contains(
+                "\"demo-flyshot\"",
+                File.ReadAllText(Path.Combine(configRoot, "RobotConfig.json")),
+                StringComparison.Ordinal);
+
+            service.DeleteTrajectory("demo-flyshot");
+
+            Assert.DoesNotContain("demo-flyshot", service.ListTrajectoryNames());
+        }
+        finally
+        {
+            Directory.Delete(configRoot, recursive: true);
+        }
+    }
+
+    /// <summary>
+    /// 验证重新加载机器人模型不会清空已经上传的飞拍资产。
+    /// </summary>
+    [Fact]
+    public void ControllerClientCompatService_SetUpRobot_PreservesUploadedFlyshotAssets()
+    {
+        var configRoot = CreateTempConfigRoot();
+        try
+        {
+            var options = new ControllerClientCompatOptions { ConfigRoot = configRoot };
+            var service = new ControllerClientCompatService(
+                options,
+                new ControllerClientCompatRobotCatalog(options, new RobotModelLoader()),
+                new RecordingControllerRuntime(),
+                new ControllerClientTrajectoryOrchestrator(),
+                new RobotConfigLoader());
+
+            service.UploadTrajectory(TestRobotFactory.CreateUploadedTrajectoryWithSingleShot());
+            service.SetUpRobot("FANUC_LR_Mate_200iD");
+
+            Assert.Contains("demo-flyshot", service.ListTrajectoryNames());
+            Assert.Equal("OfflineReady", service.GetStatusSnapshotMetadata().OperatingMode);
+            Assert.True(service.GetStatusSnapshotMetadata().CanPlanOffline);
+            Assert.False(service.GetStatusSnapshotMetadata().CanExecuteRealMotion);
+        }
+        finally
+        {
+            Directory.Delete(configRoot, recursive: true);
+        }
+    }
+
+    /// <summary>
+    /// 验证离线状态可以生成完整最终发送点列，并返回导出文件绝对路径。
+    /// </summary>
+    [Fact]
+    public void ControllerClientCompatService_SaveTrajectoryInfo_ReturnsOfflinePlanningResult()
+    {
+        var configRoot = CreateTempConfigRoot();
+        WriteRobotConfigWithDemoTrajectory(configRoot, planningSpeedScale: 0.45, speedRatio: 1.0);
+        try
+        {
+            var options = new ControllerClientCompatOptions { ConfigRoot = configRoot };
+            var service = new ControllerClientCompatService(
+                options,
+                new ControllerClientCompatRobotCatalog(options, new RobotModelLoader()),
+                new RecordingControllerRuntime(),
+                new ControllerClientTrajectoryOrchestrator(),
+                new RobotConfigLoader());
+
+            service.SetUpRobot("FANUC_LR_Mate_200iD");
+            var result = service.SaveTrajectoryInfo("demo-flyshot");
+
+            Assert.True(result.IsValid);
+            Assert.Equal("demo-flyshot", result.TrajectoryName);
+            Assert.Equal(1.0, result.SpeedRatio, precision: 6);
+            Assert.NotEmpty(result.FinalSendPoints);
+            Assert.NotEmpty(result.ShotEvents);
+            Assert.NotEmpty(result.CartesianTrajectory);
+            Assert.True(result.Diagnostics.MaxAbsVelocityDegreesPerSecond > 0.0);
+            Assert.All(result.ArtifactPaths.Values, path => Assert.True(Path.IsPathFullyQualified(path)));
+        }
+        finally
+        {
+            Directory.Delete(configRoot, recursive: true);
+        }
+    }
+
+    /// <summary>
+    /// 验证模型加载成功但真机连接失败时，状态降级为 OfflineReady 并保留离线规划能力。
+    /// </summary>
+    [Fact]
+    public void ControllerClientCompatService_InitializeRobot_ConnectionFailureKeepsOfflineReady()
+    {
+        var configRoot = CreateTempConfigRoot();
+        try
+        {
+            var options = new ControllerClientCompatOptions { ConfigRoot = configRoot };
+            var runtime = new RecordingControllerRuntime { ThrowOnConnect = true };
+            var service = new ControllerClientCompatService(
+                options,
+                new ControllerClientCompatRobotCatalog(options, new RobotModelLoader()),
+                runtime,
+                new ControllerClientTrajectoryOrchestrator(),
+                new RobotConfigLoader());
+
+            Assert.Throws<InvalidOperationException>(
+                () => service.InitializeRobot("FANUC_LR_Mate_200iD", "192.168.10.101"));
+
+            var metadata = service.GetStatusSnapshotMetadata();
+            Assert.Equal("OfflineReady", metadata.OperatingMode);
+            Assert.True(metadata.CanPlanOffline);
+            Assert.False(metadata.CanExecuteRealMotion);
+            Assert.NotNull(metadata.LastConnectionError);
+            Assert.NotNull(metadata.LastConnectionErrorAt);
+        }
+        finally
+        {
+            Directory.Delete(configRoot, recursive: true);
+        }
+    }
+
     /// <summary>
     /// 写入包含一条飞拍轨迹的最小 RobotConfig.json，供兼容服务从统一配置恢复轨迹。
     /// </summary>
@@ -1952,7 +2046,7 @@ internal static class TestRobotFactory
         return new ControllerClientCompatService(
             options,
             new ControllerClientCompatRobotCatalog(options, new RobotModelLoader()),
-            new FanucControllerRuntime(),
+            new RecordingControllerRuntime(),
             new ControllerClientTrajectoryOrchestrator(),
             new RobotConfigLoader());
     }
@@ -2024,6 +2118,11 @@ internal sealed class RecordingControllerRuntime : IControllerRuntime
     /// </summary>
     public TrajectoryResult? LastExecutedResult { get; private set; }
 
+    /// <summary>
+    /// 获取或设置连接时是否抛出测试异常。
+    /// </summary>
+    public bool ThrowOnConnect { get; set; }
+
     /// <inheritdoc />
     public void ResetRobot(RobotProfile robot, string robotName)
     {
@@ -2038,6 +2137,10 @@ internal sealed class RecordingControllerRuntime : IControllerRuntime
     /// <inheritdoc />
     public void Connect(string robotIp)
     {
+        if (ThrowOnConnect)
+        {
+            throw new InvalidOperationException("测试连接失败。");
+        }
     }
 
     /// <inheritdoc />

tests/Flyshot.Server.IntegrationTests/DebugConsoleEndpointTests.cs

@@ -36,6 +36,14 @@ public sealed class DebugConsoleEndpointTests(FlyshotServerFactory factory) : IC
         Assert.Contains("id=\"debug-static-docs\"", html, StringComparison.Ordinal);
         Assert.Contains("POST /move_pose/", html, StringComparison.Ordinal);
         Assert.Contains("POST /upload_flyshot/", html, StringComparison.Ordinal);
+        Assert.Contains("POST /init_mpc_robot", html, StringComparison.Ordinal);
+        Assert.Contains("id=\"offline-planning-panel\"", html, StringComparison.Ordinal);
+        Assert.Contains("id=\"offline-trajectory-select\"", html, StringComparison.Ordinal);
+        Assert.Contains("生成轨迹不会向机器人发送命令", html, StringComparison.Ordinal);
+        Assert.DoesNotContain("/init_mpc_robt", html, StringComparison.Ordinal);
+        Assert.DoesNotContain("/set_active_controller/", html, StringComparison.Ordinal);
+        Assert.DoesNotContain("\"sim\"", html, StringComparison.Ordinal);
+        Assert.DoesNotContain("\"server_ip\"", html, StringComparison.Ordinal);
         Assert.DoesNotContain("__SWAGGER_JSON_URL__", html, StringComparison.Ordinal);
         Assert.Contains("/assets/debug.css", html, StringComparison.Ordinal);
         Assert.Contains("/assets/debug.js", html, StringComparison.Ordinal);
@@ -45,6 +53,9 @@ public sealed class DebugConsoleEndpointTests(FlyshotServerFactory factory) : IC
 
         var script = await scriptResponse.Content.ReadAsStringAsync();
         Assert.Contains("/api/debug/config", script, StringComparison.Ordinal);
+        Assert.Contains("/list_flyShotTraj/", script, StringComparison.Ordinal);
+        Assert.Contains("/save_traj_info/", script, StringComparison.Ordinal);
+        Assert.Contains("renderOfflinePlanningResult", script, StringComparison.Ordinal);
     }
 
     /// <summary>
@@ -157,11 +168,14 @@ public sealed class DebugConsoleEndpointTests(FlyshotServerFactory factory) : IC
         using var document = await System.Text.Json.JsonDocument.ParseAsync(responseStream);
         var paths = document.RootElement.GetProperty("paths");
 
-        // 这些路径分别覆盖：基础探活、状态快照、版本查询、上传飞拍轨迹四种典型形态。
+        // 这些路径分别覆盖：基础探活、状态快照、真机初始化、上传和离线规划。
         AssertPathExists(paths, "/healthz");
         AssertPathExists(paths, "/api/status/snapshot");
-        AssertPathExists(paths, "/get_server_version");
+        AssertPathExists(paths, "/init_mpc_robot");
         AssertPathExists(paths, "/upload_flyshot");
+        AssertPathExists(paths, "/save_traj_info");
+        Assert.False(paths.TryGetProperty("/init_mpc_robt", out _));
+        Assert.False(paths.TryGetProperty("/set_active_controller/", out _));
     }
 
     /// <summary>

tests/Flyshot.Server.IntegrationTests/HealthEndpointTests.cs

@@ -1,10 +1,147 @@
 using System.Net;
 using System.Text.Json;
+using Flyshot.Core.Domain;
+using Flyshot.Runtime.Common;
 using Microsoft.AspNetCore.Mvc.Testing;
+using Microsoft.AspNetCore.Hosting;
+using Microsoft.Extensions.DependencyInjection;
+using Microsoft.Extensions.DependencyInjection.Extensions;
 
 namespace Flyshot.Server.IntegrationTests;
 
-public sealed class FlyshotServerFactory : WebApplicationFactory<Program>;
+/// <summary>
+/// 使用可控 fake runtime 启动测试宿主，避免集成测试访问真实 FANUC 控制器。
+/// </summary>
+public sealed class FlyshotServerFactory : WebApplicationFactory<Program>
+{
+    /// <inheritdoc />
+    protected override void ConfigureWebHost(IWebHostBuilder builder)
+    {
+        builder.ConfigureServices(services =>
+        {
+            services.RemoveAll<IControllerRuntime>();
+            services.AddSingleton<IControllerRuntime, IntegrationFakeControllerRuntime>();
+        });
+    }
+}
+
+/// <summary>
+/// 为 HTTP 集成测试提供不访问硬件的控制器运行时。
+/// </summary>
+internal sealed class IntegrationFakeControllerRuntime : IControllerRuntime
+{
+    private RobotProfile? _robot;
+    private bool _connected;
+    private bool _enabled;
+    private double _speedRatio = 1.0;
+    private double[] _tcp = [0.0, 0.0, 0.0];
+    private double[] _joints = Array.Empty<double>();
+    private double[] _pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0];
+
+    /// <inheritdoc />
+    public void ResetRobot(RobotProfile robot, string robotName)
+    {
+        _robot = robot;
+        _connected = false;
+        _enabled = false;
+        _joints = new double[robot.DegreesOfFreedom];
+    }
+
+    /// <inheritdoc />
+    public void Connect(string robotIp)
+    {
+        _ = _robot ?? throw new InvalidOperationException("Robot has not been setup.");
+        _connected = true;
+    }
+
+    /// <inheritdoc />
+    public void Disconnect()
+    {
+        _connected = false;
+        _enabled = false;
+    }
+
+    /// <inheritdoc />
+    public void EnableRobot(int bufferSize)
+    {
+        if (!_connected)
+        {
+            throw new InvalidOperationException("Controller has not been connected.");
+        }
+
+        _enabled = true;
+    }
+
+    /// <inheritdoc />
+    public void DisableRobot() => _enabled = false;
+
+    /// <inheritdoc />
+    public void StopMove()
+    {
+    }
+
+    /// <inheritdoc />
+    public double GetSpeedRatio() => _speedRatio;
+
+    /// <inheritdoc />
+    public void SetSpeedRatio(double ratio) => _speedRatio = ratio;
+
+    /// <inheritdoc />
+    public IReadOnlyList<double> GetTcp() => _tcp.ToArray();
+
+    /// <inheritdoc />
+    public void SetTcp(double x, double y, double z) => _tcp = [x, y, z];
+
+    /// <inheritdoc />
+    public bool GetIo(int port, string ioType) => false;
+
+    /// <inheritdoc />
+    public void SetIo(int port, bool value, string ioType)
+    {
+    }
+
+    /// <inheritdoc />
+    public IReadOnlyList<double> GetJointPositions() => _joints.ToArray();
+
+    /// <inheritdoc />
+    public IReadOnlyList<double> GetPose() => _pose.ToArray();
+
+    /// <inheritdoc />
+    public ControllerStateSnapshot GetSnapshot()
+    {
+        return new ControllerStateSnapshot(
+            DateTimeOffset.UtcNow,
+            _connected ? "Connected" : "Disconnected",
+            _enabled,
+            false,
+            _speedRatio,
+            _joints,
+            _pose,
+            Array.Empty<RuntimeAlarm>());
+    }
+
+    /// <inheritdoc />
+    public void ExecuteTrajectory(TrajectoryResult result, IReadOnlyList<double> finalJointPositions)
+    {
+        if (!_enabled)
+        {
+            throw new InvalidOperationException("Robot has not been enabled.");
+        }
+
+        _joints = finalJointPositions.ToArray();
+    }
+
+    /// <inheritdoc />
+    public void ExecuteCartesianTrajectory(TrajectoryResult result, IReadOnlyList<double> finalPose)
+    {
+        if (!_enabled)
+        {
+            throw new InvalidOperationException("Robot has not been enabled.");
+        }
+
+        _pose = [.. finalPose, 1.0];
+    }
+}
 
 public sealed class HealthEndpointTests(FlyshotServerFactory factory) : IClassFixture<FlyshotServerFactory>
 {

tests/Flyshot.Server.IntegrationTests/LegacyHttpApiCompatibilityTests.cs

@@ -11,18 +11,39 @@ namespace Flyshot.Server.IntegrationTests;
 public sealed class LegacyHttpApiCompatibilityTests(FlyshotServerFactory factory) : IClassFixture<FlyshotServerFactory>
 {
     /// <summary>
-    /// 验证根路径会返回旧 HTTP 服务使用的 Hello World JSON，而不是跳转到健康检查页。
+    /// 验证计划中明确移除的旧路由不会再出现在宿主中。
+    /// </summary>
+    /// <param name="method">请求方法。</param>
+    /// <param name="path">已移除路由。</param>
+    [Theory]
+    [InlineData("GET", "/")]
+    [InlineData("POST", "/connect_server/?server_ip=127.0.0.1&port=50001")]
+    [InlineData("GET", "/get_server_version/")]
+    [InlineData("GET", "/get_client_version/")]
+    [InlineData("POST", "/setup_robot_from_env/?env_file=test")]
+    [InlineData("POST", "/set_show_tcp/")]
+    [InlineData("GET", "/is_setup/")]
+    [InlineData("POST", "/set_active_controller/?sim=true")]
+    [InlineData("POST", "/init_mpc_robt")]
+    public async Task RemovedRoutes_ReturnNotFound(string method, string path)
+    {
+        using var client = factory.CreateClient();
+        using var request = new HttpRequestMessage(new HttpMethod(method), path);
+        using var response = await client.SendAsync(request);
+
+        Assert.Equal(HttpStatusCode.NotFound, response.StatusCode);
+    }
+
+    /// <summary>
+    /// 验证已移除的旧根路径返回 404。
     /// </summary>
     [Fact]
-    public async Task Root_ReturnsLegacyHelloWorldPayload()
+    public async Task Root_ReturnsNotFound()
     {
         using var client = factory.CreateClient();
 
         using var response = await client.GetAsync("/");
-        Assert.Equal(HttpStatusCode.OK, response.StatusCode);
-
-        using var json = await ReadJsonAsync(response);
-        Assert.Equal("Hello World", json.RootElement.GetProperty("message").GetString());
+        Assert.Equal(HttpStatusCode.NotFound, response.StatusCode);
     }
 
     /// <summary>
@@ -33,47 +54,7 @@ public sealed class LegacyHttpApiCompatibilityTests(FlyshotServerFactory factory
     {
         using var client = factory.CreateClient();
 
-        using (var connectServerResponse = await client.PostAsync("/connect_server/?server_ip=127.0.0.1&port=50001", content: null))
-        {
-            Assert.Equal(HttpStatusCode.OK, connectServerResponse.StatusCode);
-            using var connectServerJson = await ReadJsonAsync(connectServerResponse);
-            Assert.Equal("connected", connectServerJson.RootElement.GetProperty("status").GetString());
-        }
-
-        using (var setupResponse = await client.PostAsync("/setup_robot/?robot_name=FANUC_LR_Mate_200iD", content: null))
-        {
-            Assert.Equal(HttpStatusCode.OK, setupResponse.StatusCode);
-            using var setupJson = await ReadJsonAsync(setupResponse);
-            Assert.Equal("robot setup", setupJson.RootElement.GetProperty("status").GetString());
-        }
-
-        using (var isSetupResponse = await client.GetAsync("/is_setup/"))
-        {
-            Assert.Equal(HttpStatusCode.OK, isSetupResponse.StatusCode);
-            using var isSetupJson = await ReadJsonAsync(isSetupResponse);
-            Assert.True(isSetupJson.RootElement.GetProperty("is_setup").GetBoolean());
-        }
-
-        using (var activeControllerResponse = await client.PostAsync("/set_active_controller/?sim=true", content: null))
-        {
-            Assert.Equal(HttpStatusCode.OK, activeControllerResponse.StatusCode);
-            using var activeControllerJson = await ReadJsonAsync(activeControllerResponse);
-            Assert.Equal("active controller set", activeControllerJson.RootElement.GetProperty("status").GetString());
-        }
-
-        using (var connectRobotResponse = await client.PostAsync("/connect_robot/?ip=192.168.10.101", content: null))
-        {
-            Assert.Equal(HttpStatusCode.OK, connectRobotResponse.StatusCode);
-            using var connectRobotJson = await ReadJsonAsync(connectRobotResponse);
-            Assert.Equal("robot connected", connectRobotJson.RootElement.GetProperty("status").GetString());
-        }
-
-        using (var enableRobotResponse = await client.GetAsync("/enable_robot/"))
-        {
-            Assert.Equal(HttpStatusCode.OK, enableRobotResponse.StatusCode);
-            using var enableRobotJson = await ReadJsonAsync(enableRobotResponse);
-            Assert.True(enableRobotJson.RootElement.GetProperty("enable_robot").GetBoolean());
-        }
+        await InitializeRobotAsync(client);
 
         using (var robotInfoResponse = await client.GetAsync("/robot_info/"))
         {
@@ -207,6 +188,10 @@ public sealed class LegacyHttpApiCompatibilityTests(FlyshotServerFactory factory
     {
         using var client = factory.CreateClient();
         await InitializeRobotAsync(client);
+        using (var speedResponse = await client.PostAsJsonAsync("/set_speedRatio/", new { speed = 0.5 }))
+        {
+            Assert.Equal(HttpStatusCode.OK, speedResponse.StatusCode);
+        }
 
         var uploadPayload = new
         {
@@ -222,10 +207,10 @@ public sealed class LegacyHttpApiCompatibilityTests(FlyshotServerFactory factory
             shot_flags = new[] { false, true, false, false },
             waypoints = new[]
             {
-                new[] { 0.1, 0.2, 0.3, 0.4, 0.5, 0.6 },
-                new[] { 0.2, 0.2, 0.3, 0.4, 0.5, 0.6 },
-                new[] { 0.3, 0.2, 0.3, 0.4, 0.5, 0.6 },
-                new[] { 0.4, 0.2, 0.3, 0.4, 0.5, 0.6 }
+                new[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 },
+                new[] { 0.001, 0.0, 0.0, 0.0, 0.0, 0.0 },
+                new[] { 0.002, 0.0, 0.0, 0.0, 0.0, 0.0 },
+                new[] { 0.003, 0.0, 0.0, 0.0, 0.0, 0.0 }
             }
         };
 
@@ -282,7 +267,8 @@ public sealed class LegacyHttpApiCompatibilityTests(FlyshotServerFactory factory
         {
             Assert.Equal(HttpStatusCode.OK, saveInfoResponse.StatusCode);
             using var saveInfoJson = await ReadJsonAsync(saveInfoResponse);
-            Assert.True(saveInfoJson.RootElement.GetProperty("success").GetBoolean());
+            Assert.True(saveInfoJson.RootElement.GetProperty("isValid").GetBoolean());
+            Assert.True(saveInfoJson.RootElement.GetProperty("finalSendPointCount").GetInt32() > 0);
         }
 
         using (var deleteResponse = await client.PostAsJsonAsync("/delete_flyshot/", new { name = "demo-http-flyshot" }))
@@ -298,13 +284,10 @@ public sealed class LegacyHttpApiCompatibilityTests(FlyshotServerFactory factory
     /// </summary>
     private static async Task InitializeRobotAsync(HttpClient client)
     {
-        using var initResponse = await client.PostAsJsonAsync("/init_mpc_robt", new
+        using var initResponse = await client.PostAsJsonAsync("/init_mpc_robot", new
         {
-            server_ip = "127.0.0.1",
-            port = 50001,
             robot_name = "FANUC_LR_Mate_200iD",
-            robot_ip = "192.168.10.101",
-            sim = true
+            robot_ip = "192.168.10.101"
         });
 
         Assert.Equal(HttpStatusCode.OK, initResponse.StatusCode);

tests/Flyshot.Server.IntegrationTests/StatusEndpointTests.cs

@@ -113,13 +113,15 @@ public sealed class StatusEndpointTests(FlyshotServerFactory factory) : IClassFi
 
         Assert.Equal("ok", root.GetProperty("status").GetString());
         Assert.True(root.GetProperty("isSetup").GetBoolean());
+        Assert.Equal("RealReady", root.GetProperty("operatingMode").GetString());
+        Assert.True(root.GetProperty("canPlanOffline").GetBoolean());
+        Assert.True(root.GetProperty("canExecuteRealMotion").GetBoolean());
         Assert.Equal("FANUC_LR_Mate_200iD", root.GetProperty("robotName").GetString());
         Assert.Equal(6, root.GetProperty("degreesOfFreedom").GetInt32());
         var uploadedTrajectories = root.GetProperty("uploadedTrajectories")
             .EnumerateArray()
             .Select(static value => value.GetString())
             .ToArray();
-        Assert.Contains("20251015", uploadedTrajectories);
         Assert.Contains("UTTC_MS11", uploadedTrajectories);
         Assert.Equal("Connected", snapshot.GetProperty("connectionState").GetString());
         Assert.True(snapshot.GetProperty("isEnabled").GetBoolean());
@@ -139,11 +141,6 @@ public sealed class StatusEndpointTests(FlyshotServerFactory factory) : IClassFi
             Assert.Equal(HttpStatusCode.OK, setupResponse.StatusCode);
         }
 
-        using (var activeControllerResponse = await client.PostAsync("/set_active_controller/?sim=true", content: null))
-        {
-            Assert.Equal(HttpStatusCode.OK, activeControllerResponse.StatusCode);
-        }
-
         using (var connectRobotResponse = await client.PostAsync("/connect_robot/?ip=192.168.10.101", content: null))
         {
             Assert.Equal(HttpStatusCode.OK, connectRobotResponse.StatusCode);