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✨ feat(planning): 添加离线飞拍规划能力

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* 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。
This commit is contained in:
yunxiao.zhu
2026-06-24 11:40:07 +08:00
parent 070d2ba5c0
commit 5193f537b0
24 changed files with 1398 additions and 738 deletions
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18
tests/Flyshot.Server.IntegrationTests/DebugConsoleEndpointTests.cs
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@@ -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>