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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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97
tests/Flyshot.Server.IntegrationTests/LegacyHttpApiCompatibilityTests.cs
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@@ -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);