💥 feat(planning)!: 拆分 C# ICSP 并默认 Rust
* 新增可选 Flyshot.CSharp.Planning 项目 * 将 icsp 映射到 Rust 后端并拒绝旧 icsp_rust * 补充后端注册、文档、调试页和回归测试 BREAKING CHANGE: method=icsp 现在默认调用 Rust 后端；C# ICSP 改为 method=icsp-csharp，旧 method=icsp_rust 不再作为正式入口。
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@@ -1,4 +1,5 @@
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using Flyshot.ControllerClientCompat;
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using Flyshot.CSharp.Planning;
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using Flyshot.Core.Config;
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using Flyshot.Core.Domain;
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using Flyshot.Core.Planning;
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@@ -16,6 +17,19 @@ namespace Flyshot.Core.Tests;
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/// </summary>
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public sealed class RuntimeOrchestrationTests
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{
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/// <summary>
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/// 创建显式注册 C# ICSP 后端的编排器，用于验证可选算法 DLL 的行为边界。
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/// </summary>
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/// <returns>包含 C# 普通 ICSP 与 self-adapt-icsp 后端的轨迹编排器。</returns>
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private static ControllerClientTrajectoryOrchestrator CreateOrchestratorWithCSharpBackends()
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{
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return new ControllerClientTrajectoryOrchestrator(
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[
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new CSharpIcspPlanningBackend(),
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new SelfAdaptIcspPlanningBackend()
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]);
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}
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/// <summary>
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/// 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。
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/// </summary>
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@@ -107,54 +121,10 @@ public sealed class RuntimeOrchestrationTests
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}
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/// <summary>
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/// 验证普通轨迹使用准确字串 icsp_rust 时会真实调用 Rust DLL，并在结果中标记原生后端。
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/// 验证普通轨迹默认 icsp 会真实调用 Rust DLL，并在结果中保留正式 icsp 方法标记。
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/// </summary>
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[Fact]
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public void ControllerClientTrajectoryOrchestrator_PlanOrdinaryTrajectory_UsesRustPlanner()
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{
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var orchestrator = new ControllerClientTrajectoryOrchestrator();
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var robot = TestRobotFactory.CreateRobotProfile();
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var bundle = orchestrator.PlanOrdinaryTrajectory(
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robot,
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[
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[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
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[0.001, 0.0, 0.0, 0.0, 0.0, 0.0],
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[0.002, 0.0, 0.0, 0.0, 0.0, 0.0],
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[0.003, 0.0, 0.0, 0.0, 0.0, 0.0]
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],
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new TrajectoryExecutionOptions(method: "icsp_rust"));
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Assert.Equal(PlanningMethod.IcspRust, bundle.PlannedTrajectory.Method);
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Assert.Equal(PlanningMethod.IcspRust, bundle.Result.Method);
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}
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/// <summary>
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/// 验证飞拍轨迹使用准确字串 icsp_rust 时会真实调用 Rust DLL，同时保留触发时间轴。
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/// </summary>
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[Fact]
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public void ControllerClientTrajectoryOrchestrator_PlanUploadedFlyshot_UsesRustPlanner()
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{
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var orchestrator = new ControllerClientTrajectoryOrchestrator();
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var robot = TestRobotFactory.CreateRobotProfile();
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var uploaded = TestRobotFactory.CreateUploadedTrajectoryWithSingleShot();
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var bundle = orchestrator.PlanUploadedFlyshot(
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robot,
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uploaded,
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new FlyshotExecutionOptions(method: "icsp_rust", useCache: false));
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Assert.Equal(PlanningMethod.IcspRust, bundle.PlannedTrajectory.Method);
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Assert.Equal(PlanningMethod.IcspRust, bundle.Result.Method);
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Assert.Single(bundle.Result.ShotEvents);
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Assert.Single(bundle.Result.TriggerTimeline);
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}
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/// <summary>
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/// 验证普通轨迹默认 icsp 仍使用现有 C# 规划器。
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/// </summary>
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[Fact]
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public void ControllerClientTrajectoryOrchestrator_PlanOrdinaryTrajectory_KeepsManagedIcspPlanner()
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public void ControllerClientTrajectoryOrchestrator_PlanOrdinaryTrajectory_DefaultIcspUsesRustPlanner()
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{
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var orchestrator = new ControllerClientTrajectoryOrchestrator();
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var robot = TestRobotFactory.CreateRobotProfile();
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@@ -174,12 +144,98 @@ public sealed class RuntimeOrchestrationTests
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}
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/// <summary>
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/// 验证 self-adapt-icsp 仍使用 C# 自适应规划器，不切换到 Rust。
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/// 验证旧的 icsp_rust 字串不再作为正式入口，并提示调用方改用 icsp。
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/// </summary>
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[Fact]
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public void ControllerClientTrajectoryOrchestrator_PlanUploadedFlyshot_KeepsManagedSelfAdaptPlanner()
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public void ControllerClientTrajectoryOrchestrator_PlanOrdinaryTrajectory_RejectsLegacyIcspRustName()
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{
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var orchestrator = new ControllerClientTrajectoryOrchestrator();
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var robot = TestRobotFactory.CreateRobotProfile();
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var exception = Assert.Throws<ArgumentException>(() => orchestrator.PlanOrdinaryTrajectory(
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robot,
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[
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[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
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[0.001, 0.0, 0.0, 0.0, 0.0, 0.0],
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[0.002, 0.0, 0.0, 0.0, 0.0, 0.0],
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[0.003, 0.0, 0.0, 0.0, 0.0, 0.0]
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],
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new TrajectoryExecutionOptions(method: "icsp_rust")));
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Assert.Contains("icsp", exception.Message);
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Assert.Contains("icsp_rust", exception.Message);
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}
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/// <summary>
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/// 验证未注册 C# 后端时，icsp-csharp 会明确报错而不是静默回退。
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/// </summary>
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[Fact]
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public void ControllerClientTrajectoryOrchestrator_PlanOrdinaryTrajectory_RejectsCSharpIcspWhenBackendIsMissing()
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{
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var orchestrator = new ControllerClientTrajectoryOrchestrator();
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var robot = TestRobotFactory.CreateRobotProfile();
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var exception = Assert.Throws<NotSupportedException>(() => orchestrator.PlanOrdinaryTrajectory(
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robot,
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[
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[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
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[0.001, 0.0, 0.0, 0.0, 0.0, 0.0],
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[0.002, 0.0, 0.0, 0.0, 0.0, 0.0],
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[0.003, 0.0, 0.0, 0.0, 0.0, 0.0]
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],
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new TrajectoryExecutionOptions(method: "icsp-csharp")));
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Assert.Contains("icsp-csharp", exception.Message);
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}
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/// <summary>
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/// 验证显式注册 C# 后端后，icsp-csharp 使用拆分后的托管规划器。
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/// </summary>
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[Fact]
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public void ControllerClientTrajectoryOrchestrator_PlanOrdinaryTrajectory_UsesRegisteredCSharpIcspPlanner()
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{
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var orchestrator = CreateOrchestratorWithCSharpBackends();
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var robot = TestRobotFactory.CreateRobotProfile();
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var bundle = orchestrator.PlanOrdinaryTrajectory(
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robot,
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[
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[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
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[0.001, 0.0, 0.0, 0.0, 0.0, 0.0],
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[0.002, 0.0, 0.0, 0.0, 0.0, 0.0],
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[0.003, 0.0, 0.0, 0.0, 0.0, 0.0]
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],
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new TrajectoryExecutionOptions(method: "icsp-csharp"));
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Assert.Equal(PlanningMethod.IcspCSharp, bundle.PlannedTrajectory.Method);
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Assert.Equal(PlanningMethod.IcspCSharp, bundle.Result.Method);
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}
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/// <summary>
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/// 验证未注册 C# 后端时，self-adapt-icsp 会明确报错而不是把行为藏在主服务里。
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/// </summary>
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[Fact]
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public void ControllerClientTrajectoryOrchestrator_PlanUploadedFlyshot_RejectsSelfAdaptWhenBackendIsMissing()
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{
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var orchestrator = new ControllerClientTrajectoryOrchestrator();
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var robot = TestRobotFactory.CreateRobotProfile();
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var uploaded = TestRobotFactory.CreateUploadedTrajectoryWithSingleShot();
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var exception = Assert.Throws<NotSupportedException>(() => orchestrator.PlanUploadedFlyshot(
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robot,
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uploaded,
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new FlyshotExecutionOptions(method: "self-adapt-icsp", useCache: false)));
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Assert.Contains("self-adapt-icsp", exception.Message);
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}
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/// <summary>
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/// 验证显式注册 C# 后端后，self-adapt-icsp 仍使用 C# 自适应规划器。
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/// </summary>
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[Fact]
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public void ControllerClientTrajectoryOrchestrator_PlanUploadedFlyshot_UsesRegisteredManagedSelfAdaptPlanner()
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{
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var orchestrator = CreateOrchestratorWithCSharpBackends();
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var robot = new RobotProfile(
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name: "ManagedSelfAdaptTestRobot",
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modelPath: "Models/ManagedSelfAdaptTest.robot",
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