✨ feat: 实现 ControllerClient HTTP 兼容层及 FANUC 运行时
- 新增 Flyshot.ControllerClientCompat 兼容层模块 - 新增 Flyshot.Runtime.Fanuc 运行时模块 - 新增 LegacyHttpApiController 暴露 HTTP 兼容 API - 补充 RuntimeOrchestrationTests 等测试覆盖 - 补充 docs/ 兼容性需求与逆向工程文档 - 更新 Host 注册、配置及解决方案引用 变更概览： - Flyshot.ControllerClientCompat — 旧 ControllerClient 语义的 HTTP 适配 - Flyshot.Runtime.Fanuc — IControllerRuntime 的 FANUC 真机实现 - LegacyHttpApiController — HTTP API 兼容旧 SDK - docs/ — 兼容性需求与逆向工程分析文档 - 测试：RuntimeOrchestrationTests、LegacyHttpApiCompatibilityTests
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# Minimal Runtime Orchestration Implementation Plan
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> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (`- [ ]`) syntax for tracking.
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**Goal:** Build the first real execution slice after the HTTP-only refactor by routing `ExecuteTrajectory` and `ExecuteFlyShotTraj` through planning, triggering, and a new minimal FANUC runtime project instead of in-memory last-point assignment.
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**Architecture:** Keep `Flyshot.Server.Host` as a pure HTTP adapter and keep uploaded program state in `Flyshot.ControllerClientCompat`, but move controller runtime state into a new `Flyshot.Runtime.Fanuc` project and add a focused planning/orchestration helper in `Flyshot.ControllerClientCompat`. Ordinary trajectory execution will use `ICspPlanner`; uploaded flyshot execution will use `SelfAdaptIcspPlanner` plus `ShotTimelineBuilder`, then hand the resulting `TrajectoryResult` to the runtime.
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**Tech Stack:** C#, .NET 8, xUnit, existing `Flyshot.Core.Domain`, `Flyshot.Core.Planning`, `Flyshot.Core.Triggering`, ASP.NET Core DI.
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---
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### Task 1: Add Runtime Contracts And Minimal FANUC Runtime
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**Files:**
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- Create: `src/Flyshot.Runtime.Common/IControllerRuntime.cs`
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- Create: `src/Flyshot.Runtime.Fanuc/Flyshot.Runtime.Fanuc.csproj`
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- Create: `src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs`
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- Modify: `FlyshotReplacement.sln`
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- Modify: `src/Flyshot.Server.Host/Flyshot.Server.Host.csproj`
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- Modify: `src/Flyshot.Server.Host/Program.cs`
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- Test: `tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs`
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- [x] **Step 1: Write the failing runtime test**
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```csharp
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[Fact]
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public void FanucControllerRuntime_ExecuteTrajectory_UpdatesSnapshotAndFinalJointPositions()
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{
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var runtime = new FanucControllerRuntime();
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var robot = TestRobotFactory.CreateRobotProfile();
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runtime.ResetRobot(robot, "FANUC_LR_Mate_200iD");
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runtime.SetActiveController(sim: false);
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runtime.Connect("192.168.10.101");
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runtime.EnableRobot(bufferSize: 2);
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var result = new TrajectoryResult(
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programName: "demo",
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method: PlanningMethod.Icsp,
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isValid: true,
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duration: TimeSpan.FromSeconds(1.2),
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shotEvents: Array.Empty<ShotEvent>(),
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triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
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artifacts: Array.Empty<TrajectoryArtifact>(),
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failureReason: null,
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usedCache: false,
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originalWaypointCount: 4,
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plannedWaypointCount: 4);
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runtime.ExecuteTrajectory(result, [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]);
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var snapshot = runtime.GetSnapshot();
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Assert.Equal("Connected", snapshot.ConnectionState);
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Assert.False(snapshot.IsInMotion);
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Assert.Equal([1.0, 2.0, 3.0, 4.0, 5.0, 6.0], snapshot.JointPositions);
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}
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```
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- [x] **Step 2: Run test to verify it fails**
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Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter FanucControllerRuntime_ExecuteTrajectory_UpdatesSnapshotAndFinalJointPositions -v minimal -m:1 -nodeReuse:false`
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Expected: FAIL because `FanucControllerRuntime` and `IControllerRuntime` do not exist.
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- [x] **Step 3: Write the minimal runtime contracts and implementation**
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```csharp
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public interface IControllerRuntime
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{
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void ResetRobot(RobotProfile robot, string robotName);
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void SetActiveController(bool sim);
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void Connect(string robotIp);
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void Disconnect();
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void EnableRobot(int bufferSize);
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void DisableRobot();
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void StopMove();
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double GetSpeedRatio();
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void SetSpeedRatio(double ratio);
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IReadOnlyList<double> GetTcp();
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void SetTcp(double x, double y, double z);
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bool GetIo(int port, string ioType);
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void SetIo(int port, bool value, string ioType);
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IReadOnlyList<double> GetJointPositions();
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IReadOnlyList<double> GetPose();
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ControllerStateSnapshot GetSnapshot();
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void ExecuteTrajectory(TrajectoryResult result, IReadOnlyList<double> finalJointPositions);
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}
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```
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```csharp
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public sealed class FanucControllerRuntime : IControllerRuntime
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{
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// Stage-1 runtime: owns controller state in one place so later sockets can replace internals without rewriting compat service.
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}
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```
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- [x] **Step 4: Run test to verify it passes**
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Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter FanucControllerRuntime_ExecuteTrajectory_UpdatesSnapshotAndFinalJointPositions -v minimal -m:1 -nodeReuse:false`
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Expected: PASS.
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### Task 2: Add Planning And Triggering Orchestration For Execution
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**Files:**
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- Create: `src/Flyshot.ControllerClientCompat/PlannedExecutionBundle.cs`
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- Create: `src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs`
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- Modify: `src/Flyshot.ControllerClientCompat/Flyshot.ControllerClientCompat.csproj`
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- Modify: `tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj`
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- Test: `tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs`
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- [x] **Step 1: Write the failing orchestration tests**
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```csharp
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[Fact]
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public void ControllerClientTrajectoryOrchestrator_PlanOrdinaryTrajectory_RejectsThreeTeachPoints()
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{
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var orchestrator = new ControllerClientTrajectoryOrchestrator();
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var robot = TestRobotFactory.CreateRobotProfile();
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Assert.Throws<ArgumentException>(() =>
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orchestrator.PlanOrdinaryTrajectory(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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[0.5, 0.0, 0.0, 0.0, 0.0, 0.0],
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[1.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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]));
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}
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[Fact]
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public void ControllerClientTrajectoryOrchestrator_PlanUploadedFlyshot_BuildsShotTimeline()
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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(robot, uploaded);
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Assert.True(bundle.Result.IsValid);
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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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```
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- [x] **Step 2: Run tests to verify they fail**
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Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter ControllerClientTrajectoryOrchestrator -v minimal -m:1 -nodeReuse:false`
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Expected: FAIL because the orchestrator types do not exist.
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- [x] **Step 3: Write the minimal orchestration layer**
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```csharp
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public sealed class PlannedExecutionBundle
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{
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public PlannedExecutionBundle(PlannedTrajectory plannedTrajectory, ShotTimeline shotTimeline, TrajectoryResult result)
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{
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PlannedTrajectory = plannedTrajectory;
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ShotTimeline = shotTimeline;
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Result = result;
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}
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public PlannedTrajectory PlannedTrajectory { get; }
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public ShotTimeline ShotTimeline { get; }
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public TrajectoryResult Result { get; }
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}
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```
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```csharp
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public sealed class ControllerClientTrajectoryOrchestrator
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{
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public PlannedExecutionBundle PlanOrdinaryTrajectory(RobotProfile robot, IReadOnlyList<IReadOnlyList<double>> waypoints) { ... }
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public PlannedExecutionBundle PlanUploadedFlyshot(RobotProfile robot, ControllerClientCompatUploadedTrajectory uploaded) { ... }
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}
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```
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- [ ] **Step 4: Run tests to verify they pass**
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Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter ControllerClientTrajectoryOrchestrator -v minimal -m:1 -nodeReuse:false`
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Expected: PASS.
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### Task 3: Rewire ControllerClientCompatService To Runtime + Orchestrator
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**Files:**
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- Modify: `src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs`
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- Modify: `src/Flyshot.ControllerClientCompat/ControllerClientCompatServiceCollectionExtensions.cs`
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- Modify: `src/Flyshot.ControllerClientCompat/IControllerClientCompatService.cs`
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- Modify: `tests/Flyshot.Server.IntegrationTests/LegacyHttpApiCompatibilityTests.cs`
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- Modify: `tests/Flyshot.Server.IntegrationTests/ControllerClientCompatRegistrationTests.cs`
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- Test: `tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs`
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- Test: `tests/Flyshot.Server.IntegrationTests/LegacyHttpApiCompatibilityTests.cs`
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- [x] **Step 1: Write the failing compat-service test**
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```csharp
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[Fact]
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public void ControllerClientCompatService_ExecuteTrajectory_RejectsThreeTeachPointsAfterPlanningIsIntroduced()
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{
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var service = TestRobotFactory.CreateCompatService();
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service.SetUpRobot("FANUC_LR_Mate_200iD");
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service.SetActiveController(sim: false);
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service.Connect("192.168.10.101");
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service.EnableRobot(2);
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Assert.Throws<ArgumentException>(() =>
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service.ExecuteTrajectory(
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[
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[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
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[0.5, 0.0, 0.0, 0.0, 0.0, 0.0],
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[1.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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]));
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}
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```
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- [ ] **Step 2: Run test to verify it fails**
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Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter ControllerClientCompatService_ExecuteTrajectory_RejectsThreeTeachPointsAfterPlanningIsIntroduced -v minimal -m:1 -nodeReuse:false`
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Expected: FAIL because current service still treats ordinary execution as "move to last waypoint".
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- [x] **Step 3: Rewire service to the runtime and orchestrator**
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```csharp
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public sealed class ControllerClientCompatService : IControllerClientCompatService
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{
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private readonly IControllerRuntime _runtime;
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private readonly ControllerClientTrajectoryOrchestrator _trajectoryOrchestrator;
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public void ExecuteTrajectory(IReadOnlyList<IReadOnlyList<double>> waypoints)
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{
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var robot = RequireActiveRobot();
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var bundle = _trajectoryOrchestrator.PlanOrdinaryTrajectory(robot, waypoints);
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_runtime.ExecuteTrajectory(bundle.Result, bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions);
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}
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public void ExecuteTrajectoryByName(string name)
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{
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var robot = RequireActiveRobot();
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var uploaded = RequireUploadedTrajectory(name);
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var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(robot, uploaded);
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_runtime.ExecuteTrajectory(bundle.Result, bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions);
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}
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}
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```
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- [ ] **Step 4: Run focused tests to verify green**
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Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter "ControllerClientCompatService|ControllerClientTrajectoryOrchestrator|FanucControllerRuntime" -v minimal -m:1 -nodeReuse:false`
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Expected: PASS.
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- [ ] **Step 5: Run integration verification**
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Run: `dotnet test tests/Flyshot.Server.IntegrationTests/Flyshot.Server.IntegrationTests.csproj -v minimal -m:1 -nodeReuse:false`
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Expected: PASS, with existing HTTP compatibility tests still green.
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### Task 4: Verify Solution Build And Update Progress Docs
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**Files:**
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- Modify: `README.md`
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- Modify: `AGENTS.md`
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- Modify: `docs/controller-client-api-compatibility-requirements.md`
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- [x] **Step 1: Update docs to reflect the new stage**
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```markdown
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- [x] 落地最小 FANUC 运行时骨架
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- [x] 将 ExecuteTrajectory / ExecuteFlyShotTraj 接入 Planning + Triggering + Runtime
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- [ ] 落地真实 10010 / 10012 / 60015 通讯
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- [ ] 落地 Web 状态页
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```
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- [x] **Step 2: Run final build**
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Run: `dotnet build FlyshotReplacement.sln --no-restore -v minimal -m:1 -nodeReuse:false`
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Expected: PASS with 0 errors.
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