✨ 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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using Flyshot.Core.Domain;
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using Flyshot.Runtime.Common;
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namespace Flyshot.ControllerClientCompat;
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/// <summary>
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/// 在宿主进程内实现 HTTP-only ControllerClient 兼容语义，并把控制器状态委托给运行时。
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/// </summary>
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public sealed class ControllerClientCompatService : IControllerClientCompatService
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{
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private readonly object _stateLock = new();
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private readonly Dictionary<string, ControllerClientCompatUploadedTrajectory> _uploadedTrajectories = new(StringComparer.Ordinal);
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private readonly ControllerClientCompatOptions _options;
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private readonly ControllerClientCompatRobotCatalog _robotCatalog;
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private readonly IControllerRuntime _runtime;
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private readonly ControllerClientTrajectoryOrchestrator _trajectoryOrchestrator;
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private RobotProfile? _activeRobotProfile;
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private string? _configuredRobotName;
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private string? _connectedServerIp;
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private int _connectedServerPort;
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/// <summary>
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/// 初始化一份 HTTP-only 的 ControllerClient 兼容服务。
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/// </summary>
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/// <param name="options">兼容层基础配置。</param>
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/// <param name="robotCatalog">机器人模型目录。</param>
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/// <param name="runtime">控制器运行时。</param>
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/// <param name="trajectoryOrchestrator">轨迹规划与触发编排器。</param>
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public ControllerClientCompatService(
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ControllerClientCompatOptions options,
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ControllerClientCompatRobotCatalog robotCatalog,
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IControllerRuntime runtime,
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ControllerClientTrajectoryOrchestrator trajectoryOrchestrator)
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{
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_options = options ?? throw new ArgumentNullException(nameof(options));
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_robotCatalog = robotCatalog ?? throw new ArgumentNullException(nameof(robotCatalog));
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_runtime = runtime ?? throw new ArgumentNullException(nameof(runtime));
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_trajectoryOrchestrator = trajectoryOrchestrator ?? throw new ArgumentNullException(nameof(trajectoryOrchestrator));
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}
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/// <inheritdoc />
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public string ServerVersion => _options.ServerVersion;
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/// <inheritdoc />
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public bool IsSetUp
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{
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get
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{
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lock (_stateLock)
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{
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return _activeRobotProfile is not null;
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}
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}
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}
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/// <summary>
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/// 获取当前运行时是否处于运动态。
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/// </summary>
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public bool IsInMotion => _runtime.GetSnapshot().IsInMotion;
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/// <inheritdoc />
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public void ConnectServer(string serverIp, int port)
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{
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if (string.IsNullOrWhiteSpace(serverIp))
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{
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throw new ArgumentException("服务端 IP 不能为空。", nameof(serverIp));
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}
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if (port <= 0)
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{
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throw new ArgumentOutOfRangeException(nameof(port), "端口必须大于 0。");
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}
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lock (_stateLock)
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{
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// HTTP-only 阶段仍记录旧客户端期望的 50001 地址，便于后续 TCP 入口恢复时复用状态。
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_connectedServerIp = serverIp;
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_connectedServerPort = port;
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}
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}
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/// <inheritdoc />
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public void SetUpRobot(string robotName)
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{
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var robotProfile = _robotCatalog.LoadProfile(robotName);
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lock (_stateLock)
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{
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// 机器人重新初始化时同步重置运行时和上传轨迹目录，保持旧服务初始化语义。
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_configuredRobotName = robotName;
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_activeRobotProfile = robotProfile;
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_uploadedTrajectories.Clear();
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_runtime.ResetRobot(robotProfile, robotName);
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}
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}
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/// <inheritdoc />
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public void SetActiveController(bool sim)
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{
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lock (_stateLock)
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{
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EnsureRobotSetup();
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_runtime.SetActiveController(sim);
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}
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}
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/// <inheritdoc />
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public void Connect(string robotIp)
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{
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if (string.IsNullOrWhiteSpace(robotIp))
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{
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throw new ArgumentException("控制器 IP 不能为空。", nameof(robotIp));
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}
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lock (_stateLock)
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{
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EnsureRobotSetup();
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_runtime.Connect(robotIp);
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}
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}
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/// <inheritdoc />
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public void Disconnect()
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{
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lock (_stateLock)
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{
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EnsureRobotSetup();
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_runtime.Disconnect();
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}
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}
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/// <inheritdoc />
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public void EnableRobot(int bufferSize)
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{
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lock (_stateLock)
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{
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EnsureRobotSetup();
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_runtime.EnableRobot(bufferSize);
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}
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}
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/// <inheritdoc />
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public void DisableRobot()
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{
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lock (_stateLock)
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{
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EnsureRobotSetup();
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_runtime.DisableRobot();
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}
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}
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/// <inheritdoc />
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public void StopMove()
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{
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lock (_stateLock)
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{
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EnsureRobotSetup();
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_runtime.StopMove();
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}
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}
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/// <inheritdoc />
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public double GetSpeedRatio()
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{
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lock (_stateLock)
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{
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EnsureRobotSetup();
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return _runtime.GetSpeedRatio();
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}
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}
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/// <inheritdoc />
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public void SetSpeedRatio(double ratio)
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{
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lock (_stateLock)
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{
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EnsureRobotSetup();
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_runtime.SetSpeedRatio(ratio);
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}
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}
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/// <inheritdoc />
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public void SetIo(int port, bool value, string ioType)
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{
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lock (_stateLock)
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{
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EnsureRobotSetup();
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_runtime.SetIo(port, value, ioType);
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}
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}
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/// <inheritdoc />
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public bool GetIo(int port, string ioType)
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{
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lock (_stateLock)
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{
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EnsureRobotSetup();
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return _runtime.GetIo(port, ioType);
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}
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}
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/// <inheritdoc />
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public void SetTcp(double x, double y, double z)
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{
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lock (_stateLock)
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{
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EnsureRobotSetup();
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_runtime.SetTcp(x, y, z);
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}
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}
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/// <inheritdoc />
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public IReadOnlyList<double> GetTcp()
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{
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lock (_stateLock)
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{
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EnsureRobotSetup();
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return _runtime.GetTcp();
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}
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}
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/// <inheritdoc />
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public IReadOnlyList<double> GetJointPositions()
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{
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lock (_stateLock)
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{
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EnsureRobotSetup();
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return _runtime.GetJointPositions();
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}
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}
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/// <inheritdoc />
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public void MoveJoint(IReadOnlyList<double> jointPositions)
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{
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ArgumentNullException.ThrowIfNull(jointPositions);
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lock (_stateLock)
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{
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EnsureRobotSetup();
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_runtime.ExecuteTrajectory(CreateImmediateMoveResult(), jointPositions);
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}
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}
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/// <inheritdoc />
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public void ExecuteTrajectory(IReadOnlyList<IReadOnlyList<double>> waypoints)
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{
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ArgumentNullException.ThrowIfNull(waypoints);
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if (waypoints.Count == 0)
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{
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throw new ArgumentException("轨迹路点不能为空。", nameof(waypoints));
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}
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lock (_stateLock)
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{
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var robot = RequireActiveRobot();
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EnsureRuntimeEnabled();
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// 普通轨迹必须先通过 ICSP 规划，再把规划结果交给运行时执行。
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var bundle = _trajectoryOrchestrator.PlanOrdinaryTrajectory(robot, waypoints);
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var finalJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions;
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_runtime.ExecuteTrajectory(bundle.Result, finalJointPositions);
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}
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}
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/// <inheritdoc />
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public IReadOnlyList<double> GetPose()
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{
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lock (_stateLock)
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{
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EnsureRobotSetup();
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return _runtime.GetPose();
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}
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}
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/// <inheritdoc />
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public void UploadTrajectory(ControllerClientCompatUploadedTrajectory trajectory)
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{
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ArgumentNullException.ThrowIfNull(trajectory);
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lock (_stateLock)
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{
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EnsureRuntimeEnabled();
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_uploadedTrajectories[trajectory.Name] = trajectory;
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}
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}
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/// <inheritdoc />
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public IReadOnlyList<string> ListTrajectoryNames()
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{
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lock (_stateLock)
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{
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return _uploadedTrajectories.Keys.ToArray();
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}
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}
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/// <inheritdoc />
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public void ExecuteTrajectoryByName(string name)
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{
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if (string.IsNullOrWhiteSpace(name))
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{
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throw new ArgumentException("轨迹名称不能为空。", nameof(name));
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}
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lock (_stateLock)
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{
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var robot = RequireActiveRobot();
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EnsureRuntimeEnabled();
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if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
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{
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throw new InvalidOperationException("FlyShot trajectory does not exist.");
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}
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if (trajectory.Waypoints.Count == 0)
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{
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throw new InvalidOperationException("FlyShot trajectory contains no waypoints.");
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}
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// 已上传飞拍轨迹必须生成 shot timeline 后再交给运行时。
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var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(robot, trajectory);
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var finalJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions;
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_runtime.ExecuteTrajectory(bundle.Result, finalJointPositions);
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}
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}
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/// <inheritdoc />
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public void DeleteTrajectory(string name)
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{
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if (string.IsNullOrWhiteSpace(name))
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{
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throw new ArgumentException("轨迹名称不能为空。", nameof(name));
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}
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lock (_stateLock)
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{
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if (!_uploadedTrajectories.Remove(name))
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{
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throw new InvalidOperationException("DeleteFlyShotTraj failed");
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}
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}
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}
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/// <inheritdoc />
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public string GetRobotName()
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{
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lock (_stateLock)
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{
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return _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
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}
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}
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/// <inheritdoc />
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public int GetDegreesOfFreedom()
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{
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lock (_stateLock)
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{
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return _activeRobotProfile?.DegreesOfFreedom ?? throw new InvalidOperationException("Robot has not been setup.");
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}
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}
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/// <summary>
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/// 获取当前机器人配置，未初始化时抛出兼容错误。
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/// </summary>
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/// <returns>当前机器人配置。</returns>
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private RobotProfile RequireActiveRobot()
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{
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return _activeRobotProfile ?? throw new InvalidOperationException("Robot has not been setup.");
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}
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/// <summary>
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/// 校验机器人已经完成初始化。
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/// </summary>
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private void EnsureRobotSetup()
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{
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_ = RequireActiveRobot();
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}
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/// <summary>
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/// 校验运行时已经处于可执行状态。
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/// </summary>
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private void EnsureRuntimeEnabled()
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{
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EnsureRobotSetup();
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if (!_runtime.GetSnapshot().IsEnabled)
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{
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throw new InvalidOperationException("Robot has not been enabled.");
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}
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}
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/// <summary>
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/// 构造 MoveJoint 直达运行时所需的最小合法轨迹结果。
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/// </summary>
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/// <returns>可立即执行的轨迹结果。</returns>
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private static TrajectoryResult CreateImmediateMoveResult()
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{
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return new TrajectoryResult(
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programName: "move-joint",
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method: PlanningMethod.Icsp,
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isValid: true,
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duration: TimeSpan.Zero,
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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: 1,
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plannedWaypointCount: 1);
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}
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}
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