✨ feat(*): 添加轨迹产物导出与规划速度倍率隔离

* 新增 FlyshotTrajectoryArtifactWriter，支持 saveTrajectory 将规划结果导出到 Config/Data/name（JointTraj、CartTraj、 ShotEvents 等） * RobotConfig 新增 PlanningSpeedScale，区分规划阶段限速倍率与运行时 J519 下发倍率 * 轨迹缓存键纳入 planningSpeedScale，避免降速规划误用缓存 * 完善 FanucCommandClient 命令参数日志与状态通道重连 * 补充 RuntimeOrchestrationTests 覆盖产物导出与倍率隔离 * 更新 README 进度文档
2026-04-30 13:52:09 +08:00
parent a6579f1e5b
commit 91c1494cde
20 changed files with 593 additions and 133 deletions
--- a/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryStore.cs
+++ b/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryStore.cs
@@ -7,38 +7,9 @@ using Microsoft.Extensions.Logging;
 namespace Flyshot.ControllerClientCompat;

 /// <summary>
-/// 定义已上传飞拍轨迹的持久化存储契约。
+/// 使用运行目录 Config/RobotConfig.json 持久化单机器人飞拍轨迹和机器人配置。
 /// </summary>
-public interface IFlyshotTrajectoryStore
-{
-    /// <summary>
-    /// 将单条轨迹持久化到本地 JSON，同时更新所属机器人配置段。
-    /// </summary>
-    /// <param name="robotName">当前已初始化的机器人名称。</param>
-    /// <param name="settings">当前机器人级兼容配置。</param>
-    /// <param name="trajectory">要保存的已上传轨迹。</param>
-    void Save(string robotName, CompatibilityRobotSettings settings, ControllerClientCompatUploadedTrajectory trajectory);
-
-    /// <summary>
-    /// 从本地 JSON 删除指定名称的轨迹。
-    /// </summary>
-    /// <param name="robotName">当前已初始化的机器人名称。</param>
-    /// <param name="trajectoryName">要删除的轨迹名称。</param>
-    void Delete(string robotName, string trajectoryName);
-
-    /// <summary>
-    /// 加载指定机器人名下所有已持久化的轨迹，并回传保存时的机器人配置。
-    /// </summary>
-    /// <param name="robotName">当前已初始化的机器人名称。</param>
-    /// <param name="settings">输出保存时的机器人配置；若文件不存在或解析失败则为 null。</param>
-    /// <returns>按轨迹名称索引的已上传轨迹集合。</returns>
-    IReadOnlyDictionary<string, ControllerClientCompatUploadedTrajectory> LoadAll(string robotName, out CompatibilityRobotSettings? settings);
-}
-
-/// <summary>
-/// 使用与旧版 RobotConfig.json 一致的 JSON 格式在运行目录 Config 中持久化飞拍轨迹和机器人配置。
-/// </summary>
-public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
+public sealed class JsonFlyshotTrajectoryStore
 {
    private readonly ControllerClientCompatOptions _options;
    private readonly RobotConfigLoader _configLoader;
@@ -57,19 +28,24 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
        _logger = logger;
    }

-    /// <inheritdoc />
+    /// <summary>
+    /// 将单条轨迹持久化到统一 RobotConfig.json，同时更新机器人配置段。
+    /// </summary>
+    /// <param name="robotName">当前已初始化的机器人名称，仅用于日志诊断。</param>
+    /// <param name="settings">当前机器人级兼容配置。</param>
+    /// <param name="trajectory">要保存的已上传轨迹。</param>
    public void Save(string robotName, CompatibilityRobotSettings settings, ControllerClientCompatUploadedTrajectory trajectory)
    {
        ArgumentNullException.ThrowIfNull(settings);
        ArgumentNullException.ThrowIfNull(trajectory);

        _logger?.LogInformation(
-            "TrajectoryStore 保存轨迹: robot={RobotName}, name={TrajectoryName}, waypoints={WaypointCount}",
+            "RobotConfig 保存轨迹: robot={RobotName}, name={TrajectoryName}, waypoints={WaypointCount}",
            robotName,
            trajectory.Name,
            trajectory.Waypoints.Count);

-        var path = ResolveStorePath(robotName);
+        var path = ResolveStorePath();
        var directory = Path.GetDirectoryName(path)!;
        Directory.CreateDirectory(directory);

@@ -103,10 +79,14 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
        };
        File.WriteAllText(path, root.ToJsonString(writeOptions));

-        _logger?.LogInformation("TrajectoryStore 轨迹已保存到 {Path}", path);
+        _logger?.LogInformation("RobotConfig 轨迹已保存到 {Path}", path);
    }

-    /// <inheritdoc />
+    /// <summary>
+    /// 从统一 RobotConfig.json 删除指定名称的轨迹。
+    /// </summary>
+    /// <param name="robotName">当前已初始化的机器人名称，仅用于日志诊断。</param>
+    /// <param name="trajectoryName">要删除的轨迹名称。</param>
    public void Delete(string robotName, string trajectoryName)
    {
        if (string.IsNullOrWhiteSpace(trajectoryName))
@@ -114,12 +94,12 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
            throw new ArgumentException("轨迹名称不能为空。", nameof(trajectoryName));
        }

-        _logger?.LogInformation("TrajectoryStore 删除轨迹: robot={RobotName}, name={TrajectoryName}", robotName, trajectoryName);
+        _logger?.LogInformation("RobotConfig 删除轨迹: robot={RobotName}, name={TrajectoryName}", robotName, trajectoryName);

-        var path = ResolveStorePath(robotName);
+        var path = ResolveStorePath();
        if (!File.Exists(path))
        {
-            _logger?.LogWarning("TrajectoryStore 删除失败: 文件不存在 {Path}", path);
+            _logger?.LogWarning("RobotConfig 删除失败: 文件不存在 {Path}", path);
            return;
        }

@@ -127,7 +107,7 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
        var root = JsonNode.Parse(existingJson)?.AsObject();
        if (root is null)
        {
-            _logger?.LogWarning("TrajectoryStore 删除失败: 无法解析 JSON {Path}", path);
+            _logger?.LogWarning("RobotConfig 删除失败: 无法解析 JSON {Path}", path);
            return;
        }

@@ -142,29 +122,34 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
                    PropertyNamingPolicy = JsonNamingPolicy.SnakeCaseLower
                };
                File.WriteAllText(path, root.ToJsonString(writeOptions));
-                _logger?.LogInformation("TrajectoryStore 轨迹已删除: {TrajectoryName}", trajectoryName);
+                _logger?.LogInformation("RobotConfig 轨迹已删除: {TrajectoryName}", trajectoryName);
            }
            else
            {
-                _logger?.LogWarning("TrajectoryStore 删除失败: 轨迹不存在 {TrajectoryName}", trajectoryName);
+                _logger?.LogWarning("RobotConfig 删除失败: 轨迹不存在 {TrajectoryName}", trajectoryName);
            }
        }
    }

-    /// <inheritdoc />
+    /// <summary>
+    /// 加载统一 RobotConfig.json 中的所有轨迹，并回传机器人配置。
+    /// </summary>
+    /// <param name="robotName">当前已初始化的机器人名称，仅用于日志诊断。</param>
+    /// <param name="settings">输出 RobotConfig.json 中的机器人配置；若文件不存在或解析失败则为 null。</param>
+    /// <returns>按轨迹名称索引的已上传轨迹集合。</returns>
    public IReadOnlyDictionary<string, ControllerClientCompatUploadedTrajectory> LoadAll(string robotName, out CompatibilityRobotSettings? settings)
    {
-        var path = ResolveStorePath(robotName);
+        var path = ResolveStorePath();
        if (!File.Exists(path))
        {
-            _logger?.LogInformation("TrajectoryStore 无持久化数据: {Path}", path);
+            _logger?.LogInformation("RobotConfig 无持久化数据: {Path}", path);
            settings = null;
            return new Dictionary<string, ControllerClientCompatUploadedTrajectory>(StringComparer.Ordinal);
        }

        try
        {
-            _logger?.LogInformation("TrajectoryStore 正在加载: {Path}", path);
+            _logger?.LogInformation("RobotConfig 正在加载: {Path}", path);

            var loaded = _configLoader.Load(path, _options.ResolveConfigRoot());
            settings = loaded.Robot;
@@ -182,7 +167,7 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
            }

            _logger?.LogInformation(
-                "TrajectoryStore 加载完成: robot={RobotName}, 轨迹数={Count}, useDo={UseDo}, ioKeepCycles={IoKeepCycles}",
+                "RobotConfig 加载完成: robot={RobotName}, 轨迹数={Count}, useDo={UseDo}, ioKeepCycles={IoKeepCycles}",
                robotName,
                dict.Count,
                settings?.UseDo,
@@ -192,7 +177,7 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
        }
        catch (Exception ex)
        {
-            _logger?.LogError(ex, "TrajectoryStore 加载失败: {Path}", path);
+            _logger?.LogError(ex, "RobotConfig 加载失败: {Path}", path);
            settings = null;
            return new Dictionary<string, ControllerClientCompatUploadedTrajectory>(StringComparer.Ordinal);
        }
@@ -229,11 +214,10 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
    }

    /// <summary>
-    /// 解析当前机器人对应的持久化文件路径。
+    /// 解析单程序单机器人的统一配置文件路径。
    /// </summary>
-    private string ResolveStorePath(string robotName)
+    private string ResolveStorePath()
    {
-        var storeDir = Path.Combine(_options.ResolveConfigRoot(), "TrajectoryStore");
-        return Path.Combine(storeDir, $"{robotName}_trajectories.json");
+        return Path.Combine(_options.ResolveConfigRoot(), "RobotConfig.json");
    }
 }