✨ feat(native-planning): 添加 Rust ICSP 原生规划核心及 C# 互操作集成

* 新增 Rust 原生 ICSP 规划库 (Cargo 项目, CubicSpline 算法, FFI 接口) * 新增 Flyshot.Native.Planning C# 互操作项目 (P/Invoke 封装) * 更新 ControllerClientCompat 适配新的规划接口 * 添加构建脚本 (Copy-NativePlanningArtifacts.ps1) * 新增互操作测试及一致性对比测试 * 更新解决方案文件和设计文档
2026-06-23 15:36:01 +08:00
parent bb21e0923d
commit 9c56ee825e
30 changed files with 2674 additions and 2 deletions
--- a/build/Copy-NativePlanningArtifacts.ps1
+++ b/build/Copy-NativePlanningArtifacts.ps1
@@ -0,0 +1,94 @@
+param(
+    [ValidateSet("Debug", "Release")]
+    [string]$Configuration = "Release",
+
+    [string[]]$DestinationDirectories = @()
+)
+
+$ErrorActionPreference = "Stop"
+
+# 从脚本位置定位仓库根目录，确保从任意工作目录调用都得到一致结果。
+$repositoryRoot = Split-Path -Parent $PSScriptRoot
+$manifestPath = Join-Path $repositoryRoot "native/flyshot-native-planning/Cargo.toml"
+$cargoExecutable = if ($IsWindows) { "cargo.exe" } else { "cargo" }
+$cargoPath = Join-Path $HOME ".cargo/bin/$cargoExecutable"
+if (-not (Test-Path -LiteralPath $cargoPath)) {
+    throw "未找到 Rust Cargo：$cargoPath。请先通过 rustup 安装 stable-x86_64-pc-windows-msvc。"
+}
+
+$cargoArguments = @("build", "--manifest-path", $manifestPath)
+if ($Configuration -eq "Release") {
+    $cargoArguments += "--release"
+}
+
+if ($IsWindows) {
+    # Windows MSVC 目标必须在 VS C++ 开发者环境中运行，避免 PATH 中其他 link.exe 抢占。
+    $vswherePath = "${env:ProgramFiles(x86)}\Microsoft Visual Studio\Installer\vswhere.exe"
+    if (-not (Test-Path -LiteralPath $vswherePath)) {
+        throw "未找到 vswhere.exe，无法定位 Visual Studio C++ Build Tools。"
+    }
+
+    $installationPath = & $vswherePath -latest -products * `
+        -requires Microsoft.VisualStudio.Component.VC.Tools.x86.x64 `
+        -property installationPath
+    if ([string]::IsNullOrWhiteSpace($installationPath)) {
+        throw "未找到已安装的 Visual Studio C++ x64 编译工具。"
+    }
+
+    $vcvarsPath = Join-Path $installationPath "VC/Auxiliary/Build/vcvars64.bat"
+    if (-not (Test-Path -LiteralPath $vcvarsPath)) {
+        throw "未找到 VS x64 开发者环境脚本：$vcvarsPath"
+    }
+
+    $quotedArguments = $cargoArguments | ForEach-Object { '"' + $_.Replace('"', '\"') + '"' }
+    $command = 'call "{0}" >nul && "{1}" {2}' -f `
+        $vcvarsPath, $cargoPath, ($quotedArguments -join " ")
+    & cmd.exe /d /c $command
+    if ($LASTEXITCODE -ne 0) {
+        throw "Rust 原生规划库构建失败，退出码：$LASTEXITCODE"
+    }
+}
+else {
+    & $cargoPath @cargoArguments
+    if ($LASTEXITCODE -ne 0) {
+        throw "Rust 原生规划库构建失败，退出码：$LASTEXITCODE"
+    }
+}
+
+$profileDirectory = if ($Configuration -eq "Release") { "release" } else { "debug" }
+$libraryName = if ($IsWindows) {
+    "flyshot_native_planning.dll"
+}
+elseif ($IsLinux) {
+    "libflyshot_native_planning.so"
+}
+else {
+    throw "当前脚本仅支持 Windows x64 和 Linux x64。"
+}
+$sourcePath = Join-Path $repositoryRoot "native/flyshot-native-planning/target/$profileDirectory/$libraryName"
+if (-not (Test-Path -LiteralPath $sourcePath)) {
+    throw "Rust 构建已结束，但未找到原生库：$sourcePath"
+}
+
+# 未显式指定目标时，默认复制到对应配置的 Core 测试输出目录。
+if ($DestinationDirectories.Count -eq 0) {
+    $DestinationDirectories = @(
+        (Join-Path $repositoryRoot "tests/Flyshot.Core.Tests/bin/$Configuration/net8.0")
+    )
+}
+
+foreach ($destinationDirectory in $DestinationDirectories) {
+    $destinationPath = if ([System.IO.Path]::IsPathRooted($destinationDirectory)) {
+        $destinationDirectory
+    }
+    else {
+        Join-Path $repositoryRoot $destinationDirectory
+    }
+    $resolvedDestination = [System.IO.Path]::GetFullPath(
+        $destinationPath)
+    New-Item -ItemType Directory -Force -Path $resolvedDestination | Out-Null
+    Copy-Item -LiteralPath $sourcePath `
+        -Destination (Join-Path $resolvedDestination $libraryName) `
+        -Force
+    Write-Host "已复制原生规划库到：$resolvedDestination"
+}