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✨ feat(*): 添加 ConfigRoot 运行时配置目录隔离

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* 新增 ControllerClientCompatOptions.ConfigRoot 及解析方法
* 兼容层默认从运行目录 Config 加载模型、轨迹和配置
* 移除隐式父工作区根目录推断，旧路径仅在显式配置时生效
* Host 项目编译时将 Config 目录复制到输出目录
* 请求响应日志中间件忽略 /api/status/snapshot 高频轮询
* 补充 ConfigRoot 和日志过滤相关单元测试
This commit is contained in:
yunxiao.zhu
2026-04-29 18:27:03 +08:00
parent c38faddbf0
commit a6579f1e5b
16 changed files with 451 additions and 143 deletions
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5
NLog.config
View File

@@ -28,8 +28,9 @@
</targets>
<rules>
<!-- 压制 ASP.NET Core MVC 的常规信息日志，只保留 Error 及以上级别。 -->
<logger name="Microsoft.AspNetCore.Mvc.*" minlevel="Error" writeTo="logconsole,logfile" />
<!-- 压制 ASP.NET Core 的常规信息日志，只保留 Error 及以上级别。 -->
<logger name="Microsoft.AspNetCore.*" maxlevel="Warn" final="true" />
<logger name="Microsoft.AspNetCore.*" minlevel="Error" writeTo="logconsole,logfile" />
<!-- 开发环境：显示控制台 + 详细文件，最低 Debug -->
<logger name="*" minlevel="Debug" writeTo="logconsole,logfile" condition="equals('${var:env}','Development')" />

11
TrajectoryStore/FANUC_LR_Mate_200iD_trajectories.json
View File

@@ -1,11 +0,0 @@
{
"robot": {
"use_do": false,
"io_addr": [],
"io_keep_cycles": 2,
"acc_limit": 1,
"jerk_limit": 1,
"adapt_icsp_try_num": 5
},
"flying_shots": {}
}

31
src/Flyshot.ControllerClientCompat/ControllerClientCompatOptions.cs
View File

@@ -11,7 +11,36 @@ public sealed class ControllerClientCompatOptions
public string ServerVersion { get; set; } = "flyshot-replacement-controller-client-compat/0.1.0";
/// <summary>
/// 获取或设置父工作区根目录；为空时由运行时自动推断。
/// 获取或设置运行配置根目录；为空时默认使用程序基目录下的 Config。
/// </summary>
public string? ConfigRoot { get; set; }
/// <summary>
/// 获取或设置旧父工作区根目录；仅用于测试或旧样本显式兼容。
/// </summary>
public string? WorkspaceRoot { get; set; }
/// <summary>
/// 解析运行配置根目录，确保运行时默认不再依赖源码仓库位置。
/// </summary>
/// <returns>运行配置根目录的绝对路径。</returns>
public string ResolveConfigRoot()
{
var root = string.IsNullOrWhiteSpace(ConfigRoot)
? Path.Combine(AppContext.BaseDirectory, "Config")
: ConfigRoot;
return Path.GetFullPath(root);
}
/// <summary>
/// 解析显式配置的旧父工作区根目录；未配置时返回 null。
/// </summary>
/// <returns>旧父工作区根目录的绝对路径，或 null。</returns>
public string? ResolveLegacyWorkspaceRoot()
{
return string.IsNullOrWhiteSpace(WorkspaceRoot)
? null
: Path.GetFullPath(WorkspaceRoot);
}
}

39
src/Flyshot.ControllerClientCompat/ControllerClientCompatRobotCatalog.cs
View File

@@ -9,12 +9,12 @@ namespace Flyshot.ControllerClientCompat;
public sealed class ControllerClientCompatRobotCatalog
{
/// <summary>
/// 保存当前现场支持的机器人名称到模型相对路径映射。
/// 保存当前现场支持的机器人名称到运行目录模型文件名映射。
/// </summary>
private static readonly IReadOnlyDictionary<string, string> SupportedRobotModelMap = new Dictionary<string, string>(StringComparer.Ordinal)
private static readonly IReadOnlyDictionary<string, string> SupportedRobotModelFileMap = new Dictionary<string, string>(StringComparer.Ordinal)
{
["FANUC_LR_Mate_200iD"] = Path.Combine("FlyingShot", "FlyingShot", "Models", "LR_Mate_200iD_7L.robot"),
["FANUC_LR_Mate_200iD_7L"] = Path.Combine("FlyingShot", "FlyingShot", "Models", "LR_Mate_200iD_7L.robot")
["FANUC_LR_Mate_200iD"] = "LR_Mate_200iD_7L.robot",
["FANUC_LR_Mate_200iD_7L"] = "LR_Mate_200iD_7L.robot"
};
private readonly ControllerClientCompatOptions _options;
@@ -47,39 +47,34 @@ public sealed class ControllerClientCompatRobotCatalog
throw new ArgumentException("机器人名称不能为空。", nameof(robotName));
}
if (!SupportedRobotModelMap.TryGetValue(robotName, out var modelRelativePath))
if (!SupportedRobotModelFileMap.TryGetValue(robotName, out var modelFileName))
{
throw new InvalidOperationException($"Unsupported robot name: {robotName}");
}
var workspaceRoot = ResolveWorkspaceRoot();
var modelPath = Path.Combine(workspaceRoot, modelRelativePath);
var modelPath = ResolveModelPath(modelFileName);
return _robotModelLoader.LoadProfile(modelPath, accLimitScale, jerkLimitScale);
}
/// <summary>
/// 解析父工作区根目录，优先使用显式配置。
/// 解析机器人模型路径，运行目录 Config/Models 优先，旧父工作区只作为显式兼容入口。
/// </summary>
/// <returns>包含 `FlyingShot/` 与 `Rvbust/` 的父工作区根目录。</returns>
private string ResolveWorkspaceRoot()
/// <param name="modelFileName">运行目录 Models 下的机器人模型文件名。</param>
/// <returns>可传给 .robot 加载器的模型文件绝对路径。</returns>
private string ResolveModelPath(string modelFileName)
{
if (!string.IsNullOrWhiteSpace(_options.WorkspaceRoot))
var configModelPath = Path.Combine(_options.ResolveConfigRoot(), "Models", modelFileName);
if (File.Exists(configModelPath))
{
return Path.GetFullPath(_options.WorkspaceRoot);
return configModelPath;
}
var current = new DirectoryInfo(AppContext.BaseDirectory);
while (current is not null)
var legacyWorkspaceRoot = _options.ResolveLegacyWorkspaceRoot();
if (legacyWorkspaceRoot is not null)
{
// 宿主和测试都从 replacement 仓库内启动；找到 sln 后回退一级就是父工作区根目录。
if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
{
return Path.GetFullPath(Path.Combine(current.FullName, ".."));
}
current = current.Parent;
return Path.Combine(legacyWorkspaceRoot, "FlyingShot", "FlyingShot", "Models", modelFileName);
}
throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
return configModelPath;
}
}

58
src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs
View File

@@ -709,24 +709,41 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
}
/// <summary>
/// 尝试从工作区加载旧版 RobotConfig.json 获取机器人配置；失败时返回 null。
/// 尝试从配置根目录加载 RobotConfig.json 获取机器人配置；失败时返回 null。
/// </summary>
/// <returns>加载到的机器人配置，或 null。</returns>
private CompatibilityRobotSettings? TryLoadRobotSettings()
{
try
foreach (var root in EnumerateRobotConfigRoots())
{
var workspaceRoot = !string.IsNullOrWhiteSpace(_options.WorkspaceRoot)
? Path.GetFullPath(_options.WorkspaceRoot)
: ResolveWorkspaceRootFromBaseDirectory();
var configPath = PathCompatibility.ResolveConfigPath("RobotConfig.json", workspaceRoot);
var loaded = _configLoader.Load(configPath, workspaceRoot);
return loaded.Robot;
try
{
// 运行配置根本身已经是 Config 目录，这里用绝对路径避免再次追加 Config。
var configPath = Path.Combine(root, "RobotConfig.json");
var loaded = _configLoader.Load(configPath, root);
return loaded.Robot;
}
catch
{
// 单个候选根目录加载失败时继续尝试下一个兼容入口。
}
}
catch
return null;
}
/// <summary>
/// 枚举 RobotConfig.json 的配置根目录，运行目录 Config 优先，旧父工作区仅在显式配置时参与。
/// </summary>
/// <returns>待尝试的配置根目录列表。</returns>
private IEnumerable<string> EnumerateRobotConfigRoots()
{
yield return _options.ResolveConfigRoot();
var legacyWorkspaceRoot = _options.ResolveLegacyWorkspaceRoot();
if (legacyWorkspaceRoot is not null)
{
return null;
yield return legacyWorkspaceRoot;
}
}
@@ -745,23 +762,4 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
adaptIcspTryNum: 5);
}
/// <summary>
/// 从当前程序基目录向上搜索 FlyshotReplacement.sln 以推断工作区根目录。
/// </summary>
/// <returns>父工作区根目录。</returns>
private static string ResolveWorkspaceRootFromBaseDirectory()
{
var current = new DirectoryInfo(AppContext.BaseDirectory);
while (current is not null)
{
if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
{
return Path.GetFullPath(Path.Combine(current.FullName, ".."));
}
current = current.Parent;
}
throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
}
}

34
src/Flyshot.ControllerClientCompat/FlyshotTrajectoryStore.cs
View File

@@ -36,7 +36,7 @@ public interface IFlyshotTrajectoryStore
}
/// <summary>
/// 使用与旧版 RobotConfig.json 一致的 JSON 格式持久化飞拍轨迹和机器人配置。
/// 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
{
@@ -47,7 +47,7 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
/// <summary>
/// 初始化基于 JSON 文件的轨迹存储。
/// </summary>
/// <param name="options">兼容层基础配置，用于定位工作区根目录。</param>
/// <param name="options">兼容层基础配置，用于定位运行配置根目录。</param>
/// <param name="configLoader">旧版 RobotConfig.json 加载器，用于反序列化已保存的轨迹。</param>
/// <param name="logger">日志记录器；允许 null。</param>
public JsonFlyshotTrajectoryStore(ControllerClientCompatOptions options, RobotConfigLoader configLoader, ILogger<JsonFlyshotTrajectoryStore>? logger = null)
@@ -166,8 +166,7 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
{
_logger?.LogInformation("TrajectoryStore 正在加载: {Path}", path);
var workspaceRoot = ResolveWorkspaceRoot();
var loaded = _configLoader.Load(path, workspaceRoot);
var loaded = _configLoader.Load(path, _options.ResolveConfigRoot());
settings = loaded.Robot;
var dict = new Dictionary<string, ControllerClientCompatUploadedTrajectory>(StringComparer.Ordinal);
@@ -234,32 +233,7 @@ public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
/// </summary>
private string ResolveStorePath(string robotName)
{
var workspaceRoot = ResolveWorkspaceRoot();
var storeDir = Path.Combine(workspaceRoot, "flyshot-replacement", "TrajectoryStore");
var storeDir = Path.Combine(_options.ResolveConfigRoot(), "TrajectoryStore");
return Path.Combine(storeDir, $"{robotName}_trajectories.json");
}
/// <summary>
/// 解析父工作区根目录，优先使用显式配置。
/// </summary>
private string ResolveWorkspaceRoot()
{
if (!string.IsNullOrWhiteSpace(_options.WorkspaceRoot))
{
return Path.GetFullPath(_options.WorkspaceRoot);
}
var current = new DirectoryInfo(AppContext.BaseDirectory);
while (current is not null)
{
if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
{
return Path.GetFullPath(Path.Combine(current.FullName, ".."));
}
current = current.Parent;
}
throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
}
}

29
src/Flyshot.Core.Config/PathCompatibility.cs
View File

@@ -22,7 +22,7 @@ public enum CompatibilityPathStyle
public static class PathCompatibility
{
/// <summary>
/// 按旧系统常见目录约定解析配置文件路径。
/// 按当前服务配置目录约定解析配置文件路径。
/// </summary>
/// <param name="configPath">调用方传入的原始配置路径。</param>
/// <param name="repoRoot">当前兼容搜索的仓库根目录。</param>
@@ -48,11 +48,10 @@ public static class PathCompatibility
}
var normalizedRepoRoot = Path.GetFullPath(repoRoot);
var fileName = Path.GetFileName(rawPath);
var checkedPaths = new List<string>();
// 先按最常见的候选路径顺序尝试，保持与旧工具链相近的定位逻辑。
foreach (var candidate in BuildConfigCandidates(normalizedRepoRoot, rawPath, fileName))
// 相对路径只允许落在当前服务根目录的 Config 下，避免隐式回退到父工作区旧文件。
foreach (var candidate in BuildConfigCandidates(normalizedRepoRoot, rawPath))
{
var fullCandidate = Path.GetFullPath(candidate);
if (checkedPaths.Contains(fullCandidate, StringComparer.OrdinalIgnoreCase))
@@ -67,18 +66,6 @@ public static class PathCompatibility
}
}
// 最后一层兜底按文件名全仓库搜索，但只接受唯一命中，避免同名配置误判。
var matches = Directory
.EnumerateFiles(normalizedRepoRoot, fileName, SearchOption.AllDirectories)
.Select(Path.GetFullPath)
.Distinct(StringComparer.OrdinalIgnoreCase)
.ToArray();
if (matches.Length == 1)
{
return matches[0];
}
throw new FileNotFoundException(
$"未找到配置文件 '{configPath}'。已检查: {string.Join(", ", checkedPaths)}",
configPath);
@@ -106,15 +93,11 @@ public static class PathCompatibility
}
/// <summary>
/// 枚举旧系统中最常见的配置候选路径。
/// 枚举当前服务配置目录下允许的配置候选路径。
/// </summary>
private static IEnumerable<string> BuildConfigCandidates(string repoRoot, string rawPath, string fileName)
private static IEnumerable<string> BuildConfigCandidates(string repoRoot, string rawPath)
{
yield return Path.Combine(repoRoot, rawPath);
yield return Path.Combine(repoRoot, "Rvbust", "Data", fileName);
yield return Path.Combine(repoRoot, "Rvbust", "Install", "FlyingShot", "Config", fileName);
yield return Path.Combine(repoRoot, "Rvbust", fileName);
yield return Path.Combine(repoRoot, fileName);
yield return Path.Combine(repoRoot, "Config", rawPath);
}
/// <summary>

4
src/Flyshot.Core.Config/RobotConfigLoader.cs
View File

@@ -253,7 +253,7 @@ public sealed class RobotConfigLoader
}
/// <summary>
/// 推断仓库根目录，优先使用调用方显式传入的值。
/// 推断当前 replacement 仓库根目录，优先使用调用方显式传入的值。
/// </summary>
private static string ResolveRepoRoot(string? repoRoot)
{
@@ -267,7 +267,7 @@ public sealed class RobotConfigLoader
{
if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
{
return Path.GetFullPath(Path.Combine(current.FullName, ".."));
return current.FullName;
}
current = current.Parent;

2
src/Flyshot.Server.Host/Flyshot.Server.Host.csproj
View File

@@ -14,6 +14,8 @@
<ItemGroup>
<!-- 运行时需要把仓库根目录的 NLog.config 带到 Host 输出目录，确保控制台和文件日志目标生效。 -->
<Content Include="..\..\NLog.config" Link="NLog.config" CopyToOutputDirectory="PreserveNewest" />
<!-- 运行时配置根目录固定为输出目录 Config，调试和发布都复制仓库内固化配置。 -->
<Content Include="..\..\Config\**\*" Link="Config\%(RecursiveDir)%(Filename)%(Extension)" CopyToOutputDirectory="PreserveNewest" CopyToPublishDirectory="PreserveNewest" />
</ItemGroup>
<ItemGroup>

25
src/Flyshot.Server.Host/Middleware/RequestResponseLoggingMiddleware.cs
View File

@@ -18,6 +18,14 @@ public sealed class RequestResponseLoggingMiddleware
/// </summary>
private const int MaxBodyLogLength = 4096;
/// <summary>
/// 请求/响应日志忽略路径前缀列表，用于跳过高频轮询接口的常规日志。
/// </summary>
private static readonly string[] IgnoredLogPathPrefixes =
[
"/api/status/snapshot"
];
/// <summary>
/// 初始化请求响应日志中间件。
/// </summary>
@@ -35,6 +43,13 @@ public sealed class RequestResponseLoggingMiddleware
/// <param name="context">HTTP 上下文。</param>
public async Task InvokeAsync(HttpContext context)
{
// 高频状态轮询接口只转发请求，不记录请求/响应日志，避免控制台和文件日志被刷屏。
if (ShouldSkipRequestResponseLog(context.Request.Path))
{
await _next(context).ConfigureAwait(false);
return;
}
var stopwatch = Stopwatch.StartNew();
var request = context.Request;
var requestId = Activity.Current?.Id ?? context.TraceIdentifier;
@@ -144,4 +159,14 @@ public sealed class RequestResponseLoggingMiddleware
return body[..MaxBodyLogLength] + " ... [截断，总长度=" + body.Length + "]";
}
/// <summary>
/// 判断当前请求路径是否命中请求/响应日志忽略前缀。
/// </summary>
private static bool ShouldSkipRequestResponseLog(PathString path)
{
var pathValue = path.Value;
return !string.IsNullOrEmpty(pathValue)
&& IgnoredLogPathPrefixes.Any(prefix => pathValue.StartsWith(prefix, StringComparison.OrdinalIgnoreCase));
}
}

67
tests/Flyshot.Core.Tests/ConfigCompatibilityTests.cs
View File

@@ -120,10 +120,35 @@ public sealed class ConfigCompatibilityTests
}
/// <summary>
/// 验证路径兼容层既能补旧目录候选，也能按平台策略生成默认用户数据目录。
/// 验证路径兼容层只从当前服务配置目录解析相对配置，并按平台策略生成默认用户数据目录。
/// </summary>
[Fact]
public void PathCompatibility_ResolvesLegacyCandidates_AndBuildsUserDataRoots()
public void PathCompatibility_ResolvesConfigDirectoryOnly_AndBuildsUserDataRoots()
{
var tempRoot = CreateTempDirectory();
try
{
var configPath = Path.Combine(tempRoot, "Config", "sample.json");
Directory.CreateDirectory(Path.GetDirectoryName(configPath)!);
File.WriteAllText(configPath, "{}");
var resolved = PathCompatibility.ResolveConfigPath("sample.json", tempRoot);
Assert.Equal(configPath, resolved);
Assert.Equal("/home/tester/.Rvbust/Data", PathCompatibility.BuildUserDataRoot("/home/tester", CompatibilityPathStyle.Posix));
Assert.Equal(@"C:\Users\tester\.Rvbust\Data", PathCompatibility.BuildUserDataRoot(@"C:\Users\tester", CompatibilityPathStyle.Windows));
}
finally
{
Directory.Delete(tempRoot, recursive: true);
}
}
/// <summary>
/// 验证旧父工作区候选路径存在时也不会被相对配置解析隐式命中。
/// </summary>
[Fact]
public void PathCompatibility_DoesNotResolveLegacyWorkspaceFallbacks()
{
var tempRoot = CreateTempDirectory();
try
@@ -132,11 +157,9 @@ public sealed class ConfigCompatibilityTests
Directory.CreateDirectory(Path.GetDirectoryName(legacyConfigPath)!);
File.WriteAllText(legacyConfigPath, "{}");
var resolved = PathCompatibility.ResolveConfigPath("sample.json", tempRoot);
var exception = Assert.Throws<FileNotFoundException>(() => PathCompatibility.ResolveConfigPath("sample.json", tempRoot));
Assert.Equal(legacyConfigPath, resolved);
Assert.Equal("/home/tester/.Rvbust/Data", PathCompatibility.BuildUserDataRoot("/home/tester", CompatibilityPathStyle.Posix));
Assert.Equal(@"C:\Users\tester\.Rvbust\Data", PathCompatibility.BuildUserDataRoot(@"C:\Users\tester", CompatibilityPathStyle.Windows));
Assert.Equal("sample.json", exception.FileName);
}
finally
{
@@ -144,6 +167,19 @@ public sealed class ConfigCompatibilityTests
}
}
/// <summary>
/// 验证默认加载配置时使用当前 replacement 仓库内的 Config/RobotConfig.json。
/// </summary>
[Fact]
public void RobotConfigLoader_LoadsRepositoryConfigFromReplacementConfigDirectory()
{
var replacementRoot = GetReplacementRoot();
var loaded = new RobotConfigLoader().Load("RobotConfig.json");
Assert.Equal(Path.Combine(replacementRoot, "Config", "RobotConfig.json"), loaded.SourcePath);
}
/// <summary>
/// 定位当前工作区根目录，便于复用父仓库中的真实样本。
/// </summary>
@@ -164,6 +200,25 @@ public sealed class ConfigCompatibilityTests
throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
}
/// <summary>
/// 定位 replacement 仓库根目录，供测试读取仓库内固化配置。
/// </summary>
private static string GetReplacementRoot()
{
var current = new DirectoryInfo(AppContext.BaseDirectory);
while (current is not null)
{
if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
{
return current.FullName;
}
current = current.Parent;
}
throw new DirectoryNotFoundException("Unable to locate the flyshot replacement root.");
}
/// <summary>
/// 创建当前测试专用的临时目录，避免不同测试之间相互污染。
/// </summary>

148
tests/Flyshot.Core.Tests/ControllerClientCompatConfigRootTests.cs Normal file
View File

@@ -0,0 +1,148 @@
using Flyshot.ControllerClientCompat;
using Flyshot.Core.Config;
namespace Flyshot.Core.Tests;
/// <summary>
/// 验证 ControllerClient 兼容层默认围绕运行目录 Config 读写配置和轨迹文件。
/// </summary>
public sealed class ControllerClientCompatConfigRootTests
{
/// <summary>
/// 验证路径兼容层优先命中运行目录 Config 下的 RobotConfig.json，而不是旧仓库根目录候选。
/// </summary>
[Fact]
public void PathCompatibility_ResolvesRuntimeConfigBeforeLegacyCandidates()
{
var runtimeRoot = CreateTempDirectory();
try
{
var configPath = Path.Combine(runtimeRoot, "Config", "RobotConfig.json");
var legacyPath = Path.Combine(runtimeRoot, "RobotConfig.json");
Directory.CreateDirectory(Path.GetDirectoryName(configPath)!);
File.WriteAllText(configPath, "{}");
File.WriteAllText(legacyPath, "{}");
var resolved = PathCompatibility.ResolveConfigPath("RobotConfig.json", runtimeRoot);
Assert.Equal(configPath, resolved);
}
finally
{
Directory.Delete(runtimeRoot, recursive: true);
}
}
/// <summary>
/// 验证机器人目录优先从显式 ConfigRoot/Models 加载 .robot 文件。
/// </summary>
[Fact]
public void ControllerClientCompatRobotCatalog_LoadsModelFromConfigRootModels()
{
var configRoot = CreateTempConfigRoot();
try
{
CopySampleRobotModel(configRoot);
var options = new ControllerClientCompatOptions { ConfigRoot = configRoot };
var catalog = new ControllerClientCompatRobotCatalog(options, new RobotModelLoader());
var profile = catalog.LoadProfile("FANUC_LR_Mate_200iD");
Assert.Equal(Path.Combine(configRoot, "Models", "LR_Mate_200iD_7L.robot"), profile.ModelPath);
}
finally
{
Directory.Delete(configRoot, recursive: true);
}
}
/// <summary>
/// 验证 JSON 轨迹存储保存、加载和删除都落在 ConfigRoot/TrajectoryStore 目录。
/// </summary>
[Fact]
public void JsonFlyshotTrajectoryStore_PersistsTrajectoriesUnderConfigRootStore()
{
var configRoot = CreateTempConfigRoot();
try
{
var options = new ControllerClientCompatOptions { ConfigRoot = configRoot };
var store = new JsonFlyshotTrajectoryStore(options, new RobotConfigLoader());
var settings = new CompatibilityRobotSettings(
useDo: true,
ioAddresses: [7, 8],
ioKeepCycles: 2,
accLimitScale: 1.0,
jerkLimitScale: 1.0,
adaptIcspTryNum: 5);
var trajectory = TestRobotFactory.CreateUploadedTrajectoryWithSingleShot();
store.Save("FANUC_LR_Mate_200iD", settings, trajectory);
var expectedPath = Path.Combine(configRoot, "TrajectoryStore", "FANUC_LR_Mate_200iD_trajectories.json");
Assert.True(File.Exists(expectedPath), $"应在运行目录 Config 下创建轨迹文件: {expectedPath}");
var loaded = store.LoadAll("FANUC_LR_Mate_200iD", out var loadedSettings);
Assert.NotNull(loadedSettings);
Assert.Contains(trajectory.Name, loaded);
store.Delete("FANUC_LR_Mate_200iD", trajectory.Name);
var afterDelete = store.LoadAll("FANUC_LR_Mate_200iD", out _);
Assert.Empty(afterDelete);
}
finally
{
Directory.Delete(configRoot, recursive: true);
}
}
/// <summary>
/// 创建测试专用的运行目录 Config 根，避免污染真实输出目录。
/// </summary>
private static string CreateTempConfigRoot()
{
var root = Path.Combine(Path.GetTempPath(), "flyshot-config-root-tests", Guid.NewGuid().ToString("N"), "Config");
Directory.CreateDirectory(root);
return root;
}
/// <summary>
/// 创建测试专用的临时目录。
/// </summary>
private static string CreateTempDirectory()
{
var root = Path.Combine(Path.GetTempPath(), "flyshot-config-root-tests", Guid.NewGuid().ToString("N"));
Directory.CreateDirectory(root);
return root;
}
/// <summary>
/// 复制仓库内已固化的现场机器人模型到临时 Config/Models 目录。
/// </summary>
private static void CopySampleRobotModel(string configRoot)
{
var modelDir = Path.Combine(configRoot, "Models");
Directory.CreateDirectory(modelDir);
File.Copy(
Path.Combine(GetReplacementRoot(), "Config", "Models", "LR_Mate_200iD_7L.robot"),
Path.Combine(modelDir, "LR_Mate_200iD_7L.robot"));
}
/// <summary>
/// 定位 replacement 仓库根目录，供测试读取仓库内固化样本。
/// </summary>
private static string GetReplacementRoot()
{
var current = new DirectoryInfo(AppContext.BaseDirectory);
while (current is not null)
{
if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
{
return current.FullName;
}
current = current.Parent;
}
throw new DirectoryNotFoundException("Unable to locate the flyshot replacement root.");
}
}

4
tests/Flyshot.Core.Tests/FanucControllerRuntimeDenseTests.cs
View File

@@ -101,7 +101,7 @@ public sealed class FanucControllerRuntimeDenseTests
var options = new ControllerClientCompatOptions
{
WorkspaceRoot = TestRobotFactory.GetWorkspaceRoot()
ConfigRoot = TestRobotFactory.GetConfigRoot()
};
var robot = new ControllerClientCompatRobotCatalog(options, new RobotModelLoader())
.LoadProfile("FANUC_LR_Mate_200iD", accLimitScale: 1.0, jerkLimitScale: 1.0);
@@ -547,7 +547,7 @@ public sealed class FanucControllerRuntimeDenseTests
{
var options = new ControllerClientCompatOptions
{
WorkspaceRoot = TestRobotFactory.GetWorkspaceRoot()
ConfigRoot = TestRobotFactory.GetConfigRoot()
};
return new ControllerClientCompatService(

3
tests/Flyshot.Core.Tests/OfflinePlanTests.cs
View File

@@ -35,11 +35,12 @@ public sealed class OfflinePlanTests
double speedRatio)
{
var workspaceRoot = GetWorkspaceRoot();
var resolvedConfigPath = Path.Combine(workspaceRoot, configPath);
var outputDir = Path.Combine(workspaceRoot, "analysis", "output", "dotnet", $"{trajName}_sr{speedRatio:F2}_{(useSelfAdapt ? "adapt" : "icsp")}");
Directory.CreateDirectory(outputDir);
// 1. 加载配置和模型。
var loadedConfig = new RobotConfigLoader().Load(configPath, repoRoot: workspaceRoot);
var loadedConfig = new RobotConfigLoader().Load(resolvedConfigPath, repoRoot: workspaceRoot);
var program = loadedConfig.Programs[trajName];
var resolvedRobotModelPath = Path.Combine(workspaceRoot, robotModelPath);
var baseProfile = new RobotModelLoader().LoadProfile(resolvedRobotModelPath, loadedConfig.Robot.AccLimitScale, loadedConfig.Robot.JerkLimitScale);

54
tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs
View File

@@ -263,11 +263,11 @@ public sealed class RuntimeOrchestrationTests
[Fact]
public void ControllerClientCompatService_SetUpRobot_AppliesRobotConfigLimitScales()
{
var tempRoot = CreateTempWorkspaceRoot();
var configRoot = CreateTempConfigRoot();
try
{
File.WriteAllText(
Path.Combine(tempRoot, "RobotConfig.json"),
Path.Combine(configRoot, "RobotConfig.json"),
"""
{
"robot": {
@@ -282,7 +282,7 @@ public sealed class RuntimeOrchestrationTests
}
""");
var options = new ControllerClientCompatOptions { WorkspaceRoot = tempRoot };
var options = new ControllerClientCompatOptions { ConfigRoot = configRoot };
var runtime = new RecordingControllerRuntime();
var service = new ControllerClientCompatService(
options,
@@ -300,28 +300,27 @@ public sealed class RuntimeOrchestrationTests
}
finally
{
Directory.Delete(tempRoot, recursive: true);
Directory.Delete(configRoot, recursive: true);
}
}
/// <summary>
/// 创建只包含当前支持机器人模型和 RobotConfig.json 的临时工作区。
/// 创建只包含当前支持机器人模型和 RobotConfig.json 的临时运行配置根。
/// </summary>
private static string CreateTempWorkspaceRoot()
private static string CreateTempConfigRoot()
{
var tempRoot = Path.Combine(Path.GetTempPath(), "flyshot-runtime-tests", Guid.NewGuid().ToString("N"));
var modelDir = Path.Combine(tempRoot, "FlyingShot", "FlyingShot", "Models");
var configRoot = Path.Combine(Path.GetTempPath(), "flyshot-runtime-tests", Guid.NewGuid().ToString("N"), "Config");
var modelDir = Path.Combine(configRoot, "Models");
Directory.CreateDirectory(modelDir);
var sourceModel = Path.Combine(
TestRobotFactory.GetWorkspaceRoot(),
"FlyingShot",
"FlyingShot",
TestRobotFactory.GetReplacementRoot(),
"Config",
"Models",
"LR_Mate_200iD_7L.robot");
File.Copy(sourceModel, Path.Combine(modelDir, "LR_Mate_200iD_7L.robot"));
return tempRoot;
return configRoot;
}
}
@@ -382,7 +381,7 @@ internal static class TestRobotFactory
{
var options = new ControllerClientCompatOptions
{
WorkspaceRoot = GetWorkspaceRoot()
ConfigRoot = GetConfigRoot()
};
return new ControllerClientCompatService(
@@ -394,6 +393,35 @@ internal static class TestRobotFactory
new InMemoryFlyshotTrajectoryStore());
}
/// <summary>
/// 定位 replacement 仓库内的运行配置根目录。
/// </summary>
/// <returns>当前仓库 Config 目录。</returns>
public static string GetConfigRoot()
{
return Path.Combine(GetReplacementRoot(), "Config");
}
/// <summary>
/// 定位 replacement 仓库根目录，供测试读取仓库内固化配置。
/// </summary>
/// <returns>replacement 仓库根目录。</returns>
public static string GetReplacementRoot()
{
var current = new DirectoryInfo(AppContext.BaseDirectory);
while (current is not null)
{
if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
{
return current.FullName;
}
current = current.Parent;
}
throw new DirectoryNotFoundException("Unable to locate the flyshot replacement root.");
}
/// <summary>
/// 定位父工作区根目录，供兼容服务加载真实机器人模型。
/// </summary>

80
tests/Flyshot.Server.IntegrationTests/RequestResponseLoggingMiddlewareTests.cs Normal file
View File

@@ -0,0 +1,80 @@
using Flyshot.Server.Host.Middleware;
using Microsoft.AspNetCore.Http;
using Microsoft.Extensions.Logging;
namespace Flyshot.Server.IntegrationTests;
/// <summary>
/// HTTP 请求响应日志中间件测试。
/// </summary>
public sealed class RequestResponseLoggingMiddlewareTests
{
/// <summary>
/// 高频状态快照路径命中忽略前缀时，不应写入请求和响应日志。
/// </summary>
[Fact]
public async Task InvokeAsync_WhenPathMatchesIgnoredPrefix_DoesNotWriteRequestResponseLogs()
{
var logger = new CapturingLogger<RequestResponseLoggingMiddleware>();
var nextWasCalled = false;
var middleware = new RequestResponseLoggingMiddleware(
async context =>
{
nextWasCalled = true;
context.Response.StatusCode = StatusCodes.Status200OK;
await context.Response.WriteAsync("ok");
},
logger);
var context = new DefaultHttpContext();
context.Request.Method = HttpMethods.Get;
context.Request.Path = "/api/status/snapshot/current";
context.Response.Body = new MemoryStream();
await middleware.InvokeAsync(context);
Assert.True(nextWasCalled);
Assert.Empty(logger.Entries);
}
/// <summary>
/// 捕获中间件写出的日志条目，避免测试依赖真实 NLog 目标。
/// </summary>
private sealed class CapturingLogger<T> : ILogger<T>
{
/// <summary>
/// 已捕获的日志条目。
/// </summary>
public List<LogEntry> Entries { get; } = new();
/// <inheritdoc />
public IDisposable? BeginScope<TState>(TState state)
where TState : notnull
{
return null;
}
/// <inheritdoc />
public bool IsEnabled(LogLevel logLevel)
{
return true;
}
/// <inheritdoc />
public void Log<TState>(
LogLevel logLevel,
EventId eventId,
TState state,
Exception? exception,
Func<TState, Exception?, string> formatter)
{
Entries.Add(new LogEntry(logLevel, formatter(state, exception)));
}
}
/// <summary>
/// 测试用日志条目。
/// </summary>
/// <param name="Level">日志级别。</param>
/// <param name="Message">格式化后的日志消息。</param>
private sealed record LogEntry(LogLevel Level, string Message);
}