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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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39
src/Flyshot.ControllerClientCompat/ControllerClientCompatRobotCatalog.cs
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@@ -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;
}
}