✨ feat(*): 添加 ConfigRoot 运行时配置目录隔离

* 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

tests/Flyshot.Core.Tests/ConfigCompatibilityTests.cs

@@ -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>

tests/Flyshot.Core.Tests/ControllerClientCompatConfigRootTests.cs

@@ -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.");
+    }
+}

tests/Flyshot.Core.Tests/FanucControllerRuntimeDenseTests.cs

@@ -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(

tests/Flyshot.Core.Tests/OfflinePlanTests.cs

@@ -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);

tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs

@@ -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>

tests/Flyshot.Server.IntegrationTests/RequestResponseLoggingMiddlewareTests.cs

@@ -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);
+}