✨ 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

NLog.config

@@ -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')" />

TrajectoryStore/FANUC_LR_Mate_200iD_trajectories.json

@@ -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": {}
-}

src/Flyshot.ControllerClientCompat/ControllerClientCompatOptions.cs

@@ -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);
+    }
 }

src/Flyshot.ControllerClientCompat/ControllerClientCompatRobotCatalog.cs

@@ -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, ".."));
+            return Path.Combine(legacyWorkspaceRoot, "FlyingShot", "FlyingShot", "Models", modelFileName);
         }
 
-            current = current.Parent;
-        }
-
-        throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
+        return configModelPath;
     }
 }

src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs

@@ -709,25 +709,42 @@ 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()
+    {
+        foreach (var root in EnumerateRobotConfigRoots())
         {
             try
             {
-            var workspaceRoot = !string.IsNullOrWhiteSpace(_options.WorkspaceRoot)
-                ? Path.GetFullPath(_options.WorkspaceRoot)
-                : ResolveWorkspaceRootFromBaseDirectory();
-
-            var configPath = PathCompatibility.ResolveConfigPath("RobotConfig.json", workspaceRoot);
-            var loaded = _configLoader.Load(configPath, workspaceRoot);
+                // 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。
+            }
+        }
+
         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)
+        {
+            yield return legacyWorkspaceRoot;
+        }
     }
 
     /// <summary>
@@ -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.");
-    }
 }

src/Flyshot.ControllerClientCompat/FlyshotTrajectoryStore.cs

@@ -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.");
-    }
 }

src/Flyshot.Core.Config/PathCompatibility.cs

@@ -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>

src/Flyshot.Core.Config/RobotConfigLoader.cs

@@ -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;

src/Flyshot.Server.Host/Flyshot.Server.Host.csproj

@@ -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>

src/Flyshot.Server.Host/Middleware/RequestResponseLoggingMiddleware.cs

@@ -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));
+    }
 }

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);
+}