✨ feat(fanuc): 添加协议编解码与状态页" -m "* 固化 10010 状态帧、10012 命令帧和 60015 J519 包编解码
* 扩展 ControllerClient 兼容层的执行参数和运行时编排 * 新增 /status 页面与 /api/status/snapshot 状态快照接口 * 补充 FANUC 协议、客户端和状态接口的最小验证测试 * 更新 README、兼容要求和真机 Socket 通信实现计划
This commit is contained in:
385
src/Flyshot.Server.Host/Controllers/StatusController.cs
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385
src/Flyshot.Server.Host/Controllers/StatusController.cs
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using Flyshot.ControllerClientCompat;
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using Microsoft.AspNetCore.Mvc;
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namespace Flyshot.Server.Host.Controllers;
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/// <summary>
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/// 提供只读状态监控页面和控制器状态快照 API。
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/// </summary>
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[ApiController]
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public sealed class StatusController : ControllerBase
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{
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/// <summary>
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/// 浏览器端状态监控页面，页面逻辑只读取状态快照，不触发控制动作。
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/// </summary>
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private const string StatusPageHtml = """
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<!doctype html>
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<html lang="zh-CN">
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<head>
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<meta charset="utf-8">
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>Flyshot Replacement 状态监控</title>
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<style>
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:root {
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color-scheme: light;
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--bg: #f5f7fb;
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--surface: #ffffff;
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--line: #d8dee9;
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--text: #172033;
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--muted: #5b667a;
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--accent: #007c89;
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--good: #12805c;
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--warn: #b7791f;
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--bad: #b42318;
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}
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* {
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box-sizing: border-box;
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}
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body {
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margin: 0;
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min-height: 100vh;
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background: var(--bg);
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color: var(--text);
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font-family: "Segoe UI", "Microsoft YaHei", Arial, sans-serif;
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font-size: 15px;
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letter-spacing: 0;
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}
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header {
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border-bottom: 1px solid var(--line);
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background: var(--surface);
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}
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.topbar {
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display: flex;
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align-items: center;
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justify-content: space-between;
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gap: 16px;
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width: min(1180px, calc(100% - 32px));
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margin: 0 auto;
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padding: 18px 0;
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}
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h1 {
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margin: 0;
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font-size: 22px;
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font-weight: 650;
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}
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button {
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min-height: 36px;
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padding: 0 14px;
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border: 1px solid var(--accent);
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border-radius: 6px;
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background: var(--accent);
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color: #ffffff;
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font: inherit;
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cursor: pointer;
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}
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button:disabled {
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opacity: 0.6;
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cursor: default;
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}
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main {
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width: min(1180px, calc(100% - 32px));
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margin: 22px auto;
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}
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.summary {
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display: grid;
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grid-template-columns: repeat(4, minmax(0, 1fr));
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gap: 12px;
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margin-bottom: 16px;
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}
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.metric,
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section {
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border: 1px solid var(--line);
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border-radius: 8px;
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background: var(--surface);
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}
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.metric {
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min-height: 86px;
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padding: 14px;
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}
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.label {
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color: var(--muted);
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font-size: 13px;
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}
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.value {
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margin-top: 8px;
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overflow-wrap: anywhere;
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font-size: 24px;
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font-weight: 650;
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}
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.status-row {
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display: flex;
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align-items: center;
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gap: 8px;
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}
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.dot {
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width: 12px;
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height: 12px;
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flex: 0 0 12px;
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border-radius: 999px;
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background: var(--warn);
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}
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.dot.good {
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background: var(--good);
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}
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.dot.bad {
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background: var(--bad);
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}
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.grid {
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display: grid;
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grid-template-columns: repeat(2, minmax(0, 1fr));
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gap: 16px;
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}
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section h2 {
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margin: 0;
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padding: 14px 16px;
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border-bottom: 1px solid var(--line);
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font-size: 16px;
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font-weight: 650;
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}
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dl {
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display: grid;
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grid-template-columns: 160px minmax(0, 1fr);
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gap: 0;
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margin: 0;
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padding: 4px 16px 12px;
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}
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dt,
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dd {
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min-height: 36px;
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margin: 0;
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padding: 9px 0;
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border-bottom: 1px solid #edf1f7;
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}
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dt {
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color: var(--muted);
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}
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dd {
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overflow-wrap: anywhere;
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font-family: Consolas, "Cascadia Mono", monospace;
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}
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.empty {
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color: var(--muted);
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font-family: inherit;
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}
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@media (max-width: 820px) {
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.topbar {
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align-items: flex-start;
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flex-direction: column;
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}
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.summary,
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.grid {
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grid-template-columns: 1fr;
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}
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dl {
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grid-template-columns: 1fr;
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}
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dt {
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border-bottom: 0;
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padding-bottom: 2px;
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}
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dd {
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padding-top: 2px;
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}
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}
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</style>
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</head>
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<body>
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<header>
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<div class="topbar">
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<h1>Flyshot Replacement 状态监控</h1>
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<button id="refresh" type="button">刷新</button>
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</div>
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</header>
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<main>
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<div class="summary">
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<div class="metric">
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<div class="label">连接状态</div>
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<div class="value status-row"><span id="state-dot" class="dot"></span><span id="connection-state">--</span></div>
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</div>
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<div class="metric">
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<div class="label">机器人</div>
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<div id="robot-name" class="value">--</div>
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</div>
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<div class="metric">
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<div class="label">速度倍率</div>
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<div id="speed-ratio" class="value">--</div>
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</div>
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<div class="metric">
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<div class="label">运动中</div>
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<div id="motion-state" class="value">--</div>
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</div>
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</div>
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<div class="grid">
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<section>
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<h2>控制器</h2>
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<dl>
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<dt>服务端版本</dt><dd id="server-version">--</dd>
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<dt>客户端版本</dt><dd id="client-version">--</dd>
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<dt>已初始化</dt><dd id="setup-state">--</dd>
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<dt>已使能</dt><dd id="enabled-state">--</dd>
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<dt>采样时间</dt><dd id="captured-at">--</dd>
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</dl>
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</section>
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<section>
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<h2>机器人</h2>
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<dl>
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<dt>自由度</dt><dd id="dof">--</dd>
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<dt>关节位置</dt><dd id="joints">--</dd>
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<dt>TCP 位姿</dt><dd id="pose">--</dd>
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<dt>已上传轨迹</dt><dd id="trajectories" class="empty">--</dd>
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</dl>
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</section>
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</div>
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</main>
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<script>
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const fields = {
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connectionState: document.getElementById("connection-state"),
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stateDot: document.getElementById("state-dot"),
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robotName: document.getElementById("robot-name"),
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speedRatio: document.getElementById("speed-ratio"),
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motionState: document.getElementById("motion-state"),
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serverVersion: document.getElementById("server-version"),
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clientVersion: document.getElementById("client-version"),
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setupState: document.getElementById("setup-state"),
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enabledState: document.getElementById("enabled-state"),
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capturedAt: document.getElementById("captured-at"),
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dof: document.getElementById("dof"),
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joints: document.getElementById("joints"),
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pose: document.getElementById("pose"),
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trajectories: document.getElementById("trajectories"),
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refresh: document.getElementById("refresh")
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};
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function formatArray(values) {
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if (!Array.isArray(values) || values.length === 0) {
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return "--";
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}
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return values.map(value => Number(value).toFixed(4)).join(", ");
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}
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function setDot(connectionState) {
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fields.stateDot.className = "dot";
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if (connectionState === "Connected") {
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fields.stateDot.classList.add("good");
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} else if (connectionState === "NotConfigured") {
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fields.stateDot.classList.add("bad");
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}
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}
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async function refreshStatus() {
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fields.refresh.disabled = true;
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try {
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const response = await fetch("/api/status/snapshot", { cache: "no-store" });
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const payload = await response.json();
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const snapshot = payload.snapshot;
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fields.connectionState.textContent = snapshot.connectionState;
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fields.robotName.textContent = payload.robotName || "--";
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fields.speedRatio.textContent = Number(snapshot.speedRatio).toFixed(2);
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fields.motionState.textContent = snapshot.isInMotion ? "是" : "否";
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fields.serverVersion.textContent = payload.serverVersion;
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fields.clientVersion.textContent = payload.clientVersion;
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fields.setupState.textContent = payload.isSetup ? "是" : "否";
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fields.enabledState.textContent = snapshot.isEnabled ? "是" : "否";
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fields.capturedAt.textContent = new Date(snapshot.capturedAt).toLocaleString();
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fields.dof.textContent = payload.degreesOfFreedom;
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fields.joints.textContent = formatArray(snapshot.jointPositions);
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fields.pose.textContent = formatArray(snapshot.cartesianPose);
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fields.trajectories.textContent = payload.uploadedTrajectories.length > 0
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? payload.uploadedTrajectories.join(", ")
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: "--";
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fields.trajectories.classList.toggle("empty", payload.uploadedTrajectories.length === 0);
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setDot(snapshot.connectionState);
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} finally {
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fields.refresh.disabled = false;
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}
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}
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fields.refresh.addEventListener("click", refreshStatus);
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refreshStatus();
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window.setInterval(refreshStatus, 2000);
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</script>
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</body>
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</html>
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""";
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private readonly IControllerClientCompatService _compatService;
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/// <summary>
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/// 初始化状态监控控制器。
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/// </summary>
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/// <param name="compatService">ControllerClient 兼容层服务。</param>
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public StatusController(IControllerClientCompatService compatService)
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{
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_compatService = compatService ?? throw new ArgumentNullException(nameof(compatService));
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}
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/// <summary>
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/// 返回浏览器可直接打开的状态监控页面。
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/// </summary>
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/// <returns>HTML 状态页面。</returns>
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[HttpGet("/status")]
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public ContentResult GetStatusPage()
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{
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return Content(StatusPageHtml, "text/html; charset=utf-8");
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}
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/// <summary>
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/// 返回当前 ControllerClient 兼容层与控制器运行时状态快照。
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/// </summary>
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/// <returns>面向状态页和外部诊断的 JSON 快照。</returns>
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[HttpGet("/api/status/snapshot")]
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public IActionResult GetSnapshot()
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{
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var snapshot = _compatService.GetControllerSnapshot();
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var isSetup = _compatService.IsSetUp;
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// 状态页需要在机器人未初始化时仍能打开，因此只有初始化后才读取机器人元数据。
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var robotName = isSetup ? _compatService.GetRobotName() : null;
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var degreesOfFreedom = isSetup ? _compatService.GetDegreesOfFreedom() : 0;
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var uploadedTrajectories = isSetup ? _compatService.ListTrajectoryNames() : Array.Empty<string>();
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return Ok(new
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{
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Status = "ok",
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Service = "flyshot-server-host",
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ServerVersion = _compatService.GetServerVersion(),
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ClientVersion = _compatService.GetClientVersion(),
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IsSetup = isSetup,
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RobotName = robotName,
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DegreesOfFreedom = degreesOfFreedom,
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UploadedTrajectories = uploadedTrajectories,
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Snapshot = snapshot
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});
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}
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}
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Reference in New Issue
Block a user