yunxiao.zhu
a78e6761cb
* 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
92 lines
3.8 KiB
C#
92 lines
3.8 KiB
C#
using System.Net;
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using System.Net.Http.Json;
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using System.Text.Json;
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namespace Flyshot.Server.IntegrationTests;
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/// <summary>
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/// 验证状态监控页面和状态快照 API 能读取当前 ControllerClient 兼容层状态。
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/// </summary>
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public sealed class StatusEndpointTests(FlyshotServerFactory factory) : IClassFixture<FlyshotServerFactory>
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{
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/// <summary>
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/// 验证状态页返回可由浏览器直接打开的 HTML，并引用状态快照 API。
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/// </summary>
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[Fact]
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public async Task GetStatusPage_ReturnsMonitoringHtml()
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{
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using var client = factory.CreateClient();
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using var response = await client.GetAsync("/status");
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Assert.Equal(HttpStatusCode.OK, response.StatusCode);
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Assert.StartsWith("text/html", response.Content.Headers.ContentType?.MediaType);
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var html = await response.Content.ReadAsStringAsync();
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Assert.Contains("Flyshot Replacement 状态监控", html, StringComparison.Ordinal);
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Assert.Contains("/api/status/snapshot", html, StringComparison.Ordinal);
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}
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/// <summary>
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/// 验证状态快照 API 会返回运行时连接、使能、速度和机器人元数据。
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/// </summary>
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[Fact]
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public async Task GetStatusSnapshot_ReturnsRuntimeStateAfterLegacyInitialization()
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{
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using var client = factory.CreateClient();
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await InitializeRobotAsync(client);
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using (var speedResponse = await client.PostAsJsonAsync("/set_speedRatio/", new { speed = 0.75 }))
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{
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Assert.Equal(HttpStatusCode.OK, speedResponse.StatusCode);
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}
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using var response = await client.GetAsync("/api/status/snapshot");
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Assert.Equal(HttpStatusCode.OK, response.StatusCode);
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await using var responseStream = await response.Content.ReadAsStreamAsync();
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using var json = await JsonDocument.ParseAsync(responseStream);
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var root = json.RootElement;
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var snapshot = root.GetProperty("snapshot");
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Assert.Equal("ok", root.GetProperty("status").GetString());
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Assert.True(root.GetProperty("isSetup").GetBoolean());
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Assert.Equal("FANUC_LR_Mate_200iD", root.GetProperty("robotName").GetString());
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Assert.Equal(6, root.GetProperty("degreesOfFreedom").GetInt32());
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Assert.Empty(root.GetProperty("uploadedTrajectories").EnumerateArray());
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Assert.Equal("Connected", snapshot.GetProperty("connectionState").GetString());
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Assert.True(snapshot.GetProperty("isEnabled").GetBoolean());
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Assert.False(snapshot.GetProperty("isInMotion").GetBoolean());
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Assert.Equal(0.75, snapshot.GetProperty("speedRatio").GetDouble(), precision: 6);
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Assert.Equal(6, snapshot.GetProperty("jointPositions").GetArrayLength());
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}
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/// <summary>
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/// 初始化旧 HTTP 兼容链路，使状态页可以读取一个完整的已连接状态。
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/// </summary>
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/// <param name="client">测试 HTTP 客户端。</param>
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private static async Task InitializeRobotAsync(HttpClient client)
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{
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using (var setupResponse = await client.PostAsync("/setup_robot/?robot_name=FANUC_LR_Mate_200iD", content: null))
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{
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Assert.Equal(HttpStatusCode.OK, setupResponse.StatusCode);
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}
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using (var activeControllerResponse = await client.PostAsync("/set_active_controller/?sim=true", content: null))
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{
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Assert.Equal(HttpStatusCode.OK, activeControllerResponse.StatusCode);
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}
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using (var connectRobotResponse = await client.PostAsync("/connect_robot/?ip=192.168.10.101", content: null))
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{
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Assert.Equal(HttpStatusCode.OK, connectRobotResponse.StatusCode);
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}
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using (var enableRobotResponse = await client.GetAsync("/enable_robot/"))
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{
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Assert.Equal(HttpStatusCode.OK, enableRobotResponse.StatusCode);
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}
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}
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}
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