yunxiao.zhu
91c1494cde
* 新增 FlyshotTrajectoryArtifactWriter，支持 saveTrajectory 将规划结果导出到 Config/Data/name（JointTraj、CartTraj、 ShotEvents 等） * RobotConfig 新增 PlanningSpeedScale，区分规划阶段限速倍率 与运行时 J519 下发倍率 * 轨迹缓存键纳入 planningSpeedScale，避免降速规划误用缓存 * 完善 FanucCommandClient 命令参数日志与状态通道重连 * 补充 RuntimeOrchestrationTests 覆盖产物导出与倍率隔离 * 更新 README 进度文档
43 lines
1.8 KiB
C#
43 lines
1.8 KiB
C#
using Flyshot.Core.Config;
|
|
using Flyshot.Runtime.Common;
|
|
using Flyshot.Runtime.Fanuc;
|
|
using Microsoft.Extensions.Configuration;
|
|
using Microsoft.Extensions.DependencyInjection;
|
|
using Microsoft.Extensions.Options;
|
|
|
|
namespace Flyshot.ControllerClientCompat;
|
|
|
|
/// <summary>
|
|
/// 提供 ControllerClient HTTP 兼容层的依赖注入注册入口。
|
|
/// </summary>
|
|
public static class ControllerClientCompatServiceCollectionExtensions
|
|
{
|
|
/// <summary>
|
|
/// 将 HTTP-only 的 ControllerClient 兼容服务注册到当前宿主。
|
|
/// </summary>
|
|
/// <param name="services">当前宿主服务集合。</param>
|
|
/// <param name="configuration">宿主配置根。</param>
|
|
/// <returns>同一服务集合，便于链式调用。</returns>
|
|
public static IServiceCollection AddControllerClientCompat(this IServiceCollection services, IConfiguration configuration)
|
|
{
|
|
ArgumentNullException.ThrowIfNull(services);
|
|
ArgumentNullException.ThrowIfNull(configuration);
|
|
|
|
services
|
|
.AddOptions<ControllerClientCompatOptions>()
|
|
.Bind(configuration.GetSection("ControllerClientCompat"));
|
|
|
|
services.AddSingleton(static serviceProvider => serviceProvider.GetRequiredService<IOptions<ControllerClientCompatOptions>>().Value);
|
|
services.AddSingleton<RobotModelLoader>();
|
|
services.AddSingleton<RobotConfigLoader>();
|
|
services.AddSingleton<ControllerClientCompatRobotCatalog>();
|
|
services.AddSingleton<ControllerClientTrajectoryOrchestrator>();
|
|
services.AddSingleton<FlyshotTrajectoryArtifactWriter>();
|
|
services.AddSingleton<JsonFlyshotTrajectoryStore>();
|
|
services.AddSingleton<IControllerRuntime, FanucControllerRuntime>();
|
|
services.AddSingleton<IControllerClientCompatService, ControllerClientCompatService>();
|
|
|
|
return services;
|
|
}
|
|
}
|