yunxiao.zhu
9c56ee825e
* 新增 Rust 原生 ICSP 规划库 (Cargo 项目, CubicSpline 算法, FFI 接口) * 新增 Flyshot.Native.Planning C# 互操作项目 (P/Invoke 封装) * 更新 ControllerClientCompat 适配新的规划接口 * 添加构建脚本 (Copy-NativePlanningArtifacts.ps1) * 新增互操作测试及一致性对比测试 * 更新解决方案文件和设计文档
95 lines
3.5 KiB
PowerShell
95 lines
3.5 KiB
PowerShell
param(
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[ValidateSet("Debug", "Release")]
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[string]$Configuration = "Release",
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[string[]]$DestinationDirectories = @()
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)
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$ErrorActionPreference = "Stop"
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# 从脚本位置定位仓库根目录，确保从任意工作目录调用都得到一致结果。
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$repositoryRoot = Split-Path -Parent $PSScriptRoot
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$manifestPath = Join-Path $repositoryRoot "native/flyshot-native-planning/Cargo.toml"
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$cargoExecutable = if ($IsWindows) { "cargo.exe" } else { "cargo" }
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$cargoPath = Join-Path $HOME ".cargo/bin/$cargoExecutable"
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if (-not (Test-Path -LiteralPath $cargoPath)) {
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throw "未找到 Rust Cargo：$cargoPath。请先通过 rustup 安装 stable-x86_64-pc-windows-msvc。"
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}
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$cargoArguments = @("build", "--manifest-path", $manifestPath)
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if ($Configuration -eq "Release") {
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$cargoArguments += "--release"
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}
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if ($IsWindows) {
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# Windows MSVC 目标必须在 VS C++ 开发者环境中运行，避免 PATH 中其他 link.exe 抢占。
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$vswherePath = "${env:ProgramFiles(x86)}\Microsoft Visual Studio\Installer\vswhere.exe"
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if (-not (Test-Path -LiteralPath $vswherePath)) {
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throw "未找到 vswhere.exe，无法定位 Visual Studio C++ Build Tools。"
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}
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$installationPath = & $vswherePath -latest -products * `
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-requires Microsoft.VisualStudio.Component.VC.Tools.x86.x64 `
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-property installationPath
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if ([string]::IsNullOrWhiteSpace($installationPath)) {
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throw "未找到已安装的 Visual Studio C++ x64 编译工具。"
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}
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$vcvarsPath = Join-Path $installationPath "VC/Auxiliary/Build/vcvars64.bat"
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if (-not (Test-Path -LiteralPath $vcvarsPath)) {
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throw "未找到 VS x64 开发者环境脚本：$vcvarsPath"
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}
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$quotedArguments = $cargoArguments | ForEach-Object { '"' + $_.Replace('"', '\"') + '"' }
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$command = 'call "{0}" >nul && "{1}" {2}' -f `
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$vcvarsPath, $cargoPath, ($quotedArguments -join " ")
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& cmd.exe /d /c $command
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if ($LASTEXITCODE -ne 0) {
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throw "Rust 原生规划库构建失败，退出码：$LASTEXITCODE"
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}
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}
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else {
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& $cargoPath @cargoArguments
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if ($LASTEXITCODE -ne 0) {
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throw "Rust 原生规划库构建失败，退出码：$LASTEXITCODE"
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}
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}
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$profileDirectory = if ($Configuration -eq "Release") { "release" } else { "debug" }
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$libraryName = if ($IsWindows) {
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"flyshot_native_planning.dll"
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}
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elseif ($IsLinux) {
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"libflyshot_native_planning.so"
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}
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else {
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throw "当前脚本仅支持 Windows x64 和 Linux x64。"
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}
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$sourcePath = Join-Path $repositoryRoot "native/flyshot-native-planning/target/$profileDirectory/$libraryName"
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if (-not (Test-Path -LiteralPath $sourcePath)) {
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throw "Rust 构建已结束，但未找到原生库：$sourcePath"
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}
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# 未显式指定目标时，默认复制到对应配置的 Core 测试输出目录。
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if ($DestinationDirectories.Count -eq 0) {
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$DestinationDirectories = @(
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(Join-Path $repositoryRoot "tests/Flyshot.Core.Tests/bin/$Configuration/net8.0")
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)
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}
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foreach ($destinationDirectory in $DestinationDirectories) {
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$destinationPath = if ([System.IO.Path]::IsPathRooted($destinationDirectory)) {
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$destinationDirectory
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}
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else {
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Join-Path $repositoryRoot $destinationDirectory
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}
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$resolvedDestination = [System.IO.Path]::GetFullPath(
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$destinationPath)
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New-Item -ItemType Directory -Force -Path $resolvedDestination | Out-Null
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Copy-Item -LiteralPath $sourcePath `
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-Destination (Join-Path $resolvedDestination $libraryName) `
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-Force
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Write-Host "已复制原生规划库到：$resolvedDestination"
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}
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