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
331 lines
12 KiB
Markdown
331 lines
12 KiB
Markdown
# Rust ICSP Native Implementation Plan
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> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (`- [ ]`) syntax for tracking.
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**Goal:** 为现有 `ICspPlanner` 增加一套基于 Rust `cdylib` 的原生 ICSP 规划实现，并通过 C ABI + C# P/Invoke 完成可验证的对拍接入，同时不改变当前默认生产路径。
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**Architecture:** 新增 `native/flyshot-native-planning` Rust 原生库承载 clamped-zero 三次样条与 ICSP 迭代核心；新增 `src/Flyshot.Native.Planning` 托管互操作项目负责库加载、数组编排、错误转换和结果复制。现有 `Flyshot.Core.Planning.ICspPlanner` 保持不变，`RustIcspPlanner` 仅作为显式新入口并在测试中与托管实现逐项对拍。
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**Tech Stack:** Rust `cdylib`、C ABI、.NET 8、`LibraryImport`、`SafeHandle`、xUnit、PowerShell、Cargo
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---
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### Task 1: 建立原生与托管骨架
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**Files:**
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- Create: `native/flyshot-native-planning/Cargo.toml`
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- Create: `native/flyshot-native-planning/src/lib.rs`
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- Create: `native/flyshot-native-planning/src/error.rs`
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- Create: `native/flyshot-native-planning/src/ffi.rs`
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- Create: `native/flyshot-native-planning/src/icsp.rs`
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- Create: `native/flyshot-native-planning/src/spline.rs`
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- Create: `src/Flyshot.Native.Planning/Flyshot.Native.Planning.csproj`
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- Create: `src/Flyshot.Native.Planning/NativeIcspMethods.cs`
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- Create: `src/Flyshot.Native.Planning/NativeIcspSafeHandle.cs`
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- Create: `src/Flyshot.Native.Planning/NativePlanningException.cs`
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- Create: `src/Flyshot.Native.Planning/NativePlanningLibraryResolver.cs`
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- Modify: `FlyshotReplacement.sln`
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- Modify: `tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj`
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- [x] **Step 1: 先写托管侧失败测试，锁定缺少原生库时的报错边界**
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```csharp
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[Fact]
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public void RustIcspPlanner_ThrowsClearError_WhenNativeLibraryIsMissing()
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{
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var planner = new RustIcspPlanner(
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options: NativeIcspPlannerOptions.Default,
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libraryResolver: new NativePlanningLibraryResolver(_ => "missing-library"));
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var exception = Assert.Throws<NativePlanningException>(() => planner.Plan(CreateSimpleRequest()));
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Assert.Contains("missing-library", exception.Message);
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}
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```
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- [x] **Step 2: 运行单测确认当前失败**
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Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter RustIcspPlanner_ThrowsClearError_WhenNativeLibraryIsMissing -v minimal`
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Expected: FAIL，提示 `RustIcspPlanner` 或互操作类型不存在
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- [x] **Step 3: 创建 Rust `cdylib` 和托管互操作项目骨架**
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```toml
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[package]
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name = "flyshot-native-planning"
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version = "0.1.0"
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edition = "2021"
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[lib]
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crate-type = ["cdylib"]
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[profile.release]
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lto = true
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codegen-units = 1
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strip = "symbols"
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panic = "abort"
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```
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```xml
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<Project Sdk="Microsoft.NET.Sdk">
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<PropertyGroup>
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<TargetFramework>net8.0</TargetFramework>
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<AllowUnsafeBlocks>true</AllowUnsafeBlocks>
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</PropertyGroup>
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<ItemGroup>
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<ProjectReference Include="..\Flyshot.Core.Domain\Flyshot.Core.Domain.csproj" />
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<ProjectReference Include="..\Flyshot.Core.Planning\Flyshot.Core.Planning.csproj" />
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</ItemGroup>
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</Project>
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```
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- [x] **Step 4: 添加最小库解析与异常包装实现**
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```csharp
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public sealed class NativePlanningException : Exception
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{
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public NativePlanningException(string message, int errorCode, Exception? innerException = null)
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: base(message, innerException)
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{
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ErrorCodeValue = errorCode;
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}
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public int ErrorCodeValue { get; }
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}
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```
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```csharp
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public sealed class NativePlanningLibraryResolver
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{
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private readonly Func<RuntimeInformation, string> _resolveLibraryPath;
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}
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```
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- [x] **Step 5: 重新运行单测，确认错误已变为清晰的原生库缺失异常**
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Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter RustIcspPlanner_ThrowsClearError_WhenNativeLibraryIsMissing -v minimal`
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Expected: PASS
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### Task 2: 先做样条基础能力
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**Files:**
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- Modify: `native/flyshot-native-planning/src/spline.rs`
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- Modify: `native/flyshot-native-planning/src/lib.rs`
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- Create: `native/flyshot-native-planning/tests/spline_tests.rs`
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- [x] **Step 1: 先写 Rust 失败测试，锁定 clamped-zero 样条边界和值/导数接口**
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```rust
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#[test]
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fn clamped_zero_spline_hits_waypoints_and_zero_boundary_velocity() {
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let times = [0.0, 1.0, 2.0, 3.0];
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let values = [0.0, 1.0, 0.5, 2.0];
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let spline = CubicSpline1D::new_clamped_zero(×, &values).unwrap();
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assert_abs_diff_eq!(spline.position(0.0), 0.0, epsilon = 1e-12);
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assert_abs_diff_eq!(spline.position(3.0), 2.0, epsilon = 1e-12);
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assert_abs_diff_eq!(spline.velocity(0.0), 0.0, epsilon = 1e-12);
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assert_abs_diff_eq!(spline.velocity(3.0), 0.0, epsilon = 1e-12);
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}
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```
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- [x] **Step 2: 运行 Rust 测试确认失败**
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Run: `cargo test --manifest-path native/flyshot-native-planning/Cargo.toml spline_tests::clamped_zero_spline_hits_waypoints_and_zero_boundary_velocity -- --exact`
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Expected: FAIL，提示样条类型或构造函数不存在
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- [x] **Step 3: 实现三对角求解、样条系数和每段导数峰值接口**
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```rust
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pub struct CubicSpline1D {
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knots: Vec<f64>,
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coefficients: Vec<[f64; 4]>,
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}
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impl CubicSpline1D {
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pub fn new_clamped_zero(times: &[f64], values: &[f64]) -> Result<Self, NativePlanningError> { /* ... */ }
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pub fn position(&self, time: f64) -> f64 { /* ... */ }
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pub fn velocity(&self, time: f64) -> f64 { /* ... */ }
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pub fn acceleration(&self, time: f64) -> f64 { /* ... */ }
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pub fn jerk(&self, time: f64) -> f64 { /* ... */ }
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pub fn segment_peak_derivatives(&self, segment_index: usize) -> [f64; 3] { /* ... */ }
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}
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```
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- [x] **Step 4: 重新运行 Rust 样条测试**
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Run: `cargo test --manifest-path native/flyshot-native-planning/Cargo.toml spline_tests::clamped_zero_spline_hits_waypoints_and_zero_boundary_velocity -- --exact`
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Expected: PASS
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### Task 3: 实现纯 Rust ICSP 核心
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**Files:**
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- Modify: `native/flyshot-native-planning/src/icsp.rs`
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- Create: `native/flyshot-native-planning/tests/icsp_tests.rs`
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- [x] **Step 1: 先写 Rust 失败测试，锁定初始段时长、scale 计算和未收敛路径**
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```rust
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#[test]
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fn icsp_returns_same_iteration_count_as_managed_baseline_fixture() {
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let input = test_fixture_three_segment_case();
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let result = plan_icsp(&input).unwrap();
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assert_eq!(result.iterations, 2);
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assert_abs_diff_eq!(result.threshold, 0.0, epsilon = 1e-12);
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}
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```
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- [x] **Step 2: 运行 Rust ICSP 测试确认失败**
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Run: `cargo test --manifest-path native/flyshot-native-planning/Cargo.toml icsp_tests::icsp_returns_same_iteration_count_as_managed_baseline_fixture -- --exact`
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Expected: FAIL，提示 `plan_icsp` 或结果结构不存在
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- [x] **Step 3: 实现最小 ICSP 纯算法结构，逐项复刻 C# 收敛语义**
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```rust
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pub struct IcspInput<'a> {
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pub waypoints: &'a [f64],
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pub waypoint_count: usize,
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pub dof: usize,
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pub velocity_limits: &'a [f64],
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pub acceleration_limits: &'a [f64],
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pub jerk_limits: &'a [f64],
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pub options: IcspOptions,
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}
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pub fn plan_icsp(input: &IcspInput<'_>) -> Result<IcspPlanResult, NativePlanningError> { /* ... */ }
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```
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- [x] **Step 4: 重新运行 Rust ICSP 测试**
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Run: `cargo test --manifest-path native/flyshot-native-planning/Cargo.toml icsp_tests::icsp_returns_same_iteration_count_as_managed_baseline_fixture -- --exact`
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Expected: PASS
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### Task 4: 接通 C ABI 和托管结果复制
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**Files:**
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- Modify: `native/flyshot-native-planning/src/ffi.rs`
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- Modify: `native/flyshot-native-planning/src/error.rs`
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- Modify: `src/Flyshot.Native.Planning/NativeIcspMethods.cs`
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- Modify: `src/Flyshot.Native.Planning/NativeIcspSafeHandle.cs`
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- Create: `src/Flyshot.Native.Planning/NativeIcspInteropModels.cs`
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- Create: `src/Flyshot.Native.Planning/RustIcspPlanner.cs`
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- Create: `tests/Flyshot.Core.Tests/RustIcspPlannerInteropTests.cs`
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- [x] **Step 1: 先写托管失败测试，锁定数组布局、结果复制和释放路径**
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```csharp
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[Fact]
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public void RustIcspPlanner_ReturnsManagedPlannedTrajectory_FromNativeResult()
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{
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var planner = CreateRustPlannerAgainstBuiltNativeLibrary();
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var result = planner.Plan(CreateSimpleRequest());
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Assert.Equal(PlanningMethod.Icsp, result.Method);
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Assert.Equal(result.PlannedWaypointCount, result.WaypointTimes.Count);
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}
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```
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- [x] **Step 2: 运行单测确认失败**
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Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter RustIcspPlanner_ReturnsManagedPlannedTrajectory_FromNativeResult -v minimal`
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Expected: FAIL，提示 P/Invoke 签名、结果结构或释放逻辑未实现
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- [x] **Step 3: 实现 C ABI 入口、线程局部错误文本和 `SafeHandle` 释放**
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```rust
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#[no_mangle]
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pub extern "C" fn flyshot_icsp_plan(/* ... */) -> i32 { /* ... */ }
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#[no_mangle]
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pub extern "C" fn flyshot_icsp_result_free(result: *mut FlyshotIcspResult) { /* ... */ }
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#[no_mangle]
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pub extern "C" fn flyshot_last_error_message() -> *const c_char { /* ... */ }
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```
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```csharp
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[LibraryImport(NativeLibraryName, EntryPoint = "flyshot_icsp_plan")]
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internal static unsafe partial int FlyshotIcspPlan(/* ... */);
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```
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- [x] **Step 4: 重新运行托管互操作测试**
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Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter RustIcspPlanner_ReturnsManagedPlannedTrajectory_FromNativeResult -v minimal`
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Expected: PASS
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### Task 5: 增加 C#/Rust 对拍测试和构建复制脚本
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**Files:**
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- Modify: `tests/Flyshot.Core.Tests/PlanningCompatibilityTests.cs`
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- Create: `tests/Flyshot.Core.Tests/RustIcspPlannerParityTests.cs`
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- Create: `build/Copy-NativePlanningArtifacts.ps1`
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- Modify: `README.md`
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- [x] **Step 1: 先写失败测试，锁定 C# 与 Rust 在基础样本上的逐项一致**
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```csharp
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[Fact]
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public void RustIcspPlanner_MatchesManagedIcspPlanner_ForCompatibilityFixture()
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{
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var request = CreateCompatibilityRequest();
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var managed = new ICspPlanner().Plan(request);
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var native = CreateRustPlannerAgainstBuiltNativeLibrary().Plan(request);
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AssertTrajectoryMatches(managed, native, tolerance: 1e-9);
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}
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```
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- [x] **Step 2: 运行对拍测试确认失败**
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Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter RustIcspPlanner_MatchesManagedIcspPlanner_ForCompatibilityFixture -v minimal`
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Expected: FAIL，提示数值未对齐或原生库复制失败
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- [x] **Step 3: 补齐原生库复制脚本、测试输出复制规则和对拍辅助断言**
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```powershell
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param(
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[string]$Configuration = "Release"
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)
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cargo build --manifest-path native/flyshot-native-planning/Cargo.toml --release
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Copy-Item native/flyshot-native-planning/target/release/flyshot_native_planning.dll tests/Flyshot.Core.Tests/bin/$Configuration/net8.0/ -Force
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```
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- [x] **Step 4: 重新运行对拍测试**
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Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter RustIcspPlanner_MatchesManagedIcspPlanner_ForCompatibilityFixture -v minimal`
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Expected: PASS
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### Task 6: 解决方案级验证
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**Files:**
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- Modify: `README.md`
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- Modify: `docs/superpowers/specs/2026-06-22-rust-icsp-native-design.md`
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- [x] **Step 1: 运行 Rust 全量测试**
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Run: `cargo test --manifest-path native/flyshot-native-planning/Cargo.toml`
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Expected: PASS
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- [ ] **Step 2: 运行 Core 测试**
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Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj -v minimal`
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Expected: PASS
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当前验证：新增 Rust 相关测试全部通过；Core 全套仍保留实施前已存在的两项
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`FlyshotExecutionSendSequenceBuilder` speed-ratio 失败，本计划未修改该行为。
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- [x] **Step 3: 运行解决方案构建**
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Run: `dotnet build FlyshotReplacement.sln -v minimal`
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Expected: PASS
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- [x] **Step 4: 更新文档，记录本地构建、库复制和当前上线边界**
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```markdown
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- Rust 规划器当前仅显式使用，不替换默认 `ICspPlanner`
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- Windows 需要 `flyshot_native_planning.dll`
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- Linux 需要 `libflyshot_native_planning.so`
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```
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