yunxiao.zhu
a6579f1e5b
* 新增 ControllerClientCompatOptions.ConfigRoot 及解析方法 * 兼容层默认从运行目录 Config 加载模型、轨迹和配置 * 移除隐式父工作区根目录推断，旧路径仅在显式配置时生效 * Host 项目编译时将 Config 目录复制到输出目录 * 请求响应日志中间件忽略 /api/status/snapshot 高频轮询 * 补充 ConfigRoot 和日志过滤相关单元测试
279 lines
9.6 KiB
C#
279 lines
9.6 KiB
C#
using System.Text.Json;
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using Flyshot.Core.Domain;
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namespace Flyshot.Core.Config;
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/// <summary>
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/// 表示从旧版 RobotConfig.json 规范化后的机器人运行参数。
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/// </summary>
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public sealed class CompatibilityRobotSettings
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{
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/// <summary>
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/// 初始化一份经过规范化的机器人兼容设置。
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/// </summary>
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public CompatibilityRobotSettings(
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bool useDo,
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IEnumerable<int> ioAddresses,
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int ioKeepCycles,
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double accLimitScale,
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double jerkLimitScale,
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int adaptIcspTryNum)
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{
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ArgumentNullException.ThrowIfNull(ioAddresses);
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if (ioKeepCycles < 0)
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{
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throw new ArgumentOutOfRangeException(nameof(ioKeepCycles), "IO 保持周期不能为负数。");
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}
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if (accLimitScale <= 0.0)
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{
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throw new ArgumentOutOfRangeException(nameof(accLimitScale), "加速度倍率必须大于 0。");
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}
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if (jerkLimitScale <= 0.0)
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{
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throw new ArgumentOutOfRangeException(nameof(jerkLimitScale), "Jerk 倍率必须大于 0。");
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}
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if (adaptIcspTryNum < 0)
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{
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throw new ArgumentOutOfRangeException(nameof(adaptIcspTryNum), "补点尝试次数不能为负数。");
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}
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// 固化地址数组，避免上层代码在加载后原地篡改配置内容。
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var copiedIoAddresses = ioAddresses.ToArray();
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if (copiedIoAddresses.Any(address => address < 0))
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{
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throw new ArgumentException("IO 地址不能为负数。", nameof(ioAddresses));
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}
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UseDo = useDo;
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IoAddresses = copiedIoAddresses;
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IoKeepCycles = ioKeepCycles;
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AccLimitScale = accLimitScale;
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JerkLimitScale = jerkLimitScale;
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AdaptIcspTryNum = adaptIcspTryNum;
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}
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/// <summary>
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/// 获取是否启用伺服同步 IO。
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/// </summary>
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public bool UseDo { get; }
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/// <summary>
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/// 获取默认 IO 地址组。
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/// </summary>
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public IReadOnlyList<int> IoAddresses { get; }
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/// <summary>
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/// 获取单次触发保持的伺服周期数。
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/// </summary>
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public int IoKeepCycles { get; }
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/// <summary>
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/// 获取加速度全局倍率。
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/// </summary>
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public double AccLimitScale { get; }
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/// <summary>
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/// 获取 Jerk 全局倍率。
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/// </summary>
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public double JerkLimitScale { get; }
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/// <summary>
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/// 获取自适应补点最大尝试次数。
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/// </summary>
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public int AdaptIcspTryNum { get; }
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}
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/// <summary>
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/// 表示一次旧版 RobotConfig.json 的完整加载结果。
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/// </summary>
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public sealed class LoadedRobotConfig
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{
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/// <summary>
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/// 初始化一份规范化后的旧配置文档。
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/// </summary>
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public LoadedRobotConfig(
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string sourcePath,
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CompatibilityRobotSettings robot,
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IReadOnlyDictionary<string, FlyshotProgram> programs)
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{
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if (string.IsNullOrWhiteSpace(sourcePath))
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{
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throw new ArgumentException("配置源路径不能为空。", nameof(sourcePath));
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}
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SourcePath = sourcePath;
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Robot = robot ?? throw new ArgumentNullException(nameof(robot));
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Programs = programs ?? throw new ArgumentNullException(nameof(programs));
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}
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/// <summary>
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/// 获取实际命中的配置文件路径。
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/// </summary>
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public string SourcePath { get; }
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/// <summary>
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/// 获取机器人级兼容设置。
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/// </summary>
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public CompatibilityRobotSettings Robot { get; }
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/// <summary>
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/// 获取按名称索引的飞拍程序集合。
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/// </summary>
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public IReadOnlyDictionary<string, FlyshotProgram> Programs { get; }
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}
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/// <summary>
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/// 负责读取旧版 RobotConfig.json 并转换成领域层可直接消费的结构。
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/// </summary>
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public sealed class RobotConfigLoader
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{
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/// <summary>
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/// 加载一份旧版 RobotConfig.json。
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/// </summary>
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/// <param name="configPath">调用方传入的配置路径。</param>
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/// <param name="repoRoot">用于兼容搜索的仓库根目录；为空时按当前工作目录推断。</param>
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/// <returns>规范化后的配置文档。</returns>
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public LoadedRobotConfig Load(string configPath, string? repoRoot = null)
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{
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var resolvedRepoRoot = ResolveRepoRoot(repoRoot);
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var resolvedConfigPath = PathCompatibility.ResolveConfigPath(configPath, resolvedRepoRoot);
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using var document = JsonDocument.Parse(File.ReadAllText(resolvedConfigPath));
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var root = document.RootElement;
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var robotElement = root.GetProperty("robot");
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var flyingShotsElement = root.GetProperty("flying_shots");
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var robot = new CompatibilityRobotSettings(
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useDo: ReadBoolean(robotElement, "use_do", defaultValue: false),
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ioAddresses: ReadIntArray(robotElement, "io_addr"),
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ioKeepCycles: ReadInt(robotElement, "io_keep_cycles", defaultValue: 0),
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accLimitScale: ReadDouble(robotElement, "acc_limit", defaultValue: 1.0),
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jerkLimitScale: ReadDouble(robotElement, "jerk_limit", defaultValue: 1.0),
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adaptIcspTryNum: ReadInt(robotElement, "adapt_icsp_try_num", defaultValue: 0));
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var programs = new Dictionary<string, FlyshotProgram>(StringComparer.Ordinal);
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foreach (var programElement in flyingShotsElement.EnumerateObject())
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{
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var programName = programElement.Name;
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var program = ParseProgram(programName, programElement.Value);
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programs.Add(programName, program);
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}
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return new LoadedRobotConfig(
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sourcePath: resolvedConfigPath,
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robot: robot,
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programs: programs);
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}
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/// <summary>
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/// 把单个 flying_shots 节点转成领域层 FlyshotProgram。
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/// </summary>
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private static FlyshotProgram ParseProgram(string programName, JsonElement programElement)
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{
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var waypointRows = programElement.GetProperty("traj_waypoints").EnumerateArray().ToArray();
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var shotFlagElements = programElement.GetProperty("shot_flags").EnumerateArray().ToArray();
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var waypoints = waypointRows
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.Select(row => new JointWaypoint(row.EnumerateArray().Select(static value => value.GetDouble())))
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.ToArray();
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var shotFlags = shotFlagElements
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.Select(static value => value.ValueKind == JsonValueKind.True || (value.ValueKind == JsonValueKind.Number && value.GetInt32() != 0))
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.ToArray();
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var waypointCount = waypoints.Length;
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var offsetValues = programElement.TryGetProperty("offset_values", out var offsetValuesElement)
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? offsetValuesElement.EnumerateArray().Select(static value => value.GetInt32()).ToArray()
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: Enumerable.Repeat(0, waypointCount).ToArray();
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var addressGroups = programElement.TryGetProperty("addr", out var addressElement)
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? addressElement
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.EnumerateArray()
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.Select(group => new IoAddressGroup(group.EnumerateArray().Select(static value => value.GetInt32())))
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.ToArray()
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: Enumerable.Range(0, waypointCount)
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.Select(_ => new IoAddressGroup(Array.Empty<int>()))
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.ToArray();
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return new FlyshotProgram(
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name: programName,
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waypoints: waypoints,
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shotFlags: shotFlags,
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offsetValues: offsetValues,
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addressGroups: addressGroups);
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}
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/// <summary>
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/// 解析布尔或 0/1 风格的兼容字段。
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/// </summary>
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private static bool ReadBoolean(JsonElement parent, string propertyName, bool defaultValue)
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{
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if (!parent.TryGetProperty(propertyName, out var property))
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{
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return defaultValue;
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}
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return property.ValueKind switch
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{
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JsonValueKind.True => true,
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JsonValueKind.False => false,
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JsonValueKind.Number => property.GetInt32() != 0,
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_ => defaultValue
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};
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}
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/// <summary>
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/// 读取整数数组；字段不存在时返回空数组。
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/// </summary>
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private static IReadOnlyList<int> ReadIntArray(JsonElement parent, string propertyName)
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{
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return parent.TryGetProperty(propertyName, out var property)
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? property.EnumerateArray().Select(static value => value.GetInt32()).ToArray()
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: Array.Empty<int>();
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}
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/// <summary>
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/// 读取整数兼容字段。
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/// </summary>
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private static int ReadInt(JsonElement parent, string propertyName, int defaultValue)
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{
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return parent.TryGetProperty(propertyName, out var property) ? property.GetInt32() : defaultValue;
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}
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/// <summary>
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/// 读取浮点兼容字段。
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/// </summary>
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private static double ReadDouble(JsonElement parent, string propertyName, double defaultValue)
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{
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return parent.TryGetProperty(propertyName, out var property) ? property.GetDouble() : defaultValue;
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}
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/// <summary>
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/// 推断当前 replacement 仓库根目录，优先使用调用方显式传入的值。
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/// </summary>
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private static string ResolveRepoRoot(string? repoRoot)
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{
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if (!string.IsNullOrWhiteSpace(repoRoot))
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{
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return Path.GetFullPath(repoRoot);
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}
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var current = new DirectoryInfo(Directory.GetCurrentDirectory());
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while (current is not null)
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{
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if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
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{
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return current.FullName;
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}
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current = current.Parent;
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}
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return Directory.GetCurrentDirectory();
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}
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}
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