31 lines
1.3 KiB
C++
31 lines
1.3 KiB
C++
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#include "robot_bt/core.hpp"
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#include <cassert>
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#include <cstdlib>
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#include <filesystem>
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#include <iostream>
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using namespace robot_bt;
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struct FaultDriver final : GoalDriver {
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unsigned sent{0}, canceled{0};
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bool ready(Skill) const override { return true; }
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void send(const GoalRequest&) override { ++sent; }
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void cancel(const std::string&) override { ++canceled; }
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std::vector<GoalEvent> drain_events() override { return {}; }
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};
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int main() {
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char name[]="/tmp/bt_journal_failure_XXXXXX";
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const char* directory=::mkdtemp(name); assert(directory);
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std::string path=std::string(directory)+"/goals";
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FaultDriver driver;
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ActiveGoalRegistry registry(driver,path);
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GoalRequest q;q.robot_id="robot";q.trace={"task","pick","run",1,1,1,1};
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const auto id=registry.start(q,SteadyTime{});assert(id&&driver.sent==1);
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// Simulate an unavailable journal after the motion request has been sent.
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std::filesystem::remove(path);std::filesystem::create_directory(path);
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try { registry.request_cancel(*id,SteadyTime{}); } catch(const std::exception&) {}
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assert(driver.canceled==1 && "journal failure must never suppress a stop request");
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assert(registry.robot_locked("robot"));
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q.trace.attempt=2;assert(!registry.start(q,SteadyTime{}));
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std::filesystem::remove_all(directory);
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std::cout<<"journal fault preserves cancel and quarantine\n";
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}
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