实现行为树执行器、任务协调和技能接口

core/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.16)
+project(robot_bt_core LANGUAGES CXX)
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+add_library(robot_bt_core src/core.cpp src/workflow.cpp)
+target_include_directories(robot_bt_core PUBLIC include)
+target_compile_options(robot_bt_core PRIVATE -Wall -Wextra -Werror)
+add_library(robot_bt_sim src/sim_driver.cpp)
+target_link_libraries(robot_bt_sim PUBLIC robot_bt_core)
+target_compile_options(robot_bt_sim PRIVATE -Wall -Wextra -Werror)
+add_executable(robot_bt_demo examples/demo.cpp)
+target_link_libraries(robot_bt_demo PRIVATE robot_bt_sim)
+target_compile_options(robot_bt_demo PRIVATE -Wall -Wextra -Werror)
+include(CTest)
+if(BUILD_TESTING)
+  foreach(test_name core_test workflow_test journal_failure_test preflight_test settlement_test proof_regression_test readiness_regression_test scenario_test lifecycle_test)
+    add_executable(${test_name} tests/${test_name}.cpp)
+    target_link_libraries(${test_name} PRIVATE robot_bt_core)
+    target_compile_options(${test_name} PRIVATE -Wall -Wextra -Werror -UNDEBUG)
+    add_test(NAME ${test_name} COMMAND ${test_name})
+  endforeach()
+endif()