实现行为树执行器、任务协调和技能接口

core/tests/journal_failure_test.cpp

@@ -0,0 +1,30 @@
+#include "robot_bt/core.hpp"
+#include <cassert>
+#include <cstdlib>
+#include <filesystem>
+#include <iostream>
+using namespace robot_bt;
+struct FaultDriver final : GoalDriver {
+  unsigned sent{0}, canceled{0};
+  bool ready(Skill) const override { return true; }
+  void send(const GoalRequest&) override { ++sent; }
+  void cancel(const std::string&) override { ++canceled; }
+  std::vector<GoalEvent> drain_events() override { return {}; }
+};
+int main() {
+  char name[]="/tmp/bt_journal_failure_XXXXXX";
+  const char* directory=::mkdtemp(name); assert(directory);
+  std::string path=std::string(directory)+"/goals";
+  FaultDriver driver;
+  ActiveGoalRegistry registry(driver,path);
+  GoalRequest q;q.robot_id="robot";q.trace={"task","pick","run",1,1,1,1};
+  const auto id=registry.start(q,SteadyTime{});assert(id&&driver.sent==1);
+  // Simulate an unavailable journal after the motion request has been sent.
+  std::filesystem::remove(path);std::filesystem::create_directory(path);
+  try { registry.request_cancel(*id,SteadyTime{}); } catch(const std::exception&) {}
+  assert(driver.canceled==1 && "journal failure must never suppress a stop request");
+  assert(registry.robot_locked("robot"));
+  q.trace.attempt=2;assert(!registry.start(q,SteadyTime{}));
+  std::filesystem::remove_all(directory);
+  std::cout<<"journal fault preserves cancel and quarantine\n";
+}