实现行为树执行器、任务协调和技能接口

core/tests/preflight_test.cpp

@@ -0,0 +1,14 @@
+#include "workflow_fixture.hpp"
+#include <cmath>
+int main() {
+  const Pose flat{"map",0,0,0,0,0,0,1};
+  const Pose tilted{"map",0,0,0.3,0.1,0,0,std::sqrt(.99)};
+  assert(within_tolerance(tilted,flat,.01,.01) && "navigation tolerance is XY/yaw per DR");
+  Fixture f("preflight_independent");
+  f.driver.unknown_verification=true;
+  auto runner=f.runner();
+  const auto result=f.execute(runner);
+  assert(result==TickStatus::INTERVENTION_REQUIRED);
+  assert(f.count(Skill::NAVIGATE)==0 && "default sensor EMPTY must not authorize first motion");
+  std::cout<<"independent preflight gates first motion\n";
+}