实现行为树执行器、任务协调和技能接口

2026-09-20 12:18:52 +08:00
commit 492676344a
143 changed files with 13010 additions and 0 deletions
@@ -0,0 +1,23 @@
+#include "workflow_fixture.hpp"
+struct FailedPlaceDriver : Simulator {
+ void send(const GoalRequest& q) override {
+  Simulator::send(q);
+  if(q.skill==Skill::PLACE){auto& event=events.back();event.native_status=NativeStatus::ABORTED;event.result.code=ResultCode::FAILED;}
+ }
+};
+int main(){
+ Fixture config("settlement_config");FailedPlaceDriver driver;ContextStore context;
+ ActiveGoalRegistry registry(driver,Fixture::test_root()+"/settlement.journal");unsigned deliveries=0;
+ StageRunner runner(config.task,config.site,driver,registry,context,[&](const std::string&,unsigned,const std::string&){++deliveries;return true;});
+ Workflow flow(runner);TickStatus status=TickStatus::RUNNING;unsigned i=0;
+ for(;i<200&&status==TickStatus::RUNNING;++i){driver.now=1000000+i*1000000;runner.update_safety({true,true,driver.sensor_holding,driver.now,driver.now+1000000000});status=flow.tick(SteadyTime{}+Milliseconds(i),driver.now);}
+ assert(status==TickStatus::FAILURE);assert(deliveries==0);
+ runner.halt(SteadyTime{}+Milliseconds(i));
+ // Settlement is read-only except for the idempotent business receipt.
+ for(status=TickStatus::RUNNING;i<300&&status==TickStatus::RUNNING;++i){driver.now=1000000+i*1000000;runner.update_safety({true,true,driver.sensor_holding,driver.now,driver.now+1000000000});status=runner.settle(SteadyTime{}+Milliseconds(i),driver.now);}
+ assert(status==TickStatus::SUCCESS);assert(deliveries==1);
+ unsigned place=0,verify=0;for(const auto&q:driver.sent){place+=q.skill==Skill::PLACE;verify+=q.skill==Skill::VERIFY_PLACE;}
+ assert(place==1&&verify==1);assert(runner.empty_verified(driver.now));
+ assert(runner.settle(SteadyTime{}+Milliseconds(i),driver.now)==TickStatus::SUCCESS);assert(deliveries==1);
+ std::cout<<"failed place settlement records verified delivery without motion retry\n";
+}