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
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+"""Explicit integration fixture: BrainService -> Coordinator -> C++ simulation."""
+from robot_bt_coordinator.backends import DemoBackend
+from robot_bt_coordinator.plan import canonical
+from robot_bt_coordinator.plan_v2 import make_plan
+from .backends import FixtureBackend
+from .service import BrainService
+class BrainDemoBackend(DemoBackend):
+    def __init__(self,executable,state_dir,site):
+        super().__init__(executable,state_dir);self.site=site
+        def fixture(request):
+            g=request['input'];known=g['known_info']
+            if 'items' not in known:
+                missing=[k for k in ('target_name','source_location','destination') if not known.get(k)]
+                if missing:return canonical({'missing_information':missing})
+                known={'items':[{'target_name':known['target_name'],'source_location':known['source_location'],'quantity':known.get('quantity',1)}],'destination':known['destination']}
+            if 'destination' not in known:return canonical({'missing_information':['destination']})
+            return canonical(make_plan(g['instruction'],known,site['execution_route']))
+        self.brain=BrainService(FixtureBackend(fixture),self.state_dir/'planning_records')
+    def start_planning(self,t):
+        self.plans.append(t)
+        result=self.brain.plan(dict(task_id=t['task_id'],task_revision=t['task_revision'],planning_generation=t['planning_generation'],instruction=t['request']['instruction'],known_info=t['request']['known_info'],context=self.site,constraints={'schema_version':2,'route':self.site['execution_route']},timeout=10))
+        event=dict(type='plan',task_id=t['task_id'],task_revision=t['task_revision'],planning_generation=t['planning_generation'],status=result['status'],error_code=result.get('error_code',''),planning_record_ref=result['record_ref'])
+        if result['status']=='NEEDS_CLARIFICATION':event['questions']=result['plan']['missing_information']
+        else:event['plan']=result.get('plan')
+        self.emit(event)