实现行为树执行器、任务协调和技能接口

robobrain/robot_robobrain/observations.py

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+from dataclasses import dataclass,asdict
+from pathlib import Path
+import threading
+
+@dataclass(frozen=True)
+class Observation:
+    observation_id:str
+    stamp_ns:int
+    frame_id:str
+    image_path:str
+    station_id:str
+    registry_version:int
+    shelf_id:str
+    calibration_id:str=''
+    geometry_epoch:int=0
+    def validate(self,goal,now_ns,max_age_ns):
+        if type(self.stamp_ns) is not int or not goal['capture_after']<=self.stamp_ns<=now_ns or now_ns-self.stamp_ns>max_age_ns:raise ValueError('stale/future observation')
+        if not self.observation_id or not self.frame_id or not self.image_path:raise ValueError('observation identity incomplete')
+        if goal.get('observation_station_id',self.station_id)!=self.station_id or goal.get('station_registry_version',self.registry_version)!=self.registry_version:raise ValueError('station/version mismatch')
+        if goal.get('source_region_ref',self.shelf_id)!=self.shelf_id:raise ValueError('wrong shelf')
+        if goal.get('expected_geometry_epoch',self.geometry_epoch)!=self.geometry_epoch:raise ValueError('geometry changed')
+        return asdict(self)
+
+class ObservationCache:
+    def __init__(self,media_root):self.root=Path(media_root).resolve(strict=True);self.lock=threading.Lock();self.observation=None
+    def put(self,observation):
+        path=Path(observation.image_path).resolve(strict=True)
+        if not path.is_relative_to(self.root) or not path.is_file() or path.stat().st_size>32*1024*1024:raise ValueError('image must be a bounded local trusted media file')
+        with self.lock:
+            # Accept a new clock epoch only after consumer freshness check; never
+            # attach a current timestamp to old image bytes.
+            self.observation=observation
+    def get(self):
+        with self.lock:
+            if self.observation is None:raise ValueError('no observation')
+            return self.observation