实现行为树执行器、任务协调和技能接口

robobrain/robot_robobrain/worker.py

@@ -0,0 +1,16 @@
+"""JSONL worker host. Factory is deployment code, never read from model output."""
+import argparse,importlib,json,sys,contextlib
+
+def main():
+    p=argparse.ArgumentParser();p.add_argument('--factory',required=True);p.add_argument('--config',required=True);a=p.parse_args()
+    module,name=a.factory.split(':',1)
+    with open(a.config) as f:config=json.load(f)
+    wire=sys.stdout
+    with contextlib.redirect_stdout(sys.stderr):engine=getattr(importlib.import_module(module),name)(config)
+    for line in sys.stdin:
+        if len(line)>262144:raise ValueError('input too large')
+        request=json.loads(line)
+        with contextlib.redirect_stdout(sys.stderr):raw={'ready':True} if request.get('capability')=='__health__' else engine(request)
+        if not isinstance(raw,str):raw=json.dumps(raw,ensure_ascii=False,allow_nan=False)
+        wire.write(json.dumps({'raw':raw},ensure_ascii=False,allow_nan=False)+'\n');wire.flush()
+if __name__=='__main__':main()