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 +1,46 @@
+#!/usr/bin/env python3
+"""Checks fixed-tree expansion and generated IDL headers without claiming ROS build."""
+from pathlib import Path
+import re
+import xml.etree.ElementTree as ET
+
+PACKAGE = Path(__file__).resolve().parents[1]
+REPOSITORY = PACKAGE.parents[1]
+root = ET.parse(PACKAGE / 'trees/fixed_workflow.xml').getroot()
+assert root.attrib['BTCPP_format'] == '4'
+trees = {v.attrib['ID']: v for v in root.findall('BehaviorTree')}
+assert {'NavigateSkill', 'GroundTargetSkill', 'PickSkill', 'CheckFreeSpaceSkill',
+        'PlaceSkill', 'AskUserSkill'} <= set(trees)
+assert [v.tag for v in trees['TaskRoot'][0]] == ['ApprovedPlanGate', 'SubTree']
+
+
+def expand(node, inputs=None):
+    inputs = inputs or {}
+    if node.tag == 'RunStage':
+        stage = node.attrib['stage']
+        return [inputs[stage[1:-1]] if stage.startswith('{') else stage]
+    if node.tag == 'SubTree':
+        return expand(trees[node.attrib['ID']], {**inputs, **node.attrib})
+    return [stage for child in node for stage in expand(child, inputs)]
+
+
+expected = re.findall(r'case Stage::\w+:return "(\w+)"',
+                      (REPOSITORY / 'core/src/workflow.cpp').read_text())
+actual = expand(trees['TaskRoot'])
+assert actual == expected, (actual, expected)
+assert not any(v.tag in {'Script', 'ScriptCondition', 'RetryUntilSuccessful'} for v in root.iter())
+assert trees['AskUserSkill'][0].tag == 'RequestClarification'
+
+
+def header_name(name):
+    return re.sub(r'([a-z0-9])([A-Z])', r'\1_\2',
+                  re.sub(r'(.)([A-Z][a-z]+)', r'\1_\2', name)).lower()
+
+
+for source in list((PACKAGE / 'src').glob('*.cpp')) + list((PACKAGE / 'include/bt_executor').glob('*.hpp')):
+    for kind, name in re.findall(r'bt_skill_interfaces/(action|msg)/(\w+)\.hpp', source.read_text()):
+        candidates = list((PACKAGE.parent / 'bt_skill_interfaces' / kind).glob('*'))
+        assert any(header_name(v.stem) == name for v in candidates), (source, kind, name)
+ET.parse(PACKAGE / 'package.xml')
+print(f'Static checks passed: {len(actual)} ordered core stages, six skill templates, generated IDL include names, package XML.')
+print('This does not compile C++ or validate ROS2 middleware behavior.')