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 @@
+import sys
+import tempfile
+import unittest
+from pathlib import Path
+sys.path.insert(0,str(Path(__file__).resolve().parents[1]/'coordinator'))
+from robot_bt_coordinator.service import Coordinator
+from robot_bt_coordinator.backends import ManualBackend
+from robot_bt_coordinator.replay import replay_events
+
+class ReplayTest(unittest.TestCase):
+    def test_real_canceled_task_replays_without_transport(self):
+        with tempfile.TemporaryDirectory() as tmp:
+            c=Coordinator(str(Path(tmp)/'db'),ManualBackend(),{'robot_01'})
+            try:
+                tid=c.submit(dict(client_request_id='replay',robot_id='robot_01',instruction='取水'))['task_id']
+                c.control(tid,'cancel');events=c.events(tid)
+                out=replay_events(events)
+                self.assertEqual(out['status'],'CANCELED');self.assertFalse(out['connects_to_robot'])
+            finally:c.close()
+    def test_missing_status_event_detected(self):
+        with self.assertRaises(ValueError):replay_events([dict(event_id=10,kind='state',status_version=3,status='EXECUTING')])
+    def test_success_without_commit_is_not_replayed_as_success(self):
+        with self.assertRaises(ValueError):replay_events([dict(event_id=1,kind='state',status_version=1,status='SUCCEEDED')])