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 +1,15 @@
+#!/usr/bin/env bash
+set -euo pipefail
+project_root="$(cd "$(dirname "$0")/.." && pwd)"
+cd "$project_root"
+mkdir -p build
+cxx="${CXX:-g++}"
+flags=(-std=c++17 -O2 -Wall -Wextra -Werror -pthread -Icore/include)
+"$cxx" "${flags[@]}" -c core/src/core.cpp -o build/core.o
+"$cxx" "${flags[@]}" -c core/src/workflow.cpp -o build/workflow.o
+"$cxx" "${flags[@]}" -c core/src/sim_driver.cpp -o build/sim_driver.o
+"$cxx" "${flags[@]}" core/examples/demo.cpp build/core.o build/workflow.o build/sim_driver.o -o build/bt_demo
+for test_name in core_test workflow_test journal_failure_test preflight_test settlement_test proof_regression_test readiness_regression_test scenario_test lifecycle_test; do
+  "$cxx" "${flags[@]}" "core/tests/$test_name.cpp" build/core.o build/workflow.o -o "build/$test_name"
+  "./build/$test_name"
+done
@@ -0,0 +1,106 @@
+#!/usr/bin/env python3
+"""Reproducible standard-library Python line and GCC core branch coverage.
+
+No ROS emulation is labeled a middleware integration test. GCC branch counts
+include compiler-generated exception/short-circuit branches; the scenario
+campaign is a separate functional metric. Run from any working directory.
+"""
+import argparse
+import gzip
+import json
+import os
+from pathlib import Path
+import subprocess
+import sys
+import trace
+import unittest
+
+ROOT = Path(__file__).resolve().parents[1]
+CORE_TESTS = ('core_test', 'workflow_test', 'journal_failure_test', 'preflight_test',
+              'settlement_test', 'proof_regression_test', 'readiness_regression_test', 'scenario_test', 'lifecycle_test')
+
+
+def production(path):
+    relative = Path(path).resolve().relative_to(ROOT)
+    return relative.parts[0] in ('coordinator', 'robobrain', 'navigation_gateway', 'ros2') and not any(
+        p in ('tests', 'test', 'tools', '__pycache__') for p in relative.parts) and relative.name not in ('setup.py',)
+
+
+def python_lines(destination):
+    os.chdir(ROOT)
+    sys.path[:0] = [str(ROOT), str(ROOT / 'tests')]
+    suite = unittest.defaultTestLoader.discover(str(ROOT / 'tests'), pattern='test_*.py')
+    tracer = trace.Trace(count=True, trace=False, ignoredirs=[sys.prefix, sys.exec_prefix])
+    # Trace.runfunc covers the executing test thread. Background thread lines
+    # are deliberately not counted as covered without an observed trace event.
+    result = tracer.runfunc(unittest.TextTestRunner(verbosity=1).run, suite)
+    counts = tracer.results().counts
+    files = []
+    for path in sorted(ROOT.rglob('*.py')):
+        if not production(path):
+            continue
+        statements = set(trace._find_executable_linenos(str(path)))
+        hit = {line for (filename, line), count in counts.items()
+               if Path(filename).resolve() == path and count > 0} & statements
+        files.append(dict(path=str(path.relative_to(ROOT)), statements=len(statements),
+                          covered=len(hit), missing=sorted(statements-hit)))
+    data = dict(metric='Python executable source lines; main test thread only',
+                tests_run=result.testsRun, failures=len(result.failures), errors=len(result.errors),
+                statements=sum(f['statements'] for f in files), covered=sum(f['covered'] for f in files), files=files)
+    (destination / 'python_lines.json').write_text(json.dumps(data, indent=2)+'\n')
+    if not result.wasSuccessful():
+        raise RuntimeError('Python suite failed under instrumentation')
+    return data
+
+
+def cpp_branches(destination):
+    build = destination / 'gcc'; build.mkdir(exist_ok=True)
+    # Each execution is a fresh measurement, not an accumulation of old runs.
+    for p in build.glob('*.gcda'): p.unlink()
+    compiler = os.environ.get('CXX', 'g++')
+    flags = ['-std=c++17', '-O0', '-g', '--coverage', '-Wall', '-Wextra', '-Werror',
+             '-pthread', '-UNDEBUG', '-I'+str(ROOT / 'core/include')]
+    objects = []
+    for source in ('core', 'workflow'):
+        obj = build / (source+'.o')
+        subprocess.run([compiler, *flags, '-c', str(ROOT / 'core/src' / (source+'.cpp')), '-o', str(obj)], check=True)
+        objects.append(str(obj))
+    runs = []
+    for name in CORE_TESTS:
+        exe = build / name
+        subprocess.run([compiler, *flags, str(ROOT / 'core/tests' / (name+'.cpp')), *objects, '-o', str(exe)], check=True)
+        completed = subprocess.run([str(exe)], check=True, capture_output=True, text=True)
+        runs.append(dict(test=name, exit_code=completed.returncode, stdout=completed.stdout))
+    for obj in objects:
+        subprocess.run(['gcov', '-j', '-b', '-c', obj], cwd=build, check=True, stdout=subprocess.DEVNULL)
+    files = []
+    for archive in build.glob('*.gcov.json.gz'):
+        with gzip.open(archive, 'rt') as stream: data=json.load(stream)
+        for source in data['files']:
+            path=Path(source['file']).resolve()
+            if path.parent != ROOT / 'core/src': continue
+            lines=source['lines'];branches=[b for line in lines for b in line.get('branches', [])]
+            files.append(dict(path=str(path.relative_to(ROOT)), statements=len(lines),
+                              covered=sum(line['count']>0 for line in lines),
+                              branches=len(branches), branches_taken=sum(b['count']>0 for b in branches),
+                              missing_lines=[line['line_number'] for line in lines if not line['count']],
+                              lines_with_untaken_branches=[line['line_number'] for line in lines if any(not b['count'] for b in line.get('branches', []))]))
+    data=dict(metric='GCC source branches including exception and short-circuit arcs', files=files, runs=runs,
+              statements=sum(f['statements'] for f in files), covered=sum(f['covered'] for f in files),
+              branches=sum(f['branches'] for f in files), branches_taken=sum(f['branches_taken'] for f in files))
+    (destination / 'cpp_branches.json').write_text(json.dumps(data, indent=2)+'\n')
+    return data
+
+
+def main():
+    parser=argparse.ArgumentParser();parser.add_argument('--output', default=str(ROOT / 'build/coverage'))
+    args=parser.parse_args();out=Path(args.output).resolve();out.mkdir(parents=True, exist_ok=True)
+    py=python_lines(out);cpp=cpp_branches(out)
+    summary=dict(python={k:v for k,v in py.items() if k!='files'},
+                 cpp={k:v for k,v in cpp.items() if k not in ('files','runs')},
+                 ros_wire_execution=False, hardware_execution=False)
+    (out / 'summary.json').write_text(json.dumps(summary, indent=2)+'\n')
+    print(json.dumps(summary, indent=2))
+
+
+if __name__=='__main__': main()
@@ -0,0 +1,48 @@
+"""Real HTTP -> coordinator -> portable C++ StageRunner -> durable delivery test."""
+import http.client
+import json
+import sys
+import tempfile
+import threading
+import time
+from pathlib import Path
+ROOT=Path(__file__).resolve().parents[1]
+sys.path.insert(0,str(ROOT/'coordinator'))
+from robot_bt_coordinator.backends import DemoBackend
+from robot_bt_coordinator.http_api import make_server
+from robot_bt_coordinator.replay import replay_events
+from robot_bt_coordinator.service import Coordinator,demo_site
+
+
+def main():
+    with tempfile.TemporaryDirectory() as tmp:
+        backend=DemoBackend(ROOT/'build/bt_demo',Path(tmp)/'sim')
+        coordinator=Coordinator(str(Path(tmp)/'tasks.db'),backend,{'robot_01'},demo_site())
+        server=make_server(coordinator,'127.0.0.1',0,'smoke-local-only')
+        thread=threading.Thread(target=server.serve_forever,daemon=True);thread.start()
+        def request(method,path,body=None):
+            c=http.client.HTTPConnection('127.0.0.1',server.server_port,timeout=5)
+            c.request(method,path,json.dumps(body) if body is not None else None,{'Authorization':'Bearer smoke-local-only','Content-Type':'application/json'})
+            r=c.getresponse();data=json.loads(r.read());c.close()
+            assert r.status<300,(r.status,data)
+            return data
+        try:
+            payload=json.loads((ROOT/'config/demo_request.json').read_text())
+            start=time.monotonic();receipt=request('POST','/v1/tasks',payload);ack_ms=(time.monotonic()-start)*1000
+            tid=receipt['task_id']
+            for _ in range(200):
+                coordinator.tick();view=request('GET','/v1/tasks/'+tid)
+                if view['status'] in ('SUCCEEDED','FAILED','INTERVENTION_REQUIRED'):break
+                time.sleep(.01)
+            assert view['status']=='SUCCEEDED',view
+            assert view['completed_quantity']==1,view
+            duplicate=request('POST','/v1/tasks',payload)
+            assert duplicate['task_id']==tid and duplicate['deduplicated'] is True
+            events=request('GET',f'/v1/tasks/{tid}/events?limit=500')['events']
+            replay=replay_events(events)
+            assert replay['status']=='SUCCEEDED' and replay['completed_quantity']==1
+            print(json.dumps({'http_e2e':'passed','task_id':tid,'completed_quantity':1,'deduplicated':True,'offline_replay':'passed','event_count':len(events),'single_receipt_ms':round(ack_ms,2),'robot_motion':'simulated only'},indent=2))
+        finally:
+            server.shutdown();server.server_close();thread.join();coordinator.close()
+
+if __name__=='__main__':main()
@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+"""HTTP -> RoboBrain domain service fixture -> sequential C++ routes -> replay."""
+import json,sys,tempfile,time,threading,urllib.request
+from pathlib import Path
+ROOT=Path(__file__).resolve().parents[1];sys.path[:0]=[str(ROOT/'coordinator'),str(ROOT/'robobrain')]
+from robot_robobrain.demo_backend import BrainDemoBackend
+from robot_bt_coordinator.service import Coordinator
+from robot_bt_coordinator.http_api import make_server
+from robot_bt_coordinator.replay import replay_events
+
+def run(route):
+    with tempfile.TemporaryDirectory() as tmp:
+        site=json.loads((ROOT/'config'/('sim_site_'+route.lower()+'.json')).read_text())
+        backend=BrainDemoBackend(ROOT/'build/bt_demo',tmp+'/sim',site)
+        c=Coordinator(tmp+'/tasks.db',backend,['robot_01'],site)
+        server=make_server(c,'127.0.0.1',0,'simulation-token');thread=threading.Thread(target=server.serve_forever,daemon=True);thread.start()
+        base='http://127.0.0.1:'+str(server.server_port)
+        def api(path,body=None):
+            req=urllib.request.Request(base+path,data=None if body is None else json.dumps(body).encode(),headers={'Authorization':'Bearer simulation-token','Content-Type':'application/json'})
+            with urllib.request.urlopen(req,timeout=3) as r:return json.load(r)
+        try:
+            request=json.loads((ROOT/'config/demo_multi_request.json').read_text());t=api('/v1/tasks',request);tid=t['task_id'];deadline=time.monotonic()+20
+            while time.monotonic()<deadline:
+                c.tick();t=api('/v1/tasks/'+tid)
+                if t['status'] in ('SUCCEEDED','FAILED','INTERVENTION_REQUIRED'):break
+                time.sleep(.01)
+            assert t['status']=='SUCCEEDED',t
+            assert t['completed_quantity']==3 and len(backend.executions)==3
+            assert len({x['run_id'] for x in backend.executions})==3
+            assert [x['context']['target_id'] for x in backend.executions]==['water','water','doll']
+            assert api('/v1/tasks',request)['deduplicated']
+            audit=replay_events(c.events(tid,limit=500));assert audit['completed_quantity']==3
+            assert len(list((Path(tmp)/'sim/planning_records').glob('*.json')))==1
+            assert api('/v1/capabilities')['quantity_max']==20
+            return {'route':route,'status':t['status'],'delivered':3,'independent_runs':3,'replay':audit['status'],'model':'fixture','motion':'simulated'}
+        finally:server.shutdown();thread.join();server.server_close();c.close()
+if __name__=='__main__':print(json.dumps([run(r) for r in ('OBJECT_TABLE','SHELF_CELL')],indent=2))
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+set -euo pipefail
+project_root="$(cd "$(dirname "$0")/.." && pwd)"
+cd "$project_root"
+: "${ROBOT_BT_API_TOKEN:?Set ROBOT_BT_API_TOKEN to a chosen local API token}"
+if [[ ! -x build/bt_demo ]]; then bash tools/build_portable.sh; fi
+export PYTHONPATH="$project_root/coordinator${PYTHONPATH:+:$PYTHONPATH}"
+exec python3 -m robot_bt_coordinator.cli --backend mock --site config/sim_site.json "$@"
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+set -euo pipefail
+project_root="$(cd "$(dirname "$0")/.." && pwd)"
+cd "$project_root"
+: "${ROBOT_BT_API_TOKEN:?Set a local API token}"
+if [[ ! -x build/bt_demo ]]; then bash tools/build_portable.sh; fi
+export PYTHONPATH="$project_root/coordinator:$project_root/robobrain${PYTHONPATH:+:$PYTHONPATH}"
+exec python3 -m robot_bt_coordinator.cli --backend brain-mock --site config/sim_site_object_table.json "$@"
@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+set -euo pipefail
+project_root="$(cd "$(dirname "$0")/.." && pwd)"
+cd "$project_root"
+bash tools/build_portable.sh
+python3 -m unittest discover -s tests -p 'test_*.py' -v
+python3 ros2/bt_executor/tools/check_static.py
+python3 ros2/bt_executor/tools/test_ros_backend.py
+python3 tools/http_smoke.py
+
+python3 tools/robobrain_smoke.py