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
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+"""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()