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fix: harden task recovery and DR contract handling

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wangfeiyu
2026-09-20 13:36:48 +08:00
parent 492676344a
commit f9d8feb6f0
49 changed files with 2083 additions and 165 deletions
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core/tests/settlement_test.cpp
+4 -2
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@@ -2,7 +2,7 @@
struct FailedPlaceDriver : Simulator {
void send(const GoalRequest& q) override {
Simulator::send(q);
if(q.skill==Skill::PLACE){auto& event=events.back();event.native_status=NativeStatus::ABORTED;event.result.code=ResultCode::FAILED;}
if(q.skill==Skill::PLACE){auto& event=events.back();event.native_status=NativeStatus::ABORTED;event.result.code=ResultCode::FAILED;event.result.error_code="VLA_EXECUTION_FAILED";}
}
};
int main(){
@@ -13,9 +13,11 @@ int main(){
for(;i<200&&status==TickStatus::RUNNING;++i){driver.now=1000000+i*1000000;runner.update_safety({true,true,driver.sensor_holding,driver.now,driver.now+1000000000});status=flow.tick(SteadyTime{}+Milliseconds(i),driver.now);}
assert(status==TickStatus::FAILURE);assert(deliveries==0);
runner.halt(SteadyTime{}+Milliseconds(i));
runner.update_safety({true,false,driver.sensor_holding,driver.now,driver.now+1000000000});
assert(runner.settle(SteadyTime{}+Milliseconds(i),driver.now)==TickStatus::RUNNING);
// Settlement is read-only except for the idempotent business receipt.
for(status=TickStatus::RUNNING;i<300&&status==TickStatus::RUNNING;++i){driver.now=1000000+i*1000000;runner.update_safety({true,true,driver.sensor_holding,driver.now,driver.now+1000000000});status=runner.settle(SteadyTime{}+Milliseconds(i),driver.now);}
assert(status==TickStatus::SUCCESS);assert(deliveries==1);
assert(status==TickStatus::SUCCESS);assert(deliveries==1);assert(runner.error_code()=="VLA_EXECUTION_FAILED");
unsigned place=0,verify=0;for(const auto&q:driver.sent){place+=q.skill==Skill::PLACE;verify+=q.skill==Skill::VERIFY_PLACE;}
assert(place==1&&verify==1);assert(runner.empty_verified(driver.now));
assert(runner.settle(SteadyTime{}+Milliseconds(i),driver.now)==TickStatus::SUCCESS);assert(deliveries==1);