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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/state_alignment_test.cpp
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#include "workflow_fixture.hpp"
void holding_alignment(bool contradictory){Fixture f(contradictory?"fresh_contradiction":"holding_lag");auto r=f.runner();Workflow flow(r);unsigned i=0;
for(;flow.current_stage()!=Stage::TRANSPORT_POSTURE&&i<100;++i){f.driver.now=1000000+i*1000000;r.update_safety({true,true,f.driver.sensor_holding,f.driver.now,f.driver.now+1000000000});assert(flow.tick(SteadyTime{}+Milliseconds(i),f.driver.now)==TickStatus::RUNNING);}
assert(flow.current_stage()==Stage::TRANSPORT_POSTURE);auto proof=f.registry.history(f.driver.sent.back().goal_id)->result->response.evidence->observed_at;
f.driver.now+=1000000;r.update_safety({true,true,Holding::EMPTY,contradictory?f.driver.now:proof-1,f.driver.now+1000000000});
auto status=flow.tick(SteadyTime{}+Milliseconds(++i),f.driver.now);
if(contradictory){assert(status==TickStatus::INTERVENTION_REQUIRED);assert(f.count(Skill::TRANSPORT_POSTURE)==0);return;}
assert(status==TickStatus::RUNNING);assert(f.count(Skill::TRANSPORT_POSTURE)==0);
f.driver.now+=1000000;r.update_safety({true,true,Holding::HOLDING_TARGET,f.driver.now,f.driver.now+1000000000});
assert(flow.tick(SteadyTime{}+Milliseconds(++i),f.driver.now)==TickStatus::RUNNING);assert(f.count(Skill::TRANSPORT_POSTURE)==1);
}
void empty_alignment(){Fixture f("empty_lag");auto r=f.runner();r.update_safety({true,true,Holding::EMPTY,1000000,9000000000});assert(r.tick(Stage::PREFLIGHT,SteadyTime{},1000000)==TickStatus::RUNNING);assert(r.tick(Stage::PREFLIGHT,SteadyTime{}+Milliseconds(1),2000000)==TickStatus::SUCCESS);
r.update_safety({true,true,Holding::UNKNOWN,999999,9000000000});assert(r.tick(Stage::NAVIGATE_OBSERVE,SteadyTime{}+Milliseconds(2),3000000)==TickStatus::RUNNING);assert(f.count(Skill::NAVIGATE)==0);
r.update_safety({true,true,Holding::EMPTY,4000000,9000000000});assert(r.tick(Stage::NAVIGATE_OBSERVE,SteadyTime{}+Milliseconds(3),4000000)==TickStatus::RUNNING);assert(f.count(Skill::NAVIGATE)==1);
}
int main(){holding_alignment(false);holding_alignment(true);empty_alignment();std::cout<<"older robot state waits for proof corroboration; fresh contradictions block motion\n";}