wangfeiyu/behavior-tree
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix: harden task recovery and DR contract handling

Browse Source
This commit is contained in:
wangfeiyu
2026-09-20 13:36:48 +08:00
parent 492676344a
commit f9d8feb6f0
49 changed files with 2083 additions and 165 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ros2/bt_executor/tools/test_ros_backend.py
+100
View File
@@ -6,6 +6,7 @@ from collections import deque
from types import SimpleNamespace as S
import unittest
import time
import json
sys.path.insert(0, str(Path(__file__).resolve().parents[3] / 'coordinator'))
from robot_bt_coordinator.ros_backend import RosBackend
@@ -112,6 +113,105 @@ class BackendLifecycle(unittest.TestCase):
self.backend._execution_result(self.key, self.result(evidence='{"stop_confirmed":false,"stop_confirmed":true}'))
self.assertEqual(self.backend._events.pop()['status'], 'INTERVENTION_REQUIRED')
def test_failed_planning_preserves_archive_reference(self):
key = ('task', 1, 1)
self.backend._planning[key] = dict(task_id='task', task_revision=1,
planning_generation=1, done=False)
self.backend._plan_result(key, Future(S(status=4, result=S(status=2,
error_code='SEMANTIC_MISMATCH', message='conflict', planning_record_ref='archive/42'))))
self.assertEqual(self.backend._events.pop()['planning_record_ref'], 'archive/42')
def test_native_planner_protocol_failure_preserves_archive_reference(self):
for native in (5,6):
with self.subTest(native=native):
key=('task',1,native)
self.backend._planning[key]=dict(task_id='task',task_revision=1,planning_generation=native,done=False)
self.backend._plan_result(key,Future(S(status=native,result=S(planning_record_ref='archive/native-'+str(native)))))
event=self.backend._events.pop()
self.assertEqual(event['status'],'FAILED')
self.assertEqual(event['error_code'],'PLANNER_PROTOCOL_ERROR')
self.assertEqual(event['planning_record_ref'],'archive/native-'+str(native))
def test_invalid_planner_json_retains_archive_for_diagnosis(self):
key=('task',1,1)
self.backend._planning[key]=dict(task_id='task',task_revision=1,planning_generation=1,done=False)
self.backend._plan_result(key,Future(S(status=4,result=S(status=0,task_plan_json='{invalid',planning_record_ref='archive/raw'))))
event=self.backend._events.pop()
self.assertEqual(event['error_code'],'PLANNER_PROTOCOL_ERROR')
self.assertEqual(event['planning_record_ref'],'archive/raw')
def test_evicted_late_acceptance_is_canceled_without_recreating_tracking(self):
self.backend._terminal_retention=1
old_run=('old','run');old_plan=('old',1,1)
self.backend._runs[old_run]=dict(done=True)
self.backend._runs[('new','run')]=dict(done=True)
self.backend._planning[old_plan]=dict(done=True)
self.backend._planning[('new',1,1)]=dict(done=True)
self.backend._trim_terminal()
self.assertNotIn(old_run,self.backend._runs);self.assertNotIn(old_plan,self.backend._planning)
execution_handle=Handle();planning_handle=Handle()
self.backend._execution_accepted(old_run,Future(execution_handle))
self.backend._plan_accepted(old_plan,Future(planning_handle))
self.assertEqual(execution_handle.cancels,1);self.assertEqual(planning_handle.cancels,1)
self.assertNotIn(old_run,self.backend._runs);self.assertNotIn(old_plan,self.backend._planning)
self.assertFalse(self.backend._events)
def test_retention_never_evicts_unresolved_executions_or_plans(self):
self.backend._terminal_retention=2
pending_plan=('pending',1,1)
self.backend._planning[pending_plan]=dict(done=False)
self.backend._unknown(self.rec,'FEEDBACK_TIMEOUT')
for index in range(8):
self.backend._runs[('finished',str(index))]=dict(done=True)
self.backend._planning[('finished',1,index)]=dict(done=True)
self.backend._trim_terminal()
self.assertIs(self.backend._runs[self.key],self.rec)
self.assertFalse(self.rec['done']);self.assertIn(pending_plan,self.backend._planning)
self.assertEqual(len(self.backend._runs),3);self.assertEqual(len(self.backend._planning),3)
def test_feedback_retains_snapshot(self):
self.backend._feedback(self.key, S(feedback=S(stamp=S(sec=10, nanosec=0),
sequence=1, stage='PICK', status_json='{"holding_state":"UNKNOWN"}')))
self.assertEqual(self.backend._events.pop()['detail'], {'holding_state':'UNKNOWN'})
def test_retention_keeps_uncertain_run_and_ignores_late_evicted_callbacks(self):
self.backend._terminal_retention = 2
for i in range(6):
self.backend._runs[('old', str(i))] = dict(done=True)
self.backend._trim_terminal()
self.assertIn(self.key, self.backend._runs)
self.assertEqual(len(self.backend._runs), 3)
self.backend._feedback(('old', '0'), S())
self.backend._execution_result(('old', '0'), Future(None))
def test_recovery_missing_authorization_never_calls_service(self):
self.backend.config = {}
with self.assertRaisesRegex(ValueError, 'recovery'):
self.backend.reconcile({}, {})
def test_recovery_validates_physical_state_before_retiring_tracking(self):
task = dict(task_id='task',run_id='run',task_revision=2,planning_generation=3,
execution_generation=4,plan={'plan_version':5})
request = dict(evidence_ref='operator-proof',resolution='resume_task')
self.backend.config = dict(recovery_token='x'*24,recovery_operator_id='operator')
self.backend._ReconcileTask = S(Request=lambda:S(trace=S()))
calls=[]
class ReadyFuture(Future):
def add_done_callback(self, cb): cb(self)
state = dict(verified=True,stop_confirmed=False,holding_state='EMPTY',
run_id='run',evidence_ref='operator-proof',receipts=[])
def call(message):
calls.append(message)
return ReadyFuture(S(accepted=True,state_json=json.dumps(state)))
self.backend._recovery = S(service_is_ready=lambda:True,call_async=call)
with self.assertRaises(ValueError): self.backend.reconcile(task,request)
self.assertFalse(self.rec['done'])
state['stop_confirmed']=True
self.assertTrue(self.backend.reconcile(task,request)['verified'])
self.assertTrue(self.rec['done'])
self.assertEqual(calls[-1].trace.execution_generation,4)
self.assertEqual(calls[-1].trace.plan_version,5)
if __name__ == '__main__':
unittest.main()