mecha10-behavior-runtime 4.2.11

//! Generic action node that hands control to a capability node (e.g. `rl`, `instance-track`) and
//! waits for it to report task completion.
//!
//! Replaces the old bespoke `RlTaskNode`/`InstanceTrackTaskNode` pair. Which of the two old
//! behaviors this node exhibits is selected purely by whether `target_request_topic` is
//! configured:
//!
//! - Not configured: mirrors `RlTaskNode` exactly - target presence is never tracked, this node
//!   stays `Running` until any message arrives on `task_complete_topic`, then resolves to
//!   `Success` forever after.
//! - Configured: mirrors `InstanceTrackTaskNode` exactly - this node also subscribes to
//!   `target_request_topic`, tracks whether a target is currently live from the latest
//!   `{"bbox": <value-or-null>}`-shaped message seen there, and resolves to `Running` while a
//!   target is live or `Failure` otherwise. Any `task_complete_topic` message clears the target
//!   immediately, same as the old `InstanceTrackTaskNode`.

use crate::{BehaviorNode, Context, NodeStatus, TreeStatusSnapshot};
use async_trait::async_trait;
use mecha10_core::Receiver;
use serde::{Deserialize, Serialize};
use serde_json::Value;

/// A target request message, parsed generically - only whether `bbox` is present and non-null
/// matters, so the value itself is never inspected beyond that.
#[derive(Debug, Clone, Serialize, Deserialize)]
struct TargetRequest {
    #[serde(default)]
    bbox: Option<Value>,
}

#[derive(Debug, Serialize, Deserialize)]
struct CapabilityTaskConfig {
    capability: String,
    task_complete_topic: String,
    #[serde(default)]
    target_request_topic: Option<String>,
}

pub struct CapabilityTaskNode {
    capability: String,
    task_complete_topic: String,
    target_request_topic: Option<String>,
    complete_receiver: Option<Receiver<Value>>,
    target_receiver: Option<Receiver<Value>>,
    complete: bool,
    has_target: bool,
    last_status: Option<NodeStatus>,
}

impl std::fmt::Debug for CapabilityTaskNode {
    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
        f.debug_struct("CapabilityTaskNode")
            .field("capability", &self.capability)
            .field("task_complete_topic", &self.task_complete_topic)
            .field("target_request_topic", &self.target_request_topic)
            .field("complete_subscribed", &self.complete_receiver.is_some())
            .field("target_subscribed", &self.target_receiver.is_some())
            .field("complete", &self.complete)
            .field("has_target", &self.has_target)
            .finish()
    }
}

impl CapabilityTaskNode {
    /// Create a new node from JSON configuration. `capability` and `task_complete_topic` are
    /// required; `target_request_topic` is optional and absent by default, which selects the
    /// old `RlTaskNode` behavior (see module doc).
    pub fn from_json(config: Value) -> anyhow::Result<Self> {
        let cfg: CapabilityTaskConfig = serde_json::from_value(config)?;
        Ok(Self {
            capability: cfg.capability,
            task_complete_topic: cfg.task_complete_topic,
            target_request_topic: cfg.target_request_topic,
            complete_receiver: None,
            target_receiver: None,
            complete: false,
            has_target: false,
            last_status: None,
        })
    }

    /// Construct a node with already-connected receivers, bypassing live subscription.
    ///
    /// Used by unit tests to exercise convergence without a real `Context`/Redis.
    #[cfg(test)]
    fn with_receivers(
        capability: &str,
        task_complete_topic: &str,
        target_request_topic: Option<&str>,
        complete_receiver: Receiver<Value>,
        target_receiver: Option<Receiver<Value>>,
    ) -> Self {
        Self {
            capability: capability.to_string(),
            task_complete_topic: task_complete_topic.to_string(),
            target_request_topic: target_request_topic.map(|s| s.to_string()),
            complete_receiver: Some(complete_receiver),
            target_receiver,
            complete: false,
            has_target: false,
            last_status: None,
        }
    }

    /// Drains every pending target request, updating `has_target` from the last one seen (if
    /// any) - mirrors `SetCapabilityTargetNode`'s "only the most recent request matters"
    /// semantics.
    fn poll_target(&mut self) {
        let Some(receiver) = self.target_receiver.as_mut() else {
            return;
        };

        let mut latest = None;
        while let Ok(value) = receiver.try_recv() {
            match serde_json::from_value::<TargetRequest>(value) {
                Ok(request) => latest = Some(request.bbox.is_some()),
                Err(e) => tracing::warn!("CapabilityTaskNode: dropping malformed target request: {}", e),
            }
        }

        if let Some(has_target) = latest {
            self.has_target = has_target;
        }
    }

    /// Drain any pending completion messages - arrival of any message at all is the whole
    /// signal, so the payload itself is never inspected. When target-tracking is enabled,
    /// proactively clears `has_target` so this node converges to "idle" immediately.
    fn poll_complete(&mut self) {
        if self.target_request_topic.is_none() && self.complete {
            return;
        }
        let Some(receiver) = self.complete_receiver.as_mut() else {
            return;
        };

        if receiver.try_recv().is_ok() {
            self.complete = true;
            self.has_target = false;
        }
    }
}

#[async_trait]
impl BehaviorNode for CapabilityTaskNode {
    async fn tick(&mut self, ctx: &Context) -> anyhow::Result<NodeStatus> {
        if self.complete_receiver.is_none() {
            self.complete_receiver = Some(ctx.subscribe_raw::<Value>(&self.task_complete_topic).await?);
        }
        if let Some(target_request_topic) = self.target_request_topic.clone() {
            if self.target_receiver.is_none() {
                self.target_receiver = Some(ctx.subscribe_raw::<Value>(&target_request_topic).await?);
            }
        }

        let status = if self.target_request_topic.is_some() {
            self.poll_target();
            self.poll_complete();
            if self.has_target {
                NodeStatus::Running
            } else {
                NodeStatus::Failure
            }
        } else {
            self.poll_complete();
            if self.complete {
                NodeStatus::Success
            } else {
                NodeStatus::Running
            }
        };

        self.last_status = Some(status);
        Ok(status)
    }

    fn name(&self) -> &str {
        "capability_task"
    }

    fn active_capability(&self) -> Option<&str> {
        Some(self.capability.as_str())
    }

    fn reset_self(&mut self) {
        self.complete = false;
        self.has_target = false;
    }

    fn status_snapshot(&self) -> TreeStatusSnapshot {
        TreeStatusSnapshot {
            name: self.name().to_string(),
            status: self.last_status,
            active_capability: self.active_capability().map(String::from),
            children: Vec::new(),
        }
    }
}

#[cfg(test)]
mod tests {
    use super::*;
    use tokio::sync::mpsc;

    /// Builds a node in the no-target-tracking ("rl_task"-equivalent) configuration.
    fn task_only_node() -> (CapabilityTaskNode, mpsc::UnboundedSender<Value>) {
        let (tx, rx) = mpsc::unbounded_channel();
        (
            CapabilityTaskNode::with_receivers("rl", "/rl/task_complete", None, Receiver::from(rx), None),
            tx,
        )
    }

    /// Builds a node in the target-tracking ("instance_track_task"-equivalent) configuration.
    fn tracking_node() -> (
        CapabilityTaskNode,
        mpsc::UnboundedSender<Value>,
        mpsc::UnboundedSender<Value>,
    ) {
        let (complete_tx, complete_rx) = mpsc::unbounded_channel();
        let (target_tx, target_rx) = mpsc::unbounded_channel();
        (
            CapabilityTaskNode::with_receivers(
                "instance-track",
                "/instance-track/task_complete",
                Some("/instance-track/target/request"),
                Receiver::from(complete_rx),
                Some(Receiver::from(target_rx)),
            ),
            complete_tx,
            target_tx,
        )
    }

    #[test]
    fn declares_the_configured_capability() {
        let (node, _tx) = task_only_node();
        assert_eq!(node.active_capability(), Some("rl"));

        let (node, _complete_tx, _target_tx) = tracking_node();
        assert_eq!(node.active_capability(), Some("instance-track"));
    }

    #[test]
    fn task_only_stays_incomplete_with_no_message() {
        let (mut node, _tx) = task_only_node();
        node.poll_complete();
        assert!(!node.complete);
    }

    #[test]
    fn task_only_completes_once_any_message_arrives() {
        let (mut node, tx) = task_only_node();
        tx.send(serde_json::json!({})).unwrap();

        node.poll_complete();

        assert!(node.complete);
    }

    #[test]
    fn task_only_reset_self_clears_completion_for_a_later_pass() {
        let (mut node, tx) = task_only_node();
        tx.send(serde_json::json!({})).unwrap();
        node.poll_complete();
        assert!(node.complete);

        node.reset_self();

        assert!(!node.complete);
    }

    #[test]
    fn tracking_no_target_ever_set_stays_without_a_target() {
        let (mut node, _complete_tx, _target_tx) = tracking_node();
        node.poll_target();
        node.poll_complete();
        assert!(!node.has_target);
    }

    #[test]
    fn tracking_a_live_target_request_sets_has_target() {
        let (mut node, _complete_tx, target_tx) = tracking_node();
        target_tx
            .send(serde_json::json!({ "bbox": { "x": 0.1, "y": 0.2, "width": 0.3, "height": 0.4 } }))
            .unwrap();

        node.poll_target();

        assert!(node.has_target);
    }

    #[test]
    fn tracking_a_clear_request_unsets_has_target_even_with_no_task_complete() {
        let (mut node, _complete_tx, target_tx) = tracking_node();
        target_tx
            .send(serde_json::json!({ "bbox": { "x": 0.1, "y": 0.2, "width": 0.3, "height": 0.4 } }))
            .unwrap();
        node.poll_target();
        assert!(node.has_target);

        target_tx.send(serde_json::json!({ "bbox": null })).unwrap();
        node.poll_target();

        assert!(!node.has_target);
    }

    #[test]
    fn tracking_task_complete_unsets_has_target_on_the_very_next_poll() {
        let (mut node, complete_tx, target_tx) = tracking_node();
        target_tx
            .send(serde_json::json!({ "bbox": { "x": 0.1, "y": 0.2, "width": 0.3, "height": 0.4 } }))
            .unwrap();
        node.poll_target();
        assert!(node.has_target);

        complete_tx.send(serde_json::json!({})).unwrap();
        node.poll_complete();

        assert!(
            !node.has_target,
            "task_complete must converge has_target to false without waiting for a separate clear request"
        );
    }

    #[test]
    fn tracking_reset_self_clears_has_target_for_a_later_pass() {
        let (mut node, _complete_tx, target_tx) = tracking_node();
        target_tx
            .send(serde_json::json!({ "bbox": { "x": 0.1, "y": 0.2, "width": 0.3, "height": 0.4 } }))
            .unwrap();
        node.poll_target();
        assert!(node.has_target);

        node.reset_self();

        assert!(!node.has_target);
    }

    #[test]
    fn from_json_requires_capability_and_task_complete_topic() {
        let node = CapabilityTaskNode::from_json(serde_json::json!({
            "capability": "rl",
            "task_complete_topic": "/rl/task_complete"
        }))
        .unwrap();
        assert_eq!(node.capability, "rl");
        assert_eq!(node.task_complete_topic, "/rl/task_complete");
        assert_eq!(node.target_request_topic, None);

        assert!(CapabilityTaskNode::from_json(serde_json::json!({ "capability": "rl" })).is_err());
        assert!(CapabilityTaskNode::from_json(serde_json::json!({})).is_err());
    }

    #[test]
    fn from_json_reads_optional_target_request_topic() {
        let node = CapabilityTaskNode::from_json(serde_json::json!({
            "capability": "instance-track",
            "task_complete_topic": "/instance-track/task_complete",
            "target_request_topic": "/instance-track/target/request"
        }))
        .unwrap();
        assert_eq!(node.capability, "instance-track");
        assert_eq!(
            node.target_request_topic,
            Some("/instance-track/target/request".to_string())
        );
    }
}