phoxal 0.33.0

Phoxal - production-oriented autonomous robot framework: the runtime engine and model (the api contract tree lives in phoxal-api, the typed bus in phoxal-bus).
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147

use std::collections::BTreeMap;

use crate::model::component::v0::CapabilityRef;
use anyhow::{Result, bail};
use serde::{Deserialize, Serialize};

use super::conformance::{ConformanceEvidence, ConformanceFailure, ConformanceReport};
use super::localize_backend::{LocalizeBackendKind, resolve_localize_backend};
use super::role_resolution::resolve_roles;
use super::{AutonomyProfileId, Robot, Role, RoleResolution, autonomy_profile};

#[derive(Debug, Clone)]
pub struct SourceBundle {
    pub model: Robot,
    pub components: BTreeMap<String, crate::model::component::v0::Component>,
    pub autonomy_profile: AutonomyProfileId,
}

impl SourceBundle {
    #[must_use]
    pub fn new(
        model: Robot,
        components: BTreeMap<String, crate::model::component::v0::Component>,
    ) -> Self {
        Self {
            model,
            components,
            autonomy_profile: AutonomyProfileId::UnseenGroundNavigation,
        }
    }
}

#[derive(Debug, Clone, Serialize, Deserialize)]
pub struct ResolvedFacts {
    pub autonomy_profile: AutonomyProfileId,
    pub autonomy_profile_version: u32,
    pub localize_backend: LocalizeBackendKind,
    pub roles: Vec<ResolvedCapabilityRole>,
    pub conformance_report: ConformanceReport,
}

#[derive(Debug, Clone, Serialize, Deserialize)]
pub struct ResolvedCapabilityRole {
    pub capability: CapabilityRef,
    pub roles: Vec<Role>,
}

pub fn resolve_source_bundle(bundle: SourceBundle) -> Result<ResolvedFacts> {
    bundle.model.validate().map_err(|errors| {
        anyhow::anyhow!(
            "Robot errors:\n{}",
            errors
                .iter()
                .map(ToString::to_string)
                .collect::<Vec<_>>()
                .join("\n")
        )
    })?;
    let profile = autonomy_profile(bundle.autonomy_profile);
    let role_resolution = resolve_roles(&bundle.model, &bundle.components)?;
    let localize_backend = resolve_localize_backend(&bundle.model, &bundle.components).kind();
    let conformance_report =
        validate_profile(&bundle.model, &role_resolution, bundle.autonomy_profile);
    if !conformance_report.is_pass() {
        bail!(
            "Autonomy profile conformance failed:\n{}",
            conformance_report
                .failures
                .iter()
                .map(|failure| format!("{}: {}", failure.check, failure.reason))
                .collect::<Vec<_>>()
                .join("\n")
        );
    }

    Ok(ResolvedFacts {
        autonomy_profile: profile.id,
        autonomy_profile_version: profile.version,
        localize_backend,
        roles: flatten_roles(role_resolution),
        conformance_report,
    })
}

fn validate_profile(
    model: &Robot,
    roles: &RoleResolution,
    profile_id: AutonomyProfileId,
) -> ConformanceReport {
    let profile = autonomy_profile(profile_id);
    let mut evidence = Vec::new();
    let mut failures = Vec::new();

    let kinematic_label = model.robot.kinematic.variant_label();
    if profile_id.supports_kinematics(&model.robot.kinematic) {
        evidence.push(ConformanceEvidence::new(
            "kinematics",
            format!("{kinematic_label} is supported by {profile_id}"),
        ));
    } else {
        failures.push(ConformanceFailure::new(
            "kinematics",
            format!("{kinematic_label} is not supported by {profile_id}"),
        ));
    }

    evidence.push(ConformanceEvidence::new(
        "goal_pose_support",
        "planar profile accepts Pose2 only and rejects Pose3",
    ));

    for role in &profile.required_roles {
        let capabilities = roles.capabilities_for(*role);
        if capabilities.is_empty() {
            failures.push(ConformanceFailure::new(
                format!("role.{role}"),
                "required role has no resolved capability",
            ));
        } else {
            evidence.push(ConformanceEvidence::new(
                format!("role.{role}"),
                capabilities
                    .iter()
                    .map(ToString::to_string)
                    .collect::<Vec<_>>()
                    .join(", "),
            ));
        }
    }

    if failures.is_empty() {
        ConformanceReport::pass(evidence)
    } else {
        ConformanceReport::fail(evidence, failures)
    }
}

fn flatten_roles(role_resolution: RoleResolution) -> Vec<ResolvedCapabilityRole> {
    role_resolution
        .assignments
        .into_iter()
        .map(|assignment| ResolvedCapabilityRole {
            capability: assignment.capability,
            roles: assignment.roles.into_iter().collect(),
        })
        .collect()
}