feat(referee): integrate referee state and sentry commands into decision#17
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feat(referee): integrate referee state and sentry commands into decision#17gqsdjhh wants to merge 3 commits into
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Walkthrough该PR在导航模块中添加并注册哨兵决策相关输入与输出，实现在 Command 层的 exchange/switch/confirm 控制与 ~800ms 的自动清除逻辑，重构 lua_sync 为安全读取 Context，扩展 Lua 黑板与 API 并将命令生命周期集成到 Navigation 更新循环。 变更哨兵决策与游戏状态集成
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Actionable comments posted: 2
🧹 Nitpick comments (2)
src/cxx/component.cc (2)
191-193: 💤 Low valueLambda 风格与同段其他 lambda 不一致。
同一
make_api_injection中其他 lambda 都未显式书写返回类型，这里的[this]()-> void { ... }显式写出-> void略显不齐整。统一为隐式返回即可。♻️ 风格统一
- api.set_function("confirm_revive", [this]()-> void { - command.confirm_revive(); - }); + api.set_function("confirm_revive", [this] { command.confirm_revive(); });🤖 Prompt for AI Agents
Verify each finding against current code. Fix only still-valid issues, skip the rest with a brief reason, keep changes minimal, and validate. In `@src/cxx/component.cc` around lines 191 - 193, 在 make_api_injection 中的 api.set_function("confirm_revive", [this]()-> void { command.confirm_revive(); }); 与同段其他 lambda 风格不一致：请将该 lambda 的显式返回类型移除，改为与同组一致的隐式返回形式（即使用 [this]() { command.confirm_revive(); }），以保持代码风格统一并保留对 this 的捕获；定位标识符参考 api.set_function("confirm_revive") 和 command.confirm_revive().
99-106: ⚡ Quick win
switch_mode对非法mode静默返回，建议加日志便于排查。
mode来自 Lua 调用方，越界时直接return不会触发任何反馈，调试时很难定位“为什么没切换”。建议至少warn一行，并保持其他决策状态不变（不调用reset_all_decisions，与现有实现一致）。♻️ 建议改动
auto switch_mode(int mode) -> void { - if (mode < 1 || mode > 3) - return; + if (mode < 1 || mode > 3) { + // 上层 Lua 传入越界值，记录后忽略，保留既有决策 + return; + }（如果
Command能拿到 logger，请把return前替换为warn(...)调用；否则在调用api.set_function("switch_mode", ...)处统一打日志。）🤖 Prompt for AI Agents
Verify each finding against current code. Fix only still-valid issues, skip the rest with a brief reason, keep changes minimal, and validate. In `@src/cxx/component.cc` around lines 99 - 106, The switch_mode function currently returns silently on an out-of-range mode; update it to emit a warning when mode < 1 || mode > 3 (but keep the current behavior of not calling reset_all_decisions or changing state) by logging a clear message that includes the invalid mode value; if the Command class (or the surrounding object that owns switch_mode) exposes a logger, call its warn(...) before returning from switch_mode, otherwise add a warning log at the place where api.set_function("switch_mode", ...) is registered so callers and logs show why the switch was ignored; keep references to reset_all_decisions, requested_mode and activate_decision unchanged.
🤖 Prompt for all review comments with AI agents
Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.
Inline comments:
In `@src/cxx/component.cc`:
- Around line 114-120: Command::update() reads sentry_decision_clear_at which
other Lua API callbacks (e.g., exchange_17mm_bullet, switch_mode,
confirm_revive) modify under io_mutex, so call command.update() while holding
the same io_mutex to prevent data races; specifically, acquire io_mutex before
invoking command.update() (the call site that currently precedes lua_sync() and
lua_tick()) or, alternatively, add a clear comment on the component specifying
it must run in a mutually exclusive callback group / single-threaded executor
(e.g., MultiThreadedExecutor with non-Reentrant callbacks) so maintainers know
the required synchronization.
In `@src/lua/blackboard.lua`:
- Line 9: The local variable last_our_dart_nmber_of_hits is misspelled (nmber)
and the PR also introduced a duplicated field our_dart_nmber_of_hits alongside
the correct our_dart_number_of_hits; rename the local variable
last_our_dart_nmber_of_hits to last_our_dart_number_of_hits and remove the newly
added misspelled field usage in this file, ensuring all references (lines around
initialization and 185-192) use last_our_dart_number_of_hits and
our_dart_number_of_hits; if C++ (component.cc lua_sync) still writes the
misspelled key, keep only the correct key in Lua and optionally add a temporary
alias read-from fallback from our_dart_nmber_of_hits -> our_dart_number_of_hits
(without introducing new persistent misspelled fields) so existing callers
continue to work until they migrate.
---
Nitpick comments:
In `@src/cxx/component.cc`:
- Around line 191-193: 在 make_api_injection 中的
api.set_function("confirm_revive", [this]()-> void { command.confirm_revive();
}); 与同段其他 lambda 风格不一致：请将该 lambda 的显式返回类型移除，改为与同组一致的隐式返回形式（即使用 [this]() {
command.confirm_revive(); }），以保持代码风格统一并保留对 this 的捕获；定位标识符参考
api.set_function("confirm_revive") 和 command.confirm_revive().
- Around line 99-106: The switch_mode function currently returns silently on an
out-of-range mode; update it to emit a warning when mode < 1 || mode > 3 (but
keep the current behavior of not calling reset_all_decisions or changing state)
by logging a clear message that includes the invalid mode value; if the Command
class (or the surrounding object that owns switch_mode) exposes a logger, call
its warn(...) before returning from switch_mode, otherwise add a warning log at
the place where api.set_function("switch_mode", ...) is registered so callers
and logs show why the switch was ignored; keep references to
reset_all_decisions, requested_mode and activate_decision unchanged.
🪄 Autofix (Beta)
Fix all unresolved CodeRabbit comments on this PR:
- Push a commit to this branch (recommended)
- Create a new PR with the fixes
ℹ️ Review info
⚙️ Run configuration
Configuration used: Organization UI
Review profile: CHILL
Plan: Pro
Run ID: 3fc6475e-0ec3-4adc-bf46-ff22df44d826
📒 Files selected for processing (6)
src/cxx/component.ccsrc/cxx/context.ccsrc/cxx/context.hhsrc/lua/action.luasrc/lua/api.luasrc/lua/blackboard.lua
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Actionable comments posted: 1
🧹 Nitpick comments (3)
src/cxx/component.cc (3)
129-133: 💤 Low value800ms 魔法数字建议提取为命名常量。
std::chrono::milliseconds{800}是哨兵决策的自动清除窗口，与裁判系统下行刷新节奏强相关。建议提升为Command的static constexpr命名常量（如decision_hold_duration），便于后续调参、统一注释来源，并避免在update()中读取clear_at与此处写入逻辑分离时产生不一致。🔧 建议的修复
+ static constexpr auto decision_hold_duration = std::chrono::milliseconds{800}; + auto activate_decision() -> void { *sentry_decision_enabled = true; - sentry_decision_clear_at = - std::chrono::steady_clock::now() + std::chrono::milliseconds{800}; + sentry_decision_clear_at = std::chrono::steady_clock::now() + decision_hold_duration; }🤖 Prompt for AI Agents
Verify each finding against current code. Fix only still-valid issues, skip the rest with a brief reason, keep changes minimal, and validate. In `@src/cxx/component.cc` around lines 129 - 133, The hard-coded 800ms duration in activate_decision() (std::chrono::milliseconds{800}) should be extracted to a named constant on the Command type to centralize tuning and avoid mismatches with other places that read/write sentry_decision_clear_at; add a static constexpr std::chrono::milliseconds decision_hold_duration (or similarly named) to Command and replace std::chrono::milliseconds{800} in activate_decision() with Command::decision_hold_duration, and update any other places that set or compare sentry_decision_clear_at to use that constant.
191-193: 💤 Low valueLambda 风格不一致：多余的尾置返回类型。
第 185、188 行的回调均省略
-> void，而第 191 行的confirm_revive显式写出-> void，建议统一风格。🔧 建议的修复
- api.set_function("confirm_revive", [this]()-> void { + api.set_function("confirm_revive", [this]() { command.confirm_revive(); });🤖 Prompt for AI Agents
Verify each finding against current code. Fix only still-valid issues, skip the rest with a brief reason, keep changes minimal, and validate. In `@src/cxx/component.cc` around lines 191 - 193, 回调 lambda 风格不一致：在 api.set_function("confirm_revive", ...) 的 lambda 中移除多余的尾置返回类型 `-> void` 以与其它回调（例如前面对其他命令的 set_function 回调）保持一致；定位到使用 api.set_function("confirm_revive", [this]()-> void { command.confirm_revive(); }); 并将其改为省略返回类型的形式（保持捕获和主体不变）。
99-106: ⚡ Quick win
switch_mode静默忽略非法 mode 值，建议至少打日志。当
mode不在[1, 3]范围内时函数直接return，调用方（Lua 侧）无法感知错误，调试时也难以定位为何决策未生效。建议至少打一条warn日志，或返回 bool 让 Lua 侧可判断。🔧 示例修复
auto switch_mode(int mode) -> void { - if (mode < 1 || mode > 3) - return; + if (mode < 1 || mode > 3) { + // 仅接受 1..3，超出范围视为非法请求 + return; + } reset_all_decisions(); *requested_mode = static_cast<std::uint8_t>(mode); activate_decision(); }若组件持有日志接口，可改为
warn("switch_mode: invalid mode {}", mode);。🤖 Prompt for AI Agents
Verify each finding against current code. Fix only still-valid issues, skip the rest with a brief reason, keep changes minimal, and validate. In `@src/cxx/component.cc` around lines 99 - 106, The function switch_mode currently returns silently for invalid mode values (mode < 1 || mode > 3), which hides errors from callers; update switch_mode to either log a warning (e.g., using the component's logger with a message like "switch_mode: invalid mode {}" including the mode) before returning, or change its signature to return a bool indicating success/failure so the Lua side can detect the error; ensure the modified logic still calls reset_all_decisions(), updates *requested_mode, and calls activate_decision() only on valid modes, and reference switch_mode, requested_mode, reset_all_decisions, and activate_decision when making the change.
🤖 Prompt for all review comments with AI agents
Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.
Inline comments:
In `@src/cxx/component.cc`:
- Around line 285-286: 修复 game 对象中拼写错误的键：将重复写入的
our_dart_nmber_of_hits（拼写错误）移除，仅保留正确的 our_dart_number_of_hits；如果必须保留旧键做兼容（即保留
our_dart_nmber_of_hits），在该位置添加明确的 TODO: deprecated 注释并记录移除时间表以避免脏 API
长期存在。定位标识符：game、our_dart_number_of_hits、our_dart_nmber_of_hits。
---
Nitpick comments:
In `@src/cxx/component.cc`:
- Around line 129-133: The hard-coded 800ms duration in activate_decision()
(std::chrono::milliseconds{800}) should be extracted to a named constant on the
Command type to centralize tuning and avoid mismatches with other places that
read/write sentry_decision_clear_at; add a static constexpr
std::chrono::milliseconds decision_hold_duration (or similarly named) to Command
and replace std::chrono::milliseconds{800} in activate_decision() with
Command::decision_hold_duration, and update any other places that set or compare
sentry_decision_clear_at to use that constant.
- Around line 191-193: 回调 lambda 风格不一致：在 api.set_function("confirm_revive", ...)
的 lambda 中移除多余的尾置返回类型 `-> void` 以与其它回调（例如前面对其他命令的 set_function 回调）保持一致；定位到使用
api.set_function("confirm_revive", [this]()-> void { command.confirm_revive();
}); 并将其改为省略返回类型的形式（保持捕获和主体不变）。
- Around line 99-106: The function switch_mode currently returns silently for
invalid mode values (mode < 1 || mode > 3), which hides errors from callers;
update switch_mode to either log a warning (e.g., using the component's logger
with a message like "switch_mode: invalid mode {}" including the mode) before
returning, or change its signature to return a bool indicating success/failure
so the Lua side can detect the error; ensure the modified logic still calls
reset_all_decisions(), updates *requested_mode, and calls activate_decision()
only on valid modes, and reference switch_mode, requested_mode,
reset_all_decisions, and activate_decision when making the change.
🪄 Autofix (Beta)
Fix all unresolved CodeRabbit comments on this PR:
- Push a commit to this branch (recommended)
- Create a new PR with the fixes
ℹ️ Review info
⚙️ Run configuration
Configuration used: Organization UI
Review profile: CHILL
Plan: Pro
Run ID: 0496a083-b2ec-4fa2-8769-aaf15ab924cd
📒 Files selected for processing (1)
src/cxx/component.cc
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Summary
This PR integrates referee-system state and sentry control commands into the decision layer.
It adds the C++ to Lua data path for referee-related fields, exposes sentry control commands to Lua, and extends the decision blackboard so upper-layer logic can read referee state and issue sentry-related actions.
Changes
exchange_17mm_bulletswitch_modeconfirm_reviveScope
This PR focuses on communication and decision-layer integration only.
PR 摘要
本 PR 将裁判系统状态与哨兵（sentry）控制命令集成到决策层，建立从 C++ 到 Lua 的裁判相关数据通路，并在决策黑板中暴露哨兵控制命令，供上层 Lua 逻辑读取裁判状态并发出哨兵相关动作。变更范围限定在通信与决策层集成。
主要变更
导航组件集成（src/cxx/component.cc）
上下文输入扩展（src/cxx/context.cc / src/cxx/context.hh）
决策黑板扩展（src/lua/blackboard.lua）
Lua API 与封装（src/lua/action.lua / src/lua/api.lua）
并发修复
影响范围与兼容性