@@ -11,6 +11,12 @@
    
    온실 로컬 측위값과 작업열 경로로 이동 명령을 생성하는 참조 MVP입니다.
    
  + ## MVP 동작 범위
  + 
  + - LPS 품질 게이트
  + - 목표 거리·방향 계산
  + - 품질 저하 시 정지 명령
  + 
    ## 실행
    
    ```bash
@@ -18,4 +24,4 @@ python run.py examples/input.json
    python -m unittest discover -s tests -v
    ```
    
  − 실제 기관 구현은 `contracts/component.interface.json`의 저장소 식별자와 제품 기준선 연결 규칙을 유지하면서 교체할 수 있습니다.
  + 정상 입력은 `examples/input.json`, 차단·안전 경로는 `examples/failure-input.json`으로 재현합니다. 실제 기관 구현은 `contracts/component.interface.json`의 저장소 식별자와 제품 기준선 연결 규칙을 유지하면서 교체할 수 있습니다.

modified asw_component/component.py +16−3 View file

@@ -1,7 +1,20 @@
    from __future__ import annotations
  + from math import atan2, degrees, hypot
    
    
    def execute(payload: dict) -> dict:
  −     if not isinstance(payload, dict) or not payload:
  −         raise ValueError("a non-empty object is required")
  −     return {"component": "daedongrobotics/greenhouse-lps-navigation", "accepted": True, "status": "READY", "target": "lpu", "input_fields": sorted(payload.keys())}
  +     pose, goal = payload["pose"], payload["goal"]
  +     quality = float(payload.get("localizationQuality", 0))
  +     threshold = float(payload.get("minimumQuality", 0.75))
  +     dx, dy = float(goal["x"]) - float(pose["x"]), float(goal["y"]) - float(pose["y"])
  +     distance = hypot(dx, dy)
  +     desired = degrees(atan2(dy, dx)) if distance else float(pose.get("headingDeg", 0))
  +     heading_error = (desired - float(pose.get("headingDeg", 0)) + 180) % 360 - 180
  +     accepted = quality >= threshold
  +     arrived = accepted and distance <= 0.1
  +     speed = 0.0 if not accepted or arrived else min(float(payload.get("maxSpeedMps", 0.8)), max(0.15, distance * 0.4))
  +     status = "LOCALIZATION_DEGRADED" if not accepted else ("ARRIVED" if arrived else "NAVIGATING")
  +     return {"component": "daedongrobotics/greenhouse-lps-navigation", "accepted": accepted,
  +             "status": status, "target": "lpu", "distanceM": round(distance, 3),
  +             "headingErrorDeg": round(heading_error, 2), "speedMps": round(speed, 3),
  +             "command": "STOP" if speed == 0 else "DRIVE"}

modified contracts/component.interface.json +18−1 View file

@@ -5,7 +5,12 @@
      "required": [
        "component",
        "accepted",
  −     "status"
  +     "status",
  +     "target",
  +     "distanceM",
  +     "headingErrorDeg",
  +     "speedMps",
  +     "command"
      ],
      "properties": {
        "component": {
@@ -19,6 +24,18 @@
        },
        "target": {
          "const": "lpu"
  +     },
  +     "distanceM": {
  +       "type": "number"
  +     },
  +     "headingErrorDeg": {
  +       "type": "number"
  +     },
  +     "speedMps": {
  +       "type": "number"
  +     },
  +     "command": {
  +       "type": "string"
        }
      }
    }

added examples/failure-input.json +14−0 View file

@@ -0,0 +1,14 @@
  + {
  +   "pose": {
  +     "x": 3.2,
  +     "y": 1.1,
  +     "headingDeg": 0
  +   },
  +   "goal": {
  +     "x": 8,
  +     "y": 1.1
  +   },
  +   "localizationQuality": 0.41,
  +   "minimumQuality": 0.75,
  +   "maxSpeedMps": 0.8
  + }

modified examples/input.json +5−2 View file

@@ -1,11 +1,14 @@
    {
      "pose": {
        "x": 3.2,
  −     "y": 1.1
  +     "y": 1.1,
  +     "headingDeg": 0
      },
      "goal": {
        "x": 8,
        "y": 1.1
      },
  −   "localizationQuality": 0.92
  +   "localizationQuality": 0.92,
  +   "minimumQuality": 0.75,
  +   "maxSpeedMps": 0.8
    }

modified pyproject.toml +1−1 View file

@@ -1,5 +1,5 @@
    [project]
    name = "greenhouse-lps-navigation"
  − version = "0.1.0"
  + version = "0.2.0"
    description = "온실 로컬 측위값과 작업열 경로로 이동 명령을 생성하는 참조 MVP입니다."
    requires-python = ">=3.11"

modified release/manifest.json +1−1 View file

@@ -4,7 +4,7 @@
      "displayName": "온실 LPS 측위·주행",
      "owner": "대동로보틱스",
      "implementationAuthor": "주식회사 비아 (연동 검증용 참조 구현)",
  −   "version": "0.1.0-mvp",
  +   "version": "0.2.0-mvp",
      "domain": "Localization & Navigation",
      "status": "REFERENCE_MVP",
      "compatibility": {

modified tests/test_component.py +13−0 View file

@@ -12,6 +12,19 @@ class ComponentTest(unittest.TestCase):
            result = execute(payload)
            self.assertTrue(result["accepted"])
            self.assertEqual(result["component"], "daedongrobotics/greenhouse-lps-navigation")
  +         self.assertEqual(result["target"], "lpu")
  +         self.assertEqual(result["status"], "NAVIGATING")
  +         self.assertEqual(result["distanceM"], 4.8)
  +         self.assertEqual(result["speedMps"], 0.8)
  +         self.assertEqual(result["command"], "DRIVE")
  + 
  +     def test_safety_or_failure_path(self):
  +         payload = json.loads((ROOT / "examples/failure-input.json").read_text(encoding="utf-8"))
  +         result = execute(payload)
  +         self.assertEqual(result["component"], "daedongrobotics/greenhouse-lps-navigation")
  +         self.assertFalse(result["accepted"])
  +         self.assertEqual(result["status"], "LOCALIZATION_DEGRADED")
  +         self.assertEqual(result["command"], "STOP")
    
    if __name__ == "__main__":
        unittest.main()