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Automation ​

Automation in Anolis is a behavior-tree layer above core runtime services.

Contract and Build Context ​

  1. Runtime config contract: schemas/runtime/runtime-config.schema.json
  2. Runtime HTTP contract: schemas/http/runtime-http.openapi.v0.yaml
  3. Runtime mode/parameter endpoints:
    • GET/POST /v0/mode
    • GET/POST /v0/parameters
    • GET /v0/automation/status
    • GET /v0/automation/tree

Build-time option:

bash
cmake -DANOLIS_ENABLE_AUTOMATION=OFF ...

When compiled out, automation endpoints return UNAVAILABLE.

Architecture Boundaries ​

Automation is a consumer of kernel services, not a replacement for them.

  1. Reads: through StateCache.
  2. Writes: through CallRouter.
  3. Inventory/capabilities: through ProviderRegistry.
  4. Parameters: through ParameterManager.
  5. No provider-specific behavior is encoded in the BT runtime engine.

Runtime Modes ​

ModeAutomationManual CallsControl Behavior
IDLEStoppedBlockedSafe startup
MANUALStoppedAllowedOperator control
AUTORunningPolicy-gatedAutomated control
FAULTStoppedAllowedManual recovery state

Transition rules:

  1. IDLE <-> MANUAL
  2. MANUAL <-> AUTO
  3. Any -> FAULT (valid transition target)
  4. FAULT -> MANUAL
  5. FAULT -> AUTO is not allowed directly.
  6. AUTO -> IDLE is not allowed directly.

Startup is always IDLE.

Manual Gating Policy in AUTO ​

automation.manual_gating_policy controls manual calls while mode is AUTO.

  1. BLOCK (default): manual POST /v0/call rejected.
  2. OVERRIDE: manual calls allowed during AUTO.

Control-operation guardrails in current runtime:

  1. IDLE blocks control operations at CallRouter.
  2. AUTO applies manual-call gating policy (BLOCK/OVERRIDE).
  3. FAULT is primarily a recovery mode; transition constraints apply, but control calls are not globally blocked by CallRouter.

Runtime Parameters ​

Parameters are declared in runtime YAML and mutable via HTTP.

Example:

yaml
automation:
  enabled: true
  behavior_tree: ./behaviors/demo.xml
  tick_rate_hz: 10
  manual_gating_policy: BLOCK
  parameters:
    - name: temp_setpoint
      type: double
      default: 25.0
      min: 10.0
      max: 50.0
    - name: control_enabled
      type: bool
      default: true

Supported types:

  1. double
  2. int64
  3. bool
  4. string

Constraint rules:

  1. min/max are numeric-only.
  2. allowed_values is string-only.

Custom BT Nodes (Runtime) ​

Core runtime nodes include:

  1. CallDevice
  2. ReadSignal
  3. CheckQuality
  4. GetParameter
  5. GetParameterBool
  6. GetParameterInt64
  7. CheckBool
  8. PeriodicPulseWindow

Use runtime capability metadata and parameter constraints to keep BT logic generic.

Quick Walkthrough ​

1) Start runtime with automation enabled ​

bash
# Linux
./build/dev-release/core/anolis-runtime --config ./config/anolis-runtime.yaml

# Windows
.\build\dev-windows-release\core\Release\anolis-runtime.exe --config .\config\anolis-runtime.yaml

2) Verify startup mode ​

bash
curl -s http://127.0.0.1:8080/v0/mode | jq

Expected mode at startup: IDLE.

3) Inspect and update parameters ​

bash
curl -s http://127.0.0.1:8080/v0/parameters | jq

curl -s -X POST http://127.0.0.1:8080/v0/parameters \
  -H "Content-Type: application/json" \
  -d '{"name":"temp_setpoint","value":30.0}' | jq

4) Move into AUTO ​

bash
curl -s -X POST http://127.0.0.1:8080/v0/mode \
  -H "Content-Type: application/json" \
  -d '{"mode":"MANUAL"}' | jq

curl -s -X POST http://127.0.0.1:8080/v0/mode \
  -H "Content-Type: application/json" \
  -d '{"mode":"AUTO"}' | jq

5) Check automation status ​

bash
curl -s http://127.0.0.1:8080/v0/automation/status | jq

6) Optional: inspect loaded tree ​

bash
curl -s http://127.0.0.1:8080/v0/automation/tree | jq

Troubleshooting ​

  1. UNAVAILABLE from automation endpoints:
    • automation disabled in config or compiled out.
  2. BT load failure:
    • invalid tree path/XML or port type mismatch.
  3. Manual calls blocked unexpectedly:
    • verify mode and manual_gating_policy.
  4. Parameter update rejected:
    • check type/constraint mismatch against declared parameter.

Safety Reminder ​

Automation provides orchestration policy, not safety certification. External safety systems (E-stop/interlocks/watchdogs) remain required for real hardware deployments.