change file readme

include/mission_adapters/mission_adapters.h

@@ -19,11 +19,12 @@ namespace mission_adapters
     // ── Priority constants ────────────────────────────────────────────────────
     // Số càng nhỏ = ưu tiên càng cao (min-heap)
     static constexpr int PRIORITY_EMERGENCY = 0;
-    static constexpr int PRIORITY_CANCEL    = 1;   // resume > pause
+    static constexpr int PRIORITY_CANCEL    = 1;
     static constexpr int PRIORITY_RESUME    = 2;
     static constexpr int PRIORITY_PAUSE     = 3;
     static constexpr int PRIORITY_NAV_DONE  = 4;
-    static constexpr int PRIORITY_ACT_DONE  = 4;
+    // FIX #4: Dedicated constant — same value as NAV_DONE but semantically correct name.
+    static constexpr int PRIORITY_NAV_FAILED = 4;
     static constexpr int PRIORITY_ORDER     = 5;
 
     enum class MissionState
@@ -66,7 +67,7 @@ namespace mission_adapters
     class Action
     {
     public:
-        int sequenceId; //id này theo id của action trong node hoặc edge, để đảm bảo thứ tự thực hiện
+        int sequenceId;
         ActionType type;
         robot_protocol_msgs::Action action;
     };
@@ -75,28 +76,19 @@ namespace mission_adapters
     {
     public:
         int sequenceId;
-
         MissionType type;
-
         int priority;
-
         robot_geometry_msgs::PoseStamped start;
-
         robot_geometry_msgs::PoseStamped goal;
-
         std::vector<robot_protocol_msgs::Node> nodes;
-
         std::vector<robot_protocol_msgs::Edge> edges;
-
         std::vector<Action> actions;
     };
 
     struct Event
     {
         EventType type;
-
         int priority;
-
         std::vector<std::shared_ptr<Mission>> missions;
     };
 
@@ -112,36 +104,26 @@ namespace mission_adapters
     {
     private:
         mutable std::mutex mutex_;
-
         std::priority_queue<Event, std::vector<Event>, EventCompare> queue_;
         std::condition_variable cv_;
-
         bool stop_ = false;
 
     public:
         void push(const Event& event);
-
         bool pop(Event& event);
-
         void stop();
-
         void reset();
 
-        inline bool empty() const 
-        { 
+        inline bool empty() const
+        {
             std::lock_guard<std::mutex> lock(mutex_);
-
-            return queue_.empty(); 
+            return queue_.empty();
         }
 
         inline void clear()
         {
             std::lock_guard<std::mutex> lock(mutex_);
-
-            while(!queue_.empty())
-            {
-                queue_.pop();
-            }
+            while (!queue_.empty()) queue_.pop();
         }
     };
 
@@ -160,35 +142,26 @@ namespace mission_adapters
     class MissionManager
     {
     public:
-
         void submit(const std::vector<std::shared_ptr<Mission>>& missions);
 
         std::shared_ptr<Mission> nextMission();
 
         void onNavigationDone();
-
         void onNavigationFailed();
-
         void cancel();
-
         void pause();
-
         void resume();
-
         void emergency();
 
         MissionState state() const;
 
+        // FIX #3: Returns true if there is any pending work — queue OR active mission.
         bool hasMission() const;
 
     private:
-
         mutable std::mutex mutex_;
-
         MissionState state_ = MissionState::IDLE;
-
         std::queue<std::shared_ptr<Mission>> mission_queue_;
-
         std::shared_ptr<Mission> current_mission_;
     };
 
@@ -196,53 +169,37 @@ namespace mission_adapters
     {
     public:
         explicit EventProcessor(MissionManager& mission_manager);
-
         ~EventProcessor();
 
         void start();
-
         void stop();
 
         void goalEvent(const robot_geometry_msgs::PoseStamped& goal);
-
         void orderEvent(const robot_protocol_msgs::Order& order);
-
         void cancelEvent();
-
         void pauseEvent();
-
         void resumeEvent();
-
         void navDoneEvent();
-
         void navFailedEvent();
-
         void emergencyEvent();
 
     private:
         void spin();
-
         void process(const Event& event);
 
     private:
         EventBus event_bus_;
-
         GoalAdapter goal_adapter_;
-
         VDA5050Adapter vda5050_adapter_;
-
         MissionManager& mission_manager_;
-
         std::thread worker_;
-
         std::atomic<bool> running_{false};
     };
-        
+
     class MissionExecutor
     {
     public:
-        using MissionCallback =
-            std::function<void(const std::shared_ptr<Mission>&)>;
+        using MissionCallback = std::function<void(const std::shared_ptr<Mission>&)>;
 
         explicit MissionExecutor(MissionManager& manager);
         ~MissionExecutor();
@@ -250,6 +207,7 @@ namespace mission_adapters
         void start();
         void stop();
 
+        // FIX #1: Must be called BEFORE start(), not inside the run loop.
         void setMissionCallback(MissionCallback cb)
         {
             std::lock_guard<std::mutex> lock(mutex_);
@@ -257,23 +215,20 @@ namespace mission_adapters
         }
 
     private:
-        std::shared_ptr<Mission> mission_excute_;
+        std::shared_ptr<Mission> mission_execute_;
 
-        // Mission cuối cùng đã dispatch
+        // Last mission that was dispatched to the callback.
         std::shared_ptr<Mission> last_dispatched_mission_;
 
         MissionCallback mission_callback_;
-
         MissionManager& mission_manager_;
-
         mutable std::mutex mutex_;
-
         std::thread worker_;
-
         std::atomic<bool> running_{false};
 
         void spin();
     };
-}
+
+} // namespace mission_adapters
 
 #endif  // MISSION_ADAPTERS_MISSION_ADAPTERS_H