change file readme

src/robot_control_test.cpp

@@ -2,86 +2,96 @@
 #include <move_base_core/navigation.h>
 
 using namespace mission_adapters;
+
 class RobotControlTest
 {
-    // Giả sử chúng ta có một implementation của BaseNavigation, ví dụ MoveBase và đã được load vào move_base_ptr_
     robot::move_base_core::BaseNavigation::Ptr move_base_ptr_;
 
-    mission_adapters::MissionManager mission_manager_;
-    mission_adapters::EventProcessor event_processor_{mission_manager_};
+    mission_adapters::MissionManager  mission_manager_;
+    mission_adapters::EventProcessor  event_processor_{mission_manager_};
     mission_adapters::MissionExecutor mission_executor_{mission_manager_};
-    std::shared_ptr<Mission> mission_prev_ = nullptr;
-    robot::move_base_core::State prev_state_ = PENDING;
+
+    // FIX #7: Fully qualified namespace for the initial value.
+    robot::move_base_core::State prev_nav_state_ = robot::move_base_core::State::PENDING;
+
+    // Tracks whether the actions of the current mission are complete.
+    // FIX #8: Stub — replace with real action-done check from your action executor.
+    bool areActionsDone() const
+    {
+        // TODO: query your action executor for completion status.
+        return true;
+    }
 
 public:
-    RobotControlTest() = default;
+    RobotControlTest()  = default;
     ~RobotControlTest();
+
     void run();
+
+private:
+    void executeMission(const Mission& mission);
 };
 
 RobotControlTest::~RobotControlTest()
 {
     event_processor_.stop();
-
     mission_executor_.stop();
 }
 
 void RobotControlTest::run()
 {
     robot::Rate rate(50);
-    event_processor_.start();
-    mission_executor_.start();
-    while(true)
-    {
-        // chạy trong một luồng riêng
-        auto state = move_base_ptr_->getFeedback()->navigation_state;
 
-        bool action_done = true;
-        //kiểm tra acction done chưa
-
-        //thêm kiểm tra navDoneEvent state == robot::move_base_core::State::SUCCEEDED và action_done == true
-        if(state != prev_state_)
+    // FIX #1: Set the callback ONCE before starting the executor, not inside the loop.
+    mission_executor_.setMissionCallback(
+        [this](const std::shared_ptr<Mission>& mission)
         {
-            if(state ==
-            robot::move_base_core::State::SUCCEEDED)
-            {
-                event_processor_.navDoneEvent();
-            }
-
-            if(state ==
-            robot::move_base_core::State::ABORTED)
-            {
-                event_processor_.navFailedEvent();
-            }
-
-            prev_state_ = state;
-        }
-        //nhận oder trong một luồng riêng
-        //ví dụ: robot_protocol_msgs::Order order;
-        if(/* có order mới */)
-        {
-            robot_protocol_msgs::Order order;
-            // ... nhận order từ đâu đó, ví dụ qua ROS topic hoặc service
-            event_processor_.orderEvent(order);
-        }
-
-
-        mission_executor_.setMissionCallback(
-        [&](const std::shared_ptr<Mission>& mission)
-        {
-            // ví dụ hàm executeMission đã có, nhận mission và đẩy dữ liệu goal sang move_base_ptr_
             executeMission(*mission);
         });
 
+    event_processor_.start();
+    mission_executor_.start();
+
+    while (true)
+    {
+        auto feedback = move_base_ptr_->getFeedback();
+        auto nav_state = feedback->navigation_state;
+
+        // FIX #8: navDoneEvent fires only when navigation AND actions are both done.
+        if (nav_state != prev_nav_state_)
+        {
+            if (nav_state == robot::move_base_core::State::SUCCEEDED && areActionsDone())
+            {
+                event_processor_.navDoneEvent();
+            }
+            else if (nav_state == robot::move_base_core::State::ABORTED)
+            {
+                event_processor_.navFailedEvent();
+            }
+            prev_nav_state_ = nav_state;
+        }
+
+        // Example: receive an order (replace condition with your real source)
+        if (/* new order available */ false)
+        {
+            robot_protocol_msgs::Order order;
+            // ... populate order ...
+            event_processor_.orderEvent(order);
+        }
 
         rate.sleep();
     }
-}   
+}
+
+void RobotControlTest::executeMission(const Mission& mission)
+{
+    // TODO: send mission goal to move_base_ptr_
+    (void)mission;
+}
 
 int main()
 {
     RobotControlTest test;
     test.run();
     return 0;
-}
-
+}