optimal & fix file cmake

CMakeLists.txt

@@ -1,8 +1,8 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(mission_adapters VERSION 1.0.0 LANGUAGES CXX)
+project(mission_adapters VERSION 0.2.0 LANGUAGES CXX)
 
 # ========================================================
-# Detect build mode
+# Build mode detection
 # ========================================================
 if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
   set(BUILDING_WITH_CATKIN TRUE)
@@ -12,6 +12,7 @@ else()
   message(STATUS "Building mission_adapters with Standalone CMake")
 endif()
 
+
 # ========================================================
 # C++ Standard
 # ========================================================
@@ -19,18 +20,24 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
-# ========================================================
-# Common dependencies
-# ========================================================
-find_package(PCL REQUIRED)
-find_package(OpenMP REQUIRED)
-find_package(Boost REQUIRED COMPONENTS system)
-find_package(Eigen REQUIRED)
 
 # ========================================================
-# Standalone mode
+# Common dependencies
+#
+# Chỉ những thứ code thật sự dùng: message contract (robot_protocol_msgs / robot_geometry_msgs),
+# tiện ích ROS-like (robot_cpp / robot_time) và Boost header (boost::shared_ptr trong message).
+# PCL / OpenMP / Eigen của bản trước là di sản copy từ template planner, gói này không dùng.
 # ========================================================
-if (NOT BUILDING_WITH_CATKIN)
+# Boost.DLL cần system + filesystem để nạp plugin theo library_path.
+find_package(Boost REQUIRED COMPONENTS system filesystem)
+find_package(Threads REQUIRED)
+find_package(yaml-cpp REQUIRED)
+
+
+# ========================================================
+# Standalone configuration
+# ========================================================
+if(NOT BUILDING_WITH_CATKIN)
 
   set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
@@ -38,174 +45,154 @@ if (NOT BUILDING_WITH_CATKIN)
   set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
   set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
 
-  # ⚠️ NOTE: Đây KHÔNG phải package thật -> chỉ để placeholder
+  # Test/<pkg> -> src/AMR_T800/pnkx_nav_core/src
+  set(PNKX_NAV_CORE_SRC_DIR
+    "${CMAKE_CURRENT_SOURCE_DIR}/../../pnkx_nav_core/src"
+  )
+
+  # Test/<pkg> -> T800_ws/devel/lib
+  set(WORKSPACE_DEVEL_LIB_DIR
+    "${CMAKE_CURRENT_SOURCE_DIR}/../../../../devel/lib"
+  )
+
+  file(GLOB STANDALONE_PACKAGE_INCLUDE_DIRS
+    LIST_DIRECTORIES true
+
+    ${PNKX_NAV_CORE_SRC_DIR}/*/include
+    ${PNKX_NAV_CORE_SRC_DIR}/*/*/include
+    ${PNKX_NAV_CORE_SRC_DIR}/*/*/*/include
+    ${PNKX_NAV_CORE_SRC_DIR}/*/*/*/*/include
+  )
+
+  set(STANDALONE_INCLUDE_DIRS
+    ${STANDALONE_PACKAGE_INCLUDE_DIRS}
+
+    /usr/local/include
+  )
+
   set(PACKAGES_DIR
-    robot_costmap_2d
-    robot_nav_core
-    robot_nav_core2
-    robot_nav_msgs
-    robot_std_msgs
-    robot_geometry_msgs
     robot_cpp
-    robot_tf3_geometry_msgs
-    robot_visualization_msgs
-    robot_nav_2d_utils
-    data_convert
+    robot_time
+    robot_xmlrpcpp
   )
 
-  find_library(TF3_LIBRARY
-    NAMES tf3
-    PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu
-  )
-
-  if(NOT TF3_LIBRARY)
-    message(FATAL_ERROR "❌ tf3 library not found")
+  if(EXISTS ${WORKSPACE_DEVEL_LIB_DIR})
+    link_directories(${WORKSPACE_DEVEL_LIB_DIR})
   endif()
 
+  link_directories(/usr/local/lib)
+
 # ========================================================
-# Catkin mode
+# Catkin configuration
 # ========================================================
 else()
 
   find_package(catkin REQUIRED COMPONENTS
-    robot_costmap_2d
-    robot_nav_core
-    robot_nav_core2
-    robot_nav_msgs
-    robot_std_msgs
-    robot_geometry_msgs
     robot_cpp
-    robot_tf3_geometry_msgs
-    robot_visualization_msgs
-    robot_nav_2d_utils
-    data_convert
+    robot_time
+    robot_geometry_msgs
+    robot_protocol_msgs
+    robot_std_msgs
   )
 
-  find_library(TF3_LIBRARY
-    NAMES tf3
-    PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu
-  )
-
-  if(NOT TF3_LIBRARY)
-    message(FATAL_ERROR "❌ tf3 library not found")
-  endif()
-
   catkin_package(
-    INCLUDE_DIRS include
-    LIBRARIES ${PROJECT_NAME}
+    INCLUDE_DIRS
+      include
+
+    LIBRARIES
+      mission_adapters
+
     CATKIN_DEPENDS
-      robot_costmap_2d
-      robot_nav_core
-      robot_nav_core2
-      robot_nav_msgs
-      robot_std_msgs
-      robot_geometry_msgs
       robot_cpp
-      robot_tf3_geometry_msgs
-      robot_visualization_msgs
-      robot_nav_2d_utils
-      data_convert
-    DEPENDS PCL Boost
+      robot_time
+      robot_geometry_msgs
+      robot_protocol_msgs
+      robot_std_msgs
+
+    DEPENDS
+      Boost
   )
 
-  include_directories(
-    include
+  include_directories(include)
+
+  # SYSTEM: header của dependency (robot_cpp/console.h khai hàng chục hằng màu không dùng) sẽ ngập
+  # warning dưới -Wall -Wextra và che mất warning của chính gói này.
+  include_directories(SYSTEM
     ${catkin_INCLUDE_DIRS}
-    ${PCL_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
   )
 
 endif()
 
-# ========================================================
-# Libraries
-# ========================================================
 
-# # utils lib
-# add_library(${PROJECT_NAME}_utils SHARED
-#   src/angle_utils.cpp
-#   src/config.cpp
-# )
-
-# main planner lib
-add_library(${PROJECT_NAME} SHARED
-  src/mission_adapters.cpp
+# ========================================================
+# Core library
+# ========================================================
+add_library(mission_adapters SHARED
+  src/types.cpp
+  src/event.cpp
+  src/mission_manager.cpp
+  src/mission_executor.cpp
+  src/event_processor.cpp
+  src/mission_config.cpp
+  src/plugin_registry.cpp
 )
 
+# Gói này KHÔNG kế thừa cờ -w của pnkx_nav_core: warning ở đây phải nhìn thấy được.
+target_compile_options(mission_adapters PRIVATE -Wall -Wextra)
+
+target_include_directories(mission_adapters
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+)
+
+
 # ========================================================
-# Catkin linking
+# Linking
 # ========================================================
 if(BUILDING_WITH_CATKIN)
 
-  # add_dependencies(${PROJECT_NAME}_utils ${catkin_EXPORTED_TARGETS})
-  add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
+  add_dependencies(mission_adapters
+    ${${PROJECT_NAME}_EXPORTED_TARGETS}
+    ${catkin_EXPORTED_TARGETS}
+  )
 
-  # target_include_directories(${PROJECT_NAME}_utils
-  #   PUBLIC
-  #     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  #     $<INSTALL_INTERFACE:include>
-  # )
-
-  target_include_directories(${PROJECT_NAME}
+  target_link_libraries(mission_adapters
     PUBLIC
-      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-      $<INSTALL_INTERFACE:include>
+      ${catkin_LIBRARIES}
+
+    PRIVATE
+      Boost::boost
+      Boost::system
+      Boost::filesystem
+      Threads::Threads
+      ${CMAKE_DL_LIBS}
+      yaml-cpp
   )
 
-  # target_link_libraries(${PROJECT_NAME}_utils
-  #   PUBLIC ${catkin_LIBRARIES}
-  #   PRIVATE Boost::system
-  #   ${TF3_LIBRARY}
-  # )
-
-  target_link_libraries(${PROJECT_NAME}
-    # PUBLIC ${PROJECT_NAME}_utils
-    PUBLIC ${catkin_LIBRARIES}
-    PUBLIC ${PCL_LIBRARIES}
-    PRIVATE Boost::system
-    ${TF3_LIBRARY}
-    OpenMP::OpenMP_CXX
-  )
-
-# ========================================================
-# Standalone linking
-# ========================================================
 else()
 
-  # target_include_directories(${PROJECT_NAME}_utils
-  #   PUBLIC
-  #     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  #     $<INSTALL_INTERFACE:include>
-  # )
+  target_include_directories(mission_adapters
+    PRIVATE
+      ${STANDALONE_INCLUDE_DIRS}
+      ${Boost_INCLUDE_DIRS}
+  )
 
-  target_include_directories(${PROJECT_NAME}
+  target_link_libraries(mission_adapters
     PUBLIC
-      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-      $<INSTALL_INTERFACE:include>
+      ${PACKAGES_DIR}
+
+    PRIVATE
+      Boost::boost
+      Boost::system
+      Boost::filesystem
+      Threads::Threads
+      ${CMAKE_DL_LIBS}
+      yaml-cpp
   )
 
-  # target_link_libraries(${PROJECT_NAME}_utils
-  #   PUBLIC ${PACKAGES_DIR}   # ⚠️ placeholder
-  #   PRIVATE Boost::system
-  #   ${TF3_LIBRARY}
-  # )
-
-  target_link_libraries(${PROJECT_NAME}
-    # PUBLIC ${PROJECT_NAME}_utils
-    PUBLIC ${PACKAGES_DIR}   # ⚠️ placeholder
-    PUBLIC ${PCL_LIBRARIES}
-    PRIVATE Boost::system
-    ${TF3_LIBRARY}
-    OpenMP::OpenMP_CXX
-  )
-
-  # set_target_properties(${PROJECT_NAME}_utils PROPERTIES
-  #   LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
-  #   BUILD_RPATH "${CMAKE_BINARY_DIR}"
-  #   INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
-  # )
-
-  set_target_properties(${PROJECT_NAME} PROPERTIES
+  set_target_properties(mission_adapters PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
     BUILD_RPATH "${CMAKE_BINARY_DIR}"
     INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
@@ -213,12 +200,110 @@ else()
 
 endif()
 
+
+# ========================================================
+# Plugins — mỗi nguồn mission là một .so riêng.
+#
+# Tên file .so phải khớp khoá `library_path` trong
+# `pnkx_nav_core/config/mission_adapters_params.yaml`; tên symbol export phải khớp khoá `type`
+# trong `mission_sources`. Lệch một trong hai thì build vẫn sạch còn runtime báo "không tìm thấy".
+# ========================================================
+set(MISSION_ADAPTERS_PLUGIN_TARGETS
+  mission_adapters_goal_source
+  mission_adapters_vda5050_source
+)
+
+add_library(mission_adapters_goal_source SHARED plugins/goal_source_adapter.cpp)
+add_library(mission_adapters_vda5050_source SHARED plugins/vda5050_source_adapter.cpp)
+
+foreach(plugin_target ${MISSION_ADAPTERS_PLUGIN_TARGETS})
+  target_compile_options(${plugin_target} PRIVATE -Wall -Wextra)
+
+  set_target_properties(${plugin_target} PROPERTIES POSITION_INDEPENDENT_CODE ON)
+
+  target_include_directories(${plugin_target}
+    PUBLIC
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/plugins>
+  )
+
+  target_link_libraries(${plugin_target}
+    PUBLIC
+      mission_adapters
+
+    PRIVATE
+      Boost::boost
+      Threads::Threads
+  )
+
+  if(NOT BUILDING_WITH_CATKIN)
+    target_include_directories(${plugin_target} PRIVATE ${STANDALONE_INCLUDE_DIRS})
+    target_link_libraries(${plugin_target} PRIVATE ${PACKAGES_DIR})
+
+    set_target_properties(${plugin_target} PROPERTIES
+      LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+      BUILD_RPATH "${CMAKE_BINARY_DIR}"
+      INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
+    )
+  endif()
+endforeach()
+
+
+# ========================================================
+# Example
+#
+# Có build để tài liệu không trôi khỏi API: đổi contract mà quên ví dụ thì build gãy ngay.
+# ========================================================
+option(BUILD_MISSION_ADAPTERS_EXAMPLES "Build mission_adapters examples" ON)
+
+if(BUILD_MISSION_ADAPTERS_EXAMPLES)
+
+  add_executable(robot_control_example examples/robot_control_example.cpp)
+
+  target_compile_options(robot_control_example PRIVATE -Wall -Wextra)
+
+  target_link_libraries(robot_control_example
+    PRIVATE
+      mission_adapters
+      Threads::Threads
+  )
+
+  if(NOT BUILDING_WITH_CATKIN)
+    target_include_directories(robot_control_example
+      PRIVATE
+        ${STANDALONE_INCLUDE_DIRS}
+    )
+
+    target_link_libraries(robot_control_example PRIVATE ${PACKAGES_DIR})
+  endif()
+
+  # Demo: chạy một VDA5050 Order qua VDA5050SourceAdapter và in ra các chặng thu được.
+  # Link thẳng plugin source adapter thay vì nạp qua boost::dll — demo chỉ cần xem kết quả cắt
+  # chặng, không cần kiểm tra đường nạp plugin.
+  add_executable(vda5050_order_demo examples/vda5050_order_demo.cpp)
+
+  target_compile_options(vda5050_order_demo PRIVATE -Wall -Wextra)
+
+  target_link_libraries(vda5050_order_demo
+    PRIVATE
+      mission_adapters
+      mission_adapters_vda5050_source
+      Threads::Threads
+  )
+
+  if(NOT BUILDING_WITH_CATKIN)
+    target_include_directories(vda5050_order_demo PRIVATE ${STANDALONE_INCLUDE_DIRS})
+    target_link_libraries(vda5050_order_demo PRIVATE ${PACKAGES_DIR})
+  endif()
+
+endif()
+
+
 # ========================================================
 # Install
 # ========================================================
 if(BUILDING_WITH_CATKIN)
 
-  install(TARGETS ${PROJECT_NAME}
+  install(TARGETS mission_adapters ${MISSION_ADAPTERS_PLUGIN_TARGETS}
     ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
@@ -229,15 +314,9 @@ if(BUILDING_WITH_CATKIN)
     FILES_MATCHING PATTERN "*.h"
   )
 
-  if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/plugins.xml)
-    install(FILES plugins.xml
-      DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-    )
-  endif()
-
 else()
 
-  install(TARGETS ${PROJECT_NAME}
+  install(TARGETS mission_adapters ${MISSION_ADAPTERS_PLUGIN_TARGETS}
     EXPORT ${PROJECT_NAME}-targets
     ARCHIVE DESTINATION lib
     LIBRARY DESTINATION lib
@@ -255,56 +334,71 @@ else()
     FILES_MATCHING PATTERN "*.h"
   )
 
-  if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/plugins.xml)
-    install(FILES plugins.xml
-      DESTINATION share/${PROJECT_NAME}
-    )
-  endif()
-
 endif()
 
+
 # ========================================================
-# Unit Test
+# Tests
+#
+# Gói này đăng ký test với catkin/ctest (chạy được qua `catkin_make run_tests`) VÀ mở
+# EXCLUDE_FROM_ALL để binary có mặt sau `catkin_make` thường — chạy thẳng
+# ./devel/lib/mission_adapters/<test> theo đúng quy trình verify của repo.
 # ========================================================
-if(CATKIN_ENABLE_TESTING)
+if(CATKIN_ENABLE_TESTING AND BUILDING_WITH_CATKIN)
 
-  find_package(catkin REQUIRED COMPONENTS
-    robot_costmap_2d
-    robot_nav_core
-    robot_nav_core2
-    robot_nav_msgs
-    robot_std_msgs
-    robot_geometry_msgs
-    robot_cpp
-    robot_tf3_geometry_msgs
-    robot_visualization_msgs
-    robot_nav_2d_utils
-    data_convert
-  )
-
-  message(STATUS "CATKIN_ENABLE_TESTING=${CATKIN_ENABLE_TESTING}")
-
-  if(COMMAND catkin_add_gtest)
-    message(STATUS "catkin_add_gtest exists")
-  else()
+  if(NOT COMMAND catkin_add_gtest)
     message(FATAL_ERROR "catkin_add_gtest NOT FOUND")
   endif()
 
-  catkin_add_gtest(test_mission_adapters
-    test/mission_adapters_test.cpp
+  set(MISSION_ADAPTERS_TESTS
+    event_bus_test
+    adapter_test
+    mission_manager_test
+    mission_lifecycle_test
+    plugin_registry_test
   )
 
-  if(TARGET test_mission_adapters)
-    target_link_libraries(test_mission_adapters
-      mission_adapters
-      ${catkin_LIBRARIES}
-      pthread
-    )
+  foreach(test_name ${MISSION_ADAPTERS_TESTS})
+    catkin_add_gtest(${test_name} test/${test_name}.cpp)
 
-    target_include_directories(test_mission_adapters PRIVATE
-      ${CMAKE_CURRENT_SOURCE_DIR}/include
-      ${catkin_INCLUDE_DIRS}
-    )
-  endif()
+    if(TARGET ${test_name})
+      set_target_properties(${test_name} PROPERTIES EXCLUDE_FROM_ALL FALSE)
+
+      target_compile_options(${test_name} PRIVATE -Wall -Wextra)
+
+      target_include_directories(${test_name}
+        PRIVATE
+          ${CMAKE_CURRENT_SOURCE_DIR}/include
+          ${CMAKE_CURRENT_SOURCE_DIR}/plugins
+          ${CMAKE_CURRENT_SOURCE_DIR}/test
+      )
+
+      target_include_directories(${test_name} SYSTEM
+        PRIVATE
+          ${catkin_INCLUDE_DIRS}
+      )
+
+      # catkin_add_gtest dùng target_link_libraries dạng plain, nên phần bổ sung cũng phải plain.
+      #
+      # Test link thẳng plugin .so để kiểm logic chuyển đổi ở mức unit; đường nạp qua Boost.DLL
+      # được kiểm riêng trong plugin_registry_test.
+      target_link_libraries(${test_name}
+        mission_adapters
+        ${MISSION_ADAPTERS_PLUGIN_TARGETS}
+        ${catkin_LIBRARIES}
+        pthread
+      )
+
+      # plugin_registry_test nạp .so từ devel/lib theo library_path, nên cần cả hai plugin đã build.
+      add_dependencies(${test_name} ${MISSION_ADAPTERS_PLUGIN_TARGETS})
+
+      # Đường tới cây config và thư mục .so của test, để binary tự trỏ đúng chỗ khi chạy qua ctest
+      # (ctest không mang theo PNKX_NAV_CORE_CONFIG_DIR hay LD_LIBRARY_PATH của shell).
+      target_compile_definitions(${test_name} PRIVATE
+        MISSION_ADAPTERS_TEST_CONFIG_DIR="${CMAKE_CURRENT_SOURCE_DIR}/test/config"
+        MISSION_ADAPTERS_TEST_LIBRARY_DIR="${CATKIN_DEVEL_PREFIX}/lib"
+      )
+    endif()
+  endforeach()
 
 endif()

README.md

@@ -1,461 +1,195 @@
-# Mission Adapters
+# mission_adapters
 
-Mission Adapters là một framework quản lý nhiệm vụ (Mission Management Framework) được xây dựng bằng C++ thuần, hướng tới các hệ thống AGV/AMR và tương thích với mô hình nhiệm vụ của VDA5050.
+Lớp mission độc lập ROS: nhận yêu cầu từ nguồn ngoài (goal đơn lẻ, VDA5050 Order), chuyển thành hàng
+đợi mission, và giữ trạng thái của hàng đợi đó.
 
-Framework cung cấp:
+Gói **không biết** navigation runtime nào đang chạy phía sau. Mission đi xuống qua cổng
+`NavigationClient`, kết quả quay về theo `MissionId`. Nhờ vậy cùng một lớp mission dùng lại được cho
+runtime khác, và test được mà không cần robot.
 
-* Chuyển đổi Goal hoặc VDA5050 Order thành Mission.
-* Quản lý hàng đợi Mission.
-* Xử lý Event bất đồng bộ.
-* Điều phối Mission theo trạng thái Robot.
-* Hỗ trợ Pause / Resume / Cancel / Emergency.
-* Tách biệt Mission Scheduling và Mission Execution.
-* Không phụ thuộc ROS.
+Nguồn mission là plugin nạp bằng Boost.DLL theo khoá `library_path` trong YAML — xem
+[docs/PLUGIN_GUIDE.md](docs/PLUGIN_GUIDE.md).
 
----
-
-# Kiến trúc tổng thể
+## Luồng runtime
 
 ```text
-Order / Goal
-      │
-      ▼
-+------------------+
-|  EventProcessor  |
-+------------------+
-      │
-      ▼
-+------------------+
-|  MissionManager  |
-+------------------+
-      │
-      ▼
-+------------------+
-| MissionExecutor  |
-+------------------+
-      │
-      ▼
- Navigation Stack
- (MoveBase, MPPI,
-  Pure Pursuit...)
+   host (MQTT / OPC-UA / REST / UI)
+        │  goalEvent / orderEvent / submitRequest(MissionRequest)
+        ▼
+  ┌──────────────────┐   tra schema    ┌────────────────┐
+  │  EventProcessor  │ ──────────────► │ PluginRegistry │  (các .so nguồn mission)
+  │  (thread event)  │ ◄────────────── └────────────────┘
+  └──────────────────┘  ConversionResult
+        │  submit(missions) / append(missions)
+        ▼
+  ┌──────────────────┐
+  │  MissionManager  │   hàng đợi + MissionState, cấp MissionId
+  └──────────────────┘
+        │  nextMission() / takePendingCancel()
+        ▼
+  ┌──────────────────┐
+  │ MissionExecutor  │   thread DUY NHẤT phát lệnh ra ngoài
+  │  (thread exec)   │
+  └──────────────────┘
+        │  NavigationClient::dispatch(mission) / cancelActive(id)
+        ▼
+   navigation runtime
+        │  navDoneEvent(id) / navFailedEvent(id)
+        └──────────────────────────► quay lại EventProcessor
 ```
 
----
+## Bất biến quan trọng
 
-# Thành phần chính
+Đây là những tính chất mà bộ test khoá lại; đọc phần này trước khi sửa code.
 
-## Mission
+- **Mọi outcome mang `MissionId`.** `navDoneEvent(id)` / `navFailedEvent(id)` chỉ được chấp nhận khi
+  `id` khớp mission đang chạy. Outcome đến trễ của một mission đã bị thay thế bị loại bỏ kèm log —
+  nếu không, kết quả của chặng cũ sẽ "hoàn thành" chặng mới mà robot chưa hề chạy.
+- **`submit()` với danh sách rỗng là no-op tuyệt đối.** Một order lỗi không phải lệnh huỷ việc đang
+  chạy; nó không được đụng tới hàng đợi.
+- **Mọi đường thoát của một mission đều bảo navigation dừng.** Bị thay thế (preempt), bị huỷ,
+  emergency, quá hạn — tất cả đều đi qua `NavigationClient::cancelActive()`. Mission layer quên
+  mission mà không bảo navigation dừng thì robot vẫn chạy tiếp tới goal cũ.
+- **Thứ tự sự kiện = thứ tự phát sinh (FIFO).** Phát order rồi huỷ ngay thì huỷ phải được xử lý sau
+  order, nếu không robot chạy đúng cái người dùng vừa huỷ. Ngoại lệ duy nhất là emergency: nó bật cờ
+  atomic ngay tại chỗ gọi nên độ trễ phản ứng không phụ thuộc độ dài hàng đợi.
+- **`nextMission()` trả mỗi mission đúng một lần**, tại đúng bước chuyển `QUEUED → RUNNING`. Bên gọi
+  không phải tự khử trùng lặp.
+- **Mission bất biến sau khi submit.** `MissionManager` gán `id` rồi chia sẻ dưới dạng
+  `shared_ptr<const Mission>` — ba thread đọc chung mà không cần khoá.
+- **`MissionManager` không bao giờ gọi ra ngoài khi đang giữ khoá.** Nó chỉ ghi "mission này cần
+  được dừng" vào ô pending-cancel; `MissionExecutor` mới là thread thực hiện lời gọi đó.
 
-Đơn vị thực thi cơ bản.
+## State machine
+
+```text
+IDLE ──submit──► QUEUED ──dequeue──► RUNNING ──nav_done──► còn mission? ──có──► QUEUED
+                                        │      (nav + action đều xong)  │
+                                        │ nav_failed / mission_timeout  │ không
+                                        ▼                               ▼
+                                     FAILED ──submit mới──► QUEUED   COMPLETED ──submit mới──► QUEUED
+
+PAUSED ◄── pause / resume ──► (state trước đó)
+cancel (mọi state active) ──► CANCELLED ──submit mới──► QUEUED
+EMERGENCY: từ MỌI state; clear_emergency ──► CLEAR_EMERGENCY ──submit mới──► QUEUED
+```
+
+`nav_done(id)` nghĩa là **cả chặng** hoàn tất — navigation lẫn action. Mission layer không có state
+chờ action riêng: action do navigation runtime thực thi, và mission layer giữ nguyên `RUNNING` trọn
+chặng.
+
+Mọi lần đổi trạng thái được log một dòng `from -> to (lý do, mission id)` ở mức info, và chỉ khi
+state đổi thật.
+
+## Kiểu dữ liệu
 
 ```cpp
+using MissionId = std::uint64_t;   // 0 = kInvalidMissionId
+
 class Mission
 {
 public:
-    int sequenceId;
-
-    MissionType type;
-
-    int priority;
-
-    PoseStamped start;
-
-    PoseStamped goal;
-
-    std::vector<Node> nodes;
-
-    std::vector<Edge> edges;
-
-    std::vector<Action> actions;
+    MissionId id;          // MissionManager cấp khi submit, đơn điệu tăng
+    MissionType type;      // SIMPLE_GOAL | VDA5050_ORDER
+    bool has_goal;         // false = mission chỉ-có-action, navigation bỏ qua phần di chuyển
+    robot_geometry_msgs::PoseStamped start;   // chỉ hợp lệ khi has_goal
+    robot_geometry_msgs::PoseStamped goal;    // chỉ hợp lệ khi has_goal
+    std::vector<robot_protocol_msgs::Node> nodes;
+    std::vector<robot_protocol_msgs::Edge> edges;
+    std::vector<Action> actions;               // đã sắp theo sequenceId, đi qua nguyên vẹn
 };
 ```
 
-Mission có thể được tạo từ:
+Mission là **self-contained**: consumer không phải suy goal ra từ `nodes.back()`. Adapter VDA5050
+set sẵn `start`/`goal` từ `nodePosition` (theta `[rad]` → quaternion quanh trục z).
 
-* Goal đơn giản
-* VDA5050 Order
+`has_goal == false` bắt buộc đi kèm ít nhất một action; core từ chối cả lô nếu adapter vi phạm.
 
----
+## VDA5050 conformance
 
-## Action
+`VDA5050SourceAdapter` chịu trách nhiệm ba điểm:
 
-Đại diện cho một hành động tại Node hoặc Edge.
+| Điểm | Hành vi |
+|---|---|
+| `released` (base/horizon) | Chỉ phần base được thực thi. Horizon là dự định của fleet manager, chưa được phép chạy. Order không điền `released` ở đâu cả thì cả order được coi là base, kèm log cảnh báo. |
+| `orderId` / `orderUpdateId` | `orderId` mới → thay hàng đợi (`kReplace`). Cùng `orderId` + `orderUpdateId` lớn hơn → chỉ sinh phần vừa release thêm và **nối tiếp** (`kAppend`). `orderUpdateId` không mới hơn → từ chối. |
+| `goal` / `start` | Set từ node cuối / node đầu của chặng, trong frame `global_frame` (mặc định `map`). VDA5050 `mapId` là danh tính bản đồ, không phải frame TF, nên không dùng làm `frame_id`. |
+
+Chặng được cắt tại mỗi node có action: robot chạy tới node đó rồi mới thực hiện action. Action ngay
+tại node xuất phát sinh ra một chặng `has_goal == false`.
+
+## Config
+
+Bản runtime: `pnkx_nav_core/config/mission_adapters_params.yaml`.
+Bản test: `test/config/mission_adapters_params.yaml`, chỉ được đọc khi chạy kèm
+`PNKX_NAV_CORE_CONFIG_DIR`.
+
+| Khoá | Đơn vị / mặc định | Ý nghĩa |
+|---|---|---|
+| `mission_adapters/mission_sources` | — | Danh sách nguồn mission `{name, type}` |
+| `mission_adapters/mission_timeout` | `[s]`, `0.0` | Trần thời gian cho một chặng; `0` = tắt. Quá hạn → chặng thất bại **và** navigation được bảo dừng |
+| `mission_adapters/clear_queue_on_failure` | `true` | Một chặng hỏng thì xoá sạch hàng đợi. Đặt `false` chỉ khi các mission độc lập với nhau |
+| `<type>/library_path` | — | Tên `.so` của plugin — **thiếu khoá này là lỗi runtime phổ biến nhất** |
+
+## Dùng
 
 ```cpp
-class Action
-{
-public:
-    int sequenceId;
+mission_adapters::PluginRegistry registry;
+robot::NodeHandle nh;
+registry.loadFromConfig(nh);                     // nạp nguồn mission từ YAML
 
-    ActionType type;
+mission_adapters::MissionConfig config;
+config.loadFromParams(nh);
 
-    robot_protocol_msgs::Action action;
-};
+mission_adapters::MissionManager  manager(config);
+mission_adapters::EventProcessor  processor(manager, registry);
+mission_adapters::MissionExecutor executor(manager);
+
+executor.setNavigationClient(&my_navigation_client);   // non-owning, phải sống lâu hơn executor
+processor.start();
+executor.start();
+
+processor.goalEvent(goal);                       // hoặc orderEvent(order) / submitRequest(request)
+// ... navigation runtime gọi processor.navDoneEvent(mission->id) khi chặng xong ...
 ```
 
-Các Action sẽ được sắp xếp theo `sequenceId`.
+Ví dụ đầy đủ: [`examples/robot_control_example.cpp`](examples/robot_control_example.cpp) — có build,
+nên nó không thể trôi khỏi API.
 
----
+## Build và test
 
-## GoalAdapter
+```bash
+catkin_make --pkg mission_adapters
+source devel/setup.bash
 
-Chuyển đổi Goal thành Mission.
+./devel/lib/mission_adapters/event_bus_test
+./devel/lib/mission_adapters/adapter_test
+./devel/lib/mission_adapters/mission_manager_test
+./devel/lib/mission_adapters/mission_lifecycle_test
 
-```cpp
-GoalAdapter adapter;
-
-auto missions =
-    adapter.convert(goal);
+PNKX_NAV_CORE_CONFIG_DIR=src/AMR_T800/Test/mission_adapters/test/config \
+  ./devel/lib/mission_adapters/plugin_registry_test
 ```
 
-Kết quả:
+Test cũng đăng ký với ctest: `cd build && ctest -R mission_adapters --output-on-failure`.
 
-```text
-Goal
- └── Mission
-```
+## Thread
 
----
+| Thread | Sở hữu | Đánh thức bởi |
+|---|---|---|
+| `EventProcessor` | hàng đợi sự kiện, gọi adapter | `EventBus::pop()` chờ sự kiện |
+| `MissionExecutor` | mọi lời gọi xuống `NavigationClient` | `MissionManager::waitForWork()` chờ condition variable |
+| host | phát sự kiện, nhận outcome | — |
 
-## VDA5050Adapter
+Chuyển đổi payload → mission chạy trên thread của `EventProcessor`, không phải thread host: adapter
+được phép có state, và chuyển đổi trên nhiều thread host sẽ tranh chấp state đó.
 
-Chuyển đổi Order thành danh sách Mission.
+`MissionExecutor` không poll. Trong một vòng nó luôn **cancel trước, dispatch sau** — chặng cũ phải
+được bảo dừng trước khi chặng mới bắt đầu.
 
-Ví dụ:
+## Chưa có
 
-```text
-N1 ---- N2 ---- N3(Action)
-                 |
-                 |
-                 V
-               Mission A
-
-N3 ---- N4 ---- N5(Action)
-                 |
-                 |
-                 V
-               Mission B
-```
-
-Order sẽ được chia thành nhiều Mission tại các Node chứa Action.
-
----
-
-## EventBus
-
-Hàng đợi ưu tiên cho các Event.
-
-```cpp
-std::priority_queue<
-    Event,
-    std::vector<Event>,
-    EventCompare>;
-```
-
-Priority nhỏ hơn sẽ được xử lý trước.
-
-```cpp
-EMERGENCY = 0
-CANCEL    = 1
-RESUME    = 2
-PAUSE     = 3
-NAV_DONE  = 4
-ORDER     = 5
-```
-
----
-
-## EventProcessor
-
-Tiếp nhận Event từ bên ngoài.
-
-Ví dụ:
-
-```cpp
-event_processor.orderEvent(order);
-
-event_processor.pauseEvent();
-
-event_processor.resumeEvent();
-
-event_processor.cancelEvent();
-
-event_processor.emergencyEvent();
-```
-
-EventProcessor hoạt động trên một worker thread riêng.
-
----
-
-## MissionManager
-
-Quản lý trạng thái và hàng đợi Mission.
-
-Các trạng thái hỗ trợ:
-
-```cpp
-IDLE
-QUEUED
-RUNNING
-PAUSED
-WAITING_ACTION
-RECOVERY
-COMPLETED
-FAILED
-CANCELLED
-EMERGENCY
-```
-
-Chức năng:
-
-* Submit Mission
-* Lấy Mission tiếp theo
-* Pause
-* Resume
-* Cancel
-* Emergency
-* Navigation Done
-* Navigation Failed
-
----
-
-## MissionExecutor
-
-Thread chuyên lấy Mission từ MissionManager.
-
-Khi có Mission mới, callback sẽ được gọi.
-
-```cpp
-using MissionCallback =
-    std::function<
-        void(
-            const std::shared_ptr<Mission>&
-        )
-    >;
-```
-
-Đăng ký callback:
-
-```cpp
-mission_executor.setMissionCallback(
-    [&](const std::shared_ptr<Mission>& mission)
-    {
-        executeMission(*mission);
-    });
-```
-
----
-
-# Luồng hoạt động
-
-## Goal
-
-```text
-Goal
-  │
-  ▼
-GoalAdapter
-  │
-  ▼
-Mission
-  │
-  ▼
-MissionManager
-  │
-  ▼
-MissionExecutor
-  │
-  ▼
-Navigation
-```
-
----
-
-## Order
-
-```text
-Order
-  │
-  ▼
-VDA5050Adapter
-  │
-  ▼
-Mission A
-Mission B
-Mission C
-  │
-  ▼
-Mission Queue
-  │
-  ▼
-MissionExecutor
-```
-
----
-
-# Navigation Feedback
-
-Khi Navigation hoàn thành:
-
-```cpp
-event_processor.navDoneEvent();
-```
-
-Khi Navigation thất bại:
-
-```cpp
-event_processor.navFailedEvent();
-```
-
-Ví dụ:
-
-```cpp
-auto state =
-    move_base_ptr_->getFeedback()
-        ->navigation_state;
-
-if(state != prev_state_)
-{
-    if(state ==
-        State::SUCCEEDED)
-    {
-        event_processor.navDoneEvent();
-    }
-
-    if(state ==
-        State::ABORTED)
-    {
-        event_processor.navFailedEvent();
-    }
-
-    prev_state_ = state;
-}
-```
-
----
-
-# Ví dụ sử dụng
-
-## Khởi tạo
-
-```cpp
-MissionManager mission_manager;
-
-EventProcessor event_processor(
-    mission_manager);
-
-MissionExecutor mission_executor(
-    mission_manager);
-```
-
----
-
-## Start
-
-```cpp
-event_processor.start();
-
-mission_executor.start();
-```
-
----
-
-## Đăng ký callback
-
-```cpp
-mission_executor.setMissionCallback(
-    [&](const std::shared_ptr<Mission>& mission)
-    {
-        executeMission(*mission);
-    });
-```
-
----
-
-## Nhận Order
-
-```cpp
-robot_protocol_msgs::Order order;
-
-event_processor.orderEvent(order);
-```
-
----
-
-## Pause
-
-```cpp
-event_processor.pauseEvent();
-```
-
----
-
-## Resume
-
-```cpp
-event_processor.resumeEvent();
-```
-
----
-
-## Cancel
-
-```cpp
-event_processor.cancelEvent();
-```
-
----
-
-## Emergency Stop
-
-```cpp
-event_processor.emergencyEvent();
-```
-
----
-
-# Thread Model
-
-Framework sử dụng 2 worker thread:
-
-```text
-Thread 1
- └─ EventProcessor
-
-Thread 2
- └─ MissionExecutor
-```
-
-Navigation Stack hoạt động độc lập.
-
-```text
-Main Thread
-     │
-     ├─ Navigation
-     │
-     ├─ EventProcessor
-     │
-     └─ MissionExecutor
-```
-
----
-
-# TODO
-
-Các chức năng dự kiến bổ sung:
-
-* Action Executor
-* WAITING_ACTION state
-* ACTION_DONE event
-* ACTION_FAILED event
-* Recovery Framework
-* Mission Priority Queue
-* Mission Persistence
-* VDA5050 Instant Actions
-* Multi-Robot Fleet Support
-
----
-
-# License
-
-Internal Project.
+- Mission persistence (mất điện giữa order thì hàng đợi mất).
+- VDA5050 instant actions.
+- Mission priority queue — hàng đợi hiện là FIFO thuần.
+- Multi-robot fleet.

build-standalone-codex-5j6ZZh/CMakeCache.txt

@@ -0,0 +1,393 @@
+# This is the CMakeCache file.
+# For build in directory: /home/duongtd/T800_ws/src/AMR_T800/Test/mission_adapters/build-standalone-codex-5j6ZZh
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
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+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Build mission_adapters examples
+BUILD_MISSION_ADAPTERS_EXAMPLES:BOOL=ON
+
+//The directory containing a CMake configuration file for Boost.
+Boost_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0
+
+Boost_FILESYSTEM_LIBRARY_RELEASE:STRING=/usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.71.0
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+
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+
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+
+//Choose the type of build, options are: None Debug Release RelWithDebInfo
+// MinSizeRel ...
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+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler
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+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
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+
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+//Path to a program.
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+//Path to a program.
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+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters.so")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters.so"
+         RPATH "/usr/local/lib")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/duongtd/T800_ws/src/AMR_T800/Test/mission_adapters/build-standalone-codex-5j6ZZh/libmission_adapters.so")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters.so")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters.so"
+         OLD_RPATH "/home/duongtd/T800_ws/src/AMR_T800/Test/mission_adapters/build-standalone-codex-5j6ZZh:/home/duongtd/T800_ws/src/AMR_T800/Test/mission_adapters/../../../../devel/lib:/usr/local/lib:"
+         NEW_RPATH "/usr/local/lib")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters.so")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters_goal_source.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters_goal_source.so")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters_goal_source.so"
+         RPATH "/usr/local/lib")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/duongtd/T800_ws/src/AMR_T800/Test/mission_adapters/build-standalone-codex-5j6ZZh/libmission_adapters_goal_source.so")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters_goal_source.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters_goal_source.so")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters_goal_source.so"
+         OLD_RPATH "/home/duongtd/T800_ws/src/AMR_T800/Test/mission_adapters/build-standalone-codex-5j6ZZh:\$ORIGIN:/home/duongtd/T800_ws/src/AMR_T800/Test/mission_adapters/../../../../devel/lib:/usr/local/lib:"
+         NEW_RPATH "/usr/local/lib")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters_goal_source.so")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters_vda5050_source.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters_vda5050_source.so")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters_vda5050_source.so"
+         RPATH "/usr/local/lib")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/duongtd/T800_ws/src/AMR_T800/Test/mission_adapters/build-standalone-codex-5j6ZZh/libmission_adapters_vda5050_source.so")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters_vda5050_source.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters_vda5050_source.so")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters_vda5050_source.so"
+         OLD_RPATH "/home/duongtd/T800_ws/src/AMR_T800/Test/mission_adapters/build-standalone-codex-5j6ZZh:\$ORIGIN:/home/duongtd/T800_ws/src/AMR_T800/Test/mission_adapters/../../../../devel/lib:/usr/local/lib:"
+         NEW_RPATH "/usr/local/lib")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmission_adapters_vda5050_source.so")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/cmake/mission_adapters/mission_adapters-targets.cmake")
+    file(DIFFERENT EXPORT_FILE_CHANGED FILES
+         "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/cmake/mission_adapters/mission_adapters-targets.cmake"
+         "/home/duongtd/T800_ws/src/AMR_T800/Test/mission_adapters/build-standalone-codex-5j6ZZh/CMakeFiles/Export/lib/cmake/mission_adapters/mission_adapters-targets.cmake")
+    if(EXPORT_FILE_CHANGED)
+      file(GLOB OLD_CONFIG_FILES "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/cmake/mission_adapters/mission_adapters-targets-*.cmake")
+      if(OLD_CONFIG_FILES)
+        message(STATUS "Old export file \"$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/cmake/mission_adapters/mission_adapters-targets.cmake\" will be replaced.  Removing files [${OLD_CONFIG_FILES}].")
+        file(REMOVE ${OLD_CONFIG_FILES})
+      endif()
+    endif()
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/cmake/mission_adapters" TYPE FILE FILES "/home/duongtd/T800_ws/src/AMR_T800/Test/mission_adapters/build-standalone-codex-5j6ZZh/CMakeFiles/Export/lib/cmake/mission_adapters/mission_adapters-targets.cmake")
+  if("${CMAKE_INSTALL_CONFIG_NAME}" MATCHES "^()$")
+    file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/cmake/mission_adapters" TYPE FILE FILES "/home/duongtd/T800_ws/src/AMR_T800/Test/mission_adapters/build-standalone-codex-5j6ZZh/CMakeFiles/Export/lib/cmake/mission_adapters/mission_adapters-targets-noconfig.cmake")
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include" TYPE DIRECTORY FILES "/home/duongtd/T800_ws/src/AMR_T800/Test/mission_adapters/include/mission_adapters/" FILES_MATCHING REGEX "/[^/]*\\.h$")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT)
+  set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+else()
+  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+       "${CMAKE_INSTALL_MANIFEST_FILES}")
+file(WRITE "/home/duongtd/T800_ws/src/AMR_T800/Test/mission_adapters/build-standalone-codex-5j6ZZh/${CMAKE_INSTALL_MANIFEST}"
+     "${CMAKE_INSTALL_MANIFEST_CONTENT}")

cfg/stanley_local_planner_params.yaml

@@ -1,11 +0,0 @@
-LocalPlannerAdapter:
-  library_path: liblocal_planner_adapter
-  yaw_goal_tolerance: 0.017  
-  xy_goal_tolerance: 0.03 
-  min_approach_linear_velocity: 0.06
-
-StanleyLocalPlanner:
-# base_local_planner: "hybrid_local_planner/HybridLocalPlanner"
-# HybridLocalPlanner:
-    library_path: libstanley_local_planner
-    

docs/PLUGIN_GUIDE.md

@@ -0,0 +1,176 @@
+# Viết một nguồn mission mới
+
+Nguồn mission là plugin duy nhất của gói này. Thêm một loại nguồn (REST, fleet manager riêng,
+teach-pendant, file kịch bản...) không cần sửa dòng nào trong `src/`.
+
+Việc **thực thi action** không thuộc đây: adapter chỉ chuyển dữ liệu, navigation runtime mới là nơi
+chạy action.
+
+## 1. Chọn tên schema
+
+Schema là chuỗi định danh loại payload, và là thứ core dùng để định tuyến. Đặt tên theo miền dữ
+liệu, không theo tên hãng hay giao thức truyền tải:
+
+```
+vda5050.order          # đã có
+geometry.pose_stamped  # đã có
+json.pick_and_place    # ví dụ nguồn mới
+```
+
+Hai adapter khai cùng một schema sẽ bị registry từ chối — định tuyến khi đó phụ thuộc thứ tự nạp,
+tức phụ thuộc vào thứ tự dòng trong file YAML.
+
+## 2. Hiện thực `MissionSourceAdapter`
+
+```cpp
+#include <boost/dll/alias.hpp>
+#include <mission_adapters/adapter.h>
+
+namespace mission_plugins
+{
+
+class PickAndPlaceAdapter : public mission_adapters::MissionSourceAdapter
+{
+public:
+    static mission_adapters::MissionSourceAdapter::Ptr create()
+    {
+        return std::make_shared<PickAndPlaceAdapter>();
+    }
+
+    bool configure(const std::string& name, robot::NodeHandle& nh) override
+    {
+        // Param riêng nằm trong namespace tên instance.
+        nh.getParam(name + "/global_frame", global_frame_, std::string("map"));
+        return !global_frame_.empty();
+    }
+
+    std::string schema() const override { return "json.pick_and_place"; }
+
+    bool validate(const mission_adapters::MissionRequest& request,
+                  std::string& reason) const override
+    {
+        if (request.raw_payload.empty())
+        {
+            reason = "payload rỗng";
+            return false;
+        }
+        return true;
+    }
+
+    mission_adapters::ConversionResult
+    convert(const mission_adapters::MissionRequest& request) override
+    {
+        mission_adapters::ConversionResult result;
+        // ... parse request.raw_payload, dựng mission ...
+        return result;
+    }
+
+private:
+    std::string global_frame_ = "map";
+};
+
+}  // namespace mission_plugins
+
+BOOST_DLL_ALIAS(mission_plugins::PickAndPlaceAdapter::create, PickAndPlaceAdapter)
+```
+
+Bốn quy tắc bắt buộc:
+
+- **State là member, không phải `static` local.** Một tiến trình có thể chạy nhiều instance; state
+  static sẽ nối chúng lại và order của robot này ảnh hưởng robot kia.
+- **`validate()` chặn dữ liệu hỏng trước khi nó tới navigation**: NaN/Inf, quaternion không chuẩn
+  hoá được, payload thiếu trường. Trả `false` kèm `reason` cụ thể — chuỗi đó đi thẳng vào log.
+- **`convert()` trả rỗng nghĩa là "không có việc", KHÔNG phải lỗi và KHÔNG phải lệnh huỷ.** Core sẽ
+  bỏ qua và giữ nguyên hàng đợi đang chạy. Đây là bất biến A1: một order lỗi từ fleet manager không
+  được âm thầm xoá order đang chạy.
+- **Mission `has_goal == false` phải có ít nhất một action.** Mission không goal và cũng không
+  action là chặng không có việc gì để làm, và nó sẽ không bao giờ báo kết quả về — mission layer kẹt
+  `RUNNING` vĩnh viễn. Core kiểm lại điều này và bỏ cả lô nếu phát hiện.
+
+### `SubmitMode` — thay hay nối tiếp
+
+`ConversionResult::mode` quyết định mission mới quan hệ thế nào với hàng đợi đang có:
+
+| mode | Ý nghĩa | Dùng khi |
+|---|---|---|
+| `kReplace` (mặc định) | Thay toàn bộ hàng đợi, chặng đang chạy bị preempt và được bảo dừng | Yêu cầu mới, độc lập với việc đang làm |
+| `kAppend` | Chỉ thêm vào cuối hàng đợi, không đụng chặng đang chạy | Phần nối tiếp của chính yêu cầu đang chạy |
+
+`kAppend` là hình dạng của VDA5050 order update. Trả `kReplace` cho một bản cập nhật nghĩa là mỗi
+lần fleet manager release thêm horizon, robot lại huỷ và chạy lại chặng đang đi.
+
+## 3. Build thành `.so` riêng
+
+```cmake
+add_library(mission_adapters_pick_and_place SHARED plugins/pick_and_place_adapter.cpp)
+
+target_compile_options(mission_adapters_pick_and_place PRIVATE -Wall -Wextra)
+set_target_properties(mission_adapters_pick_and_place PROPERTIES POSITION_INDEPENDENT_CODE ON)
+
+target_link_libraries(mission_adapters_pick_and_place
+  PUBLIC mission_adapters
+  PRIVATE Boost::boost Threads::Threads
+)
+
+install(TARGETS mission_adapters_pick_and_place
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+```
+
+Thêm dependency cho plugin thì phải cập nhật **đủ bốn chỗ**: `CMakeLists.txt`, `package.xml`,
+install rule, và file YAML.
+
+## 4. Khai báo trong YAML — **đừng quên `library_path`**
+
+Trong `pnkx_nav_core/config/mission_adapters_params.yaml`:
+
+```yaml
+mission_adapters:
+  mission_sources:
+    - {name: pick_src, type: PickAndPlaceAdapter}   # type = tên symbol trong BOOST_DLL_ALIAS
+
+pick_src:
+  global_frame: map        # param riêng của instance, đọc trong configure()
+
+PickAndPlaceAdapter:
+  library_path: libmission_adapters_pick_and_place   # BẮT BUỘC
+```
+
+Ba tên phải khớp nhau:
+
+| Nơi | Giá trị |
+|---|---|
+| `BOOST_DLL_ALIAS(..., PickAndPlaceAdapter)` | tên symbol |
+| `mission_sources[].type` | **cùng** tên symbol |
+| `<type>/library_path` | tên file `.so` (không cần đuôi) |
+
+**Thiếu `library_path` là lỗi phổ biến nhất**: plugin build sạch, `.so` nằm đúng chỗ, nhưng runtime
+báo "không tìm thấy". Registry sẽ nêu đích danh khoá bị thiếu trong log.
+
+Tên không có đuôi `.so` được resolve qua `PNKX_NAV_CORE_LIBRARY_PATH`, `devel/lib`, rồi
+`LD_LIBRARY_PATH` — nên **phải `source devel/setup.bash`** trước khi chạy, nếu không plugin sẽ không
+được tìm thấy dù file có thật.
+
+## 5. Kiểm chứng
+
+```bash
+catkin_make --pkg mission_adapters
+source devel/setup.bash
+
+PNKX_NAV_CORE_CONFIG_DIR=src/AMR_T800/Test/mission_adapters/test/config \
+  ./devel/lib/mission_adapters/plugin_registry_test
+```
+
+Nên có test cho: payload hợp lệ, payload thiếu trường, payload chứa NaN/Inf, payload không sinh
+mission nào, và (nếu nguồn có state) hai yêu cầu liên tiếp.
+
+## 6. Nguồn không cần `.so`
+
+Nguồn biên dịch thẳng vào host thì bỏ qua bước 3 và 4, đăng ký trực tiếp:
+
+```cpp
+registry.registerAdapter(std::make_shared<PickAndPlaceAdapter>());
+```
+
+Đường này dùng trong test và cho host muốn kiểm soát vòng đời adapter; phần còn lại của luồng
+(validate, convert, định tuyến theo schema) giống hệt.

examples/robot_control_example.cpp

@@ -0,0 +1,101 @@
+/*********************************************************************
+ *
+ * Ví dụ tối thiểu: nối mission layer vào một navigation runtime.
+ *
+ * Điểm chính của ví dụ là hai chiều dữ liệu, không phải thuật toán:
+ *
+ *   host  --goalEvent/orderEvent-->  EventProcessor  -->  MissionManager
+ *                                                              |
+ *                                                     MissionExecutor
+ *                                                              |
+ *                                            NavigationClient::dispatch/cancelActive
+ *                                                              |
+ *   host  <--navDoneEvent(id)/navFailedEvent(id)--------  navigation runtime
+ *
+ * Outcome quay về BẮT BUỘC mang MissionId. Bản trước của ví dụ này poll trường trạng thái của
+ * navigation rồi suy ra "chặng nào vừa xong" — cách đó gán nhầm kết quả ngay khi có một order thay
+ * thế order đang chạy.
+ *
+ *********************************************************************/
+#include <cstddef>
+#include <memory>
+
+#include <robot/robot.h>
+
+#include <mission_adapters/mission_adapters.h>
+#include <mission_adapters/plugin_registry.h>
+
+namespace
+{
+
+/**
+ * @brief NavigationClient chỉ ghi log — chỗ để thay bằng runtime thật.
+ *
+ * Trong hệ thống thật, dispatch() dựng yêu cầu di chuyển từ mission rồi giao cho navigation runtime,
+ * và runtime báo ngược kết quả qua navDoneEvent(mission->id) / navFailedEvent(mission->id).
+ */
+class LoggingNavigationClient : public mission_adapters::NavigationClient
+{
+public:
+    bool dispatch(const std::shared_ptr<const mission_adapters::Mission>& mission) override
+    {
+        if (!mission)
+            return false;
+
+        robot::log_info("dispatch mission %lu — %zu action",
+                        static_cast<unsigned long>(mission->id),
+                        mission->actions.size());
+        return true;
+    }
+
+    void cancelActive(mission_adapters::MissionId id) override
+    {
+        robot::log_info("cancel mission %lu", static_cast<unsigned long>(id));
+    }
+};
+
+}  // namespace
+
+int main(int argc, char** argv)
+{
+    robot::init(argc, argv, "mission_adapters_example");
+
+    // Nguồn mission được nạp từ YAML: thêm loại nguồn mới không phải sửa file này.
+    mission_adapters::PluginRegistry registry;
+    robot::NodeHandle nh;
+    if (!registry.loadFromConfig(nh))
+    {
+        robot::log_error("could not load enough mission sources — check "
+                         "mission_adapters_params.yaml");
+        return 1;
+    }
+
+    mission_adapters::MissionManager  mission_manager;
+    mission_adapters::EventProcessor  event_processor(mission_manager, registry);
+    mission_adapters::MissionExecutor mission_executor(mission_manager);
+
+    LoggingNavigationClient navigation_client;
+    mission_executor.setNavigationClient(&navigation_client);
+
+    event_processor.start();
+    mission_executor.start();
+
+    // Nguồn mission thật (MQTT/OPC-UA/REST) gọi các hàm *Event() này từ thread của nó.
+    robot_geometry_msgs::PoseStamped goal;
+    goal.header.frame_id = "map";
+    goal.pose.position.x = 2.0;   // [m]
+    goal.pose.position.y = 1.0;   // [m]
+    event_processor.goalEvent(goal);
+
+    robot::Rate rate(20);   // [Hz]
+    while (robot::ok())
+    {
+        // Runtime thật gọi navDoneEvent(id) / navFailedEvent(id) ở đây, với id lấy từ chính mission
+        // mà dispatch() đã nhận — không suy đoán từ trạng thái navigation.
+        rate.sleep();
+    }
+
+    mission_executor.stop();
+    event_processor.stop();
+    return 0;
+}

examples/vda5050_order_demo.cpp

@@ -0,0 +1,142 @@
+/**
+ * @file vda5050_order_demo.cpp
+ * @brief Chạy một VDA5050 Order qua VDA5050SourceAdapter và in ra các chặng thu được.
+ *
+ * Order dùng ở đây lấy nguyên toạ độ từ một order thật do fleet manager gửi xuống (4 node, 3 edge,
+ * edge cuối có NURBS bậc 2), chỉ khác một điểm: gắn thêm một action vào **node thứ 2**. Mục đích là
+ * thấy tận mắt adapter cắt order thành chặng như thế nào khi có action ở giữa đường.
+ *
+ * Chạy:  ./devel/lib/mission_adapters/vda5050_order_demo
+ */
+#include "mission_adapters/mission_request.h"
+#include "mission_adapters/types.h"
+#include "../plugins/vda5050_source_adapter.h"
+
+#include <cstdio>
+#include <string>
+
+namespace
+{
+
+/// Một node released, kèm toạ độ thật lấy từ order của fleet.
+robot_protocol_msgs::Node makeNode(int sequence_id, const std::string& id, double x, double y)
+{
+    robot_protocol_msgs::Node node;
+    node.sequenceId = sequence_id;
+    node.nodeId = id;
+    node.released = true;
+    node.nodePosition.x = x;
+    node.nodePosition.y = y;
+    node.nodePosition.mapId = "97b3bf93-10c5-4c79-2cc9-08deee20817a";
+    return node;
+}
+
+robot_protocol_msgs::Edge makeEdge(int sequence_id, const std::string& id,
+                                   const std::string& start_id, const std::string& end_id)
+{
+    robot_protocol_msgs::Edge edge;
+    edge.sequenceId = sequence_id;
+    edge.edgeId = id;
+    edge.released = true;
+    edge.startNodeId = start_id;
+    edge.endNodeId = end_id;
+    return edge;
+}
+
+robot_protocol_msgs::Action makeAction(const std::string& id, const std::string& type)
+{
+    robot_protocol_msgs::Action action;
+    action.actionId = id;
+    action.actionType = type;
+    action.blockingType = "HARD";
+    return action;
+}
+
+void printOrder(const robot_protocol_msgs::Order& order)
+{
+    std::printf("ORDER GUI XUONG  (orderId=%s, orderUpdateId=%d)\n",
+                order.orderId.c_str(), (int)order.orderUpdateId);
+    for (const auto& n : order.nodes)
+        std::printf("   node seq=%-2d %-10s pos=(%7.3f, %7.3f)  actions=%zu%s\n",
+                    (int)n.sequenceId, n.nodeId.c_str(),
+                    n.nodePosition.x, n.nodePosition.y, n.actions.size(),
+                    n.actions.empty() ? "" : ("  <-- " + n.actions.front().actionType).c_str());
+    for (const auto& e : order.edges)
+        std::printf("   edge seq=%-2d %-10s %s -> %s  actions=%zu\n",
+                    (int)e.sequenceId, e.edgeId.c_str(),
+                    e.startNodeId.c_str(), e.endNodeId.c_str(), e.actions.size());
+}
+
+void printMissions(const std::vector<std::shared_ptr<mission_adapters::Mission>>& missions)
+{
+    std::printf("\nKET QUA: adapter cat thanh %zu chang\n", missions.size());
+    std::printf("%s\n", std::string(78, '-').c_str());
+
+    int idx = 0;
+    for (const auto& m : missions)
+    {
+        std::printf("  Chang #%d\n", ++idx);
+        std::printf("      type      : %s\n",
+                    m->type == mission_adapters::MissionType::VDA5050_ORDER ? "VDA5050_ORDER"
+                                                                            : "SIMPLE_GOAL");
+        std::printf("      has_goal  : %s\n", m->has_goal ? "true" : "false");
+        if (m->has_goal)
+            std::printf("      di chuyen : (%7.3f, %7.3f) -> (%7.3f, %7.3f)\n",
+                        m->start.pose.position.x, m->start.pose.position.y,
+                        m->goal.pose.position.x, m->goal.pose.position.y);
+        else
+            std::printf("      di chuyen : (khong - chang chi-co-action)\n");
+
+        std::printf("      nodes     : %zu, edges: %zu\n", m->nodes.size(), m->edges.size());
+        if (m->actions.empty())
+        {
+            std::printf("      actions   : (khong co)\n");
+        }
+        else
+        {
+            for (const auto& a : m->actions)
+                std::printf("      actions   : seq=%d  %-12s  id=%s  (%s)\n",
+                            a.sequenceId, a.action.actionType.c_str(), a.action.actionId.c_str(),
+                            a.type == mission_adapters::ActionType::NODE_ACTION ? "NODE_ACTION"
+                                                                                : "EDGE_ACTION");
+        }
+        std::printf("\n");
+    }
+}
+
+}  // namespace
+
+int main()
+{
+    // Toa do lay tu order that: 14:39:21, orderId c16cd9e3..., 4 node / 3 edge.
+    robot_protocol_msgs::Order order;
+    order.orderId = "demo-dua-tren-order-that";
+    order.orderUpdateId = 0;
+
+    order.nodes.push_back(makeNode(0, "node_A", 10.010, 10.000));
+    order.nodes.push_back(makeNode(2, "node_B", 10.260, 10.192));
+    order.nodes.push_back(makeNode(4, "node_C", 14.979, 7.599));
+    order.nodes.push_back(makeNode(6, "node_D", 12.986, 2.851));
+
+    // ĐIỂM KHÁC DUY NHẤT so với order thật: mot action gan vao NODE THU 2.
+    order.nodes[1].actions.push_back(makeAction("act-tai-node-2", "PickUp"));
+
+    order.edges.push_back(makeEdge(1, "edge_AB", "node_A", "node_B"));
+    order.edges.push_back(makeEdge(3, "edge_BC", "node_B", "node_C"));
+    order.edges.push_back(makeEdge(5, "edge_CD", "node_C", "node_D"));
+
+    printOrder(order);
+
+    mission_plugins::VDA5050SourceAdapter adapter;
+
+    std::string reason;
+    const auto request = mission_adapters::MissionRequest::fromOrder(order);
+    if (!adapter.validate(request, reason))
+    {
+        std::printf("\nAdapter TU CHOI order: %s\n", reason.c_str());
+        return 1;
+    }
+
+    printMissions(adapter.convert(request).missions);
+    return 0;
+}

include/mission_adapters/adapter.h

@@ -0,0 +1,95 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * Interface plugin duy nhất của gói: nguồn mission.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#ifndef MISSION_ADAPTERS_ADAPTER_H_
+#define MISSION_ADAPTERS_ADAPTER_H_
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <robot/node_handle.h>
+
+#include <mission_adapters/mission_request.h>
+#include <mission_adapters/types.h>
+
+namespace mission_adapters
+{
+    /// @brief Quan hệ giữa mission mới và hàng đợi đang có.
+    enum class SubmitMode
+    {
+        /// Yêu cầu mới: thay toàn bộ hàng đợi, chặng đang chạy bị preempt (và được bảo dừng).
+        kReplace,
+
+        /**
+         * Phần nối tiếp của yêu cầu đang chạy: chỉ thêm vào cuối hàng đợi.
+         *
+         * Đây là hình dạng của VDA5050 order update — phần horizon được release thêm. Xử lý nó như
+         * kReplace sẽ huỷ và chạy lại chặng đang đi, dù tuyến đường không hề đổi.
+         */
+        kAppend
+    };
+
+    /// @brief Kết quả chuyển đổi: mission sinh ra và cách chúng vào hàng đợi.
+    struct ConversionResult
+    {
+        std::vector<std::shared_ptr<Mission>> missions;
+        SubmitMode mode = SubmitMode::kReplace;
+
+        bool empty() const { return missions.empty(); }
+    };
+
+    /**
+     * @class MissionSourceAdapter
+     * @brief Biến payload của một nguồn cụ thể thành mission của mission layer.
+     *
+     * Plugin được nạp bằng Boost.DLL theo khoá `library_path` trong YAML, giống mọi plugin khác của
+     * workspace. Contract này là public interface qua ranh giới .so: đổi chữ ký thì phải đổi cả
+     * registry trong cùng một lần sửa, vì import_alias là dlsym + reinterpret_cast và không có kiểm
+     * kiểu nào bắt được sự lệch đó lúc biên dịch.
+     *
+     * Việc thực thi action KHÔNG thuộc về interface này: adapter chỉ chuyển dữ liệu, navigation
+     * runtime mới là nơi chạy action (D8).
+     */
+    class MissionSourceAdapter
+    {
+    public:
+        using Ptr = std::shared_ptr<MissionSourceAdapter>;
+
+        virtual ~MissionSourceAdapter() = default;
+
+        /**
+         * @brief Đọc param riêng của instance. Gọi đúng một lần khi nạp.
+         * @param name Tên instance trong `mission_sources` — cũng là namespace param của nó.
+         * @param nh   NodeHandle gốc.
+         * @return false nếu cấu hình không hợp lệ; registry sẽ báo lỗi và không đăng ký adapter này.
+         */
+        virtual bool configure(const std::string& name, robot::NodeHandle& nh) = 0;
+
+        /// @brief Schema mà adapter này xử lý. Core định tuyến theo đúng giá trị này.
+        virtual std::string schema() const = 0;
+
+        /**
+         * @brief Kiểm payload TRƯỚC khi convert.
+         * @param[out] reason Lý do từ chối, dùng cho log.
+         * @return false -> core từ chối sớm và không đụng vào hàng đợi.
+         */
+        virtual bool validate(const MissionRequest& request, std::string& reason) const = 0;
+
+        /**
+         * @brief Chuyển payload thành 0..n mission, kèm cách chúng vào hàng đợi.
+         *
+         * Trả rỗng nghĩa là **không có việc**, KHÔNG phải lỗi và cũng không phải lệnh huỷ: core sẽ
+         * bỏ qua, giữ nguyên hàng đợi đang chạy (A1).
+         */
+        virtual ConversionResult convert(const MissionRequest& request) = 0;
+    };
+
+} // namespace mission_adapters
+
+#endif  // MISSION_ADAPTERS_ADAPTER_H_

include/mission_adapters/event.h

@@ -0,0 +1,121 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * Sự kiện của mission layer và hàng đợi vận chuyển chúng.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#ifndef MISSION_ADAPTERS_EVENT_H_
+#define MISSION_ADAPTERS_EVENT_H_
+
+#include <atomic>
+#include <condition_variable>
+#include <cstdint>
+#include <memory>
+#include <mutex>
+#include <queue>
+#include <vector>
+
+#include <mission_adapters/mission_request.h>
+#include <mission_adapters/types.h>
+
+namespace mission_adapters
+{
+    enum class EventType
+    {
+        SUBMIT_REQUEST,
+        NAV_DONE,
+        NAV_FAILED,
+        PAUSE,
+        RESUME,
+        CANCEL,
+        EMERGENCY,
+        CLEAR_EMERGENCY
+    };
+
+    struct Event
+    {
+        EventType type = EventType::SUBMIT_REQUEST;
+        uint64_t sequence = 0;   ///< thứ tự phát sinh, EventBus tự gán
+
+        /// Chỉ dùng cho NAV_DONE / NAV_FAILED: mission nào vừa kết thúc.
+        MissionId mission_id = kInvalidMissionId;
+
+        /// Chỉ dùng cho SUBMIT_REQUEST: payload chưa chuyển đổi, adapter sẽ xử lý trên thread worker.
+        MissionRequest request;
+    };
+
+    /**
+     * @class EventBus
+     * @brief Hàng đợi sự kiện FIFO, cộng một đường out-of-band riêng cho emergency.
+     *
+     * **FIFO là bắt buộc, không phải lựa chọn phong cách.** Bản trước sắp xếp theo priority toàn
+     * phần nên CANCEL (ưu tiên cao) luôn được xử lý trước SUBMIT (ưu tiên thấp) — phát order rồi huỷ
+     * ngay thì huỷ chạy trước, order vào hàng đợi sau và robot chạy đúng cái người dùng vừa huỷ.
+     * Thứ tự xử lý phải bằng thứ tự phát sinh thì quan hệ nhân quả mới còn.
+     *
+     * Emergency không đi theo luật đó: nó bật một cờ atomic ngay tại chỗ gọi, nên độ trễ phản ứng
+     * không phụ thuộc vào việc hàng đợi đang dài bao nhiêu. Sự kiện EMERGENCY vẫn được đẩy vào hàng
+     * đợi để dòng thời gian trong log không bị thủng.
+     */
+    class EventBus
+    {
+    public:
+        /// @brief Đẩy một sự kiện thường vào cuối hàng đợi.
+        void push(Event event);
+
+        /**
+         * @brief Đẩy sự kiện emergency: bật cờ out-of-band trước, rồi mới xếp hàng.
+         *
+         * Bên tiêu thụ phải gọi @ref takeEmergency trước khi xử lý sự kiện tiếp theo.
+         */
+        void pushEmergency(Event event);
+
+        /// @brief Lấy sự kiện kế tiếp, chờ nếu hàng đợi rỗng. Trả false khi bus đã stop().
+        bool pop(Event& event);
+
+        /**
+         * @brief Lấy và xoá cờ emergency đang treo.
+         * @return true nếu có emergency chưa được xử lý.
+         */
+        bool takeEmergency();
+
+        /// @brief Có emergency đang treo hay không (không xoá cờ).
+        bool emergencyPending() const;
+
+        void stop();
+        void reset();
+
+        bool empty() const
+        {
+            std::lock_guard<std::mutex> lock(mutex_);
+            return queue_.empty();
+        }
+
+        size_t size() const
+        {
+            std::lock_guard<std::mutex> lock(mutex_);
+            return queue_.size();
+        }
+
+        void clear()
+        {
+            std::lock_guard<std::mutex> lock(mutex_);
+            queue_ = {};
+        }
+
+    private:
+        mutable std::mutex mutex_;
+        std::queue<Event> queue_;
+        std::condition_variable cv_;
+        bool stop_ = false;
+        uint64_t next_sequence_ = 0;
+
+        /// Ngoài hàng đợi có chủ đích: emergency không được xếp sau một hàng dài sự kiện thường.
+        std::atomic<bool> emergency_pending_{false};
+    };
+
+} // namespace mission_adapters
+
+#endif  // MISSION_ADAPTERS_EVENT_H_

include/mission_adapters/event_processor.h

@@ -0,0 +1,93 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * Thread tiêu thụ event: biến sự kiện từ host thành lời gọi lên MissionManager.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#ifndef MISSION_ADAPTERS_EVENT_PROCESSOR_H_
+#define MISSION_ADAPTERS_EVENT_PROCESSOR_H_
+
+#include <atomic>
+#include <thread>
+
+#include <robot_geometry_msgs/PoseStamped.h>
+#include <robot_protocol_msgs/Order.h>
+
+#include <mission_adapters/event.h>
+#include <mission_adapters/mission_manager.h>
+#include <mission_adapters/mission_request.h>
+#include <mission_adapters/plugin_registry.h>
+
+namespace mission_adapters
+{
+    /**
+     * @class EventProcessor
+     * @brief Thread duy nhất biến sự kiện thành thay đổi trạng thái mission.
+     *
+     * Core không biết adapter nào tồn tại: nó chỉ tra @ref PluginRegistry theo
+     * MissionRequest::schema. Thêm một loại nguồn mới = thêm plugin + một dòng YAML, không sửa file
+     * nào trong `src/` của gói.
+     *
+     * Việc chuyển payload -> mission chạy trên đúng thread này (không phải thread của host) vì
+     * adapter được phép có state; chuyển đổi trên nhiều thread host sẽ tranh chấp state đó.
+     */
+    class EventProcessor
+    {
+    public:
+        EventProcessor(MissionManager& mission_manager, PluginRegistry& registry);
+        ~EventProcessor();
+
+        void start();
+        void stop();
+
+        /**
+         * @brief Đường vào chung cho mọi nguồn mission.
+         *
+         * Nguồn mới chỉ cần dựng MissionRequest với schema của mình rồi gọi hàm này.
+         */
+        void submitRequest(const MissionRequest& request);
+
+        /// @brief Tiện ích cho nguồn goal đơn lẻ. Chỉ dựng envelope, không biết adapter nào xử lý.
+        void goalEvent(const robot_geometry_msgs::PoseStamped& goal);
+
+        /// @brief Tiện ích cho nguồn VDA5050.
+        void orderEvent(const robot_protocol_msgs::Order& order);
+
+        void cancelEvent();
+        void pauseEvent();
+        void resumeEvent();
+
+        /**
+         * @brief Báo một chặng đã hoàn tất (nav + action — D8).
+         * @param id Mission vừa xong. Bắt buộc: outcome không mang ID sẽ bị manager loại bỏ.
+         */
+        void navDoneEvent(MissionId id);
+
+        /// @brief Báo một chặng thất bại. Cũng bắt buộc mang MissionId.
+        void navFailedEvent(MissionId id);
+
+        void emergencyEvent();
+        void clearEmergencyEvent();
+
+    private:
+        void spin();
+        void process(const Event& event);
+
+        /// Tra adapter theo schema, validate, convert, rồi submit nếu có mission.
+        void handleRequest(const MissionRequest& request);
+
+        /// Xử lý emergency đang treo (nếu có) trước khi động tới hàng đợi sự kiện thường.
+        void handlePendingEmergency();
+
+        EventBus event_bus_;
+        MissionManager& mission_manager_;
+        PluginRegistry& registry_;
+        std::thread worker_;
+        std::atomic<bool> running_{false};
+    };
+
+} // namespace mission_adapters
+
+#endif  // MISSION_ADAPTERS_EVENT_PROCESSOR_H_

include/mission_adapters/mission_adapters.h

@@ -1,245 +1,25 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * Header façade — gộp toàn bộ public API của gói.
+ *
+ * Giữ lại để code đã include header này không phải sửa. Code mới nên include thẳng header cần dùng
+ * (types.h / event.h / adapter.h / mission_manager.h / event_processor.h / mission_executor.h).
+ *
+ * Author: DuongTD
+ *********************************************************************/
 #ifndef MISSION_ADAPTERS_MISSION_ADAPTERS_H
 #define MISSION_ADAPTERS_MISSION_ADAPTERS_H
 
-#include <string>
-#include <vector>
-#include <queue>
-#include <memory>
-#include <thread>
-#include <mutex>
-#include <condition_variable>
-#include <functional>
-#include <atomic>
-#include <cstdint>
-
 #include <robot/robot.h>
-#include <robot_protocol_msgs/Order.h>
-#include <robot_geometry_msgs/PoseStamped.h>
 
-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;
-    static constexpr int PRIORITY_RESUME    = 2;
-    static constexpr int PRIORITY_PAUSE     = 3;
-    static constexpr int PRIORITY_NAV_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
-    {
-        IDLE,
-        QUEUED,
-        RUNNING,
-        PAUSED,
-        RECOVERY,
-        COMPLETED,
-        FAILED,
-        CANCELLED,
-        EMERGENCY,
-        CLEAR_EMERGENCY
-    };
-
-    enum class EventType
-    {
-        SUBMIT_MISSIONS,
-        NAV_DONE,
-        NAV_FAILED,
-        PAUSE,
-        RESUME,
-        CANCEL,
-        EMERGENCY,
-        CLEAR_EMERGENCY
-    };
-
-    enum class MissionType
-    {
-        SIMPLE_GOAL,
-        VDA5050_ORDER
-    };
-
-    enum class ActionType
-    {
-        NODE_ACTION,
-        EDGE_ACTION
-    };
-
-    class Action
-    {
-    public:
-        int sequenceId = 0;
-        ActionType type = ActionType::NODE_ACTION;
-        robot_protocol_msgs::Action action;
-    };
-
-    class Mission
-    {
-    public:
-        int sequenceId = 0;
-        MissionType type = MissionType::SIMPLE_GOAL;
-        int priority = 0;
-        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 = EventType::SUBMIT_MISSIONS;
-        int priority = PRIORITY_ORDER;
-        uint64_t sequence = 0;
-        std::vector<std::shared_ptr<Mission>> missions;
-    };
-
-    struct EventCompare
-    {
-        bool operator()(const Event& lhs, const Event& rhs) const
-        {
-            if (lhs.priority != rhs.priority)
-                return lhs.priority > rhs.priority;
-
-            return lhs.sequence > rhs.sequence;
-        }
-    };
-
-    class EventBus
-    {
-    private:
-        mutable std::mutex mutex_;
-        std::priority_queue<Event, std::vector<Event>, EventCompare> queue_;
-        std::condition_variable cv_;
-        bool stop_ = false;
-        uint64_t next_sequence_ = 0;
-
-    public:
-        void push(const Event& event);
-        void push(Event&& event);
-        bool pop(Event& event);
-        void stop();
-        void reset();
-
-        inline bool empty() const
-        {
-            std::lock_guard<std::mutex> lock(mutex_);
-            return queue_.empty();
-        }
-
-        inline void clear()
-        {
-            std::lock_guard<std::mutex> lock(mutex_);
-            while (!queue_.empty()) queue_.pop();
-        }
-    };
-
-    class VDA5050Adapter
-    {
-    public:
-        std::vector<std::shared_ptr<Mission>> convert(const robot_protocol_msgs::Order& order);
-    };
-
-    class GoalAdapter
-    {
-    public:
-        std::vector<std::shared_ptr<Mission>> convert(const robot_geometry_msgs::PoseStamped& goal);
-    };
-
-    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();
-        void clearEmergency();
-
-        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_;
-    };
-
-    class EventProcessor
-    {
-    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();
-        void clearEmergencyEvent();
-
-    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>&)>;
-
-        explicit MissionExecutor(MissionManager& manager);
-        ~MissionExecutor();
-
-        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_);
-            mission_callback_ = std::move(cb);
-        }
-
-    private:
-        std::shared_ptr<Mission> mission_execute_;
-
-        // 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
+#include <mission_adapters/adapter.h>
+#include <mission_adapters/event.h>
+#include <mission_adapters/event_processor.h>
+#include <mission_adapters/mission_executor.h>
+#include <mission_adapters/mission_manager.h>
+#include <mission_adapters/navigation_client.h>
+#include <mission_adapters/types.h>
 
 #endif  // MISSION_ADAPTERS_MISSION_ADAPTERS_H

include/mission_adapters/mission_config.h

@@ -0,0 +1,64 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * Tham số vận hành của mission layer.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#ifndef MISSION_ADAPTERS_MISSION_CONFIG_H_
+#define MISSION_ADAPTERS_MISSION_CONFIG_H_
+
+#include <string>
+
+#include <robot/node_handle.h>
+
+namespace mission_adapters
+{
+    /**
+     * @struct MissionConfig
+     * @brief Tham số vận hành, nạp từ `mission_adapters_params.yaml`.
+     *
+     * Bản runtime của file nằm ở `pnkx_nav_core/config/`; bản trong `test/config/` chỉ dùng cho test
+     * và phải chạy kèm PNKX_NAV_CORE_CONFIG_DIR trỏ vào đó.
+     */
+    struct MissionConfig
+    {
+        /**
+         * Trần thời gian cho MỘT chặng (nav + action), tính từ lúc chặng được giao. [s]
+         *
+         * 0 = tắt. Quá hạn thì chặng bị đánh dấu thất bại và navigation được bảo dừng — lưới cuối
+         * cho trường hợp navigation không bao giờ báo kết quả về.
+         */
+        double mission_timeout = 0.0;
+
+        /**
+         * Một chặng thất bại thì xử lý phần còn lại của hàng đợi thế nào.
+         *
+         * `true` (mặc định) = xoá sạch hàng đợi. Đây là hành vi an toàn cho tuyến đường tuần tự
+         * kiểu VDA5050: chặng 2 hỏng nghĩa là robot không tới được node 2, nên chạy tiếp chặng 3 là
+         * cắt ngang qua đoạn đường mà fleet manager chưa cho phép đi.
+         *
+         * `false` = chỉ bỏ chặng lỗi rồi chạy tiếp chặng sau. Chỉ đặt false khi các mission trong
+         * hàng đợi ĐỘC LẬP với nhau (nhiều goal rời rạc), không phải các chặng của cùng một tuyến.
+         */
+        bool clear_queue_on_failure = true;
+
+        /**
+         * @brief Nạp tham số từ namespace @p ns.
+         * @return false nếu giá trị nạp được không qua @ref validate.
+         *
+         * Thiếu khoá không phải lỗi: giá trị mặc định trong struct này là hợp lệ và an toàn.
+         */
+        bool loadFromParams(robot::NodeHandle& nh, const std::string& ns = "mission_adapters");
+
+        /// @brief Kiểm miền giá trị. Trả false kèm log nêu đích danh tham số sai.
+        bool validate() const;
+
+        /// @brief In cấu hình đang dùng — để log khởi động nói được vì sao robot hành xử như vậy.
+        void print() const;
+    };
+
+} // namespace mission_adapters
+
+#endif  // MISSION_ADAPTERS_MISSION_CONFIG_H_

include/mission_adapters/mission_executor.h

@@ -0,0 +1,62 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * Thread lấy mission kế tiếp từ MissionManager và đẩy xuống phía navigation.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#ifndef MISSION_ADAPTERS_MISSION_EXECUTOR_H_
+#define MISSION_ADAPTERS_MISSION_EXECUTOR_H_
+
+#include <atomic>
+#include <memory>
+#include <mutex>
+#include <thread>
+
+#include <mission_adapters/mission_manager.h>
+#include <mission_adapters/navigation_client.h>
+#include <mission_adapters/types.h>
+
+namespace mission_adapters
+{
+    /**
+     * @class MissionExecutor
+     * @brief Thread duy nhất phát lệnh xuống navigation.
+     *
+     * Mọi lời gọi ra ngoài (dispatch, cancelActive) đi ra từ đây, nên MissionManager không bao giờ
+     * gọi ra ngoài khi đang giữ khoá. Thứ tự trong một vòng là bất biến an toàn: **cancel trước,
+     * dispatch sau** — chặng cũ phải được bảo dừng trước khi chặng mới bắt đầu.
+     */
+    class MissionExecutor
+    {
+    public:
+        explicit MissionExecutor(MissionManager& manager);
+        ~MissionExecutor();
+
+        /**
+         * @brief Gắn cổng navigation. Con trỏ non-owning, phải sống lâu hơn executor.
+         *
+         * FIX #1: gọi TRƯỚC start(), không gọi trong vòng lặp.
+         */
+        void setNavigationClient(NavigationClient* client);
+
+        void start();
+        void stop();
+
+    private:
+        void spin();
+
+        /// Một vòng công việc. Tách riêng để test gọi trực tiếp, không cần thread.
+        void step();
+
+        NavigationClient* navigation_client_ = nullptr;   ///< non-owning, có thể null
+        MissionManager& mission_manager_;
+        mutable std::mutex mutex_;
+        std::thread worker_;
+        std::atomic<bool> running_{false};
+    };
+
+} // namespace mission_adapters
+
+#endif  // MISSION_ADAPTERS_MISSION_EXECUTOR_H_

include/mission_adapters/mission_manager.h

@@ -0,0 +1,165 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * Trạng thái và hàng đợi mission — nơi duy nhất giữ MissionState.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#ifndef MISSION_ADAPTERS_MISSION_MANAGER_H_
+#define MISSION_ADAPTERS_MISSION_MANAGER_H_
+
+#include <condition_variable>
+#include <memory>
+#include <mutex>
+#include <queue>
+#include <vector>
+
+#include <robot/time.h>
+
+#include <mission_adapters/mission_config.h>
+#include <mission_adapters/types.h>
+
+namespace mission_adapters
+{
+    /**
+     * @class MissionManager
+     * @brief Hàng đợi mission và trạng thái của nó. Thread-safe, không tự gọi ra ngoài.
+     *
+     * Manager cố ý KHÔNG giữ con trỏ tới navigation: nó chỉ ghi nhận "mission này cần được dừng"
+     * (@ref takePendingCancel) và để MissionExecutor thực hiện lời gọi đó. Nhờ vậy không có lời gọi
+     * ra ngoài nào xảy ra khi đang giữ khoá, và mọi lệnh xuống navigation đi ra từ đúng một thread.
+     */
+    class MissionManager
+    {
+    public:
+        MissionManager() = default;
+        explicit MissionManager(const MissionConfig& config) : config_(config) {}
+
+        /// @brief Đổi tham số vận hành. Gọi trước khi có mission nào đang chạy.
+        void setConfig(const MissionConfig& config);
+
+        /**
+         * @brief Nhận một loạt mission mới và cấp @ref MissionId cho từng cái.
+         *
+         * Semantics (A1): danh sách rỗng là **no-op tuyệt đối** — không đụng hàng đợi, không đổi
+         * trạng thái. Một order lỗi không phải là lệnh huỷ việc đang chạy.
+         *
+         * Submit khi đang RUNNING là **preempt tường minh**: mission đang chạy được ghi vào ô
+         * pending-cancel để navigation được bảo dừng, rồi hàng đợi mới thay hàng đợi cũ.
+         */
+        void submit(const std::vector<std::shared_ptr<Mission>>& missions);
+
+        /**
+         * @brief Nối thêm mission vào cuối hàng đợi, KHÔNG đụng chặng đang chạy.
+         *
+         * Dùng cho phần nối tiếp của một yêu cầu đang chạy (VDA5050 order update release thêm
+         * horizon). Khác @ref submit ở chỗ không preempt và không yêu cầu dừng navigation — tuyến
+         * đường không đổi thì robot không có lý do gì phải dừng lại.
+         */
+        void append(const std::vector<std::shared_ptr<Mission>>& missions);
+
+        /**
+         * @brief Lấy mission kế tiếp cần chạy.
+         * @return Mission MỚI, hoặc nullptr nếu chưa tới lượt.
+         *
+         * Chỉ trả khác null đúng một lần cho mỗi mission, tại đúng bước chuyển QUEUED -> RUNNING
+         * (M6). Bên gọi vì thế không cần tự khử trùng lặp.
+         */
+        std::shared_ptr<const Mission> nextMission();
+
+        /**
+         * @brief Ghi nhận một chặng hoàn tất (cả navigation lẫn action — D8).
+         * @param id Mission vừa xong.
+         * @return false nếu outcome không thuộc mission đang chạy (đến trễ sau khi bị thay thế).
+         */
+        bool onNavigationDone(MissionId id);
+
+        /**
+         * @brief Ghi nhận một chặng thất bại.
+         * @return false nếu outcome không thuộc mission đang chạy.
+         */
+        bool onNavigationFailed(MissionId id);
+
+        void cancel();
+        void pause();
+        void resume();
+        void emergency();
+        void clearEmergency();
+
+        MissionState state() const;
+
+        /// @brief Có việc đang treo hay không — hàng đợi HOẶC mission đang chạy.
+        bool hasMission() const;
+
+        /// @brief Mission đang chạy, kInvalidMissionId nếu không có.
+        MissionId currentMissionId() const;
+
+        /**
+         * @brief Lấy và xoá yêu cầu dừng navigation đang treo.
+         * @return kInvalidMissionId nếu không có yêu cầu nào.
+         *
+         * Chỉ MissionExecutor gọi hàm này; nó là cách manager nhờ executor gọi
+         * NavigationClient::cancelActive() mà bản thân không cần biết navigation là gì.
+         */
+        MissionId takePendingCancel();
+
+        /**
+         * @brief Chờ tới khi có việc cho executor: mission mới cần giao, hoặc yêu cầu dừng đang treo.
+         * @return false nếu bị đánh thức bởi @ref wakeUp (đang dừng), true nếu thật sự có việc.
+         *
+         * Thay cho vòng poll: mission layer không có deadline định kỳ nào, poll chỉ thêm độ trễ
+         * trung bình nửa chu kỳ vào đường phản ứng cancel/emergency.
+         */
+        bool waitForWork();
+
+        /// @brief Đánh thức mọi thread đang chờ trong @ref waitForWork (dùng khi dừng executor).
+        void wakeUp();
+
+    private:
+        /// Gọi khi đã giữ mutex_. Ghi mission đang chạy vào ô pending-cancel rồi bỏ nó ra.
+        void requestCancelOfCurrentLocked();
+
+        /// Gọi khi đã giữ mutex_. Id mission đang chạy, kInvalidMissionId nếu không có.
+        MissionId currentIdLocked() const;
+
+        /**
+         * Gọi khi đã giữ mutex_. Đổi trạng thái và ghi log ĐÚNG MỘT LẦN tại mỗi lần đổi thật.
+         *
+         * Đây là nơi duy nhất được gán state_: nếu không, mission biến mất khỏi hàng đợi mà không
+         * có dòng log nào cho biết ai đã làm điều đó và vì sao.
+         *
+         * @param reason Lý do ngắn gọn, cho người đọc log lúc 2 giờ sáng.
+         */
+        void setStateLocked(MissionState next, const char* reason, MissionId id = kInvalidMissionId);
+
+        /// Gọi khi đã giữ mutex_. true nếu executor có việc để làm ngay.
+        bool hasWorkLocked() const;
+
+        /// Gọi khi đã giữ mutex_. true nếu đang có chặng chạy và mission_timeout được bật.
+        bool timeoutArmedLocked() const;
+
+        /**
+         * Gọi khi đã giữ mutex_. Đánh dấu chặng đang chạy là thất bại do quá hạn, và ghi yêu cầu
+         * dừng navigation — khác NAV_FAILED ở chỗ navigation vẫn đang chạy nên phải bảo nó dừng.
+         */
+        void expireCurrentLocked();
+
+        mutable std::mutex mutex_;
+        std::condition_variable work_cv_;
+        bool wake_requested_ = false;
+        MissionState state_ = MissionState::IDLE;
+        std::queue<std::shared_ptr<const Mission>> mission_queue_;
+        std::shared_ptr<const Mission> current_mission_;
+        MissionId pending_cancel_ = kInvalidMissionId;
+
+        /// Thời điểm chặng hiện tại được giao — mốc tính mission_timeout.
+        robot::Time mission_start_time_;
+
+        MissionConfig config_;
+        MissionId next_mission_id_ = 1;   ///< 0 dành riêng cho kInvalidMissionId
+    };
+
+} // namespace mission_adapters
+
+#endif  // MISSION_ADAPTERS_MISSION_MANAGER_H_

include/mission_adapters/mission_request.h

@@ -0,0 +1,77 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * Envelope cho payload đầu vào của mission layer.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#ifndef MISSION_ADAPTERS_MISSION_REQUEST_H_
+#define MISSION_ADAPTERS_MISSION_REQUEST_H_
+
+#include <memory>
+#include <string>
+
+#include <robot_geometry_msgs/PoseStamped.h>
+#include <robot_protocol_msgs/Order.h>
+
+namespace mission_adapters
+{
+    /// @brief Tên schema của các nguồn có sẵn. Nguồn mới tự khai schema riêng, không cần sửa ở đây.
+    namespace schema
+    {
+        constexpr const char* kVda5050Order = "vda5050.order";
+        constexpr const char* kPoseStamped  = "geometry.pose_stamped";
+    }  // namespace schema
+
+    /**
+     * @struct MissionRequest
+     * @brief Payload đầu vào cùng với tên schema mô tả nó.
+     *
+     * Hai nguồn hiện có nhận hai kiểu khác hẳn nhau (Order và PoseStamped) nên không thể có một
+     * convert() chung nếu không bọc lại. Core chỉ định tuyến theo @ref schema và không bao giờ cần
+     * biết kiểu thật; thêm nguồn mới = thêm schema mới + plugin mới.
+     *
+     * Payload có kiểu dùng cho nguồn nội bộ (tránh serialize thừa); nguồn ngoài (REST/MQTT/file) đi
+     * bằng @ref raw_payload và tự parse trong plugin của mình.
+     */
+    struct MissionRequest
+    {
+        std::string schema;
+
+        std::shared_ptr<robot_protocol_msgs::Order>       order;
+        std::shared_ptr<robot_geometry_msgs::PoseStamped> pose;
+
+        std::string raw_payload;
+
+        /// @brief Dựng request từ một VDA5050 Order.
+        static MissionRequest fromOrder(const robot_protocol_msgs::Order& order)
+        {
+            MissionRequest request;
+            request.schema = schema::kVda5050Order;
+            request.order  = std::make_shared<robot_protocol_msgs::Order>(order);
+            return request;
+        }
+
+        /// @brief Dựng request từ một goal đơn lẻ.
+        static MissionRequest fromPose(const robot_geometry_msgs::PoseStamped& pose)
+        {
+            MissionRequest request;
+            request.schema = schema::kPoseStamped;
+            request.pose   = std::make_shared<robot_geometry_msgs::PoseStamped>(pose);
+            return request;
+        }
+
+        /// @brief Dựng request từ payload thô của một nguồn ngoài.
+        static MissionRequest fromRaw(const std::string& schema_name, const std::string& payload)
+        {
+            MissionRequest request;
+            request.schema      = schema_name;
+            request.raw_payload = payload;
+            return request;
+        }
+    };
+
+} // namespace mission_adapters
+
+#endif  // MISSION_ADAPTERS_MISSION_REQUEST_H_

include/mission_adapters/navigation_client.h

@@ -0,0 +1,55 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * Cổng ra phía navigation của mission layer.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#ifndef MISSION_ADAPTERS_NAVIGATION_CLIENT_H_
+#define MISSION_ADAPTERS_NAVIGATION_CLIENT_H_
+
+#include <memory>
+
+#include <mission_adapters/types.h>
+
+namespace mission_adapters
+{
+    /**
+     * @class NavigationClient
+     * @brief Đường duy nhất để mission layer điều khiển navigation.
+     *
+     * Gói này KHÔNG biết navigation runtime nào đang chạy phía sau: bridge phía runtime hiện thực
+     * interface này, test hiện thực bằng fake. Nhờ vậy chiều phụ thuộc luôn một chiều và mission
+     * layer test được mà không cần robot.
+     *
+     * Bất biến an toàn: mọi đường thoát của một mission — bị thay thế, bị huỷ, emergency — đều phải
+     * đi qua @ref cancelActive. Mission layer quên mission mà không bảo navigation dừng thì robot
+     * vẫn chạy tiếp tới goal cũ.
+     */
+    class NavigationClient
+    {
+    public:
+        virtual ~NavigationClient() = default;
+
+        /**
+         * @brief Giao một mission cho navigation chạy.
+         * @param mission Mission bất biến, luôn khác null.
+         * @return false nếu navigation từ chối (goal không hợp lệ, chưa initialize...). Khi đó
+         *         mission layer ghi nhận chặng này thất bại thay vì chờ vô hạn.
+         */
+        virtual bool dispatch(const std::shared_ptr<const Mission>& mission) = 0;
+
+        /**
+         * @brief Yêu cầu dừng mission đang chạy.
+         * @param id Mission cần dừng — navigation bỏ qua nếu nó đã chạy sang mission khác.
+         *
+         * Kết quả cuối cùng vẫn quay về qua đường outcome bình thường (navDoneEvent /
+         * navFailedEvent mang cùng @p id), không phải qua giá trị trả về của hàm này.
+         */
+        virtual void cancelActive(MissionId id) = 0;
+    };
+
+} // namespace mission_adapters
+
+#endif  // MISSION_ADAPTERS_NAVIGATION_CLIENT_H_

include/mission_adapters/plugin_registry.h

@@ -0,0 +1,94 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * Nạp và tra cứu MissionSourceAdapter theo schema.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#ifndef MISSION_ADAPTERS_PLUGIN_REGISTRY_H_
+#define MISSION_ADAPTERS_PLUGIN_REGISTRY_H_
+
+#include <functional>
+#include <map>
+#include <string>
+#include <vector>
+
+#include <robot/node_handle.h>
+
+#include <mission_adapters/adapter.h>
+
+namespace mission_adapters
+{
+    /**
+     * @class PluginRegistry
+     * @brief Bảng tra schema -> adapter, nạp từ YAML bằng Boost.DLL.
+     *
+     * Cấu hình mong đợi (xem `pnkx_nav_core/config/mission_adapters_params.yaml`):
+     *
+     * @code{.yaml}
+     * mission_adapters:
+     *   mission_sources:
+     *     - {name: goal_src,    type: GoalSourceAdapter}
+     *     - {name: vda5050_src, type: VDA5050SourceAdapter}
+     *
+     * GoalSourceAdapter:
+     *   library_path: libmission_adapters_goal_source
+     * @endcode
+     *
+     * Khoá `library_path` là thứ hay bị quên nhất: thiếu nó thì plugin build xong vẫn báo "không
+     * tìm thấy" lúc chạy. Registry vì thế báo lỗi nêu đích danh khoá bị thiếu thay vì chỉ nói
+     * không nạp được.
+     */
+    class PluginRegistry
+    {
+    public:
+        PluginRegistry() = default;
+        ~PluginRegistry();
+
+        PluginRegistry(const PluginRegistry&) = delete;
+        PluginRegistry& operator=(const PluginRegistry&) = delete;
+
+        /**
+         * @brief Nạp toàn bộ nguồn khai trong `<ns>/mission_sources`.
+         * @param nh NodeHandle gốc.
+         * @param ns Namespace chứa danh sách nguồn.
+         * @return false nếu có bất kỳ nguồn nào không nạp được. Các nguồn còn lại vẫn được đăng ký,
+         *         và mỗi lỗi được log kèm lý do cụ thể.
+         */
+        bool loadFromConfig(robot::NodeHandle& nh, const std::string& ns = "mission_adapters");
+
+        /**
+         * @brief Đăng ký một adapter đã dựng sẵn (test, hoặc nguồn biên dịch thẳng vào host).
+         * @return false nếu adapter null, schema rỗng, hoặc schema đã có chủ.
+         */
+        bool registerAdapter(const MissionSourceAdapter::Ptr& adapter);
+
+        /// @brief Tìm adapter xử lý schema này. nullptr nếu không có.
+        MissionSourceAdapter* find(const std::string& schema) const;
+
+        size_t size() const { return adapters_.size(); }
+
+        /// @brief Danh sách schema đã đăng ký, dùng cho log và test.
+        std::vector<std::string> schemas() const;
+
+        void clear();
+
+    private:
+        /// Nạp một nguồn. Trả false kèm log lý do nếu hỏng ở bất kỳ bước nào.
+        bool loadOne(const std::string& name, const std::string& type, robot::NodeHandle& nh);
+
+        std::map<std::string, MissionSourceAdapter::Ptr> adapters_;
+
+        /**
+         * Giữ factory của Boost.DLL sống đúng bằng vòng đời registry.
+         *
+         * Đây không phải biến thừa: factory nắm shared_library bên trong, thả nó ra là .so bị unload
+         * trong khi các adapter tạo từ nó vẫn còn sống — vtable trỏ vào vùng nhớ đã gỡ.
+         */
+        std::vector<std::function<MissionSourceAdapter::Ptr()>> factories_;
+    };
+
+} // namespace mission_adapters
+
+#endif  // MISSION_ADAPTERS_PLUGIN_REGISTRY_H_

include/mission_adapters/types.h

@@ -0,0 +1,144 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * Kiểu dữ liệu nền của mission layer: trạng thái, mission, action.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#ifndef MISSION_ADAPTERS_TYPES_H_
+#define MISSION_ADAPTERS_TYPES_H_
+
+#include <cstdint>
+#include <limits>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <robot_geometry_msgs/PoseStamped.h>
+#include <robot_protocol_msgs/Order.h>
+
+namespace mission_adapters
+{
+    /**
+     * @brief Danh tính của một mission, do MissionManager cấp khi submit và đơn điệu tăng.
+     *
+     * Mọi kết quả từ phía navigation phải mang ID này. Không có nó thì outcome trễ của một mission
+     * đã bị thay thế sẽ được ghi nhận cho mission đang chạy — mission mới "hoàn thành" mà robot
+     * chưa hề đi.
+     */
+    using MissionId = std::uint64_t;
+
+    /// @brief Mission chưa được submit (hoặc không tồn tại).
+    static constexpr MissionId kInvalidMissionId = 0;
+
+    /// @brief Trạng thái hàng đợi mission. Tại mỗi thời điểm robot chỉ ở đúng một trạng thái.
+    enum class MissionState
+    {
+        IDLE,
+        QUEUED,
+        RUNNING,
+        PAUSED,
+        COMPLETED,
+        FAILED,
+        CANCELLED,
+        EMERGENCY,
+        CLEAR_EMERGENCY
+    };
+
+    /// @brief Tên trạng thái, dùng cho log và cho host hiển thị.
+    const char* toString(MissionState state);
+
+    /// @brief Nguồn gốc mission, quyết định cách consumer diễn giải nodes/edges.
+    enum class MissionType
+    {
+        SIMPLE_GOAL,
+        VDA5050_ORDER
+    };
+
+    /// @brief Action gắn với node (thực hiện tại chỗ) hay với edge (thực hiện dọc đường đi).
+    enum class ActionType
+    {
+        NODE_ACTION,
+        EDGE_ACTION
+    };
+
+    class Action
+    {
+    public:
+        int sequenceId = 0;
+        ActionType type = ActionType::NODE_ACTION;
+        robot_protocol_msgs::Action action;
+    };
+
+    /**
+     * @brief Một chặng việc self-contained mà navigation runtime có thể chạy trọn vẹn.
+     *
+     * @invariant Bất biến sau khi MissionManager::submit() gán @ref id: từ thời điểm đó mission chỉ
+     *            được chia sẻ dưới dạng std::shared_ptr<const Mission>, nên ba thread (event, exec,
+     *            navigation) đọc chung mà không cần khoá.
+     */
+    class Mission
+    {
+    public:
+        MissionId id = kInvalidMissionId;   ///< 0 cho tới khi submit; sau đó không đổi
+        MissionType type = MissionType::SIMPLE_GOAL;
+
+        /**
+         * false = mission chỉ-có-action: navigation runtime bỏ qua phần di chuyển và vào thẳng
+         * thực thi action (D8). @ref start và @ref goal khi đó không mang ý nghĩa.
+         *
+         * @invariant has_goal == false thì @ref actions phải khác rỗng — mission không goal cũng
+         *            không action là mission không có việc gì để làm.
+         */
+        bool has_goal = true;
+
+        robot_geometry_msgs::PoseStamped start;   ///< chỉ hợp lệ khi has_goal
+        robot_geometry_msgs::PoseStamped goal;    ///< chỉ hợp lệ khi has_goal
+
+        std::vector<robot_protocol_msgs::Node> nodes;
+        std::vector<robot_protocol_msgs::Edge> edges;
+
+        /**
+         * Action của chặng, đã sắp theo sequenceId.
+         *
+         * Mission layer KHÔNG diễn giải `actionType` và không lọc gì — đó là việc của navigation
+         * runtime (D8). Ở đây chúng chỉ đi qua nguyên vẹn, đúng thứ tự.
+         */
+        std::vector<Action> actions;
+
+        /**
+         * Profile navigation hiệu lực của chặng có goal: `"position"`, `"docking"`,
+         * `"go_straight"` hoặc `"rotate"`. Mission chỉ-action phải để rỗng. Adapter hiện tại
+         * luôn ghi `"position"` rõ ràng cho chặng nav thường để trace/runtime biết chính xác
+         * planner nào sẽ được chọn; bridge vẫn chấp nhận rỗng như `position` để tương thích output
+         * cũ.
+         *
+         * Là **chuỗi** chứ không phải enum, và mission layer **không diễn giải** nó — cùng quy tắc
+         * với @ref actions. Mission layer không được biết tới navigation nên không có kiểu nào để
+         * diễn tả "profile"; lớp nối phía navigation mới dịch chuỗi này sang khái niệm của mình.
+         */
+        std::string motion_hint;
+
+        /**
+         * Marker chọn cặp planner docking. Rỗng hoặc không có override cấu hình thì navigation
+         * dùng profile docking mặc định. Đây không phải goal_frame: marker là khoá cấu hình, còn
+         * goal_frame là frame TF được resolve khi chặng bắt đầu.
+         */
+        std::string marker;
+
+        /**
+         * Đích lấy từ TF frame này thay vì từ @ref goal. Rỗng = dùng @ref goal.
+         *
+         * Chặng dò-rồi-tiến-vào không biết đích lúc được sinh ra: bước dò phía trước tạo ra frame
+         * này, và navigation tra nó tại thời điểm chặng được nhận.
+         */
+        std::string goal_frame;
+
+        /// Quãng đường tương đối [m] so với pose hiện tại; dương = tiến, âm = lùi. NaN = không dùng.
+        double relative_distance = std::numeric_limits<double>::quiet_NaN();
+    };
+
+} // namespace mission_adapters
+
+#endif  // MISSION_ADAPTERS_TYPES_H_

package.xml

@@ -1,51 +1,41 @@
 <package>
   <name>mission_adapters</name>
-  <version>0.7.10</version>
+  <version>0.2.0</version>
   <description>
-      mission_adapters is the second generation of the transform library, which lets
-      the user keep track of multiple coordinate frames over time. mission_adapters
-      maintains the relationship between coordinate frames in a tree
-      structure buffered in time, and lets the user transform points,
-      vectors, etc between any two coordinate frames at any desired
-      point in time.
-  </description>
-  <author>Tully Foote</author>
-  <author>Eitan Marder-Eppstein</author>
-  <author>Wim Meeussen</author>
-  <maintainer email="tfoote@osrfoundation.org">Tully Foote</maintainer>
-  <license>BSD</license>
+    Lớp mission độc lập ROS: nhận yêu cầu từ nguồn ngoài (goal đơn lẻ, VDA5050 Order), chuyển thành
+    hàng đợi mission, và giữ trạng thái của hàng đợi đó qua một event bus có thread riêng.
 
-  <url type="website">http://www.ros.org/wiki/mission_adapters</url>
+    Gói không biết navigation runtime nào đang chạy phía sau — mission được đẩy xuống qua cổng
+    NavigationClient, kết quả quay về theo MissionId. Nhờ vậy cùng một lớp mission dùng được cho
+    nhiều runtime khác nhau và test được mà không cần robot.
+
+    Nguồn mission là plugin nạp bằng Boost.DLL theo khoá library_path trong YAML, giống phần còn lại
+    của workspace; thêm một loại nguồn mới không phải sửa core.
+  </description>
+  <author>DuongTD</author>
+  <maintainer email="xroboticdevs@gmail.com">DuongTD</maintainer>
+  <license>BSD</license>
 
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
-  <run_depend>libconsole-bridge-dev</run_depend>
-
-  <build_depend>robot_costmap_2d</build_depend>
-  <build_depend>robot_nav_core</build_depend>
-  <build_depend>robot_nav_core2</build_depend>
-  <build_depend>robot_nav_msgs</build_depend>
-  <build_depend>robot_std_msgs</build_depend>
-  <build_depend>robot_geometry_msgs</build_depend>
   <build_depend>robot_cpp</build_depend>
-  <build_depend>tf3</build_depend>
-  <build_depend>robot_tf3_geometry_msgs</build_depend>
-  <build_depend>robot_visualization_msgs</build_depend>
-  <build_depend>robot_nav_2d_utils</build_depend>
-  <build_depend>data_convert</build_depend>
-
-  <run_depend>robot_costmap_2d</run_depend>
-  <run_depend>robot_nav_core</run_depend>
-  <run_depend>robot_nav_core2</run_depend>
-  <run_depend>robot_nav_msgs</run_depend>
-  <run_depend>robot_std_msgs</run_depend>
-  <run_depend>robot_geometry_msgs</run_depend>
   <run_depend>robot_cpp</run_depend>
-  <run_depend>tf3</run_depend>
-  <run_depend>robot_tf3_geometry_msgs</run_depend>
-  <run_depend>robot_visualization_msgs</run_depend>
-  <run_depend>robot_nav_2d_utils</run_depend>
-  <run_depend>data_convert</run_depend>
+
+  <build_depend>robot_time</build_depend>
+  <run_depend>robot_time</run_depend>
+
+  <build_depend>robot_geometry_msgs</build_depend>
+  <run_depend>robot_geometry_msgs</run_depend>
+
+  <!-- P2: header include thẳng robot_protocol_msgs/Order.h — trước đây sống nhờ transitive include. -->
+  <build_depend>robot_protocol_msgs</build_depend>
+  <run_depend>robot_protocol_msgs</run_depend>
+
+  <build_depend>robot_std_msgs</build_depend>
+  <run_depend>robot_std_msgs</run_depend>
+
+  <build_depend>yaml-cpp</build_depend>
+  <run_depend>yaml-cpp</run_depend>
+
   <test_depend>gtest</test_depend>
 </package>

plugins/goal_source_adapter.cpp

@@ -0,0 +1,91 @@
+#include "goal_source_adapter.h"
+
+#include <cmath>
+
+#include <boost/dll/alias.hpp>
+
+namespace mission_plugins
+{
+
+mission_adapters::MissionSourceAdapter::Ptr GoalSourceAdapter::create()
+{
+    return std::make_shared<GoalSourceAdapter>();
+}
+
+bool GoalSourceAdapter::configure(const std::string& name, robot::NodeHandle& nh)
+{
+    (void)nh;   // nguồn này chưa có param riêng
+    name_ = name;
+    return true;
+}
+
+std::string GoalSourceAdapter::schema() const
+{
+    return mission_adapters::schema::kPoseStamped;
+}
+
+bool GoalSourceAdapter::validate(const mission_adapters::MissionRequest& request,
+                                 std::string& reason) const
+{
+    if (!request.pose)
+    {
+        reason = "request is missing the pose payload";
+        return false;
+    }
+
+    const auto& position = request.pose->pose.position;
+    const auto& orientation = request.pose->pose.orientation;
+
+    // NaN/Inf từ host phải bị chặn ngay tại biên: lọt xuống dưới thì mọi phép so khoảng cách tới
+    // goal đều trả false và robot chạy tới khi có người bấm dừng.
+    if (!std::isfinite(position.x) || !std::isfinite(position.y) || !std::isfinite(position.z))
+    {
+        reason = "goal contains NaN/Inf in position";
+        return false;
+    }
+
+    if (!std::isfinite(orientation.x) || !std::isfinite(orientation.y) ||
+        !std::isfinite(orientation.z) || !std::isfinite(orientation.w))
+    {
+        reason = "goal contains NaN/Inf in orientation";
+        return false;
+    }
+
+    // Quaternion toàn 0 là lỗi hay gặp khi host quên set orientation — nó không phải "hướng bất kỳ",
+    // nó là dữ liệu hỏng.
+    const double norm_squared = orientation.x * orientation.x +
+                                orientation.y * orientation.y +
+                                orientation.z * orientation.z +
+                                orientation.w * orientation.w;
+
+    if (std::sqrt(norm_squared) < kMinQuaternionNorm)
+    {
+        reason = "goal has a quaternion that cannot be normalized (norm ~ 0)";
+        return false;
+    }
+
+    return true;
+}
+
+mission_adapters::ConversionResult
+GoalSourceAdapter::convert(const mission_adapters::MissionRequest& request)
+{
+    mission_adapters::ConversionResult result;
+
+    if (!request.pose)
+        return result;
+
+    auto mission = std::make_shared<mission_adapters::Mission>();
+    mission->type = mission_adapters::MissionType::SIMPLE_GOAL;
+    mission->goal = *request.pose;
+    mission->motion_hint = "position";
+
+    // Goal đơn lẻ luôn thay việc đang chạy: người dùng bấm một đích mới nghĩa là bỏ đích cũ.
+    result.mode = mission_adapters::SubmitMode::kReplace;
+    result.missions.push_back(mission);
+    return result;
+}
+
+}  // namespace mission_plugins
+
+BOOST_DLL_ALIAS(mission_plugins::GoalSourceAdapter::create, GoalSourceAdapter)