add file test

include/mission_adapters/mission_adapters.h

@@ -7,8 +7,10 @@
 #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>
@@ -68,17 +70,17 @@ namespace mission_adapters
     class Action
     {
     public:
-        int sequenceId;
-        ActionType type;
+        int sequenceId = 0;
+        ActionType type = ActionType::NODE_ACTION;
         robot_protocol_msgs::Action action;
     };
 
     class Mission
     {
     public:
-        int sequenceId;
-        MissionType type;
-        int priority;
+        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;
@@ -88,8 +90,9 @@ namespace mission_adapters
 
     struct Event
     {
-        EventType type;
-        int priority;
+        EventType type = EventType::SUBMIT_MISSIONS;
+        int priority = PRIORITY_ORDER;
+        uint64_t sequence = 0;
         std::vector<std::shared_ptr<Mission>> missions;
     };
 
@@ -97,7 +100,10 @@ namespace mission_adapters
     {
         bool operator()(const Event& lhs, const Event& rhs) const
         {
-            return lhs.priority > rhs.priority;
+            if (lhs.priority != rhs.priority)
+                return lhs.priority > rhs.priority;
+
+            return lhs.sequence > rhs.sequence;
         }
     };
 
@@ -108,6 +114,7 @@ namespace mission_adapters
         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);
@@ -235,4 +242,4 @@ namespace mission_adapters
 
 } // namespace mission_adapters
 
-#endif  // MISSION_ADAPTERS_MISSION_ADAPTERS_H
+#endif  // MISSION_ADAPTERS_MISSION_ADAPTERS_H