DuongTD/mission_adapters
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update to windows

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This commit is contained in:
duongtd
2026-06-28 20:08:54 +07:00
parent 1bd09d5e8e
commit 829ce20fbc
7 changed files with 694 additions and 26 deletions
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26
src/robot_control_test.cpp
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@@ -23,7 +23,7 @@ class RobotControlTest
}
public:
RobotControlTest() = default;
RobotControlTest();
~RobotControlTest();
void run();
@@ -32,6 +32,9 @@ private:
void executeMission(const Mission& mission);
};
RobotControlTest::RobotControlTest()
{}
RobotControlTest::~RobotControlTest()
{
event_processor_.stop();
@@ -49,27 +52,22 @@ void RobotControlTest::run()
executeMission(*mission);
});
event_processor_.start();
mission_executor_.start();
while (true)
{
auto feedback = move_base_ptr_->getFeedback();
auto nav_state = feedback->navigation_state;
// FIX #8: navDoneEvent fires only when navigation AND actions are both done.
if (nav_state != prev_nav_state_)
if (nav_state != prev_nav_done_state_ && nav_state == robot::move_base_core::State::SUCCEEDED && areActionsDone())
{
if (nav_state == robot::move_base_core::State::SUCCEEDED && areActionsDone())
{
event_processor_.navDoneEvent();
}
else if (nav_state == robot::move_base_core::State::ABORTED)
{
event_processor_.navFailedEvent();
}
prev_nav_state_ = nav_state;
event_processor_.navDoneEvent();
}
else if (nav_state == robot::move_base_core::State::ABORTED)
{
event_processor_.navFailedEvent();
}
prev_nav_state_ = nav_state;
// Example: receive an order (replace condition with your real source)
if (/* new order available */ false)