optimal & fix file cmake

CMakeLists.txt

@@ -70,6 +70,14 @@ if(NOT BUILDING_WITH_CATKIN)
     ${STANDALONE_PACKAGE_INCLUDE_DIRS}
     ${PCL_INCLUDE_DIRS}
 
+    # These runtime packages are siblings while they still live below Test/.
+    # The explicit paths keep `cmake ..` in move_base2 working before the
+    # packages are moved below pnkx_nav_core/src.
+    ${CMAKE_CURRENT_SOURCE_DIR}/../recovery_core/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/../action_core/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/../mission_adapters/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/../nav_test_harness/include
+
     /usr/local/include
   )
 
@@ -83,6 +91,14 @@ if(NOT BUILDING_WITH_CATKIN)
     robot_cpp
     robot_time
     robot_xmlrpcpp
+
+    # move_base2 public headers and runners use these packages directly.
+    # When configured from the pnkx_nav_core root, these names resolve to
+    # CMake targets and propagate their public include directories.
+    recovery_core
+    action_core
+    mission_adapters
+    nav_test_harness
   )
 
   find_library(TF3_LIBRARY
@@ -91,7 +107,7 @@ if(NOT BUILDING_WITH_CATKIN)
   )
 
   if(NOT TF3_LIBRARY)
-    message(FATAL_ERROR "tf3 không tìm thấy — cài tf3 (/usr/local/lib/libtf3.so) trước khi build")
+    message(FATAL_ERROR "tf3 not found — install tf3 (/usr/local/lib/libtf3.so) before building")
   endif()
 
   if(EXISTS ${WORKSPACE_DEVEL_LIB_DIR})
@@ -127,7 +143,11 @@ else()
     # RecoveryRunner include thẳng recovery_core: đó là chỗ duy nhất trong gói này biết tới nó.
     recovery_core
 
-    # MissionAdapterBridge include thẳng mission_adapters: chỗ duy nhất trong gói này biết tới nó.
+    # ActionRunner include thẳng action_core: chỗ duy nhất trong gói này biết tới nó.
+    action_core
+
+    # `bridges/` include thẳng mission_adapters: biên duy nhất trong gói này biết tới nó
+    # (MissionAdapterBridge dịch contract, MissionLayer lắp ráp framework).
     mission_adapters
 
     # scenario_test chạy kịch bản khai báo qua khung của nav_test_harness.
@@ -140,7 +160,7 @@ else()
   )
 
   if(NOT TF3_LIBRARY)
-    message(FATAL_ERROR "tf3 không tìm thấy — cài tf3 (/usr/local/lib/libtf3.so) trước khi build")
+    message(FATAL_ERROR "tf3 not found — install tf3 (/usr/local/lib/libtf3.so) before building")
   endif()
 
   catkin_package(
@@ -150,7 +170,6 @@ else()
     LIBRARIES
       move_base2_core
       move_base2
-      move_base2_noop_action_handler
 
     CATKIN_DEPENDS
       move_base_core
@@ -201,9 +220,11 @@ add_library(move_base2_core SHARED
   src/runners/action_runner.cpp
   src/runners/planner_runner.cpp
   src/runners/controller_runner.cpp
+  src/io/runtime_stats.cpp
   src/io/sensor_gateway.cpp
   src/io/costmap_exporter.cpp
   src/bridges/mission_adapter_bridge.cpp
+  src/bridges/mission_layer.cpp
   src/navigation_runtime.cpp
 )
 
@@ -217,35 +238,6 @@ target_include_directories(move_base2_core
 )
 
 
-# ========================================================
-# ActionHandler mặc định — plugin riêng, nạp qua Boost.DLL như mọi handler khác.
-# ========================================================
-add_library(move_base2_noop_action_handler SHARED
-  plugins/noop_action_handler.cpp
-)
-
-target_compile_options(move_base2_noop_action_handler PRIVATE -Wall -Wextra)
-
-target_include_directories(move_base2_noop_action_handler
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-
-set_target_properties(move_base2_noop_action_handler PROPERTIES POSITION_INDEPENDENT_CODE ON)
-
-target_link_libraries(move_base2_noop_action_handler
-  PUBLIC
-    move_base2_core
-  PRIVATE
-    ${catkin_LIBRARIES}
-    Boost::boost
-    Boost::system
-    Boost::filesystem
-    ${CMAKE_DL_LIBS}
-)
-
-
 # ========================================================
 # Plugin library — facade BaseNavigation + export Boost.DLL.
 # ========================================================
@@ -357,7 +349,7 @@ endif()
 # ========================================================
 if(BUILDING_WITH_CATKIN)
 
-  install(TARGETS move_base2_core move_base2 move_base2_noop_action_handler
+  install(TARGETS move_base2_core move_base2
     ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
@@ -374,7 +366,7 @@ if(BUILDING_WITH_CATKIN)
 
 else()
 
-  install(TARGETS move_base2_core move_base2 move_base2_noop_action_handler
+  install(TARGETS move_base2_core move_base2
     EXPORT ${PROJECT_NAME}-targets
     ARCHIVE DESTINATION lib
     LIBRARY DESTINATION lib
@@ -442,10 +434,12 @@ if(BUILD_MOVE_BASE2_TESTS AND BUILDING_WITH_CATKIN)
     action_runner_test
     recovery_runner_test
     sensor_gateway_test
+    runtime_stats_test
     navigation_server_test
     planner_runner_test
     controller_runner_test
     mission_adapter_bridge_test
+    mission_layer_test
     move_base2_scenario_test   # tên có tiền tố gói: nav_test_harness đã có target scenario_test
   )