optimal & fix file cmake

test/action_runner_test.cpp

@@ -13,13 +13,14 @@
 
 #include <robot/node_handle.h>
 
+#include <action_core/action_handler.h>
 #include <move_base2/runners/action_runner.h>
 
 #include "fake_ports.h"
 
 namespace
 {
-using move_base2::ActionHandler;
+using action_core::ActionHandler;
 using move_base2::ActionRunner;
 using move_base2::ActionTick;
 using move_base2::testing::FakeClockPort;
@@ -45,7 +46,8 @@ public:
   {
   }
 
-  bool configure(const std::string& name, robot::NodeHandle& /*nh*/) override
+  bool configure(const std::string& name, const action_core::ActionContext& /*ctx*/,
+                 robot::NodeHandle& /*nh*/) override
   {
     name_ = name;
     return configure_ok;
@@ -63,10 +65,10 @@ public:
     return start_ok;
   }
 
-  ActionTick update(const robot::Time& /*now*/) override
+  action_core::ActionTick update(const robot::Time& /*now*/) override
   {
     ++update_count;
-    ActionTick tick;
+    action_core::ActionTick tick;
     tick.status = next_status;
     return tick;
   }
@@ -78,7 +80,7 @@ public:
 
   bool configure_ok = true;
   bool start_ok = true;
-  ActionTick::Status next_status = ActionTick::Status::kRunning;
+  action_core::ActionStatus next_status = action_core::ActionStatus::kRunning;
 
   int start_count = 0;
   int update_count = 0;
@@ -224,7 +226,7 @@ TEST(ActionRunner, TicksUntilHandlerFinishes)
   EXPECT_EQ(rig.runner.update().status, ActionTick::Status::kRunning);
   EXPECT_EQ(rig.runner.update().status, ActionTick::Status::kRunning);
 
-  handler->next_status = ActionTick::Status::kSucceeded;
+  handler->next_status = action_core::ActionStatus::kSucceeded;
   EXPECT_EQ(rig.runner.update().status, ActionTick::Status::kSucceeded);
 
   // Sau khi kết thúc, action không còn active: tick thêm là lỗi thứ tự gọi, không phải kRunning.
@@ -258,7 +260,8 @@ TEST(ActionRunner, ConfigureRequiresClock)
 {
   ActionRunner runner;  // không setClock
   robot::NodeHandle nh;
-  EXPECT_FALSE(runner.configure(nh)) << "thiếu ClockPort thì handler không có mốc timeout";
+  EXPECT_FALSE(runner.configure(nh)) << "missing ClockPort means handlers have no timeout "
+                                        "reference";
 }
 
 TEST(ActionRunner, EmptyHandlerListIsValid)