optimal & fix file cmake

test/fake_ports.h

@@ -27,6 +27,7 @@
 #include <move_base2/ports/action_port.h>
 #include <move_base2/ports/clock_port.h>
 #include <move_base2/ports/controller_port.h>
+#include <move_base2/ports/costmap_status_port.h>
 #include <move_base2/ports/mission_port.h>
 #include <move_base2/ports/planner_port.h>
 #include <move_base2/ports/pose_port.h>
@@ -173,6 +174,7 @@ public:
 
     ++make_plan_count_;
     saw_order_ = saw_order_ || order != nullptr;
+    order_history_.push_back(order != nullptr);
 
     in_flight_ = true;
     pending_tag_ = tag;
@@ -276,6 +278,11 @@ public:
     return saw_order_;
   }
 
+  const std::vector<bool>& orderHistory() const
+  {
+    return order_history_;
+  }
+
 private:
   /// Hết kịch bản thì giữ kết quả cuối; kịch bản rỗng thì luôn thành công.
   PlannerScript nextAction()
@@ -307,6 +314,7 @@ private:
   std::size_t make_plan_count_ = 0;
   std::size_t swap_count_ = 0;
   bool saw_order_ = false;
+  std::vector<bool> order_history_;
 };
 
 // ------------------------------------------------------------------------------------------------
@@ -324,10 +332,21 @@ public:
     return true;
   }
 
-  void setTolerance(double xy_m, double yaw_rad) override
+  bool setDockingMarker(const std::string& marker) override
   {
-    xy_tolerance_ = xy_m;
-    yaw_tolerance_ = yaw_rad;
+    last_docking_marker_ = marker;
+    return docking_marker_succeeds_;
+  }
+
+  void setDockingMarkerSucceeds(bool succeeds)
+  {
+    docking_marker_succeeds_ = succeeds;
+  }
+
+  /// @brief Marker của lời gọi setDockingMarker gần nhất; rỗng nếu chưa từng gọi.
+  const std::string& lastDockingMarker() const
+  {
+    return last_docking_marker_;
   }
 
   bool setPlan(const std::vector<robot_geometry_msgs::PoseStamped>& plan) override
@@ -472,16 +491,6 @@ public:
     return last_plan_size_;
   }
 
-  double xyTolerance() const
-  {
-    return xy_tolerance_;
-  }
-
-  double yawTolerance() const
-  {
-    return yaw_tolerance_;
-  }
-
 private:
   robot_nav_2d_msgs::Path2D local_plan_;
   robot_geometry_msgs::Twist measured_velocity_;
@@ -509,9 +518,9 @@ private:
   std::string active_;
   bool swap_succeeds_ = true;
   bool set_plan_succeeds_ = true;
+  bool docking_marker_succeeds_ = true;
+  std::string last_docking_marker_;
   double nominal_speed_ = 0.3;  ///< [m/s]
-  double xy_tolerance_ = 0.0;   ///< [m]
-  double yaw_tolerance_ = 0.0;  ///< [rad]
 
   std::size_t set_plan_count_ = 0;
   std::size_t compute_count_ = 0;
@@ -814,6 +823,37 @@ private:
 
 // ------------------------------------------------------------------------------------------------
 
+/**
+ * @class FakeCostmapStatusPort
+ * @brief Costmap "còn hạn / hết hạn" bật tắt được, cho guard không-đi-mù.
+ *
+ * Mặc định **còn hạn**: một cổng giả im lặng chặn robot sẽ làm mọi test khác fail vì lý do không
+ * liên quan tới thứ chúng đang kiểm.
+ */
+class FakeCostmapStatusPort final : public CostmapStatusPort
+{
+public:
+  bool isCurrent() const override
+  {
+    ++query_count_;
+    return current_;
+  }
+
+  void setCurrent(bool current)
+  {
+    current_ = current;
+  }
+
+  std::size_t queryCount() const
+  {
+    return query_count_;
+  }
+
+private:
+  bool current_ = true;
+  mutable std::size_t query_count_ = 0;
+};
+
 class FakeMissionPort final : public MissionPort
 {
 public: