optimal & fix file cmake

test/mission_adapter_bridge_test.cpp

@@ -96,6 +96,71 @@ TEST(MissionAdapterBridgeConversion, ActionOnlyMissionKeepsHasGoalFalse)
   EXPECT_EQ(request.actions.size(), 3U);
 }
 
+TEST(MissionAdapterBridgeConversion, CarriesDockingMarkerIndependentlyOfGoalFrame)
+{
+  auto mission = makeMission(10);
+  mission->motion_hint = "docking";
+  mission->marker = "charger";
+  mission->goal_frame = "charger_02_goal";
+
+  const NavigationRequest request = MissionAdapterBridge::toRequest(*mission);
+  EXPECT_EQ(request.profile, move_base2::MotionProfile::kDocking);
+  EXPECT_EQ(request.marker, "charger");
+  EXPECT_EQ(request.goal_frame, "charger_02_goal");
+}
+
+TEST(MissionAdapterBridgeConversion, OrderLegCarriesItsOwnNodesAndEdges)
+{
+  // Global planner của profile position (`CustomPlanner`) CHỈ hiện thực nhánh
+  // makePlan(Order, ...); nhánh ba tham số của nó là stub trả false. Chặng đi xuống mà không mang
+  // order thì fail ngay lượt lập plan đầu và chạy thẳng vào recovery cho tới ABORTED — đã xảy ra
+  // thật ngày 2026-07-31.
+  auto mission = makeMission(4, 2.0);
+  mission->type = mission_adapters::MissionType::VDA5050_ORDER;
+
+  robot_protocol_msgs::Node n0;
+  n0.nodeId = "n0";
+  robot_protocol_msgs::Node n1;
+  n1.nodeId = "n1";
+  mission->nodes = { n0, n1 };
+
+  robot_protocol_msgs::Edge e0;
+  e0.edgeId = "e0";
+  e0.startNodeId = "n0";
+  e0.endNodeId = "n1";
+  e0.trajectory.degree = 1;
+  mission->edges = { e0 };
+
+  const NavigationRequest request = MissionAdapterBridge::toRequest(*mission);
+
+  ASSERT_NE(request.order, nullptr);
+  ASSERT_EQ(request.order->nodes.size(), 2U);
+  EXPECT_EQ(request.order->nodes[1].nodeId, "n1");
+
+  // Edge của CHẶNG, không phải của cả order: planner tra edge theo startNodeId/endNodeId trong tập
+  // node nó nhận được, nên tập hai bên phải khớp nhau.
+  ASSERT_EQ(request.order->edges.size(), 1U);
+  EXPECT_EQ(request.order->edges[0].startNodeId, "n0");
+  EXPECT_EQ(request.order->edges[0].trajectory.degree, 1U);
+}
+
+TEST(MissionAdapterBridgeConversion, SimpleGoalMissionCarriesNoOrder)
+{
+  const auto mission = makeMission(2);  // mặc định SIMPLE_GOAL
+  const NavigationRequest request = MissionAdapterBridge::toRequest(*mission);
+  EXPECT_EQ(request.order, nullptr);
+}
+
+TEST(MissionAdapterBridgeConversion, ActionOnlyLegCarriesNoOrder)
+{
+  // Không có quãng đường nào để lập plan, nên cũng không có gì để đưa cho planner.
+  auto mission = makeMission(3, 0.0, 1, /*has_goal=*/false);
+  mission->type = mission_adapters::MissionType::VDA5050_ORDER;
+
+  const NavigationRequest request = MissionAdapterBridge::toRequest(*mission);
+  EXPECT_EQ(request.order, nullptr);
+}
+
 TEST(MissionAdapterBridgeConversion, LeavesToleranceAtProfileDefault)
 {
   // Quy ước của NavigationRequest: sai số <= 0 nghĩa "dùng default của profile trong config".
@@ -103,8 +168,6 @@ TEST(MissionAdapterBridgeConversion, LeavesToleranceAtProfileDefault)
   const auto mission = makeMission(1);
   const NavigationRequest request = MissionAdapterBridge::toRequest(*mission);
 
-  EXPECT_FALSE(request.tolerance.hasXy());
-  EXPECT_FALSE(request.tolerance.hasYaw());
 }
 
 // ================================================================================================
@@ -118,7 +181,8 @@ TEST(MissionAdapterBridge, DispatchDoesNotReachNavigationUntilPumped)
   Fixture fixture;
 
   ASSERT_TRUE(fixture.bridge_.dispatch(makeMission(3)));
-  EXPECT_TRUE(fixture.received_.empty()) << "dispatch đi thẳng xuống navigation, bỏ qua biên thread";
+  EXPECT_TRUE(fixture.received_.empty()) << "dispatch went straight down to navigation, skipping "
+                                            "the thread boundary";
 
   EXPECT_TRUE(fixture.bridge_.pumpPendingRequest());
   ASSERT_EQ(fixture.received_.size(), 1U);
@@ -139,7 +203,7 @@ TEST(MissionAdapterBridge, EachMissionIsPushedDownExactlyOnce)
 
   ASSERT_TRUE(fixture.bridge_.dispatch(makeMission(4)));
   EXPECT_TRUE(fixture.bridge_.pumpPendingRequest());
-  EXPECT_FALSE(fixture.bridge_.pumpPendingRequest()) << "cùng một mission bị đẩy xuống hai lần";
+  EXPECT_FALSE(fixture.bridge_.pumpPendingRequest()) << "the same mission was pushed down twice";
   EXPECT_EQ(fixture.received_.size(), 1U);
 }
 
@@ -192,7 +256,7 @@ TEST(MissionAdapterBridge, OverwritingAWaitingMissionIsCounted)
 
   ASSERT_TRUE(fixture.bridge_.pumpPendingRequest());
   ASSERT_EQ(fixture.received_.size(), 1U);
-  EXPECT_EQ(fixture.received_[0].mission_sequence_id, 2U) << "mission cũ thắng mission mới";
+  EXPECT_EQ(fixture.received_[0].mission_sequence_id, 2U) << "the old mission won over the new one";
 }
 
 // ================================================================================================
@@ -238,7 +302,8 @@ TEST(MissionAdapterBridge, DirectGoalWithoutMissionIdIsNotReported)
 
   fixture.bridge_.reportOutcome(0, NavigationOutcome::kSucceeded);
 
-  EXPECT_EQ(fixture.bridge_.staleOutcomes(), 0U) << "goal trực tiếp bị đem báo lên mission layer";
+  EXPECT_EQ(fixture.bridge_.staleOutcomes(), 0U) << "a direct goal was reported up to the mission "
+                                                    "layer";
 }
 
 TEST(MissionAdapterBridge, SuccessReachesTheManagerAsNavigationDone)
@@ -249,13 +314,13 @@ TEST(MissionAdapterBridge, SuccessReachesTheManagerAsNavigationDone)
 
   manager.submit({ makeMission(0) });
   const auto running = manager.nextMission();
-  ASSERT_TRUE(running) << "manager không giao mission nào để chạy";
+  ASSERT_TRUE(running) << "manager handed over no mission to run";
 
   fixture.bridge_.reportOutcome(running->id, NavigationOutcome::kSucceeded);
 
   EXPECT_EQ(fixture.bridge_.staleOutcomes(), 0U);
   EXPECT_EQ(manager.currentMissionId(), mission_adapters::kInvalidMissionId)
-      << "mission vẫn còn đang chạy sau khi đã báo hoàn tất";
+      << "mission is still running after completion was reported";
 }
 
 TEST(MissionAdapterBridge, OutcomeForAMissionThatIsNoLongerRunningIsCounted)