optimal & fix file cmake

test/recovery_runner_test.cpp

@@ -44,7 +44,12 @@ struct Rig
   {
     runner.setNamespace(ns);
     robot::NodeHandle nh;
-    return runner.configure(nh);
+    if (!runner.configure(nh))
+    {
+      return false;
+    }
+    std::string error;
+    return runner.configureRoutes(nh, error);
   }
 
   FakeClockPort clock{1000.0};
@@ -62,6 +67,40 @@ TEST(RecoveryRunner, LoadsBehaviorsInDeclaredOrder)
   EXPECT_EQ(rig.runner.behaviorName(1), "wait_long");
 }
 
+TEST(RecoveryRunner, ResolvesPerTriggerRoutesByBehaviorName)
+{
+  Rig rig;
+  ASSERT_TRUE(rig.load("recovery"));
+
+  const move_base2::RecoveryRoutes& routes = rig.runner.routes();
+  ASSERT_EQ(routes.planning_failed.size(), 1u);
+  EXPECT_EQ(routes.planning_failed[0], 0u);  // wait_short
+  ASSERT_EQ(routes.controlling_failed.size(), 2u);
+  EXPECT_EQ(routes.controlling_failed[0], 1u);  // wait_long
+  EXPECT_EQ(routes.controlling_failed[1], 0u);  // wait_short
+  ASSERT_EQ(routes.oscillation.size(), 1u);
+  EXPECT_EQ(routes.oscillation[0], 1u);  // wait_long
+}
+
+TEST(RecoveryRunner, SkipsFuturePluginFromRoutesWithoutCreatingInvalidIndexes)
+{
+  Rig rig;
+  rig.runner.setNamespace("recovery_missing_detour");
+  robot::NodeHandle nh;
+
+  // Registry báo false vì plugin chưa có, nhưng wait vẫn được nạp và phải dùng được.
+  EXPECT_FALSE(rig.runner.configure(nh));
+  ASSERT_EQ(rig.runner.behaviorCount(), 1u);
+
+  std::string error;
+  ASSERT_TRUE(rig.runner.configureRoutes(nh, error)) << error;
+  const move_base2::RecoveryRoutes& routes = rig.runner.routes();
+  ASSERT_EQ(routes.controlling_failed.size(), 1u);
+  EXPECT_EQ(routes.controlling_failed[0], 0u);
+  ASSERT_EQ(routes.oscillation.size(), 1u);
+  EXPECT_EQ(routes.oscillation[0], 0u);
+}
+
 TEST(RecoveryRunner, ReportsOutputKindOfLoadedBehaviors)
 {
   Rig rig;
@@ -210,7 +249,8 @@ TEST(RecoveryRunner, ConfigureRequiresClockAndPose)
   runner.setNamespace("recovery");
 
   robot::NodeHandle nh;
-  EXPECT_FALSE(runner.configure(nh)) << "thiếu ClockPort/PosePort phải hỏng ngay, không phải lúc tick";
+  EXPECT_FALSE(runner.configure(nh)) << "a missing ClockPort/PosePort must fail right away, not at "
+                                        "tick time";
 }
 
 TEST(RecoveryRunner, ConfigureTwiceRejected)