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HiepLM
2026-06-16 11:17:28 +07:00
parent 9aee5f4100
commit 1156e1ab29
19 changed files with 1625 additions and 80 deletions
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4
src/app/lidar_manager_app.cpp
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@@ -6,6 +6,7 @@
#include "mission/mission_scheduler.hpp"
#include "mission/mission_store.hpp"
#include "mission/modbus_trigger_service.hpp"
#include "robot/robot_runtime.hpp"
#include "server/api_server.hpp"
#include "server/static_file_server.hpp"
#include "storage/state_repository.hpp"
@@ -31,6 +32,7 @@ int LidarManagerApp::run()
const std::filesystem::path missions_store_path = data_path_.parent_path() / "missions.json";
MissionQueue mission_queue(mission_queue_path);
MissionStore mission_store(missions_store_path);
RobotRuntime robot_runtime(data_path_.parent_path() / "robot_runtime.json", mission_queue);
const auto enqueue_fn = [&mission_store, &mission_queue](const nlohmann::json& request, std::string& err) -> bool {
nlohmann::json payload;
@@ -49,7 +51,7 @@ int LidarManagerApp::run()
return auth.preRoute(req, res);
});
ApiServer api(repo, mission_queue, mission_store, modbus, scheduler);
ApiServer api(repo, mission_queue, mission_store, modbus, scheduler, robot_runtime);
api.registerRoutes(svr);
auth.registerRoutes(svr);
StaticFileServer::mount(svr, www_root_);