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fix bug kéo thả của loop
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HiepLM
2026-06-13 14:20:23 +07:00
parent 9776e29d7d
commit 1716351016
6 changed files with 190 additions and 127 deletions
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49
src/mission/mission_queue.cpp
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@@ -411,7 +411,7 @@ void MissionQueue::runMissionActions(nlohmann::json& entry)
}
}
void MissionQueue::executeActionsUnlocked(const nlohmann::json& actions,
MissionQueue::LoopControl MissionQueue::executeActionsUnlocked(const nlohmann::json& actions,
const nlohmann::json& parameters,
nlohmann::json& log,
int loop_depth)
@@ -426,7 +426,7 @@ void MissionQueue::executeActionsUnlocked(const nlohmann::json& actions,
while (paused_ && !stop_)
std::this_thread::sleep_for(std::chrono::milliseconds(100));
if (stop_)
return;
return LoopControl::None;
const std::string action_id = action.value("id", "");
const std::string kind = action.value("kind", "action");
@@ -445,30 +445,58 @@ void MissionQueue::executeActionsUnlocked(const nlohmann::json& actions,
{
const std::string ref_id = action.value("refId", "");
nlohmann::json ref_mission = nlohmann::json::object();
// Nested mission snapshot should be resolved by frontend before queueing.
(void)ref_id;
log.push_back({{"ts", IdUtil::nowIso8601()}, {"level", "info"}, {"message", "Sub-mission: " + label}});
if (action.contains("resolved_mission") && action["resolved_mission"].is_object())
{
const auto& nested_actions = action["resolved_mission"]["actions"];
executeActionsUnlocked(nested_actions, parameters, log, loop_depth);
const LoopControl nested = executeActionsUnlocked(nested_actions, parameters, log, loop_depth);
if (nested == LoopControl::Break)
return LoopControl::Break;
if (nested == LoopControl::Continue)
continue;
}
continue;
}
if (type == "break")
{
log.push_back({{"ts", IdUtil::nowIso8601()}, {"level", "info"}, {"message", "Break loop"}});
return LoopControl::Break;
}
if (type == "continue")
{
log.push_back({{"ts", IdUtil::nowIso8601()}, {"level", "info"}, {"message", "Continue loop"}});
return LoopControl::Continue;
}
if (type == "loop")
{
const std::string mode = params.value("mode", "count");
const int count = static_cast<int>(paramNumber(params, "count", 1));
const auto& children =
action.contains("children") && action["children"].is_array() ? action["children"] : nlohmann::json::array();
const int iterations = mode == "endless" ? 1 : std::max(1, count);
for (int i = 0; i < iterations; ++i)
const int iterations = mode == "endless" ? 10000 : std::max(1, count);
for (int i = 0; i < iterations && !stop_; ++i)
{
log.push_back({{"ts", IdUtil::nowIso8601()},
{"level", "info"},
{"message", "Loop " + std::to_string(i + 1) + "/" + std::to_string(iterations)}});
executeActionsUnlocked(children, parameters, log, loop_depth + 1);
if (mode == "endless" && i == 0)
{
log.push_back({{"ts", IdUtil::nowIso8601()},
{"level", "info"},
{"message", "Loop endless (simulated, max " + std::to_string(iterations) + ")"}});
}
else if (mode != "endless")
{
log.push_back({{"ts", IdUtil::nowIso8601()},
{"level", "info"},
{"message", "Loop " + std::to_string(i + 1) + "/" + std::to_string(iterations)}});
}
const LoopControl ctrl = executeActionsUnlocked(children, parameters, log, loop_depth + 1);
if (ctrl == LoopControl::Break)
break;
if (ctrl == LoopControl::Continue)
continue;
}
continue;
}
@@ -520,6 +548,7 @@ void MissionQueue::executeActionsUnlocked(const nlohmann::json& actions,
{{"ts", IdUtil::nowIso8601()}, {"level", "info"}, {"message", label + " (" + type + ") simulated"}});
sleepMs(400);
}
return LoopControl::None;
}
void MissionQueue::sleepMs(int ms)