API mission

src/mission/mission_queue.cpp

@@ -137,6 +137,9 @@ std::optional<nlohmann::json> MissionQueue::enqueue(const nlohmann::json& payloa
   entry["mission"] = payload["mission"];
   entry["parameters"] = payload.contains("parameters") && payload["parameters"].is_object() ? payload["parameters"]
                                                                                               : nlohmann::json::object();
+  entry["priority"] = payload.contains("priority") && payload["priority"].is_number() ? payload["priority"].get<int>() : 0;
+  entry["robot_id"] = payload.value("robot_id", "default");
+  entry["source"] = payload.value("source", "ui");
   entry["status"] = "pending";
   entry["created_at"] = IdUtil::nowIso8601();
   entry["started_at"] = nullptr;
@@ -145,7 +148,7 @@ std::optional<nlohmann::json> MissionQueue::enqueue(const nlohmann::json& payloa
 
   {
     std::lock_guard<std::mutex> lock(mu_);
-    queue_.push_back(entry);
+    insertByPriorityUnlocked(entry);
     saveUnlocked();
   }
 
@@ -153,6 +156,29 @@ std::optional<nlohmann::json> MissionQueue::enqueue(const nlohmann::json& payloa
   return entry;
 }
 
+void MissionQueue::insertByPriorityUnlocked(nlohmann::json& entry)
+{
+  const int priority = entry.value("priority", 0);
+  size_t insert_at = queue_.size();
+  for (size_t i = 0; i < queue_.size(); ++i)
+  {
+    if (!queue_[i].is_object())
+      continue;
+    if (queue_[i].value("status", "") != "pending")
+      continue;
+    const int existing = queue_[i].value("priority", 0);
+    if (priority > existing)
+    {
+      insert_at = i;
+      break;
+    }
+  }
+  if (insert_at >= queue_.size())
+    queue_.push_back(entry);
+  else
+    queue_.insert(queue_.begin() + static_cast<nlohmann::json::difference_type>(insert_at), entry);
+}
+
 bool MissionQueue::removeById(const std::string& id, std::string& err)
 {
   std::lock_guard<std::mutex> lock(mu_);