chức năng dashboard

src/mission/mission_queue.cpp

@@ -93,6 +93,8 @@ void MissionQueue::ensureRunnerDefaults()
     runner_["current_queue_id"] = nullptr;
   if (!runner_.contains("current_action"))
     runner_["current_action"] = nullptr;
+  if (!runner_.contains("paused"))
+    runner_["paused"] = false;
 }
 
 void MissionQueue::startWorkerIfNeeded()
@@ -255,6 +257,43 @@ bool MissionQueue::reorder(const nlohmann::json& ordered_ids, std::string& err)
   return true;
 }
 
+bool MissionQueue::pause(std::string& err)
+{
+  std::lock_guard<std::mutex> lock(mu_);
+  const std::string state = runner_.value("state", "idle");
+  if (state != "running")
+  {
+    err = "no mission is running";
+    return false;
+  }
+  paused_ = true;
+  runner_["paused"] = true;
+  runner_["state"] = "paused";
+  runner_["message"] = "Mission tạm dừng";
+  runner_["updated_at"] = IdUtil::nowIso8601();
+  saveUnlocked();
+  return true;
+}
+
+bool MissionQueue::resume(std::string& err)
+{
+  (void)err;
+  paused_ = false;
+  {
+    std::lock_guard<std::mutex> lock(mu_);
+    runner_["paused"] = false;
+    if (runner_.value("state", "") == "paused")
+    {
+      runner_["state"] = "running";
+      runner_["message"] = "Tiếp tục mission";
+      runner_["updated_at"] = IdUtil::nowIso8601();
+    }
+    saveUnlocked();
+  }
+  wake_ = true;
+  return true;
+}
+
 void MissionQueue::workerLoop()
 {
   while (!stop_)
@@ -273,6 +312,8 @@ void MissionQueue::processQueueUnlocked()
 {
   if (!queue_.is_array())
     return;
+  if (paused_)
+    return;
 
   for (auto& item : queue_)
   {
@@ -335,6 +376,10 @@ void MissionQueue::executeActionsUnlocked(const nlohmann::json& actions,
   {
     if (!action.is_object())
       continue;
+    while (paused_ && !stop_)
+      std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    if (stop_)
+      return;
 
     const std::string action_id = action.value("id", "");
     const std::string kind = action.value("kind", "action");
@@ -433,7 +478,11 @@ void MissionQueue::sleepMs(int ms)
     return;
   const int step = 100;
   for (int elapsed = 0; elapsed < ms && !stop_; elapsed += step)
+  {
+    while (paused_ && !stop_)
+      std::this_thread::sleep_for(std::chrono::milliseconds(100));
     std::this_thread::sleep_for(std::chrono::milliseconds(std::min(step, ms - elapsed)));
+  }
 }
 
 void MissionQueue::setRunnerState(const std::string& state, const std::string& message)