Add phần create map by upload

src/robot/robot_runtime.cpp

@@ -63,6 +63,10 @@ void RobotRuntime::ensureDefaultsUnlocked()
     state_["cmd_angular"] = 0.0;
   if (!state_.contains("updated_at"))
     state_["updated_at"] = IdUtil::nowIso8601();
+  if (!state_.contains("active_map_id"))
+    state_["active_map_id"] = nullptr;
+  if (!state_.contains("pose") || !state_["pose"].is_object())
+    state_["pose"] = {{"x", 0.0}, {"y", 0.0}, {"yaw", 0.0}};
   saveUnlocked();
 }
 
@@ -104,6 +108,8 @@ nlohmann::json RobotRuntime::buildStatusUnlocked() const
                          {"joystick_speed", state_.value("joystick_speed", "fast")},
                          {"cmd_linear", state_.value("cmd_linear", 0.0)},
                          {"cmd_angular", state_.value("cmd_angular", 0.0)},
+                         {"active_map_id", state_.contains("active_map_id") ? state_["active_map_id"] : nullptr},
+                         {"pose", state_.contains("pose") ? state_["pose"] : nlohmann::json::object({{"x", 0.0}, {"y", 0.0}, {"yaw", 0.0}})},
                          {"runner", runner},
                          {"queue_pending", pending},
                          {"updated_at", state_.value("updated_at", "")}};
@@ -235,6 +241,27 @@ bool RobotRuntime::setJoystick(bool engaged, const std::string& speed, std::stri
   return true;
 }
 
+bool RobotRuntime::setActiveMap(const std::string& map_id, std::string& err)
+{
+  (void)err;
+  std::lock_guard<std::mutex> lock(mu_);
+  state_["active_map_id"] = map_id;
+  state_["updated_at"] = IdUtil::nowIso8601();
+  saveUnlocked();
+  return true;
+}
+
+void RobotRuntime::clearActiveMapIf(const std::string& map_id)
+{
+  std::lock_guard<std::mutex> lock(mu_);
+  if (state_.value("active_map_id", "") == map_id)
+  {
+    state_["active_map_id"] = nullptr;
+    state_["updated_at"] = IdUtil::nowIso8601();
+    saveUnlocked();
+  }
+}
+
 void RobotRuntime::tick()
 {
   std::lock_guard<std::mutex> lock(mu_);