Merge branch 'main' into use_merge_radius

open-rmf · Mar 10, 2025 · 9ac0137 · 9ac0137
2 parents cd52f83 + 5b88f75
commit 9ac0137
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diff --git a/rmf_traffic/src/rmf_traffic/schedule/Database.cpp b/rmf_traffic/src/rmf_traffic/schedule/Database.cpp
@@ -1405,6 +1405,14 @@ auto Database::watch_dependency(
 
   if (state.latest_plan_id == dep.on_plan)
   {
+    if (state.storage.empty())
+    {
+      // This plan has already been cleared from the schedule, so any
+      // dependencies on it are deprecated.
+      shared->deprecate();
+      return subscription;
+    }
+
     if (dep.on_route < state.progress.reached_checkpoints.size())
     {
       const auto latest_checkpoint =

diff --git a/rmf_traffic/src/rmf_traffic/schedule/Mirror.cpp b/rmf_traffic/src/rmf_traffic/schedule/Mirror.cpp
@@ -345,6 +345,14 @@ auto Mirror::watch_dependency(
 
   if (state.current_plan_id == dep.on_plan)
   {
+    if (state.storage.empty())
+    {
+      // This plan has already been cleared from the schedule, so any
+      // dependencies on it are deprecated.
+      shared->deprecate();
+      return subscription;
+    }
+
     if (dep.on_route < state.progress.reached_checkpoints.size())
     {
       const auto latest_checkpoint =