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Immeidately mark dependencies as deprecated when the target plan was cleared #115

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merged 1 commit into from
Mar 10, 2025
Merged

Immeidately mark dependencies as deprecated when the target plan was cleared #115

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8 changes: 8 additions & 0 deletions rmf_traffic/src/rmf_traffic/schedule/Database.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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 =
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8 changes: 8 additions & 0 deletions rmf_traffic/src/rmf_traffic/schedule/Mirror.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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 =
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