Feat/bdd exec comm#4
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bhunecke wants to merge 10 commits into
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minhnh
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May 18, 2026
| { | ||
| std::weak_ptr<GoalHandleBehaviour> mGoalHandlerPtr; | ||
| Behaviour::Goal mGoalCopy; | ||
| std::shared_ptr<GoalHandleBehaviour> mGoalHandlerPtr; |
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Mainly to have the goal handler not die mid goal execution and get a null ptr. when trying to send success/cancel. We could also do weak ptr but I'm not sure how to handle when the lock fails
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Hmm, you mean calling lock() returns a nullptr? How did you test this? I can't seem to reproduce "dying mid goal execution" with the server only setup when switching to weak_ptr.
| activeGoal.reset(); | ||
| } | ||
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| if (mCancelRequested.load(std::memory_order_acquire)) { |
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All the mockup-specific implementation need to be moved to https://github.com/secorolab/bdd_collab_bhv_cpp/blob/-/src/fsm_behaviours.cpp. In the loop we will call mockup/mujoco/real robot behaviours depending on the config.
…date load_topics function to use map
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