Merge pull request #20 from bringauto/fix_empty_commands

Hotfix generating empty command messages
bringauto · Aug 30, 2024 · 0215140 · 0215140
2 parents 6f97f0f + 0461009
commit 0215140
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Showing 3 changed files with 10 additions and 2 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -10,7 +10,7 @@ INCLUDE(CheckPIESupported)
 CHECK_PIE_SUPPORTED()
 SET(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-SET(MISSION_MODULE_VERSION 1.2.8)
+SET(MISSION_MODULE_VERSION 1.2.9)
 
 OPTION(BRINGAUTO_INSTALL "Configure install" OFF)
 OPTION(BRINGAUTO_PACKAGE "Configure package creation" OFF)

diff --git a/source/bringauto/modules/mission_module/devices/AutonomyDevice.cpp b/source/bringauto/modules/mission_module/devices/AutonomyDevice.cpp
@@ -77,7 +77,10 @@ int AutonomyDevice::aggregate_error(struct buffer *error_message, const struct b
 }
 
 int AutonomyDevice::generate_first_command(struct buffer *default_command) {
-	MissionModule::AutonomyCommand command = generateCommand(std::vector<MissionModule::Station>(), "", MissionModule::AutonomyCommand_Action_NO_ACTION);
+	MissionModule::AutonomyCommand command = generateCommand(std::vector<MissionModule::Station>(),
+		"Undefined", // Necessary due to protobuf generating empty messages with default values
+		MissionModule::AutonomyCommand_Action_NO_ACTION);
+
 	if (protobuf::ProtobufHelper::serializeProtobufMessageToBuffer(default_command, command) != OK) {
 		return NOT_OK;
 	}

diff --git a/source/external_server_api.cpp b/source/external_server_api.cpp
@@ -308,6 +308,11 @@ int wait_for_command(int timeout_time_in_ms, void *context) {
             if(!parse_status.ok()) {
                 return NOT_OK;
             }
+
+            if (proto_command.action() == MissionModule::AutonomyCommand_Action_NO_ACTION) {
+                proto_command.set_route("Undefined"); // Necessary due to protobuf generating empty messages with default values
+            }
+
             std::string command_str;
             proto_command.SerializeToString(&command_str);