Task queue is empty

[NunzioVilla]

Hi,
I'm currently trying to use your library following the quick start guideline.
Firstly, I created the handler class for navigation, pause and resume and instant action overriding the internal virtual methods as described. For each of them, a custom constructor has been defined (see attached files).

After that, I created a specific agv descriptor and filled it in every field.

As MC connector, I choose the default one given by the quick start guide.

In the main file (fms_interface_node.cpp), I filled the Handlers structure with my custom class and instantiated the Handle object of the library.

Then, the library spinParallel method is called.

Adding a print to the constructor of my custom class, none of them seems to give any feedback on the terminal window while the state message is published on the MQTT topic periodically.
I suspect that the library doesn't call the constructors.

Am I doing something wrong?

Thanks in advance, hope to receive your feedback soon.
Nunzio

attachments.zip

EDIT:
Debugging the problem, it seems that the task queue is empty so the library spinning does nothing.
Is it possible that I miss some configuration steps?

[cmraaron]

Hi!

This is just a fork of the library upstream at https://git.openlogisticsfoundation.org/silicon-economy/libraries/vda5050/libvda5050pp so you could open an issue there.
But, just from your description, I think the handlers are instantiated for the appropriate message type when they arrive. So if you send an instantAction or a new order, you should see that your appropriate handlers are instantiated

[NunzioVilla]

Thank you for your reply! I take the chance to ask how to initialize the AGV position at start-up when no message has been exchanged yet? Since the handlers are instantiated for the appropriate message type when they arrive, how can I update the AGV position if no navigation handler exists yet? Am I missing something?