Torrent and repeat#262
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…ges are not drawn; outstanding issue: graph_state_ is stale in graph_map_server, so publish(graph_state_) resets the UI to initial state. 2) graph updates are stable, but still vertices are updating type, not edges
…. a timer would be wasteful. the GraphUpdate messages still leave a dotted line, thats because of how vertices are updated, but once the graph is interacted with, it snaps back to useful state
…lear active_routes, resulting in a missing update to the state. This caused 1-vertex gaps in the UI that are not navigable. next fix is missing vertices updated when transitioning from landing page -> UI
…ng the leading vtx issue in previous commit. next issue is resource deadlock @ end of repeat
…iv*, replaced with top*
…s_ to have a bool flag indicating whether the topology edge has been published before
…pe is wrong; cant do multiple runs
…dAndPublishGraphState at start of function call so that GUI can be updated without a valid waypoint_name (topology vtxs)
…members, we publish topology data as they are added, so dont need to track that separately
…egraph, and from loading spatial edges (edge case where merge points are MANUAL and SPATIAL
…hat root_vid is (0,0) by default no longer holds
… reconstitution
…s of RCGraph, cleaned up comments
… call to graph->save() is unnecessary with saveLive(), removed call which was writing an EXTRA copy of last two edges. Could modify save() to increment lastEdgeIndex_ and lastVertexIdx_ accordingly so that loadLive() doesnt crash, but I think sticking with saveLive() is the correct design choice
a-krawciw
reviewed
Jul 8, 2026
| const CallbackPtr callback_; | ||
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| std::mt19937_64 rng_{std::random_device{}()}; | ||
| uint8_t robot_id_ = static_cast<uint8_t>(std::stoi(std::getenv("ROBOT_ID"))); |
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I don't like having an env variable in general, certainly not buried this deeply. Unless it's very difficult, this should be passed in as a launch / config param.
| "Spatial edges may only be added from higher run numbers to lower " | ||
| "ones"); | ||
| } | ||
| // if (from_.majorId() < to_.majorId()) { |
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Just delete, don't leave dead comment blocks. Git will remember everything if it ever matters again.
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This file is about to read vision data. Given that vision data products are not currently torrented, I would suggest leaving it as privileged not topology.
…n edge that already exists, log an error and return
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