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Clean up LegacyPhaseShim subscription after task_summaries removal #511

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Clean up LegacyPhaseShim subscription after task_summaries removal #511

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49bde84
Clean up LegacyPhaseShim subscription after task_summaries removal
Matthew0803 Mar 10, 2026
fce2b5f
Merge branch 'main' into rm_legacy_reporting_mechanism
mxgrey Mar 24, 2026
42a8efe
Merge branch 'main' into rm_legacy_reporting_mechanism
mxgrey May 4, 2026
94a9b12
Restore conversion between legacy task status and task-v2 status
mxgrey May 4, 2026
bb7eaf2
Restore linting filter
mxgrey May 4, 2026
c4e9e91
Merge branch 'main' into rm_legacy_reporting_mechanism
mxgrey May 5, 2026
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8 changes: 3 additions & 5 deletions rmf_fleet_adapter/src/rmf_fleet_adapter/events/LegacyPhaseShim.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -101,7 +101,7 @@ auto LegacyPhaseShim::Active::make(
active->_parent_update = std::move(parent_update);
active->_finished = std::move(finished);
active->_legacy = legacy->begin();
// TODO(luca) Task summaries are not published anymore, revisit and remove
active->_state->update_status(Event::Status::Underway);
active->_subscription = active->_legacy->observe()
.observe_on(rxcpp::identity_same_worker(worker))
.subscribe(
Expand Down Expand Up @@ -154,10 +154,8 @@ auto LegacyPhaseShim::Active::make(
{
if (self->_finished)
{
// We don't change the event status here because that should have been
// done in the task summary update, and from here we don't know what
// kind of finish the legacy phase may have had (e.g. completed,
// failed, or canceled).
if (self->_state->status() == Event::Status::Underway)
self->_state->update_status(Event::Status::Completed);
const auto finished = self->_finished;
self->_finished = nullptr;
finished();
Expand Down