├── .clang-format ├── .clang-tidy ├── .gitignore ├── .gitlab-ci.yml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake ├── CPM.cmake ├── code-coverage.cmake └── libvda5050++Config.cmake.in ├── docs ├── CMakeLists.txt ├── build.md ├── diagrams │ ├── generate.sh │ ├── libvdma5050.dia │ ├── libvdma5050_linking.dia │ └── libvdma5050_process_sequence.dia ├── doxygen │ └── html │ │ └── index.md ├── extra.md ├── index.md ├── install.md ├── pseudocode │ ├── drive_subgraph_handle.pseudo │ └── new_interface.pseudo ├── quickstart.md └── resources │ ├── libVDA5050++_example_mqtt_ros.png │ ├── libVDA5050++_generic.png │ ├── libVDA5050++_generic_small.png │ └── libvdma5050.png ├── extra ├── CMakeLists.txt ├── json_model │ ├── CMakeLists.txt │ ├── Config.cmake.in │ ├── include │ │ └── vda5050++ │ │ │ └── extra │ │ │ └── json_model.h │ └── src │ │ └── json_model.cpp ├── logger_utils │ ├── CMakeLists.txt │ ├── include │ │ └── vda5050++ │ │ │ └── extra │ │ │ ├── console_logger.h │ │ │ ├── file_logger.h │ │ │ ├── multiplex_logger.h │ │ │ ├── pretty_logger.h │ │ │ └── stream_logger.h │ └── src │ │ ├── console_logger.cpp │ │ ├── file_logger.cpp │ │ ├── multiplex_logger.cpp │ │ ├── pretty_logger.cpp │ │ └── stream_logger.cpp └── mqtt_connector │ ├── CMakeLists.txt │ ├── Config.cmake.in │ ├── include │ └── vda5050++ │ │ └── extra │ │ └── mqtt_connector.h │ └── src │ └── mqtt_connector.cpp ├── include └── vda5050++ │ ├── core │ ├── common │ │ ├── blocking_queue.h │ │ ├── exception.h │ │ ├── formatting.h │ │ ├── interruptable_timer.h │ │ ├── math │ │ │ ├── geometry.h │ │ │ └── linear_path_length_calculator.h │ │ └── semaphore.h │ ├── interface_agv │ │ ├── const_handle_accessor.h │ │ └── handle_accessor.h │ ├── logic │ │ ├── action_manager.h │ │ ├── cancel_net.h │ │ ├── continuous_navigation_manager.h │ │ ├── continuous_navigation_single_step_task.h │ │ ├── dangling_net.h │ │ ├── drive_to_node_manager.h │ │ ├── id_not_found_error.h │ │ ├── instant_actions_manager.h │ │ ├── logic.h │ │ ├── net_manager.h │ │ ├── parallel_launch_net.h │ │ ├── partial_net.h │ │ ├── pause_resume_action_manager.h │ │ ├── sync_net.h │ │ ├── task_manager.h │ │ └── types.h │ ├── messages │ │ ├── message_processor.h │ │ ├── messages.h │ │ ├── state_update_timer.h │ │ └── update_urgency.h │ ├── state │ │ ├── state.h │ │ └── state_manager.h │ ├── validation │ │ ├── action_declared_validator.h │ │ ├── control_action_declarations.h │ │ ├── header_target_validator.h │ │ ├── header_version_validator.h │ │ ├── order_action_validator.h │ │ ├── order_append_validator.h │ │ ├── order_graph_consistency_validator.h │ │ ├── order_id_validator.h │ │ ├── order_reachable_validator.h │ │ ├── validation_provider.h │ │ └── validator.h │ └── version.h │ ├── interface_agv │ ├── action_handler.h │ ├── agv_description │ │ ├── acceleration.h │ │ ├── action_declaration.h │ │ ├── agv_description.h │ │ ├── battery.h │ │ ├── driving_mode.h │ │ ├── kinematic.h │ │ ├── navigation.h │ │ ├── parameter_range.h │ │ ├── serialized_value.h │ │ └── velocity.h │ ├── continuous_navigation_handler.h │ ├── handle.h │ ├── logger.h │ ├── odometry_handler.h │ ├── pause_resume_handler.h │ ├── status │ │ ├── battery.h │ │ ├── loads.h │ │ ├── odometry.h │ │ ├── operating_mode.h │ │ ├── results.h │ │ ├── safety_state.h │ │ └── visualization.h │ └── step_based_navigation_handler.h │ ├── interface_mc │ ├── connector.h │ ├── connector_passive.h │ └── message_consumer.h │ └── model │ ├── AGVPosition.h │ ├── Action.h │ ├── ActionParameter.h │ ├── ActionState.h │ ├── ActionStatus.h │ ├── BatteryState.h │ ├── BlockingType.h │ ├── BoundingBoxReference.h │ ├── Connection.h │ ├── ConnectionState.h │ ├── ControlPoint.h │ ├── EStop.h │ ├── Edge.h │ ├── EdgeState.h │ ├── Error.h │ ├── ErrorLevel.h │ ├── ErrorReference.h │ ├── Header.h │ ├── Info.h │ ├── InfoLevel.h │ ├── InfoReference.h │ ├── InstantActions.h │ ├── Load.h │ ├── LoadDimensions.h │ ├── Node.h │ ├── NodePosition.h │ ├── NodeState.h │ ├── OperatingMode.h │ ├── Order.h │ ├── SafetyState.h │ ├── State.h │ ├── Trajectory.h │ ├── Velocity.h │ └── Visualization.h ├── mkdocs.yml ├── src ├── CMakeLists.txt └── vda5050++ │ ├── core │ ├── common │ │ └── exception.cpp │ ├── interface_agv │ │ ├── const_handle_accessor.cpp │ │ └── handle_accessor.cpp │ ├── logic │ │ ├── action_manager.cpp │ │ ├── cancel_net.cpp │ │ ├── continuous_navigation_manager.cpp │ │ ├── continuous_navigation_single_step_task.cpp │ │ ├── dangling_net.cpp │ │ ├── drive_to_node_manager.cpp │ │ ├── instant_actions_manager.cpp │ │ ├── logic.cpp │ │ ├── net_manager.cpp │ │ ├── parallel_launch_net.cpp │ │ ├── pause_resume_action_manager.cpp │ │ ├── sync_net.cpp │ │ └── task_manager.cpp │ ├── messages │ │ ├── message_processor.cpp │ │ ├── messages.cpp │ │ └── state_update_timer.cpp │ ├── state │ │ └── state_manager.cpp │ └── validation │ │ ├── action_declared_validator.cpp │ │ ├── header_target_validator.cpp │ │ ├── header_version_validator.cpp │ │ ├── order_action_validator.cpp │ │ ├── order_append_validator.cpp │ │ ├── order_graph_consistency_validator.cpp │ │ ├── order_id_validator.cpp │ │ ├── order_reachable_validator.cpp │ │ └── validation_provider.cpp │ └── interface_agv │ ├── action_handler.cpp │ ├── continuous_navigation_handler.cpp │ ├── handle.cpp │ ├── logger.cpp │ ├── odometry_handler.cpp │ ├── pause_resume_handler.cpp │ ├── status │ ├── battery.cpp │ ├── loads.cpp │ ├── odometry.cpp │ ├── operating_mode.cpp │ ├── results.cpp │ ├── safety_state.cpp │ └── visualization.cpp │ └── step_based_navigation_handler.cpp ├── test ├── CMakeLists.txt ├── include │ └── test │ │ ├── console_logger.h │ │ ├── dump.hpp │ │ ├── order_factory.hpp │ │ ├── test_action_handler.h │ │ ├── test_connector.h │ │ ├── test_continuous_navigation_handler.h │ │ ├── test_odometry_handler.h │ │ ├── test_pause_resume_handler.h │ │ └── test_step_based_navigation_handler.h ├── main.cpp ├── src │ ├── console_logger.cpp │ ├── dump.cpp │ ├── order_factory.cpp │ ├── test_action_handler.cpp │ ├── test_connector.cpp │ ├── test_continuous_navigation_handler.cpp │ ├── test_odometry_handler.cpp │ ├── test_pause_resume_handler.cpp │ └── test_step_based_navigation_handler.cpp └── vda5050++ │ ├── core │ ├── action_declaration.cpp │ ├── common │ │ ├── blocking_queue.cpp │ │ ├── interruptable_timer.cpp │ │ ├── math │ │ │ ├── geometry.cpp │ │ │ └── linear_path_length_calculator.cpp │ │ └── semaphore.cpp │ ├── logic │ │ ├── action_manager.cpp │ │ ├── combined_tests.cpp │ │ ├── continuous_navigation.cpp │ │ ├── init_position.cpp │ │ ├── net_manager.cpp │ │ ├── parallel_launch_net.cpp │ │ └── sync_net.cpp │ └── validation │ │ ├── action_declared_validator.cpp │ │ ├── header_target_validator.cpp │ │ ├── header_version_validator.cpp │ │ ├── order_append_validator.cpp │ │ ├── order_graph_consistency_validator.cpp │ │ ├── order_id_validator.cpp │ │ └── order_reachable_validator.cpp │ └── model │ └── equality.cpp └── tests.md /.clang-format: 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