your code still has build issues btw

"manual" is a stringly-typed key with no compile-time safety. A typo here silently compiles and fails at runtime. Consider introducing a FeatureFlag enum with a toConfigKey() mapping, then overloading isFeatureEnabled(FeatureFlag) to delegate to the string version. Usage becomes isFeatureEnabled(FeatureFlag::Manual), which is typo-safe, autocomplete-friendly, and grep-reliable. The string overload can stay for config file parsing.

ie:

// FeatureFlag.h
enum class FeatureFlag {
    Manual,
    AutoReplay,
    DebugOverlay,
    // Add new flags here. Compiler enforces the switch stays in sync.
};

[[nodiscard]] constexpr std::string_view toConfigKey(FeatureFlag flag) {
    switch (flag) {
        case FeatureFlag::Manual:       return "manual";
        case FeatureFlag::AutoReplay:   return "auto_replay";
        case FeatureFlag::DebugOverlay: return "debug_overlay";
    }
    // Unreachable, but suppresses warnings on some compilers
    return "";
}

typo: isFeatureEnable should be isFeatureEnabled

A lot of changes made using Claude, have potentially solved any collision problems and have integrated RVO controlled velocity with the Agent. I have attached the changes md file in the PR.Calude_Changes.md

Jonathan Ung (b3ebbb0c) at 08 Mar 17:40

Jonathan Ung (4beedb2e) at 08 Mar 17:40

... and 1 more commit

Feature Request

Summary

Acceptance Criteria

• Criterion

Design / Technical Approach

Dependencies

Testing Plan

• Write unit tests for feat

Merge Request Template

Summary

Added dynamic path re-request functionality to the navigation system with two new DSL v2 utility nodes that allow robots to adaptively request new paths when their navigation target moves significantly during movement.

Changes Made

New Utility Nodes (DSL v2)

1. SetPrevNavigationTarget (src/agent/bt/nodesV2/utils/SetPrevNavigationTarget.h)

   • Simple utility node that stores the current navigation target coordinates (nav_to_x, nav_to_y) as previous coordinates (prev_x, prev_y)
   • Used to initialize or update the tracked previous target position
   • Includes logging for debugging

2. RequestPathIfTargetMoved (src/agent/bt/nodesV2/utils/RequestPathIfTargetMoved.h)

   • Checks if the navigation target has moved beyond a configurable threshold distance from the previous target
   • Uses distance formula: √(dx² + dy²)
   • If distance ≥ threshold: emits pathTo() signal and updates previous coordinates
   • If distance < threshold: no action, keeps previous coordinates
   • Returns SUCCESS immediately (non-stateful)
   • Includes comprehensive logging showing distances, thresholds, and decisions

Registration and Integration

• Added SetPrevNavigationTarget and RequestPathIfTargetMoved to NodeId enum in src/agent/bt/nodesV2/dsl/NodeId.h
• Added prev_x and prev_y ports to PortId enum in src/agent/bt/nodesV2/dsl/PortId.h
• Added includes to BehaviorTreeManager.cpp to trigger auto-registration

Usage Pattern

These nodes enable a ReactiveSequence pattern for adaptive navigation:

ReactiveSequence()
    .child(Node(N::RequestPathIfTargetMoved)
        .port(P::robot_id, port(P::robot_id))
        .port(P::prev_x, var(P::prev_x))
        .port(P::prev_y, var(P::prev_y))
        .port(P::nav_to_x, port(P::nav_to_x))
        .port(P::nav_to_y, port(P::nav_to_y))
        .port(P::threshold, lit("50.0")))
    .child(Node(N::FollowPathSmooth)
        ...)

Testing

• Created tests
• Updated tests
• Tested in simulation (integration tests)
• Tested in real robot (if applicable)
• No tests (reason):

Screenshots/Videos

Before:

After:

Related Issue(s)

Changes

Blast Radius

Checklist

• All relevant unit tests are passing
• Documentation updated (if applicable)
• No debug logs or commented-out code

Reviewer Notes

Closes #892

Jonathan Ung (b3ebbb0c) at 08 Mar 17:39

... and 9 more commits

Merge Request Template

Summary

Added dynamic path re-request functionality to the navigation system with two new DSL v2 utility nodes that allow robots to adaptively request new paths when their navigation target moves significantly during movement.

Changes Made

New Utility Nodes (DSL v2)

1. SetPrevNavigationTarget (src/agent/bt/nodesV2/utils/SetPrevNavigationTarget.h)

   • Simple utility node that stores the current navigation target coordinates (nav_to_x, nav_to_y) as previous coordinates (prev_x, prev_y)
   • Used to initialize or update the tracked previous target position
   • Includes logging for debugging

2. RequestPathIfTargetMoved (src/agent/bt/nodesV2/utils/RequestPathIfTargetMoved.h)

   • Checks if the navigation target has moved beyond a configurable threshold distance from the previous target
   • Uses distance formula: √(dx² + dy²)
   • If distance ≥ threshold: emits pathTo() signal and updates previous coordinates
   • If distance < threshold: no action, keeps previous coordinates
   • Returns SUCCESS immediately (non-stateful)
   • Includes comprehensive logging showing distances, thresholds, and decisions

Registration and Integration

• Added SetPrevNavigationTarget and RequestPathIfTargetMoved to NodeId enum in src/agent/bt/nodesV2/dsl/NodeId.h
• Added prev_x and prev_y ports to PortId enum in src/agent/bt/nodesV2/dsl/PortId.h
• Added includes to BehaviorTreeManager.cpp to trigger auto-registration

Usage Pattern

These nodes enable a ReactiveSequence pattern for adaptive navigation:

ReactiveSequence()
    .child(Node(N::RequestPathIfTargetMoved)
        .port(P::robot_id, port(P::robot_id))
        .port(P::prev_x, var(P::prev_x))
        .port(P::prev_y, var(P::prev_y))
        .port(P::nav_to_x, port(P::nav_to_x))
        .port(P::nav_to_y, port(P::nav_to_y))
        .port(P::threshold, lit("50.0")))
    .child(Node(N::FollowPathSmooth)
        ...)

Testing

• Created tests
• Updated tests
• Tested in simulation (integration tests)
• Tested in real robot (if applicable)
• No tests (reason):

Screenshots/Videos

Before:

After:

Related Issue(s)

Changes

Blast Radius

Checklist

• All relevant unit tests are passing
• Documentation updated (if applicable)
• No debug logs or commented-out code

Reviewer Notes

Closes #892

nit: remove the unit testing stage altogether since it just runs as part of the memory check anyway

Jonathan Ung (36b07fbd) at 07 Mar 22:36

... and 12 more commits

Merge Request Template

Summary

• Ended up doing more than in the original issue
• This MR adds several classes that will be core for the ingest layer
  • WorldStateEventHelper.h: define methods to extract telemetry/metrics from WorldState objects
  • WolrdStateSchema.h: Define inner structure of data which AnalyticsCore will use to store and pass data
  • AnalyticsCore Object which handles the actual population of WolrdStateSchema. Has slot to subscribe to updates from WorldStateManager.

Testing

• Created tests: unit test
• Updated tests
• Tested in simulation (integration tests): tested with BtTestPlay to ensure robot data updating
• Tested in real robot (if applicable)
• No tests (reason):

Screenshots/Videos

Related Issue(s)

Changes

Blast Radius

Checklist

• All relevant unit tests are passing
• Documentation updated (if applicable)
• No debug logs or commented-out code

Reviewer Notes

Closes #786

is this a sub?

Can you move this into a test util so other people can use it?

nit - put MS in the const name

Jonathan Ung (ccb3bd4d) at 01 Mar 18:24