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robocin · Oct 26, 2024 · 4c901b4 · 4c901b4
1 parent b5c6bac
commit 4c901b4
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Showing 3 changed files with 6 additions and 5 deletions.
diff --git a/behavior-ms/behavior-bruxo/behavior/processing/behavior_processor.cpp b/behavior-ms/behavior-bruxo/behavior/processing/behavior_processor.cpp
@@ -82,7 +82,7 @@ std::optional<rc::Behavior> BehaviorProcessor::process(std::span<const Payload>
 
     behavior_message.output.emplace_back(
       OutputMessage{
-        RobotIdMessage{std::nullopt, robot.robot_id().number()},
+        RobotIdMessage{},
         MotionMessage{},
         PlanningMessage{}
      });

diff --git a/behavior-ms/behavior-bruxo/behavior/processing/messages/common/robot_id/robot_id.cpp b/behavior-ms/behavior-bruxo/behavior/processing/messages/common/robot_id/robot_id.cpp
@@ -2,7 +2,7 @@
 
 namespace behavior {
 
-RobotIdMessage::RobotIdMessage(std::optional<Color> color, uint32_t number) :
+RobotIdMessage::RobotIdMessage(std::optional<Color> color, std::optional<uint32_t> number) :
     color{std::move(color)},
     number{std::move(number)} {}
 

diff --git a/behavior-ms/behavior-bruxo/behavior/processing/messages/common/robot_id/robot_id.h b/behavior-ms/behavior-bruxo/behavior/processing/messages/common/robot_id/robot_id.h
@@ -16,12 +16,12 @@ class RobotIdMessage : public robocin::IProtoConvertible<protocols::common::Robo
 
   public:
     explicit RobotIdMessage(std::optional<Color> color = std::nullopt,
-                            uint32_t number = 0);
+                            std::optional<uint32_t> number = 0);
 
     [[nodiscard]] protocols::common::RobotId toProto() const override {
         protocols::common::RobotId robot_id;
         robot_id.set_color(static_cast<::protocols::common::RobotId_Color>(color.value_or(Color::COLOR_UNSPECIFIED)));
-        robot_id.set_number(number);
+        robot_id.set_number(number.value_or(0));
 
         return robot_id;
     };
@@ -32,7 +32,8 @@ class RobotIdMessage : public robocin::IProtoConvertible<protocols::common::Robo
     };
 
     std::optional<Color> color;
-    uint32_t number;
+    std::optional<uint32_t> number;
+
 };
 
 } // namespace behavior