180 planner allow forcing backward motions #181
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gdoffe
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ecourtois
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Nov 17, 2025
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Please check few comments and bugs.
I'd prefer if you squash the 2 first commits, and the 4 last commits. None of them can work or can be reverted alone.
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ecourtois
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LGTM!
Just add the commit to update submodules before merge.
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Replace the boolean allow_reverse parameter with MotionDirection enum (bidirectional, forward_only, backward_only) to provide finer control over robot movement direction during path navigation. Changes: - Add MotionDirection enum in C++ and Python models - Update PoseOrder and PoseOrderList classes - Update all planner actions to use MotionDirection enum - Update copilot to use MotionDirection.FORWARD_ONLY Signed-off-by: Gilles DOFFE <g.doffe@gmail.com>
Add TestRectangleAlternatingAction that demonstrates all three MotionDirection enum values: - BACKWARD_ONLY: moving right and left sides of rectangle - FORWARD_ONLY: moving up and returning to start - BIDIRECTIONAL: diagonal movements for optimal path selection The robot traces a rectangle pattern with diagonal back-and-forth movements, looping infinitely. Signed-off-by: Gilles DOFFE <g.doffe@gmail.com>
Update protobuf from 3.20.3 to 5.29.5 to align with mcu-firmware's EmbeddedProto version and ensure compatibility between generated protobuf messages. Changes: - Update pyproject.toml dependency - Update uv.lock - Regenerate all Python protobuf bindings - Fix API change: replace including_default_value_fields with always_print_fields_with_no_presence Signed-off-by: Gilles DOFFE <g.doffe@gmail.com>
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- RIOT: bump to last upstream version plus one commit for latest ETL version support - mcu-firmware: bump to latest firmware version
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Changes
This MR replaces the boolean allow_reverse parameter with a MotionDirection enum to provide finer control over robot movement direction during path navigation.
The new enum supports three modes:
Motion Direction Enum
Protobuf Update
Testing