Logical Issues Regarding Map Rendering

[lxb20251022]

hello @jkaflik ，I have a question about “Logical Issues Regarding Map Rendering”

1. EXCLUSION = 0 (Forbidden Zone), NAVIGATION = 1 (Working Area), OPERATION = 2 (Navigation Area)

2. In the areasWithExclusionsLast function, sorting is done in ascending order.
   // Project Source Code
   std::vectormsg::Area MapServerNode::areasWithExclusionsLast(std::vectormsg::Area areas)
   {
   std::sort(areas.begin(), areas.end(), [](const msg::Area& a, const msg::Area& b) {
   if (a.type == b.type) // If the types are the same
   {
   return a.type == msg::Area::TYPE_EXCLUSION; // TYPE_EXCLUSION Forbidden Zone
   }

   return a.type < b.type; // Otherwise, sort by type value Forbidden Zone
   });

return areas;
}
3. According to this logic:
First drawn: EXCLUSION(0) → Value = 100 (Obstacle)
Then drawn: NAVIGATION(1) → Value = 0 (Free Space)
Finally drawn: OPERATION(2) → Value = 0 (Free Space)
Following this overlay logic, the initially drawn forbidden zones get overwritten and become free areas, which causes the forbidden zones to effectively not function!
4. I believe the drawing order should be: NAVIGATION(1) → OPERATION(2) → EXCLUSION(0)
5. My modified areasWithExclusionsLast:
std::sort(areas.begin(), areas.end(), [](const msg::Area& a, const msg::Area& b) {
// Primarily sort by type, but ensure exclusions are last
if (a.type == msg::Area::TYPE_EXCLUSION && b.type != msg::Area::TYPE_EXCLUSION) {
return false; // Exclusions come after non-exclusions
}
if (a.type != msg::Area::TYPE_EXCLUSION && b.type == msg::Area::TYPE_EXCLUSION) {
return true; // Non-exclusions come before exclusions
}
// Maintain original order when types are the same
return a.type < b.type;
});