CAMP running-task view P1: read-only structured task tree

.agent/work-plans/issue-127/plan.md

@@ -0,0 +1,87 @@
+# Plan: CAMP running-task view P1 — read-only structured task tree
+
+## Issue
+
+https://github.com/rolker/camp/issues/127  (Part of #123)
+
+## Context
+
+CAMP's per-robot panel (`Platform`, `platform.ui`) shows `helmManager` +
+`missionManager` in a vertical splitter. The `MissionManager` placeholder just
+dumps a flattened `Heartbeat` into a text box. The boat now publishes structured
+`marine_nav_interfaces/TaskFeedback` (current task + `TaskInformation[]`) on
+`marine/status/mission_tasks` (unh_marine_autonomy#236). This adds a read-only
+structured tree view sourced from that topic.
+
+## Approach
+
+1. **`RunningTasksModel`** (`QAbstractItemModel`) — builds a tree from the flat
+   `TaskInformation[]` using slash-delimited `id`s (`survey_a/line_1` → child of
+   `survey_a`; synthesize intermediate group rows when a path segment has no
+   explicit task). Columns: name / type / priority / status / done. Holds the
+   `current_navigation_task` id; `data()` returns a bold font + highlight
+   background for that row. `setTasks(current, rows)` rebuilds via
+   begin/endResetModel (small list, low rate — reset is fine for P1).
+2. **`RunningTasksView`** (`QWidget`, node-injection — the `helm_manager` idiom,
+   NOT `camp_ros::ROSWidget`): `setNode()` + `updateRobotNamespace()`; owns a
+   `QTreeView` + `RunningTasksModel` built in the constructor (no `.ui` needed).
+   Exposes `taskSelected(QString id)` signal + `setSelectedTask(QString id)` slot
+   (wired to selection now; map glue consumes them in P2).
+3. **Subscription** — `TaskFeedback` on `<ns>/marine/status/mission_tasks`,
+   created with the guarded Realtime callback group:
+   `if (auto ctx = camp_ros::RosContext::instance()) opts.callback_group =
+   ctx->group(camp_ros::RosContext::Group::Realtime);`. The executor-thread
+   callback converts the message to a GUI-friendly `QVector<TaskRow>` under a
+   mutex, then `QMetaObject::invokeMethod(this, "applyPendingTasks",
+   Qt::QueuedConnection)` marshals to the GUI thread (same pattern as
+   `MissionManager`). Never touch Qt from the ROS thread.
+4. **Integration** — promote `RunningTasksView` in `platform.ui` (third widget in
+   the splitter); in `platform.cpp` call `runningTasksView->setNode(node_)`
+   (alongside the helm `setNode`) and `updateRobotNamespace(...)` (alongside the
+   others).
+5. **Build wiring** — add the two `.cpp` to `SOURCES` (CMakeLists);
+   `find_package(marine_nav_interfaces REQUIRED)` + add to the executable's
+   `ament_target_dependencies`; `<depend>marine_nav_interfaces</depend>` in
+   `package.xml`.
+
+## Files to Change
+
+| File | Change |
+|------|--------|
+| `src/camp/running_tasks/running_tasks_model.{h,cpp}` | New tree model |
+| `src/camp/running_tasks/running_tasks_view.{h,cpp}` | New node-injection widget |
+| `src/camp/platform_manager/platform.ui` | Promote `RunningTasksView` in splitter |
+| `src/camp/platform_manager/platform.cpp` | `setNode` + `updateRobotNamespace` |
+| `CMakeLists.txt` | SOURCES + `marine_nav_interfaces` dep |
+| `package.xml` | `<depend>marine_nav_interfaces</depend>` |
+
+## Principles Self-Check
+
+| Principle | Consideration |
+|---|---|
+| Thread safety | ROS callback never touches Qt; marshals via queued invoke + mutex, mirroring `MissionManager`. |
+| Dual-use (no compromise) | Node-injection core + guarded Realtime group → CAMP gets the curated group, rqt (later) falls back to default. No `ROSWidget` coupling. |
+| Additive | Placeholder `MissionManager` stays; this is a sibling view. |
+
+## ADR Compliance
+
+| ADR | Triggered | How addressed |
+|---|---|---|
+| (camp repo ADRs, if any) | TBD | Scan during implementation; this is additive UI, no message/contract changes. |
+
+## Consequences
+
+| If we change... | Also update... | In plan? |
+|---|---|---|
+| Add `marine_nav_interfaces` use | `package.xml` + CMake find_package + deps | Yes |
+| New per-robot widget | `platform.ui` + `platform.cpp` node/namespace wiring | Yes |
+
+## Open Questions
+
+- Status column rendering: P1 shows the raw `status` YAML string (truncated). Full
+  parse/formatting deferred to P4 (mission progress).
+
+## Estimated Scope
+
+Single PR (new widget + model + wiring). Builds on the camp executable; rqt
+wrapper and map linkage are separate later phases under #123.

.agent/work-plans/issue-127/progress.md

@@ -0,0 +1,38 @@
+---
+issue: 127
+---
+
+# Issue #127 — CAMP running-task view P1: read-only structured task tree
+
+## Plan Authored
+**Status**: complete
+**When**: 2026-06-28 09:26 -04:00
+**By**: Claude Code Agent (Claude Opus 4.8 (1M context))
+
+**Plan**: `.agent/work-plans/issue-127/plan.md` at `2a1f7ce`
+**Branch**: feature/issue-127 at `2a1f7ce`
+**Phases**: single (P1 of camp#123)
+
+### Open questions
+- [ ] Status column shows raw status YAML first line (truncated) in P1; full parse deferred to P4.
+
+## Local Review (Pre-Push)
+**Status**: complete
+**When**: 2026-06-28 09:33 -04:00
+**By**: Claude Code Agent (Claude Opus 4.8 (1M context))
+**Verdict**: approved (must-fix addressed before push)
+
+**Branch**: feature/issue-127 at `e96eb34` (impl) — review fixes committed on top
+**Mode**: pre-push
+**Depth**: Deep (reason: custom QAbstractItemModel + ROS→GUI thread marshaling)
+**Must-fix**: 1 (fixed) | **Suggestions**: 3 (2 fixed, 1 deferred)
+**Round**: 1 | **Ship**: recommended — must-fix fixed + verified by rebuild
+
+### Findings
+- [x] (must-fix) ~RunningTasksView=default → UAF: pending_mutex_/rows_ destroyed before subscription_; callback in flight at teardown derefs freed members. FIXED: explicit dtor resets subscription_ first — `running_tasks_view.cpp`
+- [x] (suggestion) Selection-restore re-emitted taskSelected() every republish → P2 feedback-loop risk. FIXED: QSignalBlocker around the restore — `running_tasks_view.cpp`
+- [x] (suggestion) current_task_ stored raw vs normalized node fullId → highlight could miss on stray-slash id. FIXED: normalize current_task_ in setTasks — `running_tasks_model.cpp`
+- [ ] (suggestion, deferred to P2) Synthetic group rows emit taskSelected(groupId) for a non-task; guard when map glue lands — `running_tasks_view.cpp`
+
+### Model correctness (Lens A, verified)
+- index/parent/rowCount/columnCount mutually consistent; rowInParent stable (append-only per rebuild); reset ordering correct (view restores by string id, not stale QModelIndex); null-safe. Walked rows [survey_a/line_2, survey_a, survey_a/line_1] — round-trips.

CMakeLists.txt

@@ -19,6 +19,7 @@ find_package(nav2_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(marine_autonomy REQUIRED)
 find_package(marine_interfaces REQUIRED)
+find_package(marine_nav_interfaces REQUIRED)
 
 find_package(qt_gui_cpp REQUIRED)
 find_package(rosgraph_msgs REQUIRED)
@@ -106,6 +107,8 @@ set(SOURCES
     src/camp/ais/ais_contact.cpp
     src/camp/ais/ais_manager.cpp
     src/camp/helm_manager/helm_manager.cpp
+    src/camp/running_tasks/running_tasks_model.cpp
+    src/camp/running_tasks/running_tasks_view.cpp
     src/camp/roslink.cpp
     src/camp/nav_source.cpp
 )
@@ -146,6 +149,7 @@ ament_target_dependencies(CCOMAutonomousMissionPlanner
     nav2_msgs
     marine_autonomy
     marine_interfaces
+    marine_nav_interfaces
 
     rclcpp
     tf2

package.xml

@@ -24,6 +24,7 @@
   <depend>pluginlib</depend>
   <depend>marine_autonomy</depend>
   <depend>marine_interfaces</depend>
+  <depend>marine_nav_interfaces</depend>
 
   <!-- <depend>sound_play</depend> -->
   <depend>tf2</depend>

src/camp/platform_manager/platform.cpp

@@ -99,6 +99,7 @@ void Platform::update(const marine_interfaces::msg::Platform& platform)
     platformNamespace = platform.platform_namespace;
   m_ui->helmManager->updateRobotNamespace(platformNamespace.c_str());
   m_ui->missionManager->updateRobotNamespace(platformNamespace.c_str());
+  m_ui->runningTasksView->updateRobotNamespace(platformNamespace.c_str());
 
   path_topic_ = "/" + platformNamespace + "/received_global_plan";
   subscribeToPathTopic();
@@ -227,6 +228,7 @@ void Platform::onNodeUpdated()
     ns.second->nodeStarted(node_, transform_buffer_);
   m_ui->helmManager->setNode(node_);
   m_ui->missionManager->nodeStarted(node_, transform_buffer_);
+  m_ui->runningTasksView->setNode(node_);
   subscribeToPathTopic();
 }
 

src/camp/platform_manager/platform.ui

@@ -21,6 +21,7 @@
      </property>
      <widget class="HelmManager" name="helmManager" native="true"/>
      <widget class="MissionManager" name="missionManager" native="true"/>
+     <widget class="RunningTasksView" name="runningTasksView" native="true"/>
     </widget>
    </item>
    <item>
@@ -49,6 +50,12 @@
    <header>mission_manager/mission_manager.h</header>
    <container>1</container>
   </customwidget>
+  <customwidget>
+   <class>RunningTasksView</class>
+   <extends>QWidget</extends>
+   <header>running_tasks/running_tasks_view.h</header>
+   <container>1</container>
+  </customwidget>
  </customwidgets>
  <resources/>
  <connections/>