CAMP running-task view P2: map overlay + two-way selection sync

.agent/work-plans/issue-129/plan.md

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+# Plan: Running tasks on chart + selection sync (P2)
+
+## Issue
+
+https://github.com/rolker/camp/issues/129
+
+## Context
+
+P1 (#127 / PR #128) delivered a read-only `RunningTasksView` tree widget that
+subscribes to `marine/status/mission_tasks` and renders `TaskFeedback` as a
+structured tree.  The widget emits `taskSelected(QString id)` on row activation
+and exposes `setSelectedTask(id)` for external selection.  Neither signal is yet
+wired to anything outside the widget.
+
+P2 adds three things on top of that foundation:
+
+1. A per-task geometry overlay on CAMP's `QGraphicsScene` — point for single-pose
+   tasks (goto), polyline for multi-pose tasks (survey_line), using the existing
+   `GeoGraphicsItem` machinery but visually distinct from editable plan items.
+2. Two-way selection sync between `RunningTasksView` and the overlay.
+3. The CAMP-only glue class that owns the overlay items and wires the signals.
+
+A hasTask guard (carry-over from P1) is included: `taskSelected` must not fire
+for group rows that have no poses, so map glue isn't triggered by clicks on
+pure-structural parent rows.
+
+## Approach
+
+1. **Add `hasTaskPoses` to `RunningTasksModel`** — predicate that returns true when
+   the node at a `QModelIndex` has `task->message().poses` non-empty.  Guard
+   `RunningTasksView::onCurrentRowChanged`: only emit `taskSelected` when
+   `model_->hasTaskPoses(current)` is true.
+
+2. **Add `tasksUpdated` signal to `RunningTasksView`** — emit from the end of
+   `applyPendingTasks()` with the current-task id and the raw `TaskInformation`
+   vector.  This lets the CAMP glue layer refresh overlay geometry without a
+   second ROS subscription.
+
+3. **Add `TaskOverlayItem`** (`GeoGraphicsItem` subclass, lives in
+   `src/camp/running_tasks/`) — renders one task's poses on the scene.
+   - Single pose → filled circle (goto).
+   - Two or more poses → polyline (survey_line, transit, etc.).
+   - Visual states: current (emphasized, brighter), pending (muted), done (gray).
+   - Emits `clicked(QString id)` for map→tree selection sync.
+   - New type constant `RunningTaskType` added to `GeoGraphicsItem`'s enum.
+
+4. **Add `RunningTasksOverlay`** (`camp_ros::ROSWidget` subclass, lives in
+   `src/camp/running_tasks/`) — the CAMP-only glue.
+   - Initialized with the `QGraphicsScene*` and a `RunningTasksView*`.
+   - Holds `QMap<QString, TaskOverlayItem*>` keyed by task id.
+   - `tasksUpdated` → rebuild overlay: call `getGeoCoordinate` (from ROSWidget) for
+     each pose, create/replace `TaskOverlayItem`s on the scene.
+   - `taskSelected` → set `is_selected_` on the matching item, clear others,
+     call `item->update()`.
+   - `TaskOverlayItem::clicked(id)` → `runningTasksView_->setSelectedTask(id)`.
+
+5. **Wire in `Platform`** — after `runningTasksView->setNode(node_)`, construct
+   `RunningTasksOverlay`, pass it the scene from the `AutonomousVehicleProject`
+   (via `Platform`'s parent chain or a passed-in pointer) and connect it to
+   `m_ui->runningTasksView`.  `RunningTasksOverlay` inherits `nodeStarted` via
+   `ROSWidget`, so call `overlay_->nodeStarted(node_, transform_buffer_)` in
+   `Platform::onNodeUpdated`.
+
+6. **CMakeLists** — add `running_tasks/task_overlay_item.cpp` and
+   `running_tasks/running_tasks_overlay.cpp` to the `SOURCES` list.
+
+## Files to Change
+
+| File | Change |
+|------|--------|
+| `src/camp/running_tasks/running_tasks_model.h` | Add `hasTaskPoses(QModelIndex)` declaration |
+| `src/camp/running_tasks/running_tasks_model.cpp` | Implement `hasTaskPoses` |
+| `src/camp/running_tasks/running_tasks_view.h` | Add `tasksUpdated` signal |
+| `src/camp/running_tasks/running_tasks_view.cpp` | Emit `tasksUpdated` from `applyPendingTasks`; guard `onCurrentRowChanged` with `hasTaskPoses` |
+| `src/camp/running_tasks/task_overlay_item.h` | New file — `TaskOverlayItem` (`GeoGraphicsItem` subclass) |
+| `src/camp/running_tasks/task_overlay_item.cpp` | New file — paint + click + coordinate update |
+| `src/camp/running_tasks/running_tasks_overlay.h` | New file — `RunningTasksOverlay` (`camp_ros::ROSWidget`) |
+| `src/camp/running_tasks/running_tasks_overlay.cpp` | New file — glue: rebuild items, sync selection |
+| `src/camp/geographicsitem.h` | Add `RunningTaskType` to the type enum |
+| `src/camp/platform_manager/platform.h` | Add `RunningTasksOverlay*` member |
+| `src/camp/platform_manager/platform.cpp` | Construct overlay, call `nodeStarted`, connect signals |
+| `CMakeLists.txt` | Add two new `.cpp` files to `SOURCES` |
+
+## Principles Self-Check
+
+| Principle | Consideration |
+|---|---|
+| Only what's needed | Two new classes; no third subscription or duplicate data path |
+| Workspace vs. project separation | All new code in `camp/` project repo — no workspace infra touched |
+| A change includes its consequences | `CMakeLists.txt` updated; `geographicsitem.h` enum extended |
+| Improve incrementally | Single PR building on P1 foundation; P3 editing deferred |
+
+## ADR Compliance
+
+| ADR | Triggered | How addressed |
+|---|---|---|
+| ADR-0002 (Web-Mercator scene) | Yes | `TaskOverlayItem` uses `geoToPixel` for scene coordinates; no chart dependency |
+| ADR-0008 (ROS 2 conventions) | Yes | Node-injection idiom for `RunningTasksView` unchanged; ROSWidget pattern for overlay |
+
+## Consequences
+
+| If we change... | Also update... | Included in plan? |
+|---|---|---|
+| `GeoGraphicsItem` type enum | Any switch/cast on item types | Yes — add enum value; no existing switch covers it |
+| `RunningTasksView` signals | rqt plugin (future) | No — `tasksUpdated` is additive; rqt path unaffected |
+| `Platform` construction | Any future subclass of Platform | No follow-up needed — single concrete class |
+
+## Open Questions
+
+- Which frame does the boat populate `poses[].header.frame_id` with in practice?
+  `getGeoCoordinate` will TF-lookup to earth regardless, but knowing the source
+  frame helps set timeout expectations (earth→map is quasi-static; a more dynamic
+  frame would need a tighter retry window).
+- Should the overlay recenter the view on the selected task's first pose (tree→map)?
+  The issue says "and optionally recenters"; leaving optional — implement if trivial
+  once selection sync is working.
+
+## Estimated Scope
+
+Single PR.