From 4de615d1ae2e63dffd36c1be9f5aa0681b34dc28 Mon Sep 17 00:00:00 2001
From: smix8 <52464204+smix8@users.noreply.github.com>
Date: Fri, 6 Dec 2024 16:20:59 +0100
Subject: [PATCH] Fix avoidance dirty flag regression
The dirty flag can also still be set by some legacy functions triggered by the agents and obstacles.
---
modules/navigation/nav_map.cpp | 8 ++++++--
1 file changed, 6 insertions(+), 2 deletions(-)
diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp
index 1bd703238c9..739b031d061 100644
--- a/modules/navigation/nav_map.cpp
+++ b/modules/navigation/nav_map.cpp
@@ -948,14 +948,18 @@ void NavMap::_sync_dirty_map_update_requests() {
void NavMap::_sync_dirty_avoidance_update_requests() {
// Sync NavAgents.
- agents_dirty = sync_dirty_requests.agents.first();
+ if (!agents_dirty) {
+ agents_dirty = sync_dirty_requests.agents.first();
+ }
for (SelfList<NavAgent> *element = sync_dirty_requests.agents.first(); element; element = element->next()) {
element->self()->sync();
}
sync_dirty_requests.agents.clear();
// Sync NavObstacles.
- obstacles_dirty = sync_dirty_requests.obstacles.first();
+ if (!obstacles_dirty) {
+ obstacles_dirty = sync_dirty_requests.obstacles.first();
+ }
for (SelfList<NavObstacle> *element = sync_dirty_requests.obstacles.first(); element; element = element->next()) {
element->self()->sync();
}