add TaskFailed trigger

pjibot_delivery_msgs/common_msgs.go

@@ -20,3 +20,19 @@ type LocateInfo struct {
 	ErrorCode    int64                     `rosname:"error_code"`
 	Message      string                    `rosname:"message"`
 }
+type TaskInfo struct {
+	msg.Package    `ros:"common_msgs"`
+	TaskID         string                    `rosname:"task_id"`
+	TaskType       int32                     `rosname:"task_type"`
+	SubTaskType    int32                     `rosname:"sub_task_type"`
+	TransitionTask bool                      `rosname:"transition_task"`
+	CanRotation    bool                      `rosname:"can_rotation"`
+	Point          geometry_msgs.PoseStamped `rosname:"point"`
+}
+type TaskFeedbackInfo struct {
+	msg.Package   `ros:"common_msgs"`
+	TaskInfo      TaskInfo `rosname:"task_info"`
+	TaskStatus    int8     `rosname:"task_status"`
+	TaskErrorCode int64    `rosname:"task_error_code"`
+	Message       string   `rosname:"message"`
+}

trigger/pjibot_delivery/locate_info/locationfailed/main/main.go

@@ -1,7 +1,7 @@
 package main
 
 import (
-	"cicv-data-closedloop/pji_msgs"
+	"cicv-data-closedloop/pjibot_delivery_msgs"
 )
 
 func Topic() string {

trigger/pjibot_delivery/task_feedback_info/TaskFailed/main/TaskFailed.go

@@ -0,0 +1,21 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjibot_delivery_msgs"
+)
+
+func Topic() string {
+	return "/task_feedback_info"
+}
+
+func Label() string {
+	return "TaskFailed"
+}
+
+func Rule(data *pji_msgs.TaskFeedbackInfo) string {
+
+	if data.TaskErrorCode != 0 {
+		return "TaskFailed"
+	}
+	return ""
+}