#include "workflow_fixture.hpp"
int main() {
 for(const auto* code:{"INPUTS_UNHEALTHY","ROBOT_STATE_UNAVAILABLE","ROBOT_ESTOP","EXECUTION_BACKEND_NOT_CONFIGURED","NAV_NOT_READY"}) {
  Fixture f(std::string("navigation_")+code);auto runner=f.runner();Workflow flow(runner);
  auto status=TickStatus::RUNNING;
  for(unsigned i=0;i<100&&status==TickStatus::RUNNING;++i) {
   f.driver.now=1000000+static_cast<RosTime>(i)*1000000;
   runner.update_safety({true,true,Holding::EMPTY,f.driver.now,f.driver.now+1000000000});
   status=flow.tick(SteadyTime{}+Milliseconds(i),f.driver.now);
   for(auto& event:f.driver.events) {
    if(event.kind==EventKind::RESULT&&!f.driver.sent.empty()&&f.driver.sent.back().skill==Skill::NAVIGATE) {
     event.native_status=NativeStatus::ABORTED;event.result.code=ResultCode::REJECTED;
     event.result.error_code=code;event.result.stop=StopState::CONFIRMED;
    }
   }
  }
  assert(status==TickStatus::INTERVENTION_REQUIRED);
  assert(runner.error_code()==code);assert(f.count(Skill::NAVIGATE)==1);assert(f.count(Skill::PICK)==0);
  for(unsigned i=100;i<120;++i) {
   assert(flow.tick(SteadyTime{}+Milliseconds(i),f.driver.now)==TickStatus::INTERVENTION_REQUIRED);
  }
  assert(f.count(Skill::NAVIGATE)==1);
 }
 std::cout<<"navigation NOT_READY retains reason and requires explicit recovery without motion resend\n";
}