11 Jun 11:31

bburda

be1b03a

v0.5.0 Latest

Latest

Highlights

Cross-gateway peer aggregation

A gateway can now aggregate entities and their resources across multiple peer gateways. The SOVD entity model was aligned and multi-instance peer aggregation added, so a single gateway can present entities hosted on its peers. Per-entity resource handlers fan out to peers, with Component routing that distinguishes hierarchical from leaf Components and annotates responses with provenance and warnings. App-to-Component binding is read from the SOVD is-located-on relationship. Local-only entities skip the fan-out path. Component /logs and /bulk-data aggregate from hosted apps' FQNs, and per-entity fault GET/DELETE is scoped by hosted-app FQNs. (#327, #370, #372, #374, #383, #394, #401)

Protocol plugins: OPC UA and the SOVD Service Interface

OPC UA (ros2_medkit_opcua) bridges an OPC UA server into medkit, including a native AlarmConditionType subscription bridge for OPC UA alarm conditions. Source build only for now: the plugin fetches open62541pp at build time, which the ROS buildfarm does not allow, so it is excluded from the binary (apt) release until the dependency is vendored (#415). (#365, #387)

SOVD Service Interface (ros2_medkit_sovd_service_interface) exposes gateway capabilities as ROS 2 services for external integrations. The VDA 5050 message definitions that landed alongside it were removed again before this release as unused. (#331)

Per-entity providers and gateway internals

The gateway gains per-entity provider interfaces - DataProvider, OperationProvider, and FaultProvider - so each entity can supply its own data, operations, and faults. A new core/ layer scaffolds provider injection, gateway managers become pure C++ behind Transport adapters with discovery split out and graph-event-driven refresh, and topic data is served through a pool-backed TopicDataProvider architecture. (#355, #384, #392, #397)

Typed DTO contract and OpenAPI alignment

HTTP responses are now produced from a typed DTO contract that also drives the OpenAPI schema, keeping the served spec aligned with handler implementations. Vendor-specific fields are nested under x-medkit on SOVD endpoint payloads. (#403, #390, #313, #329)

Plugin API isolation and change notifications

httplib is removed from the plugin-facing API and headers, vendored as a build-farm fallback, with a purity gate that keeps it out of plugin-facing headers. Plugins can signal discovery changes via notify_entities_changed and contribute manifest fragments. Plugin and gateway config can be supplied from YAML, including YAML array parameters declared from --params-file. (#347, #411, #377, #350, #363)

Container images on GHCR

ros2_medkit now ships a Dockerfile and publishes container images to GHCR via a CI workflow. (#343)

Quality gate, hardened warnings, and Lyrical Luth

A new quality.yml CI workflow runs sanitizers and decoupled clang-tidy. Compiler warning flags are centralized and hardened across the build. The CI matrix swaps ROS 2 Rolling for Lyrical Luth on Ubuntu 26.04. (#348, #357, #405)

Stability and reliability

Several concurrency and lifecycle fixes: a timed_mutex with a 3s timeout prevents permanent thread-pool exhaustion, the configurations endpoint deadlock on nodes without a parameter service is resolved, snapshot growth is bounded by three-layer protection, the fault transport runs on its own executor, and SIGSEGV on shutdown in plugins and demo nodes is fixed. (#333, #323, #324, #402, #361)

What's Changed

Features

feat: SOVD entity model alignment and multi-instance peer aggregation by @bburda in #327
feat(vda5050): add VDA 5050 msgs + ros2_medkit Service Interface plugin by @mfaferek93 in #331
feat: add per-entity provider interfaces (DataProvider, OperationProvider, FaultProvider) by @bburda in #355
feat(plugins): add ros2_medkit_opcua plugin by @mfaferek93 in #365
ros2_medkit_opcua: native AlarmConditionType subscription bridge by @mfaferek93 in #387
feat: add cross-gateway peer fan-out to all per-entity resource handlers by @bburda in #372
feat(plugins): notify_entities_changed + manifest fragments by @bburda in #377
feat(data): pool-backed TopicDataProvider architecture by @bburda in #384
feat(gateway): add GET /apps/{id}/belongs-to discovery endpoint by @bburda in #398
feat(gateway): expose entity context on /faults/stream SSE events by @bburda in #400
feat(gateway): typed DTO contract for HTTP responses and OpenAPI schema by @bburda in #403

Bug Fixes & Improvements

fix: merge pipeline fixes, flat entity tree, trigger resolution by @bburda in #310
fix: allow add_layer() after pipeline execute for plugin registration by @bburda in #311
fix: suppress root-namespace heuristic entities and orphan apps by @bburda in #312
fix: align OpenAPI schemas with actual handler responses by @bburda in #313
fix: prevent subscription teardown crashes and fix flaky tests by @bburda in #317
fix(gateway): prevent configurations endpoint deadlock on nodes without parameter service by @mfaferek93 in #323
fix: three-layer protection against unbounded snapshot growth by @bburda in #324
fix(gateway): use entity cache for detail endpoints instead of DiscoveryManager by @mfaferek93 in #326
fix(gateway): correct OpenAPI schemas to match handler implementations by @bburda in #329
fix(gateway): use timed_mutex with 3s timeout to prevent permanent thread pool exhaustion by @mfaferek93 in #333
fix: resolve flaky test_resource_change_notifier and Humble demo node SIGSEGV by @bburda in #345
Abstract httplib from plugin API, vendor as build farm fallback by @bburda in #347
fix(gateway): plugin config from YAML, thread-safety, CI stability by @bburda in #350
fix(linux_introspection): declare pkg-config as buildtool_depend by @bburda in #353
fix: prevent SIGSEGV on shutdown in plugins and demo nodes by @bburda in #361
fix(plugin_manager): declare YAML array params from --params-file by @bburda in #363
fix(aggregation): read app-to-component binding from SOVD is-located-on by @bburda in #370
fix(aggregation): hierarchical/leaf Component routing with provenance and warnings by @bburda in #374
fix(updates): seed Pending state on register so /updates/{id}/status returns 200 by @bburda in #379
fix(aggregation): skip per-entity fan-out for local-only entities by @bburda in #383
Nest x-medkit vendor fields on SOVD endpoint payloads by @bburda in #390
refactor(gateway): introduce core/ layer scaffolding for provider injection by @bburda in #392
fix(gateway): aggregate component /logs and /bulk-data from hosted apps' fqns by @bburda in #394
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Contributors

eclipse0922, bburda, and 2 other contributors

Assets 2

22 Mar 21:11

bburda

0.4.0

da6817c

v0.4.0

Highlights

Resource locking

Acquire, release, and extend locks with session tracking and automatic expiration. Lock enforcement is applied to all mutating handlers (PUT, POST, DELETE), with per-entity lock scopes configurable via manifest YAML. Plugins can access lock state via PluginContext. Cyclic subscriptions are automatically cleaned up on lock expiry. (#287)

Diagnostic scripts

Upload, list, execute, and control diagnostic scripts via REST. The ScriptProvider plugin interface lets you bring your own execution backend. The built-in DefaultScriptProvider supports manifest-defined and filesystem-uploaded scripts with argument passing, timeout enforcement, and concurrent execution limits. RBAC guards all operations. (#286, #304)

Condition-based triggers

Event-driven push notifications for resource changes. Define triggers with conditions (OnChange, OnChangeTo, EnterRange, LeaveRange) on any resource collection - data, faults, logs, configurations, or update-status. Triggers fire via SSE and persist across gateway restarts via SQLite. Plugin authors can add custom delivery transports via TriggerTransportProvider. (#293)

Multi-collection cyclic subscriptions

Cyclic subscriptions now support all resource collections - data, faults, logs, configurations, and update-status. Previously limited to data topics, you can now stream any resource type via SSE with configurable intervals. Function-level cyclic subscriptions aggregate from child apps. (#254, #270)

OpenAPI 3.1.0 spec and Swagger UI

The gateway now serves a full OpenAPI 3.1.0 specification at /api/v1/docs with per-entity-type sub-specs, named component schemas, clean operationId values, and endpoint descriptions suitable for client code generation. Swagger UI can be embedded at build time with -DENABLE_SWAGGER_UI=ON. (#271, #302)

Log endpoints

LogManager with /rosout ring buffer and plugin delegation via LogProvider. New /logs and /logs/configuration endpoints with area and function-level namespace aggregation. (#245)

Layered merge pipeline

Hybrid discovery now uses a multi-layer merge pipeline with per-layer, per-field-group merge policies. Manifest, runtime, and plugin layers each contribute entities that are merged according to configurable rules. Gap-fill heuristics are controllable via allow_heuristic_* options. (#246, #258)

Plugins

GraphProviderPlugin (ros2_medkit_graph_provider) builds pipeline graph documents for functions with topic-level metrics - frequency (Hz), latency (ms), drop rate - and pipeline health analysis (healthy/degraded/error edges, bottleneck detection). Exposed via x-medkit-graph vendor extension endpoints on functions. (#270, #289)

Beacon discovery plugins enrich entities with runtime metadata that the ROS 2 graph API cannot provide - transport type, process IDs, hostnames, function membership, and more. TopicBeaconPlugin (push-based): nodes publish MedkitDiscoveryHint messages. ParameterBeaconPlugin (pull-based): the plugin polls node parameters. Both feed into the merge pipeline's plugin layer. (#264)

Linux introspection plugins - procfs, systemd, and container - expose process-level diagnostics (CPU, memory, file descriptors, cgroup limits) via x-medkit-* vendor extension endpoints. (#263)

Plugin API bumped to v4 with ScriptProvider, locking API, and extended PluginContext (entity snapshot, fault listing, sampler registration, child app access).