fix(gateway): use entity cache for detail endpoints instead of DiscoveryManager#326
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mfaferek93 merged 2 commits intomainfrom Mar 30, 2026
Merged
fix(gateway): use entity cache for detail endpoints instead of DiscoveryManager#326mfaferek93 merged 2 commits intomainfrom
mfaferek93 merged 2 commits intomainfrom
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Pull request overview
Switches discovery detail/relationship handlers to use ThreadSafeEntityCache for entity lookups, fixing inconsistencies where entities listed from the cache could 404 on detail endpoints due to DiscoveryManager re-discovery.
Changes:
- Replaced
DiscoveryManager::get_area/get_component/get_app/get_functionusage withThreadSafeEntityCachelookups in multiple detail handlers. - Updated several relationship handlers to resolve related entity IDs via cache indexes and then fetch entity details from the cache.
- Reduced reliance on per-request ROS graph re-discovery for affected endpoints.
src/ros2_medkit_gateway/src/http/handlers/discovery_handlers.cpp
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…eryManager
Detail handlers (GET /areas/{id}, /components/{id}, /apps/{id},
/functions/{id}) used DiscoveryManager::get_*() which re-discovers
from ROS 2 graph on each call. This missed topic-source and synthetic
components that are only present in the cache (populated during
periodic discovery refresh).
Switch entity detail handlers to use ThreadSafeEntityCache which
already has the complete entity set including topic-source components.
List endpoints already used the cache, so this makes behavior consistent.
Relationship endpoints (contains, hosts, depends-on, subcomponents,
function-hosts) keep using DiscoveryManager for hierarchy resolution
and to return fresh discovery state (e.g., is_online status).
Fixes #319
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bburda
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Mar 30, 2026
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Two issues:
handle_app_depends_oninner loop still usesdiscovery->get_app(dep_id)(see inline)- No regression integration test -
test_discovery_heuristic.test.pyonly tests list endpoints in runtime_only mode. A "list then detail" test for synthetic components would guard against this exact bug scenario.
src/ros2_medkit_gateway/src/http/handlers/discovery_handlers.cpp
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handle_app_depends_on and handle_function_hosts used discovery->get_app() for dependency/host lookups - same bug class this PR fixes. Synthetic/topic-source apps would incorrectly show as missing. Switch to cache.get_app() consistently. Update test expectations: is_online now reflects cache state (enriched during runtime linking) rather than discovery default.
bburda
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Mar 30, 2026
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Summary
Detail handlers used DiscoveryManager::get_*() which re-discovers from ROS 2 graph on each call. This missed topic-source and synthetic components that are only present in the entity cache. List endpoints already used the cache, causing inconsistency: GET /components lists topic-source components but GET /components/{id} returns 404.
Switch all entity detail and relationship handlers to use ThreadSafeEntityCache.
Test plan
Fixes #319