22 Mar 21:11

bburda

da6817c

v0.4.0 Latest

Latest

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).

What's Changed

Features

feat(logging): add Log Entries REST API endpoints by @bburda in #245
Add layered MergePipeline for multi-source entity discovery by @bburda in #246
Support all SOVD resource collections in cyclic subscriptions by @bburda in #254
feat: Linux introspection plugins (procfs, systemd, container) by @bburda in #263
feat(discovery): add beacon-based discovery plugins (topic + parameter) by @bburda in #264
feat: add /docs endpoint with OpenAPI capability description by @bburda in #271
feat(locking): implement SOVD resource locking by @bburda in #287
feat: SOVD diagnostic scripts with plugin-extensible ScriptProvider by @bburda in #286
feat(triggers): implement event-based conditional data delivery by @bburda in #293
feat(openapi): add response schemas, component types, and operationIds for client code generation by @bburda in #302
feat(manifest): support scripts section in entity manifest by @bburda in #304
Add x-medkit-graph provider and function cyclic subscriptions by @eclipse0922 in #270
Add GET /apps/{app-id}/is-located-on endpoint by @eclipse0922 in #299
feat: per-entity confirmation and healing thresholds by @mfaferek93 in #274

Bug Fixes & Improvements

docs+fix: update documentation and API responses for post-0.3.0 changes by @bburda in #258
Fix exceptions getting bulk_data.categories and plugins at startup by @nnarain in #256
fix(rosbag): default storage format sqlite3 -> mcap by @mfaferek93 in #252
fix(deps): use correct rosdep key for SQLite3 by @mfaferek93 in #250
fix(gateway): support namespaced fault manager integration by @eclipse0922 in #301
fix: align discovery plugin package versions to 0.3.0 by @mfaferek93 in #292

Testing

Add unit tests for DiscoveryHandlers by @eclipse0922 in #281
Add unit tests for operation handlers by @eclipse0922 in #290

CI & Build

Optimize local DX and CI pipeline by @bburda in #239
ci: trigger selfpatch_demos CI on push to main by @bburda in #244
fix(ci): match Jenkins build farm dependency isolation by @bburda in #280
fix(ci): resolve graph provider test deadlock and clang-tidy timeout by @bburda in #283
fix(test): resolve buildfarm executor shutdown deadlock in graph provider tests by @bburda in #285
feat: extract shared cmake modules into ros2_medkit_cmake package by @bburda in #295
Extract GraphProviderPlugin to loadable .so plugin by @bburda in #289
feat: experimental cross-platform Pixi support by @bburda in #266

Docs

docs: rewrite copilot-instructions.md for effective code review by @bburda in #247
Release v0.4.0 by @bburda in #298

New Contributors

@nnarain made their first contribution in #256

Full Changelog: 0.3.0...0.4.0

Contributors

eclipse0922, nnarain, and 2 other contributors

Assets 2

27 Feb 17:03

bburda

0.3.0

1f2d96f

v0.3.0

Highlights

Gateway plugin framework

ros2_medkit now supports runtime-loaded C++ plugins for extending the gateway with custom endpoints and capabilities. Plugins are shared libraries (.so) loaded at startup, with full lifecycle management, API versioning, and access to gateway internals via PluginContext. The first built-in plugin type is UpdateProvider for software updates. (#237)

Software updates endpoints

8 new REST endpoints under /api/v1/{entity}/updates implement the SOVD software update lifecycle - from listing available campaigns through installation to activation. The update logic is fully delegated to plugins, so any backend (OTA server, local repo, custom protocol) can be integrated without touching gateway code. (#231, #237)

SSE-based periodic data subscriptions

Clients can now subscribe to entity data streams via Server-Sent Events at /api/v1/{entity}/data/{resource}/subscriptions, receiving periodic samples without polling. Each subscription runs independently with configurable intervals. (#223)

Multi-distro CI: Humble, Jazzy, and Rolling

The entire workspace now builds and passes tests on ROS 2 Humble, Jazzy, and Rolling. This required a compatibility shim for ament_target_dependencies (deprecated on Rolling), GenericClient backport for Humble, and fixes for GCC 11, older rosbag2, and DDS behavior differences. (#219, #242)

Rate limiting

New token-bucket rate limiting middleware protects the gateway from request floods. Limits are configurable per-endpoint group (data, operations, faults, config, discovery, bulk_data) with separate burst and sustained rate settings. (#220)

Dedicated integration test package

All integration tests and demo nodes have been extracted into a standalone ros2_medkit_integration_tests package with a shared ros2_medkit_test_utils library, GatewayTestCase base class, and structured test categories (features, scenarios). (#227)