Feat/rosdistro release prep

src/ros2_medkit_diagnostic_bridge/CHANGELOG.rst

@@ -0,0 +1,19 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package ros2_medkit_diagnostic_bridge
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Forthcoming
+-----------
+* Initial rosdistro release
+* Bridge node converting standard ROS 2 /diagnostics to FaultManager fault reports
+* Severity mapping:
+
+  * OK -> PASSED event (fault condition cleared)
+  * WARN -> WARN severity FAILED event
+  * ERROR -> ERROR severity FAILED event
+  * STALE -> CRITICAL severity FAILED event
+
+* Auto-generated fault codes from diagnostic names (UPPER_SNAKE_CASE)
+* Custom name_to_code mappings via ROS parameters
+* Stateless design: always sends PASSED for OK status (handles restarts)
+* Contributors: Michal Faferek

src/ros2_medkit_fault_manager/CHANGELOG.rst

@@ -0,0 +1,50 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package ros2_medkit_fault_manager
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Forthcoming
+-----------
+* Initial rosdistro release
+* Central fault management node with ROS 2 services:
+
+  * ReportFault - report FAILED/PASSED events with debounce filtering
+  * GetFaults - query faults with filtering by severity, status, correlation
+  * ClearFault - clear/acknowledge faults
+
+* Debounce filtering with configurable thresholds:
+
+  * FAILED events decrement counter, PASSED events increment
+  * Configurable confirmation_threshold (default: -1, immediate)
+  * Optional healing support (healing_enabled, healing_threshold)
+  * Time-based auto-confirmation (auto_confirm_after_sec)
+  * CRITICAL severity bypasses debounce
+
+* Dual storage backends:
+
+  * SQLite persistent storage with WAL mode (default)
+  * In-memory storage for testing/lightweight deployments
+
+* Snapshot capture on fault confirmation:
+
+  * Topic data captured as JSON with configurable topic resolution
+  * Priority: fault_specific > patterns > default_topics
+  * Stored in SQLite with indexed fault_code lookup
+  * Auto-cleanup on fault clear
+
+* Rosbag capture with ring buffer:
+
+  * Configurable duration, post-fault recording, topic selection
+  * Lazy start mode (start on PREFAILED) or immediate
+  * Auto-cleanup of bag files, storage limits (max_bag_size_mb)
+  * GetRosbag service for bag file metadata
+
+* Fault correlation engine:
+
+  * Hierarchical mode: root cause to symptom relationships
+  * Auto-cluster mode: group similar faults within time window
+  * YAML-based configuration with pattern wildcards
+  * Muted faults tracking, auto-clear on root cause resolution
+
+* FaultEvent publishing on ~/events topic for SSE streaming
+* Wall clock timestamps (compatible with use_sim_time)
+* Contributors: Bartosz Burda, Michal Faferek

src/ros2_medkit_fault_reporter/CHANGELOG.rst

@@ -0,0 +1,22 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package ros2_medkit_fault_reporter
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Forthcoming
+-----------
+* Initial rosdistro release
+* FaultReporter client library with simple API:
+
+  * report(fault_code, severity, description) - report FAILED events
+  * report_passed(fault_code) - report fault condition cleared
+  * High-severity faults (ERROR, CRITICAL) bypass local filtering
+
+* LocalFilter for per-fault-code threshold/window filtering:
+
+  * Configurable threshold (default: 3 reports) and time window (default: 10s)
+  * Prevents flooding FaultManager with duplicate reports
+  * PASSED events always forwarded (bypass filtering)
+
+* Configuration via ROS parameters (filter_threshold, filter_window_sec)
+* Thread-safe implementation with mutex-protected config access
+* Contributors: Bartosz Burda, Michal Faferek

src/ros2_medkit_gateway/CHANGELOG.rst

@@ -0,0 +1,38 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package ros2_medkit_gateway
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Forthcoming
+-----------
+* Initial rosdistro release
+* HTTP REST gateway for ros2_medkit diagnostics system
+* SOVD-compatible entity discovery with four entity types:
+
+  * Areas, Components, Apps, Functions
+  * HATEOAS links and capabilities in all responses
+  * Relationship endpoints (subareas, subcomponents, related-apps, hosts)
+
+* Three discovery modes:
+
+  * Runtime-only: automatic ROS 2 graph introspection
+  * Manifest-only: YAML manifest with validation (11 rules)
+  * Hybrid: manifest as source of truth + runtime linking
+
+* REST API endpoints:
+
+  * Fault management: GET/POST/DELETE /api/v1/faults
+  * Data access: topic sampling via GenericSubscription
+  * Operations: service calls and action goals via GenericClient
+  * Configuration: parameter get/set via ROS 2 parameter API
+  * Snapshots: GET /api/v1/faults/{code}/snapshots
+  * Rosbag: GET /api/v1/faults/{code}/snapshots/bag
+
+* Server-Sent Events (SSE) at /api/v1/faults/stream:
+
+  * Multi-client support with thread-safe event queue
+  * Keepalive, Last-Event-ID reconnection, configurable max_clients
+
+* JWT-based authentication with configurable policies
+* HTTPS/TLS support via OpenSSL and cpp-httplib
+* Native C++ ROS 2 serialization via ros2_medkit_serialization (no CLI dependencies)
+* Contributors: Bartosz Burda, Michal Faferek

src/ros2_medkit_gateway/CMakeLists.txt

@@ -45,54 +45,18 @@ find_package(OpenSSL REQUIRED)
 # This enables the httplib::SSLServer class for HTTPS support
 add_compile_definitions(CPPHTTPLIB_OPENSSL_SUPPORT)
 
-# Fetch header-only libraries
-include(FetchContent)
-
-# Fetch tl::expected (C++11/14/17 compatible std::expected alternative)
-# Disable tests and examples to avoid clang-tidy analyzing external code
-set(EXPECTED_BUILD_TESTS OFF CACHE BOOL "" FORCE)
-set(EXPECTED_BUILD_PACKAGE OFF CACHE BOOL "" FORCE)
-fetchcontent_declare(
-  tl_expected
-  GIT_REPOSITORY https://github.com/TartanLlama/expected.git
-  GIT_TAG        v1.3.1
-  SYSTEM         # Treat as system headers to suppress warnings
-  EXCLUDE_FROM_ALL  # Don't build tests/examples
-)
-fetchcontent_getproperties(tl_expected)
-if(NOT tl_expected_POPULATED)
-  fetchcontent_populate(tl_expected)
-  # Only add include directory, don't add_subdirectory to avoid install conflicts
-endif()
-
-# Create interface library for tl::expected manually
+# Vendored header-only libraries (no network access on ROS build farm)
+# tl::expected v1.3.1 (CC0) - https://github.com/TartanLlama/expected
 add_library(tl_expected_iface INTERFACE)
 target_include_directories(tl_expected_iface SYSTEM INTERFACE
-  ${tl_expected_SOURCE_DIR}/include
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/vendored/tl_expected/include
 )
 add_library(tl::expected ALIAS tl_expected_iface)
 
-# Fetch jwt-cpp header-only library
-# Disable tests and examples to avoid clang-tidy analyzing external code
-set(JWT_CPP_BUILD_EXAMPLES OFF CACHE BOOL "" FORCE)
-set(JWT_CPP_BUILD_TESTS OFF CACHE BOOL "" FORCE)
-fetchcontent_declare(
-  jwt-cpp
-  GIT_REPOSITORY https://github.com/Thalhammer/jwt-cpp.git
-  GIT_TAG        v0.7.0
-  SYSTEM         # Treat as system headers to suppress warnings
-  EXCLUDE_FROM_ALL  # Don't build tests/examples
-)
-fetchcontent_getproperties(jwt-cpp)
-if(NOT jwt-cpp_POPULATED)
-  fetchcontent_populate(jwt-cpp)
-  # Only add include directory, don't add_subdirectory to avoid install conflicts
-endif()
-
-# Create interface library for jwt-cpp manually
+# jwt-cpp v0.7.0 (MIT) - https://github.com/Thalhammer/jwt-cpp
 add_library(jwt_cpp_iface INTERFACE)
 target_include_directories(jwt_cpp_iface SYSTEM INTERFACE
-  ${jwt-cpp_SOURCE_DIR}/include
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/vendored/jwt_cpp/include
 )
 add_library(jwt-cpp::jwt-cpp ALIAS jwt_cpp_iface)
 
@@ -217,20 +181,52 @@ if(BUILD_TESTING)
   set(ament_cmake_clang_format_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-format")
   set(ament_cmake_clang_tidy_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
 
-  # Limit clang-tidy to only report issues from our source files (not FetchContent deps)
+  # Limit clang-tidy to only report issues from our source files (not vendored deps)
   set(ament_cmake_clang_tidy_HEADER_FILTER "^${CMAKE_CURRENT_SOURCE_DIR}/(include|src|test)/")
 
-  # Exclude linters that don't work well with FetchContent dependencies:
+  # Exclude linters that don't work well with vendored dependencies:
   # - uncrustify/cpplint: conflicts with clang-format
-  # - copyright/lint_cmake: flags generated/fetched files in install/
+  # - copyright/clang_format: we configure manually to skip src/vendored/
   # - clang_tidy: we configure it manually below with increased timeout
   list(APPEND AMENT_LINT_AUTO_EXCLUDE
     ament_cmake_uncrustify
     ament_cmake_cpplint
     ament_cmake_clang_tidy
+    ament_cmake_copyright
+    ament_cmake_clang_format
   )
   ament_lint_auto_find_test_dependencies()
 
+  # Configure copyright check to exclude vendored dependencies
+  find_package(ament_cmake_copyright REQUIRED)
+  set(VENDORED_FILES
+    "src/vendored/jwt_cpp/include/jwt-cpp/base.h"
+    "src/vendored/jwt_cpp/include/jwt-cpp/jwt.h"
+    "src/vendored/jwt_cpp/include/jwt-cpp/traits/boost-json/defaults.h"
+    "src/vendored/jwt_cpp/include/jwt-cpp/traits/boost-json/traits.h"
+    "src/vendored/jwt_cpp/include/jwt-cpp/traits/danielaparker-jsoncons/defaults.h"
+    "src/vendored/jwt_cpp/include/jwt-cpp/traits/danielaparker-jsoncons/traits.h"
+    "src/vendored/jwt_cpp/include/jwt-cpp/traits/kazuho-picojson/defaults.h"
+    "src/vendored/jwt_cpp/include/jwt-cpp/traits/kazuho-picojson/traits.h"
+    "src/vendored/jwt_cpp/include/jwt-cpp/traits/nlohmann-json/defaults.h"
+    "src/vendored/jwt_cpp/include/jwt-cpp/traits/nlohmann-json/traits.h"
+    "src/vendored/jwt_cpp/include/picojson/picojson.h"
+    "src/vendored/tl_expected/include/tl/expected.hpp"
+  )
+  ament_copyright(EXCLUDE ${VENDORED_FILES})
+
+  # Configure clang-format to only check our source files (not vendored)
+  find_package(ament_cmake_clang_format REQUIRED)
+  file(GLOB_RECURSE _format_files
+    "include/*.h" "include/*.hpp"
+    "src/*.cpp" "src/*.h" "src/*.hpp"
+    "test/*.cpp" "test/*.h" "test/*.hpp"
+  )
+  list(FILTER _format_files EXCLUDE REGEX ".*/vendored/.*")
+  ament_clang_format(${_format_files}
+    CONFIG_FILE "${ament_cmake_clang_format_CONFIG_FILE}"
+  )
+
   # Configure clang-tidy manually with increased timeout (1500s instead of default 300s)
   # This is needed because the project has many files and clang-tidy analysis takes time
   ament_clang_tidy(

src/ros2_medkit_gateway/package.xml

@@ -18,8 +18,9 @@
   <depend>action_msgs</depend>
   <depend>nlohmann-json-dev</depend>
   <depend>libcpp-httplib-dev</depend>
-  <!-- jwt-cpp is fetched via CMake FetchContent (header-only, no system package) -->
+  <!-- jwt-cpp is vendored in src/vendored/jwt_cpp (header-only, no system package) -->
   <!-- OpenSSL is found via CMake find_package (system package) -->
+  <depend>libssl-dev</depend>
   <depend>yaml_cpp_vendor</depend>
   <depend>ros2_medkit_msgs</depend>
   <depend>ros2_medkit_serialization</depend>

src/ros2_medkit_gateway/src/vendored/jwt_cpp/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2018 Dominik Thalhammer
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.