Add basic folder struct and initial gateway node#6
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Update all references across documentation, templates, and configuration files to use the new project name ros2_diag_tree for consistency.
- Add ros2_diag_tree_gateway package with basic HTTP server - Implement /health and / endpoints using cpp-httplib - Add GTest for health endpoint verification - Configure linting (exclude uncrustify, use clang-format) - Add clang-format to devcontainer
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Pull Request Overview
This PR introduces a new ros2_diag_tree_gateway package that provides an HTTP gateway for the ROS 2 diagnostics system, implementing a basic HTTP server with health check and informational endpoints. Additionally, it renames the project from "DiagTree" to "ros2_diag_tree" throughout the documentation.
- Adds HTTP server implementation using cpp-httplib with
/healthand/endpoints - Implements test coverage for the health endpoint using GTest
- Configures build system with clang-format linting and excludes uncrustify
Reviewed Changes
Copilot reviewed 12 out of 12 changed files in this pull request and generated 7 comments.
Show a summary per file
| File | Description |
|---|---|
| src/ros2_diag_tree_gateway/src/gateway_node.cpp | Main gateway node implementation with HTTP server and endpoint handlers |
| src/ros2_diag_tree_gateway/test/test_gateway_node.cpp | Test suite for gateway node with health endpoint verification |
| src/ros2_diag_tree_gateway/CMakeLists.txt | CMake build configuration including cpp-httplib dependency and test setup |
| src/ros2_diag_tree_gateway/package.xml | ROS 2 package manifest with dependencies |
| src/ros2_diag_tree_gateway/README.md | Package documentation with usage examples |
| .devcontainer/Dockerfile | Adds clang-format to development environment |
| README.md, SECURITY.md, CONTRIBUTING.md, etc. | Project rename from DiagTree to ros2_diag_tree |
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- Add nlohmann/json library for proper JSON serialization - Replace manual string concatenation with type-safe JSON objects - Cache node name to avoid cross-thread access to ROS node methods - Remove logging from server thread to prevent thread-safety issues - Add VERSION constant to avoid hardcoded version strings - Improve test reliability with proper server startup polling - Update tests to parse and validate actual JSON structure
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mfaferek93
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- Add inline symptom codes support in YAML config (codes: [...] syntax) - Refactor severity_to_string/severity_rank to shared types.hpp/cpp - Add correlation.cleanup_interval_sec parameter (default 5.0s) - Update TODO(#105) → TODO(#127) for pending_clusters cleanup - Add PlantUML sequence diagrams to fault-correlation tutorial Addresses review comments: - Implement missing inline codes parsing (#1) - Fix orphaned TODO reference (#2) - Consolidate duplicated severity functions (#3) - Parameterize magic number 5s (#4) - Add flow diagrams to docs (#6)
mfaferek93
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Jan 21, 2026
* feat(#105): add fault correlation engine for root-cause analysis Implement hierarchical and auto-cluster correlation modes to reduce fault noise by identifying root causes and grouping related faults. Key features: - Hierarchical mode: detect root cause → symptom relationships - Auto-cluster mode: group similar faults within time window - YAML-based configuration with pattern wildcards - Muted faults tracking and auto-clear on root cause resolution - Gateway API support with include_muted/include_clusters params New messages: MutedFaultInfo.msg, ClusterInfo.msg Extended: GetFaults.srv, ClearFault.srv, FaultEvent.msg * docs(#105): add correlation endpoints to Postman collection Add new requests demonstrating fault correlation query parameters: - GET Faults with Correlation Data (include_muted + include_clusters) - GET Faults with Muted Details Only - GET Faults with Cluster Details Only Update existing endpoint descriptions to document: - muted_count/cluster_count fields in GET /faults response - auto_cleared_codes in DELETE clear fault response - Faults folder description with correlation feature overview * docs(#105): add fault correlation tutorial Add comprehensive tutorial covering: - Hierarchical mode (root cause → symptom relationships) - Auto-cluster mode (grouping similar faults) - YAML configuration with patterns and rules - REST API query parameters for correlation data - Complete example configuration - Troubleshooting guide * style: fix clang-format and flake8 formatting issues * fix(#105): address thread safety and retroactive cluster muting - Fix data race in PatternMatcher::get_compiled() by adding mutex protection for the mutable compiled_cache_ member - Add retroactive_mute_codes field to ProcessFaultResult for tracking faults that should have been muted before cluster activation - Populate retroactive_mute_codes when cluster transitions from pending to active (reaches min_count threshold) - Add debug logging for retroactive muting in fault_manager_node - Add unit test AutoClusterRetroactiveMuting to verify behavior * fix(#105): add periodic cleanup timer for correlation engine Add 5-second timer to periodically call cleanup_expired() on the correlation engine. This prevents stale pending root causes and pending clusters from accumulating in memory when faults are reported infrequently. Add unit tests: - CleanupExpiredRemovesPendingRootCauses - CleanupExpiredRemovesPendingClusters * perf(#105): minor optimizations and documentation - Skip regex compilation for non-wildcard patterns (perf improvement) - Add validation error for min_count=0 in auto-cluster rules - Add TODO documenting known limitation: pending_clusters_ not cleaned up when fault is cleared before cluster reaches min_count * fix(#105): address code review feedback for fault correlation - Add inline symptom codes support in YAML config (codes: [...] syntax) - Refactor severity_to_string/severity_rank to shared types.hpp/cpp - Add correlation.cleanup_interval_sec parameter (default 5.0s) - Update TODO(#105) → TODO(#127) for pending_clusters cleanup - Add PlantUML sequence diagrams to fault-correlation tutorial Addresses review comments: - Implement missing inline codes parsing (#1) - Fix orphaned TODO reference (#2) - Consolidate duplicated severity functions (#3) - Parameterize magic number 5s (#4) - Add flow diagrams to docs (#6)
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Related to #3
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colcon buildand the build succeeds without warningscolcon testand all tests pass locallyAdditional notes for reviewers