feat(#76): add basic FaultManager node with in-memory storage#86
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mfaferek93 merged 2 commits intomainfrom Dec 14, 2025
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feat(#76): add basic FaultManager node with in-memory storage#86mfaferek93 merged 2 commits intomainfrom
mfaferek93 merged 2 commits intomainfrom
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Pull request overview
This PR introduces a new ros2_medkit_fault_manager package that provides centralized fault aggregation and lifecycle management for the ros2_medkit system. The FaultManager node receives fault reports from multiple sources via ROS 2 services, aggregates them by fault code, and manages their lifecycle (PENDING → CONFIRMED → CLEARED states).
Key changes:
- Adds a standalone fault manager node with in-memory storage and three ROS 2 service interfaces (report_fault, get_faults, clear_fault)
- Implements thread-safe fault aggregation with occurrence counting and multi-source tracking
- Includes comprehensive unit tests for storage and node functionality
Reviewed changes
Copilot reviewed 10 out of 10 changed files in this pull request and generated 9 comments.
Show a summary per file
| File | Description |
|---|---|
| src/ros2_medkit_fault_manager/include/ros2_medkit_fault_manager/fault_manager_node.hpp | Public API for the FaultManagerNode with service handler interfaces |
| src/ros2_medkit_fault_manager/include/ros2_medkit_fault_manager/fault_storage.hpp | Thread-safe in-memory fault storage API with filtering and lifecycle management |
| src/ros2_medkit_fault_manager/src/fault_manager_node.cpp | Service handler implementations with input validation and logging |
| src/ros2_medkit_fault_manager/src/fault_storage.cpp | Core fault aggregation logic with severity escalation and multi-source tracking |
| src/ros2_medkit_fault_manager/src/main.cpp | Node entry point following standard ROS 2 patterns |
| src/ros2_medkit_fault_manager/test/test_fault_manager.cpp | Unit tests covering storage operations and node creation |
| src/ros2_medkit_fault_manager/CMakeLists.txt | Build configuration with static library for test sharing |
| src/ros2_medkit_fault_manager/package.xml | Package manifest with dependencies and test configuration |
| src/ros2_medkit_fault_manager/launch/fault_manager.launch.py | Launch file for standalone node deployment |
| src/ros2_medkit_fault_manager/README.md | Package documentation with usage examples and service descriptions |
src/ros2_medkit_fault_manager/include/ros2_medkit_fault_manager/fault_storage.hpp
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src/ros2_medkit_fault_manager/include/ros2_medkit_fault_manager/fault_storage.hpp
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- FaultStorage class with thread-safe in-memory fault storage - FaultManagerNode with ReportFault, GetFaults, and ClearFault services - Fault lifecycle management (pending -> confirmed -> cleared) - Filtering by severity and status - Unit tests for storage and node creation - Architecture documentation with PlantUML diagrams - Launch file and default configuration
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- Extract abstract FaultStorage interface for pluggable storage backends - Rename concrete implementation to InMemoryFaultStorage - Update design diagrams to reflect interface pattern
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