feat(#76): add basic FaultManager node with in-memory storage

docs/design/index.rst

@@ -6,5 +6,6 @@ This section contains design documentation for the ros2_medkit project packages.
 .. toctree::
    :maxdepth: 1
 
+   ros2_medkit_fault_manager/index
    ros2_medkit_gateway/index
 

docs/design/ros2_medkit_fault_manager

@@ -0,0 +1 @@
+../../src/ros2_medkit_fault_manager/design

src/ros2_medkit_fault_manager/CMakeLists.txt

@@ -0,0 +1,116 @@
+# Copyright 2025 mfaferek93
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 3.8)
+project(ros2_medkit_fault_manager)
+
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
+endif()
+
+# Code coverage option
+option(ENABLE_COVERAGE "Enable code coverage reporting" OFF)
+if(ENABLE_COVERAGE)
+  message(STATUS "Code coverage enabled")
+  add_compile_options(--coverage -O0 -g)
+  add_link_options(--coverage)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(ros2_medkit_msgs REQUIRED)
+
+# Library target (shared between executable and tests)
+add_library(fault_manager_lib STATIC
+  src/fault_manager_node.cpp
+  src/fault_storage.cpp
+)
+
+target_include_directories(fault_manager_lib PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+
+ament_target_dependencies(fault_manager_lib
+  rclcpp
+  ros2_medkit_msgs
+)
+
+if(ENABLE_COVERAGE)
+  target_compile_options(fault_manager_lib PRIVATE --coverage -O0 -g)
+  target_link_options(fault_manager_lib PRIVATE --coverage)
+endif()
+
+# Executable target
+add_executable(fault_manager_node src/main.cpp)
+target_link_libraries(fault_manager_node fault_manager_lib)
+
+# Apply coverage flags to executable
+if(ENABLE_COVERAGE)
+  target_compile_options(fault_manager_node PRIVATE --coverage -O0 -g)
+  target_link_options(fault_manager_node PRIVATE --coverage)
+endif()
+
+# Install targets
+install(TARGETS fault_manager_node
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY include/
+  DESTINATION include
+)
+
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+# Testing
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+
+  set(ament_cmake_clang_format_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-format")
+  set(ament_cmake_clang_tidy_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify ament_cmake_cpplint)
+  ament_lint_auto_find_test_dependencies()
+
+  # Unit tests
+  ament_add_gtest(test_fault_manager test/test_fault_manager.cpp)
+  target_link_libraries(test_fault_manager fault_manager_lib)
+  ament_target_dependencies(test_fault_manager rclcpp ros2_medkit_msgs)
+
+  # Apply coverage flags to test target
+  if(ENABLE_COVERAGE)
+    target_compile_options(test_fault_manager PRIVATE --coverage -O0 -g)
+    target_link_options(test_fault_manager PRIVATE --coverage)
+  endif()
+
+  # Integration tests
+  install(DIRECTORY test
+    DESTINATION share/${PROJECT_NAME}
+  )
+
+  add_launch_test(
+    test/test_integration.test.py
+    TARGET test_integration
+    TIMEOUT 60
+  )
+endif()
+
+ament_package()

src/ros2_medkit_fault_manager/README.md

@@ -0,0 +1,66 @@
+# ros2_medkit_fault_manager
+
+Central fault manager node for the ros2_medkit fault management system.
+
+## Overview
+
+The FaultManager node provides a central point for fault aggregation and lifecycle management.
+It receives fault reports from multiple sources, aggregates them by `fault_code`, and provides
+query and clearing interfaces.
+
+## Services
+
+| Service | Type | Description |
+|---------|------|-------------|
+| `~/report_fault` | `ros2_medkit_msgs/srv/ReportFault` | Report a fault occurrence |
+| `~/get_faults` | `ros2_medkit_msgs/srv/GetFaults` | Query faults with filtering |
+| `~/clear_fault` | `ros2_medkit_msgs/srv/ClearFault` | Clear/acknowledge a fault |
+
+## Features
+
+- **Multi-source aggregation**: Same `fault_code` from different sources creates a single fault
+- **Occurrence tracking**: Counts total reports and tracks all reporting sources
+- **Severity escalation**: Fault severity is updated if a higher severity is reported
+- **Status lifecycle**: PENDING → CONFIRMED → CLEARED (automatic status transitions in Issue #6)
+
+## Usage
+
+### Launch
+
+```bash
+ros2 launch ros2_medkit_fault_manager fault_manager.launch.py
+```
+
+### Manual Testing
+
+```bash
+# Report a fault
+ros2 service call /fault_manager/report_fault ros2_medkit_msgs/srv/ReportFault \
+  "{fault_code: 'MOTOR_OVERHEAT', severity: 2, description: 'Motor temp exceeded', source_id: '/motor_node'}"
+
+# Get all faults (including PENDING)
+ros2 service call /fault_manager/get_faults ros2_medkit_msgs/srv/GetFaults \
+  "{filter_by_severity: false, severity: 0, statuses: ['PENDING', 'CONFIRMED']}"
+
+# Clear a fault
+ros2 service call /fault_manager/clear_fault ros2_medkit_msgs/srv/ClearFault \
+  "{fault_code: 'MOTOR_OVERHEAT'}"
+```
+
+## Building
+
+```bash
+colcon build --packages-select ros2_medkit_fault_manager
+source install/setup.bash
+```
+
+## Testing
+
+```bash
+colcon test --packages-select ros2_medkit_fault_manager
+colcon test-result --verbose
+```
+
+## License
+
+Apache-2.0

src/ros2_medkit_fault_manager/design/architecture.puml

@@ -0,0 +1,93 @@
+@startuml ros2_medkit_fault_manager_architecture
+
+skinparam linetype ortho
+skinparam classAttributeIconSize 0
+
+title ROS 2 Medkit Fault Manager - Class Architecture
+
+package "ROS 2 Framework" {
+    class "rclcpp::Node" {
+        +create_service()
+        +get_logger()
+        +now()
+    }
+}
+
+package "ros2_medkit_msgs" {
+    class "msg::Fault" {
+        +fault_code: string
+        +severity: uint8
+        +description: string
+        +first_occurred: Time
+        +last_occurred: Time
+        +occurrence_count: uint32
+        +status: string
+        +reporting_sources: string[]
+    }
+
+    class "srv::ReportFault" {
+        +Request: fault_code, severity, description, source_id
+        +Response: success, message
+    }
+
+    class "srv::GetFaults" {
+        +Request: filter_by_severity, severity, statuses
+        +Response: faults[]
+    }
+
+    class "srv::ClearFault" {
+        +Request: fault_code
+        +Response: success, message
+    }
+}
+
+package "ros2_medkit_fault_manager" {
+
+    class FaultManagerNode {
+        + get_storage(): FaultStorage&
+    }
+
+    abstract class FaultStorage <<interface>> {
+        + {abstract} report_fault(): bool
+        + {abstract} get_faults(): vector<Fault>
+        + {abstract} get_fault(): optional<Fault>
+        + {abstract} clear_fault(): bool
+        + {abstract} size(): size_t
+        + {abstract} contains(): bool
+    }
+
+    class InMemoryFaultStorage {
+        + report_fault(): bool
+        + get_faults(): vector<Fault>
+        + get_fault(): optional<Fault>
+        + clear_fault(): bool
+        + size(): size_t
+        + contains(): bool
+    }
+
+    class FaultState <<struct>> {
+        + to_msg(): Fault
+    }
+}
+
+' Relationships
+
+' Inheritance
+FaultManagerNode -up-|> "rclcpp::Node" : extends
+InMemoryFaultStorage -up-|> FaultStorage : implements
+
+' Composition
+FaultManagerNode *-down-> InMemoryFaultStorage : owns
+
+' InMemoryFaultStorage contains FaultStates
+InMemoryFaultStorage o-right-> FaultState : contains many
+
+' FaultState converts to message
+FaultState ..> "msg::Fault" : converts to
+
+' Node uses service types
+FaultManagerNode ..> "srv::ReportFault" : handles
+FaultManagerNode ..> "srv::GetFaults" : handles
+FaultManagerNode ..> "srv::ClearFault" : handles
+
+@enduml