feat: Linux introspection plugins (procfs, systemd, container) by bburda · Pull Request #263 · selfpatch/ros2_medkit

bburda · 2026-03-13T22:02:54Z

Pull Request

Summary

Add three Linux introspection plugins that enrich gateway discovery with OS-level metadata. Each plugin implements IntrospectionProvider and registers vendor REST endpoints on Apps and Components:

procfs (libprocfs_introspection.so) - reads /proc for process info (PID, RSS, CPU ticks, threads, exe path, cmdline)
systemd (libsystemd_introspection.so) - maps ROS 2 nodes to systemd units via sd_pid_get_unit(), queries properties via sd-bus
container (libcontainer_introspection.so) - detects Docker/podman/containerd via cgroup path analysis, reads cgroup v2 resource limits

Also includes:

Shared static library libmedkit_linux_utils.a with proc_reader, cgroup_reader, and PidCache (TTL-based, thread-safe)
PluginContext::get_child_apps() for Component-level aggregation
Gateway header exports for downstream plugin packages
libsystemd-dev added to devcontainer Dockerfile

Issue

closes Discovery: Plugin system for platform-specific introspection #112

Type

Bug fix
New feature or tests
Breaking change
Documentation only

Testing

Unit tests (31 new, all in ros2_medkit_linux_introspection):

test_proc_reader - real /proc/self + synthetic /proc in tmpdir (4 tests)
test_cgroup_reader - container ID extraction, runtime detection, resource limits (10 tests)
test_pid_cache - TTL refresh, auto-refresh, missing nodes, empty/nonexistent proc dirs (6 tests)
test_procfs_plugin - JSON serialization (1 test)
test_systemd_plugin - JSON serialization, graceful skip (2 tests)
test_container_plugin - JSON serialization, not-containerized skip (2 tests)

Integration tests (launch_testing):

test_procfs_introspection - live PID mapping, resource usage, Component aggregation, capabilities, 404
test_combined_introspection - procfs + container route isolation (200 + 404 coexistence on host)

Docker integration tests (standalone pytest):

test_systemd_introspection - unit info, restart count, watchdog, aggregation
test_container_introspection - container ID, runtime, memory/CPU limits, aggregation

Full suite: 1302 unit tests pass, 2066 lint tests pass, 0 failures.

Checklist

Breaking changes are clearly described (and announced in docs / changelog if needed)
Tests were added or updated if needed
Docs were updated if behavior or public API changed

Copilot

Pull request overview

Adds a new Linux introspection plugin package and accompanying tests/docs to expose OS-level metadata (procfs, systemd, container/cgroup) through vendor extension REST endpoints and plugin capabilities in the ros2_medkit gateway.

Changes:

Introduces ros2_medkit_linux_introspection (procfs/systemd/container plugins + shared Linux utilities + unit tests).
Extends gateway plugin context with Component→App traversal to support aggregation endpoints.
Adds integration tests (launch_testing + Docker-based) and documentation for the new vendor extension endpoints.

Reviewed changes

Copilot reviewed 35 out of 35 changed files in this pull request and generated 8 comments.

Show a summary per file

File	Description
src/ros2_medkit_integration_tests/test/features/test_procfs_introspection.test.py	Launch_testing coverage for procfs endpoints + component aggregation/capabilities.
src/ros2_medkit_integration_tests/test/features/test_combined_introspection.test.py	Validates multiple plugins can coexist and routes remain isolated.
src/ros2_medkit_integration_tests/test/docker/introspection/test_systemd_introspection.py	External pytest tests against systemd-based Docker environment.
src/ros2_medkit_integration_tests/test/docker/introspection/test_container_introspection.py	External pytest tests against containerized + resource-limited Docker environment.
src/ros2_medkit_integration_tests/test/docker/introspection/run_docker_tests.sh	Helper script to build/run docker compose stacks and execute pytest.
src/ros2_medkit_integration_tests/test/docker/introspection/docker-compose.systemd.yml	Compose stack for systemd-in-container test environment.
src/ros2_medkit_integration_tests/test/docker/introspection/docker-compose.container.yml	Compose stack for container/cgroup test environment with resource limits.
src/ros2_medkit_integration_tests/test/docker/introspection/Dockerfile.systemd	Multi-stage image for systemd plugin integration testing.
src/ros2_medkit_integration_tests/test/docker/introspection/Dockerfile.container	Multi-stage image for container plugin integration testing.
src/ros2_medkit_gateway/src/plugins/plugin_context.cpp	Implements `PluginContext::get_child_apps()` using the thread-safe cache.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/plugins/plugin_context.hpp	Adds `get_child_apps()` to plugin API for component aggregation.
src/ros2_medkit_gateway/CMakeLists.txt	Exports symbols for dlopen’d plugins + installs/exports gateway headers.
src/ros2_medkit_gateway/CHANGELOG.rst	Notes addition of Linux introspection plugins feature.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/CMakeLists.txt	Builds static utils + 3 MODULE plugins + GTest targets, optional systemd build.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/package.xml	Declares dependencies for linux introspection plugin package.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/include/ros2_medkit_linux_introspection/systemd_utils.hpp	Unit-name escaping helper for systemd DBus object paths.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/include/ros2_medkit_linux_introspection/procfs_utils.hpp	ProcessInfo→JSON serialization helper for procfs plugin responses.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/include/ros2_medkit_linux_introspection/proc_reader.hpp	Procfs reader APIs + TTL-based thread-safe PID cache.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/include/ros2_medkit_linux_introspection/cgroup_reader.hpp	Cgroup v2 reader APIs for container ID/runtime/limits.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/include/ros2_medkit_linux_introspection/container_utils.hpp	CgroupInfo→JSON serialization helper for container plugin responses.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/linux_utils/proc_reader.cpp	Implements /proc parsing, PID lookup, and PID cache refresh/lookup.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/linux_utils/cgroup_reader.cpp	Implements cgroup path parsing + resource limit reads (memory.max/cpu.max).
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/procfs_plugin.cpp	Procfs plugin routes + aggregation endpoint implementation.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/systemd_plugin.cpp	Systemd plugin routes + sd-bus property querying + aggregation endpoint.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/container_plugin.cpp	Container plugin routes + cgroup-based metadata + aggregation endpoint.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/test/test_proc_reader.cpp	Unit tests for proc reader parsing on real + synthetic /proc trees.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/test/test_pid_cache.cpp	Unit tests for TTL refresh and concurrency behavior of PID cache.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/test/test_cgroup_reader.cpp	Unit tests for container ID/runtime parsing + resource limits reading.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/test/test_procfs_plugin.cpp	Unit tests for procfs JSON serialization behaviors.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/test/test_systemd_plugin.cpp	Unit tests for systemd unit escaping helper.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/test/test_container_plugin.cpp	Unit tests for container JSON serialization + non-container detection.
docs/tutorials/linux-introspection.rst	New tutorial documenting plugins, config, endpoints, errors, and troubleshooting.
docs/tutorials/index.rst	Adds linux introspection tutorial to docs nav.
docs/api/rest.rst	Documents vendor extension endpoints in REST API reference.
.devcontainer/Dockerfile	Adds libsystemd-dev to devcontainer tooling image.

src/ros2_medkit_gateway/include/ros2_medkit_gateway/plugins/plugin_context.hpp

...os2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/linux_utils/proc_reader.cpp

docs/tutorials/linux-introspection.rst

src/ros2_medkit_integration_tests/test/docker/introspection/docker-compose.container.yml

src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/package.xml

Copilot

Pull request overview

Adds a new Linux-specific introspection plugin package to enrich discovery with OS/process metadata and exposes it via x-medkit-* vendor extension endpoints, plus supporting gateway/plugin API changes, tests, and documentation.

Changes:

Introduces ros2_medkit_linux_introspection with procfs/systemd/container introspection plugins + shared /proc/cgroup utilities.
Extends gateway plugin API (PluginContext::get_child_apps) and adjusts gateway build/export settings for downstream plugin builds.
Adds integration (launch_testing + Docker-based) tests and documents the new vendor extension endpoints.

Reviewed changes

Copilot reviewed 35 out of 35 changed files in this pull request and generated 7 comments.

Show a summary per file

File	Description
src/ros2_medkit_integration_tests/test/features/test_procfs_introspection.test.py	Launch_testing coverage for procfs plugin endpoints and capabilities.
src/ros2_medkit_integration_tests/test/features/test_combined_introspection.test.py	Validates multiple plugins coexist and routes remain isolated.
src/ros2_medkit_integration_tests/test/docker/introspection/test_systemd_introspection.py	External pytest tests for systemd plugin against a systemd-in-container setup.
src/ros2_medkit_integration_tests/test/docker/introspection/test_container_introspection.py	External pytest tests for container plugin against a resource-limited container.
src/ros2_medkit_integration_tests/test/docker/introspection/run_docker_tests.sh	Script to build/launch Docker scenarios and run pytest suites.
src/ros2_medkit_integration_tests/test/docker/introspection/docker-compose.systemd.yml	Compose definition for privileged/systemd-based test environment.
src/ros2_medkit_integration_tests/test/docker/introspection/docker-compose.container.yml	Compose definition for container limits/cgroup-based tests.
src/ros2_medkit_integration_tests/test/docker/introspection/Dockerfile.systemd	Multi-stage image to run gateway + demo nodes under systemd.
src/ros2_medkit_integration_tests/test/docker/introspection/Dockerfile.container	Multi-stage image to run gateway + demo nodes without systemd.
src/ros2_medkit_gateway/src/plugins/plugin_context.cpp	Implements `PluginContext::get_child_apps()` using the thread-safe cache.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/plugins/plugin_context.hpp	Extends plugin context interface with `get_child_apps()`.
src/ros2_medkit_gateway/CMakeLists.txt	Exports symbols for dlopen’d plugins and installs/exports gateway headers.
src/ros2_medkit_gateway/CHANGELOG.rst	Documents the new Linux introspection plugin feature.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/test/test_systemd_plugin.cpp	Unit tests for systemd DBus escaping helper.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/test/test_procfs_plugin.cpp	Unit tests for procfs JSON serialization behavior.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/test/test_proc_reader.cpp	Unit tests for `/proc` reader (real + synthetic proc trees).
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/test/test_pid_cache.cpp	Unit tests for TTL-based PID cache + concurrency smoke test.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/test/test_container_plugin.cpp	Unit tests for container JSON serialization and non-container detection.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/test/test_cgroup_reader.cpp	Unit tests for cgroup parsing, runtime detection, and resource limits.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/systemd_plugin.cpp	Systemd introspection plugin implementation + routes + aggregation.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/procfs_plugin.cpp	Procfs introspection plugin implementation + routes + aggregation.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/linux_utils/proc_reader.cpp	`/proc` reading utilities + PID cache implementation.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/linux_utils/cgroup_reader.cpp	Cgroup v2 parsing + container detection + limit reading.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/container_plugin.cpp	Container introspection plugin implementation + routes + aggregation.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/package.xml	Declares the new plugin package and its dependencies.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/include/ros2_medkit_linux_introspection/systemd_utils.hpp	Utility to escape unit names for systemd DBus object paths.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/include/ros2_medkit_linux_introspection/procfs_utils.hpp	ProcessInfo → JSON helper for procfs responses.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/include/ros2_medkit_linux_introspection/proc_reader.hpp	Public API for proc reader + PID cache types.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/include/ros2_medkit_linux_introspection/container_utils.hpp	CgroupInfo → JSON helper for container responses.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/include/ros2_medkit_linux_introspection/cgroup_reader.hpp	Public API for cgroup reader types/utilities.
src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/CMakeLists.txt	Builds shared utils library + plugin modules + tests.
docs/tutorials/linux-introspection.rst	New tutorial documenting plugin setup, endpoints, and behavior.
docs/tutorials/index.rst	Adds the new tutorial page to the docs index.
docs/api/rest.rst	Documents vendor extension endpoints and security considerations.
.devcontainer/Dockerfile	Adds `libsystemd-dev` for plugin development in the devcontainer.

docs/tutorials/linux-introspection.rst

...os2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/linux_utils/proc_reader.cpp

src/ros2_medkit_integration_tests/test/docker/introspection/run_docker_tests.sh

src/ros2_medkit_integration_tests/test/docker/introspection/docker-compose.container.yml

src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/systemd_plugin.cpp

docs/tutorials/linux-introspection.rst

Copilot

Pull request overview

Adds a new ros2_medkit_linux_introspection plugin package that enriches gateway discovery with Linux OS/process metadata (procfs, systemd, container), plus accompanying gateway/plugin API changes, tests, and documentation.

Changes:

Introduces three Linux introspection plugins (procfs/systemd/container) with shared Linux utility readers and unit tests.
Extends the gateway plugin API/context to support Component→App aggregation and exports gateway headers for downstream plugins.
Adds integration + docker-based tests and documents the new vendor-extension endpoints and usage.

Reviewed changes

Copilot reviewed 35 out of 35 changed files in this pull request and generated 9 comments.

Show a summary per file

File	Description
`src/ros2_medkit_integration_tests/test/features/test_procfs_introspection.test.py`	Launch-testing coverage for procfs endpoint + component aggregation.
`src/ros2_medkit_integration_tests/test/features/test_combined_introspection.test.py`	Validates multiple plugins loaded simultaneously and route isolation.
`src/ros2_medkit_integration_tests/test/docker/introspection/test_systemd_introspection.py`	External pytest suite for systemd plugin inside systemd-enabled container.
`src/ros2_medkit_integration_tests/test/docker/introspection/test_container_introspection.py`	External pytest suite for container plugin and cgroup limit reporting.
`src/ros2_medkit_integration_tests/test/docker/introspection/run_docker_tests.sh`	Scripted runner for docker-based introspection tests.
`src/ros2_medkit_integration_tests/test/docker/introspection/docker-compose.systemd.yml`	Compose stack for privileged systemd-in-container scenario.
`src/ros2_medkit_integration_tests/test/docker/introspection/docker-compose.container.yml`	Compose stack for container/cgroup limit scenario.
`src/ros2_medkit_integration_tests/test/docker/introspection/Dockerfile.systemd`	Multi-stage build to run gateway + demo nodes under systemd.
`src/ros2_medkit_integration_tests/test/docker/introspection/Dockerfile.container`	Multi-stage build to run gateway + demo nodes in a container-limits scenario.
`src/ros2_medkit_gateway/src/plugins/plugin_context.cpp`	Implements `PluginContext::get_child_apps()` for component aggregation.
`src/ros2_medkit_gateway/include/ros2_medkit_gateway/plugins/plugin_context.hpp`	Adds new plugin context method for component→apps enumeration.
`src/ros2_medkit_gateway/CMakeLists.txt`	Exports symbols/includes needed for dlopen’d plugins and downstream headers.
`src/ros2_medkit_gateway/CHANGELOG.rst`	Notes addition of Linux introspection plugins.
`src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/CMakeLists.txt`	New plugin package build (utils lib + 3 MODULE plugins + tests).
`src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/package.xml`	Declares dependencies for the new plugin package.
`src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/procfs_plugin.cpp`	procfs vendor endpoints + discovery introspection provider.
`src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/systemd_plugin.cpp`	systemd vendor endpoints + sd-bus property querying.
`src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/container_plugin.cpp`	container vendor endpoints + cgroup detection/limits.
`src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/linux_utils/proc_reader.cpp`	`/proc` scanning/reading + TTL-based PID cache implementation.
`src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/linux_utils/cgroup_reader.cpp`	cgroup v2 parsing + resource limit reads.
`src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/include/ros2_medkit_linux_introspection/*.hpp`	Public utility headers for procfs/container/systemd helpers.
`src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/test/test_*.cpp`	Unit tests for utils and JSON serialization helpers.
`docs/tutorials/linux-introspection.rst`	New tutorial describing plugins, configuration, endpoints, and troubleshooting.
`docs/tutorials/index.rst`	Adds the new tutorial to docs navigation.
`docs/api/rest.rst`	Documents vendor-extension endpoints and security warning for procfs cmdline exposure.
`.devcontainer/Dockerfile`	Adds `libsystemd-dev` for local development builds.

docs/tutorials/linux-introspection.rst

src/ros2_medkit_integration_tests/test/docker/introspection/run_docker_tests.sh

src/ros2_medkit_integration_tests/test/docker/introspection/docker-compose.container.yml

src/ros2_medkit_gateway/include/ros2_medkit_gateway/plugins/plugin_context.hpp

src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/systemd_plugin.cpp

src/ros2_medkit_integration_tests/test/features/test_procfs_introspection.test.py

src/ros2_medkit_integration_tests/test/features/test_combined_introspection.test.py

...os2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/linux_utils/proc_reader.cpp

src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/container_plugin.cpp

...2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/linux_utils/cgroup_reader.cpp

src/ros2_medkit_gateway/CMakeLists.txt

- Add parse error logging in cgroup_reader catch blocks instead of silently swallowing exceptions - Extract duplicated configure() logic into shared parse_introspection_config() free function (plugin_config.hpp) - Install vendored tl::expected under namespaced path to prevent header conflicts with downstream packages - Document composable nodes PID resolution limitation in troubleshooting section

…ages Add install(DIRECTORY include/) and ament_export_include_directories() so external packages can find_package(ros2_medkit_gateway) and get plugin interface headers (GatewayPlugin, IntrospectionProvider, etc.) and vendored tl::expected.

…egation Add method to enumerate child Apps for a Component via entity cache. Needed by introspection plugins for Component-level vendor endpoints.

Add new ROS 2 package for Linux introspection plugins with: - Static utility library (medkit_linux_utils) - Three MODULE plugin targets (procfs, systemd, container) - Stub source files and tests - CMake config with fPIC, ccache, linting

- read_process_info: parse /proc/{pid}/stat, status, cmdline, exe - find_pid_for_node: scan /proc for ROS 2 nodes by __node:= and __ns:= args - Tests use both real /proc/self and synthetic /proc in tmpdir

- extract_container_id: Docker, podman, containerd cgroup path patterns - detect_runtime: identify container runtime from cgroup path - is_containerized: check if PID runs in a container - read_cgroup_info: cgroup v2 resource limits (memory.max, cpu.max) - All tests use synthetic cgroup filesystem in tmpdir

- Scans /proc for ROS 2 nodes by parsing cmdline args - Thread-safe with shared_mutex (concurrent reads, exclusive refresh) - Auto-refresh on TTL expiry during lookup - Tests with synthetic /proc in tmpdir - Move parse_ros_args out of anonymous namespace for PidCache access - Change TTL type to steady_clock::duration for sub-second precision

- IntrospectionProvider: detects containerized Apps via cgroup path analysis - Supports Docker, podman, containerd runtime detection - Reads cgroup v2 resource limits (memory.max, cpu.max) - Vendor routes: GET /apps/{id}/x-medkit-container, GET /components/{id}/x-medkit-container - 404 when node not containerized, Component aggregation by container ID - PidCache stored as unique_ptr to avoid shared_mutex move-assignment issue

- IntrospectionProvider: maps Apps to PIDs, returns ProcessInfo metadata - Vendor routes: GET /apps/{id}/x-medkit-procfs, GET /components/{id}/x-medkit-procfs - Component aggregation: unique processes with node_ids lists - PidCache for efficient /proc scanning with configurable TTL - 503 on PID lookup failure (transient - node may have crashed)

- IntrospectionProvider: maps Apps to systemd units via sd_pid_get_unit - Queries unit properties via sd-bus (ActiveState, SubState, NRestarts, WatchdogUSec) - Vendor routes: GET /apps/{id}/x-medkit-systemd, GET /components/{id}/x-medkit-systemd - 404 when node not in a systemd unit, Component aggregation by unit name

- Configuration, API reference with curl examples, requirements - Troubleshooting for PID lookup, permissions, systemd access - Added to tutorials toctree after plugin-system

Call the extracted function directly with controlled inputs. Verifies all JSON fields including new state, cpu_*_seconds, and uptime_seconds behavior (zero start time, negative clamping).

Test dot, hyphen, at-sign, slash, and empty string escaping. Move test outside if(SYSTEMD_FOUND) since it only uses header-only systemd_utils.hpp and no longer needs libsystemd.

Call the extracted function from container_utils.hpp directly. Test all fields set and optionals unset, verifying optional fields are omitted from JSON when not set.

Add REQ_INTEROP_003 traceability tags to all unit tests. Add multi-threaded PidCache test to verify no crashes or deadlocks under concurrent access with frequent TTL expiry.

Document all 6 x-medkit-procfs, x-medkit-systemd, and x-medkit-container endpoints with request/response schemas, error codes, and security warning about cmdline exposure.

Change memory_limit_bytes assertion from conditional to hard assertion since Docker compose sets known limits. Add REQ_INTEROP_003 traceability tags to all Docker integration tests.

Add note that paths are relative to colcon workspace root to prevent confusion when launching from a different directory.

- Bump PLUGIN_API_VERSION to 2 (ABI break from get_child_apps vtable change) - Use SCNu64 instead of %lu for portable uint64_t sscanf - Add ss.fail() check for truncated /proc/pid/stat files - Change libsystemd-dev from build_depend to depend in package.xml

PidCache::refresh() built FQN as node_ns + '/' + node_name, producing '//node' when __ns:=/. Gateway's effective_fqn() returns '/node', so cache lookups always missed for root-namespace nodes.

- Replace deploy.resources.limits with mem_limit/cpus (deploy block ignored by docker compose up without swarm mode) - Use Go template instead of JSON for health status parsing to avoid array vs dict ambiguity across Docker Compose versions

- Fix PID lookup error code from 503 to 404 (matches implementation) - Clarify each plugin has its own PID cache (not shared) - Fix metadata section: data is via vendor endpoints, not discovery responses

…quests Open one sd_bus_open_system() per request in handle_component_request() and introspect(), passing the connection to query_unit_info(). Falls back to per-call connection if shared bus is nullptr (handle_app_request).

The poll_endpoint_until lambda only waited for temp_sensor to appear before asserting rpm_sensor and pressure_sensor existed, causing intermittent failures on slower CI runners (Rolling) where nodes haven't all been discovered yet.

- Add parse error logging in cgroup_reader catch blocks instead of silently swallowing exceptions - Extract duplicated configure() logic into shared parse_introspection_config() free function (plugin_config.hpp) - Install vendored tl::expected under namespaced path to prevent header conflicts with downstream packages - Document composable nodes PID resolution limitation in troubleshooting section

…plugins The ros2_medkit_linux_introspection package uses tl::expected in its headers but the vendored include directory was not exported via ament_export_include_directories. Also add missing get_child_apps() override to FakePluginContext in graph provider tests after rebase.

- Add parse error logging in cgroup_reader catch blocks instead of silently swallowing exceptions - Extract duplicated configure() logic into shared parse_introspection_config() free function (plugin_config.hpp) - Install vendored tl::expected under namespaced path to prevent header conflicts with downstream packages - Document composable nodes PID resolution limitation in troubleshooting section

All packages must share the same version for bloom-release. Discovery plugins were added at 0.1.0 in PRs #263 and #264. Closes #291

- Bump all 13 package.xml files from 0.3.0 to 0.4.0 - Update version.hpp fallback to 0.4.0 - Add 0.4.0 sections to all existing CHANGELOG.rst files - Create initial CHANGELOG.rst for new packages (ros2_medkit_cmake, ros2_medkit_linux_introspection, ros2_medkit_beacon_common, ros2_medkit_param_beacon, ros2_medkit_topic_beacon, ros2_medkit_graph_provider) - Fix gateway changelog: move post-0.3.0 items (#258, #263) from 0.3.0 section to new 0.4.0 section - Add scripts/release.sh for automated version bump and verification Refs: #278

bburda self-assigned this Mar 13, 2026

bburda force-pushed the feature/linux-introspection branch from 21fbcce to 5c20726 Compare March 14, 2026 11:05

bburda marked this pull request as ready for review March 14, 2026 11:28

Copilot AI review requested due to automatic review settings March 14, 2026 11:28

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Copilot started reviewing on behalf of bburda March 14, 2026 11:47 View session

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bburda requested a review from Copilot March 14, 2026 12:15

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bburda requested a review from mfaferek93 March 14, 2026 16:47

mfaferek93 reviewed Mar 15, 2026

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...os2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/linux_utils/proc_reader.cpp Show resolved Hide resolved

mfaferek93 reviewed Mar 15, 2026

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src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/container_plugin.cpp Show resolved Hide resolved

mfaferek93 reviewed Mar 15, 2026

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...2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/linux_utils/cgroup_reader.cpp Outdated Show resolved Hide resolved

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src/ros2_medkit_gateway/CMakeLists.txt Outdated Show resolved Hide resolved

bburda added enhancement New feature or request discovery Discovery endpoints or strategies labels Mar 15, 2026

bburda added 10 commits March 15, 2026 16:09

feat(plugins): add PluginContext::get_child_apps() for Component aggr…

9d2927d

…egation Add method to enumerate child Apps for a Component via entity cache. Needed by introspection plugins for Component-level vendor endpoints.

feat(linux-introspection): implement proc_reader with TDD

bc67a59

- read_process_info: parse /proc/{pid}/stat, status, cmdline, exe - find_pid_for_node: scan /proc for ROS 2 nodes by __node:= and __ns:= args - Tests use both real /proc/self and synthetic /proc in tmpdir

docs: add Linux introspection plugins user guide

410c41b

- Configuration, API reference with curl examples, requirements - Troubleshooting for PID lookup, permissions, systemd access - Added to tutorials toctree after plugin-system

bburda added 16 commits March 15, 2026 16:09

test(procfs): rewrite to test actual process_info_to_json function

9f40f35

Call the extracted function directly with controlled inputs. Verifies all JSON fields including new state, cpu_*_seconds, and uptime_seconds behavior (zero start time, negative clamping).

test(systemd): test escape_unit_for_dbus, make test unconditional

674f725

Test dot, hyphen, at-sign, slash, and empty string escaping. Move test outside if(SYSTEMD_FOUND) since it only uses header-only systemd_utils.hpp and no longer needs libsystemd.

test(container): rewrite to test actual cgroup_info_to_json function

099c3d3

Call the extracted function from container_utils.hpp directly. Test all fields set and optionals unset, verifying optional fields are omitted from JSON when not set.

test: add @verifies tags and concurrent PidCache stress test

e501de5

Add REQ_INTEROP_003 traceability tags to all unit tests. Add multi-threaded PidCache test to verify no crashes or deadlocks under concurrent access with frequent TTL expiry.

docs: add vendor extension endpoints to REST API reference

e6b17d0

Document all 6 x-medkit-procfs, x-medkit-systemd, and x-medkit-container endpoints with request/response schemas, error codes, and security warning about cmdline exposure.

docs: add CHANGELOG entry and Docker compose security warning

62b2918

test(docker): fix conditional assertions, add @verifies tags

c8c6e0b

Change memory_limit_bytes assertion from conditional to hard assertion since Docker compose sets known limits. Add REQ_INTEROP_003 traceability tags to all Docker integration tests.

docs: clarify relative plugin paths in tutorial config example

916aaa6

Add note that paths are relative to colcon workspace root to prevent confusion when launching from a different directory.

fix: normalize root-namespace FQN in PidCache to prevent double-slash

26d8550

PidCache::refresh() built FQN as node_ns + '/' + node_name, producing '//node' when __ns:=/. Gateway's effective_fqn() returns '/node', so cache lookups always missed for root-namespace nodes.

docs: fix tutorial inaccuracies from review feedback

725fa88

- Fix PID lookup error code from 503 to 404 (matches implementation) - Clarify each plugin has its own PID cache (not shared) - Fix metadata section: data is via vendor endpoints, not discovery responses

bburda force-pushed the feature/linux-introspection branch from 560085c to 0340f64 Compare March 15, 2026 15:19

mfaferek93 self-requested a review March 15, 2026 15:56

mfaferek93 approved these changes Mar 15, 2026

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bburda mentioned this pull request Mar 15, 2026

Release v0.4.0 #278

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bburda merged commit 4b9a1f1 into main Mar 15, 2026
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bburda deleted the feature/linux-introspection branch March 15, 2026 16:28

mfaferek93 mentioned this pull request Mar 19, 2026

fix: align discovery plugin package versions to 0.3.0 #291

Closed

mfaferek93 added a commit that referenced this pull request Mar 19, 2026

fix: align discovery plugin package versions to 0.3.0

f05d568

All packages must share the same version for bloom-release. Discovery plugins were added at 0.1.0 in PRs #263 and #264. Closes #291

mfaferek93 added a commit that referenced this pull request Mar 19, 2026

fix: align discovery plugin package versions to 0.3.0

9a79c03

All packages must share the same version for bloom-release. Discovery plugins were added at 0.1.0 in PRs #263 and #264. Closes #291

bburda mentioned this pull request Mar 21, 2026

Release v0.4.0 #298

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bburda commented Mar 13, 2026

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