feat: per-entity confirmation and healing thresholds

[mfaferek93]

Pull Request

Summary

Add per-entity debounce threshold configuration using longest-prefix matching on source_id. Different subsystems can now have different fault confirmation/healing policies.

Example: lidar faults confirm instantly (confirmation_threshold: -1), motor faults need 5 events (-5), safety subsystem disables auto-healing.

# entity_thresholds.yaml
/sensors/lidar:
  confirmation_threshold: -1
  healing_threshold: 1
/powertrain/motor_left:
  confirmation_threshold: -5
  healing_threshold: 10
/safety:
  healing_enabled: false

Key design decisions

• Runtime resolution, no DB schema change - thresholds resolved from source_id at report time, passed to storage per-call. No ALTER TABLE, no migration.
• report_fault_event() takes DebounceConfig parameter - storage has zero knowledge of entities, just applies whichever config it receives.
• External YAML config file (entity_thresholds_config_file parameter) - follows existing correlation.config_file / snapshots.config_file pattern.
• Longest-prefix matching - /sensors/lidar/front matches /sensors/lidar over /sensors.
• Fully backward compatible - no config file = exact current behavior.

Issue

• closes Per-entity confirmation and healing thresholds #269

Type

• Bug fix
• New feature or tests
• Breaking change
• Documentation only

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 per-entity debounce threshold configuration to the fault manager, allowing different subsystems to have distinct fault confirmation/healing policies via longest-prefix matching on source_id. Thresholds are loaded from an external YAML config file and resolved at report time, with the DebounceConfig passed per-call to storage rather than relying solely on the global config.

Changes:

• New EntityThresholdResolver class with longest-prefix matching and YAML loading
• report_fault_event() API extended with a DebounceConfig parameter across FaultStorage, InMemoryFaultStorage, and SqliteFaultStorage
• All existing test call sites updated to pass config; 17 new tests for resolver, YAML parsing, and per-entity storage integration

Reviewed changes

Copilot reviewed 13 out of 13 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
entity_threshold_resolver.hpp	New header defining EntityDebounceOverride struct and EntityThresholdResolver class
entity_threshold_resolver.cpp	Implementation of prefix matching, merging, and YAML loading
fault_storage.hpp	Added DebounceConfig param to report_fault_event virtual interface and update_status
fault_storage.cpp	InMemoryFaultStorage uses per-call config instead of config_ member
sqlite_fault_storage.hpp/cpp	Same per-call config change for SQLite backend
fault_manager_node.hpp/cpp	Stores global config, loads resolver, resolves config per ReportFault call
CMakeLists.txt	New test target test_entity_thresholds with build/coverage config
test_entity_thresholds.cpp	17 new tests: resolver, YAML, per-entity storage integration
test_fault_manager.cpp	Updated 57 call sites to pass default_config()
test_sqlite_storage.cpp	Updated 35 call sites to pass default_config()
docs/config/fault-manager.rst	Documentation for per-entity thresholds feature

[Copilot]

Pull request overview

This PR adds per-entity debounce threshold configuration to the fault manager, allowing different subsystems to have different fault confirmation and healing policies. Thresholds are resolved at fault-report time using longest-prefix matching on source_id, loaded from an external YAML config file.

Changes:

• New EntityThresholdResolver class with longest-prefix matching and YAML loading
• FaultStorage::report_fault_event() now takes an explicit DebounceConfig parameter instead of using the stored global config
• Documentation and comprehensive tests for the new feature

Reviewed changes

Copilot reviewed 14 out of 14 changed files in this pull request and generated no comments.

Show a summary per file

File	Description
entity_threshold_resolver.hpp	New header defining EntityDebounceOverride struct and EntityThresholdResolver class
entity_threshold_resolver.cpp	Implementation of prefix matching, merging, and YAML loading
fault_storage.hpp	Added DebounceConfig parameter to report_fault_event virtual interface
fault_storage.cpp	InMemoryFaultStorage uses passed config instead of stored config_
sqlite_fault_storage.hpp/cpp	SqliteFaultStorage uses passed config instead of stored config_
fault_manager_node.hpp/cpp	Integrates resolver, resolves config per source_id before calling storage
CMakeLists.txt	Adds new source and test target with ROS_DOMAIN_ID=67
test_entity_thresholds.cpp	Comprehensive tests for resolver, YAML loading, and per-entity storage behavior
test_fault_manager.cpp / test_sqlite_storage.cpp	Updated all report_fault_event calls with config parameter
docs/requirements/specs/faults.rst	New requirement REQ_INTEROP_095
docs/config/fault-manager.rst	Documentation for per-entity thresholds configuration

[bburda]

Good feature design - clean architecture, solid backward compatibility, thorough unit tests.

6 findings to address before merge (see inline comments).

[bburda]

LGTM!

[bburda]

LGTM!