TopicForge 0.5.6

Fixes from a live run of 0.5.3 and 0.5.5 against OmniSim's simulated
Clearpath Husky (ROS 2 Humble, Fast DDS, Cyclone backend for the DDS tools),
reported with ground truth by the OmniSim team.

Added

• sample_messages takes max_array_length (1..65536, default 128, null for no
  cut) and arrays_summary_only. A cut is listed under _truncated_after_columns
  in the sample and in note.
• Size caps on returned samples: 1 MiB per message and 4 MiB per call
  (TOPICFORGE_MAX_SAMPLE_BYTES sets the per-message cap). Over-cap messages are
  dropped and note says so. peek_bag_samples is capped the same way, and its
  arrays are cut at 4096 elements.
• BagTopicStats gains first_timestamp_ns, last_timestamp_ns,
  frequency_basis (topic_span or bag_duration) and latched.
• TopicInfo.qos_durability; qos_reliability and qos_durability are filled
  by get_topic_info from the publishers' QoS (mixed when they disagree).
• HealthReport.dds_inactive_reason says why dds_backend is none.
• A real Humble rosbag2 bag from the OmniSim team as a test fixture
  (tests/fixtures/bags/omnisim_humble/).

Changed

• list_topics (live) uses one ros2 topic list -v call for publisher and
  subscriber counts instead of one ros2 topic info per topic, falling back to
  the per-topic calls if the output is not recognized. It leaves QoS null.
• rosbags>=0.11.3 is required (0.10 reads a bare .db3 as ROS 1 and returns
  message definitions and QoS as plain strings).
• A latched topic gets no rate only when its messages span under 1 second (a
  start-up burst such as /tf_static); a latched topic published over a longer
  span keeps its rate. latched is unchanged.
• analyze_bag reads per-topic times of an .mcap bag only up to 200 MiB and
  5 s; past either it keeps bag_duration rates and says so in the new
  BagAnalysis.note.
• The policies_checked entry for History reads "History (risky only, where
  announced)".
• max_array_length also cuts strings and bytes to that many characters plus
  ...; those cells are listed under _truncated_columns.
• QosProfile.history is now optional, and a new history_note explains why it
  is missing. DDS discovery does not carry History (the builtin endpoint data has
  no such member), so TopicForge reports it only for its own endpoints and for
  Cyclone DDS peers that set something other than the default. For Fast DDS, RTI
  and unknown-vendor endpoints it is null; for a Cyclone peer, KEEP_LAST depth 1
  is also null because the binding fills missing QoS with that default. Clients
  that assumed history is always a string must handle null.
• A discovered endpoint that announced no History keeps its reliability,
  durability and the other policies; before, the whole qos became null.
• detect_qos_mismatches judges the KEEP_ALL-vs-KEEP_LAST History risk only
  where both sides announced History; elsewhere one hint states that discovery
  does not carry it, instead of a warning on every pair.

Fixed

• sample_messages with arrays_summary_only shifted every CSV column after an
  array: <sequence type: float, length: 541> contains a comma and was split in
  two. It is one cell now.
• sample_messages returned no samples and no explanation when the echo timed
  out (for example a large message with max_array_length null); note now says
  so.
• list_topics reported 0 publishers and 0 subscribers for a topic missing from
  ros2 topic list -v; it now asks ros2 topic info for that topic.
• peek_bag_samples converted a whole numpy array to a list before cutting it
  at 4096 elements; it now converts only the part it keeps.
• Fast DDS endpoints no longer report a History taken from the binding's
  defaults: detect_qos_mismatches treats it as not announced, like the other
  vendors. This path has never run against a real Fast DDS bus.
• The tests/fixtures/bags bag is left out of the sdist.
• peek_bag_samples failed on every Humble .db3 bag with "Bag contains no
  type definitions". The reader now gets the type definitions of the distro the
  bag records, or Humble, and note says which. LaserScan.ranges and other
  numeric arrays now come back as lists, not a numpy repr string.
• analyze_bag rates were count / whole-bag duration, 0.1 to 0.7 percent off on
  periodic topics and meaningless on latched ones (/tf_static showed 0.06 Hz,
  /rosout 0.37 Hz). They are now (n - 1) / (last - first) per topic, read
  from the bag when it is readable locally, and latched topics are flagged.
• get_topic_info returned qos_reliability: null on every topic although the
  CLI prints Reliability and Durability per endpoint.
• peek_dds_samples('/scan') reported the topic as not discovered while
  rt/scan and scan worked; it now resolves the name like the other DDS tools
  and says which topic matched.
• The "DDS module is not active" error said to install the Cyclone binding even
  when it was installed. It now states the actual cause: backend not selected,
  binding missing, or adapter failed to start. README wording aligned.
• CSV ... truncation cells from ros2 topic echo no longer count as data
  columns.
• ros2 output is decoded as UTF-8 on Windows instead of cp1252.
• detect_qos_mismatches no longer calls service, action, rosout,
  parameter_events or ros_discovery_info topics typos of each other (for
  example get_parametersRequest vs set_parametersRequest), and no longer
  reports them as orphans. Only plain rt/ topics and bare DDS names are compared.
• The "differs by N edits" hint is now only given between a writer-only name and
  a reader-only name; a topic with both sides is never suggested as a typo.