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…rEntity definitions Add new ROS2 message definitions for SOVD-compliant fault environment data: - ExtendedDataRecords.msg: first/last occurrence timestamps - Snapshot.msg: unified freeze frame and rosbag snapshot type - EnvironmentData.msg: container for snapshots in fault response - GetFault.srv: NEW service for single fault lookup with environment_data - ListFaultsForEntity.srv: service to query faults by entity
Add UUID generation for rosbag files and index for UUID-based lookup: - FaultStorage::generate_uuid() for UUID v4 generation - RosbagFileInfo::bulk_data_id field for globally unique identifier - FaultStorage::get_rosbag_by_id() for lookup by UUID - FaultStorage::get_rosbag_path() for file path retrieval - FaultStorage::get_rosbags_for_entity() for entity-filtered queries - rosbag_by_id_ index for O(1) UUID lookups in InMemoryFaultStorage - SQLite schema migration for existing databases Required for SOVD bulk-data download pattern. @verifies REQ_INTEROP_073
Implement GetFault service handler that returns: - Fault data with basic info and status - ExtendedDataRecords with first/last occurrence timestamps - Snapshots including freeze frames and rosbag metadata Add unit tests for GetFault service responses.
Implement ListFaultsForEntity service for querying faults by entity: - Add get_all_faults() method to FaultStorage interface and implementations - Add matches_entity() helper for FQN suffix matching - Add list_faults_for_entity service to FaultManagerNode Add unit tests for new functionality including: - GetAllFaults storage tests - ListFaultsForEntity service tests - matches_entity helper tests
Add utility functions for parsing entity paths from HTTP request URLs:
- EntityPathInfo struct with type, entity_id, resource_path, parent_id
- parse_entity_path() extracts entity info from /api/v1/{type}/{id}/... URLs
- extract_bulk_data_category() gets bulk-data category from path
- extract_bulk_data_id() gets bulk-data item ID from path
Supports nested entities (subareas, subcomponents) with parent tracking.
Includes 20 unit tests covering all parsing scenarios.
Add build_sovd_fault_response() for SOVD-compliant responses: - 'item' wrapper with fault details and status object - 'environment_data' with extended_data_records and snapshots - 'x-medkit' extensions with occurrence_count, severity_label - Rosbag snapshots include bulk_data_uri (absolute path) - Primary value extraction for common ROS message types Add FaultManager::get_fault_with_env() for retrieving fault with environment data via GetFault service. Update handle_get_fault to use entity path from URL for bulk_data_uri generation. Includes 12 unit tests covering SOVD response building. @verifies REQ_INTEROP_013
Add BulkDataHandlers class with:
- handle_list_categories: GET {entity}/bulk-data
- handle_list_descriptors: GET {entity}/bulk-data/{category}
- handle_download: GET {entity}/bulk-data/{category}/{id}
Supports all entity path patterns:
- /apps, /components, /areas, /functions
- /areas/{id}/subareas, /components/{id}/subcomponents
Security: Validates rosbag belongs to requested entity.
CORS: Exposes Content-Disposition header for frontend.
@verifies REQ_INTEROP_071
@verifies REQ_INTEROP_072
@verifies REQ_INTEROP_073
REQ_INTEROP_072, REQ_INTEROP_073
- Remove /faults/{code}/snapshots (system-wide)
- Remove /faults/{code}/snapshots/bag (rosbag download)
- Remove entity-scoped snapshot endpoints for components, apps, areas, functions
- Remove handler declarations from fault_handlers.hpp
- Remove handler implementations from fault_handlers.cpp
- Remove unused helper functions (sanitize_filename, generate_timestamp, validate_fault_code)
- Remove unused includes (filesystem, fstream, iomanip)
Snapshots are now inline in fault responses (environment_data).
Rosbag downloads use bulk-data endpoint pattern (GET /{entity}/bulk-data/rosbags/{fault_code}).
Add comprehensive integration tests: - Bulk-data category listing for all entity types - BulkDataDescriptor structure validation - Rosbag download with headers verification - Security check for cross-entity access - Nested entity path support - SOVD-compliant fault response structure - Legacy endpoints removal verification @verifies REQ_INTEROP_071 @verifies REQ_INTEROP_072 @verifies REQ_INTEROP_073 @verifies REQ_INTEROP_013
- Add resolve_rosbag_file_path() to handle rosbag2 directory structure - Fix MIME type from application/gzip to application/x-sqlite3 for db3 files - Update unit tests for correct MIME type expectations - Update integration tests for SQLite format validation
Update documentation for SOVD bulk-data feature: - Add Bulk Data Endpoints section to REST API reference - Update fault response with environment_data and SOVD status - Rewrite snapshots tutorial for new API pattern - Update changelog with breaking changes - Mark REQ_INTEROP_071-073 as verified - Update REQ_INTEROP_013 for fault environment data - Remove REQ_INTEROP_088 (legacy snapshots endpoint) Documents breaking changes and migration path.
Fix spelling typo propagated through the entire stack: - ExtendedDataRecords.msg: first_occurence_ns → first_occurrence_ns - fault_manager_node.cpp: field access updated - fault_handlers.cpp: JSON keys updated - All test files updated to match This is a breaking change in the ROS message API, fixed now before the bulk-data feature is merged to main.
P0: Replace memory-loading file transfer with chunked content provider using httplib::set_content_provider() with 64KB chunks. Rosbag files can be hundreds of MB to multiple GB. P0: Add GetRosbags batch service to eliminate N+1 service calls in handle_list_descriptors(). Uses existing get_rosbags_for_entity() storage method via a new ROS 2 service. P1: Add Content-Disposition and Content-Length to global CORS Access-Control-Expose-Headers in both RESTServer and HandlerContext. P0: Document mutex locking contract on FaultManager::service_mutex_ to prevent future deadlock risks in get_fault() delegation.
Consolidate duplicate timestamp formatting (to_iso8601_ns in fault_handlers.cpp and format_timestamp_ns in bulkdata_handlers.cpp) into a shared inline function in http_utils.hpp. Add null check for gmtime_r return value — previously undefined behavior on negative or invalid timestamps. Add unit tests for the shared utility covering valid timestamps, epoch, milliseconds, and negative timestamp fallback.
Apply consistent naming convention for ROS 2 service definitions: - Get* = retrieve single item by key (GetFault, GetRosbag) - List* = query collection with filters (ListFaults, ListRosbags, ListFaultsForEntity) Renames .srv files, all C++ types/includes/variables/handlers, Python imports, service endpoint names (~/list_faults, ~/list_rosbags), storage method names, and documentation references. BREAKING: Service endpoint names changed: ~/get_faults → ~/list_faults ~/get_rosbags → ~/list_rosbags
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