Repository navigation
Conversation
LockReaper calls LockManager::cleanup_expired() on a thread it owns and removes the cyclic subscriptions in an expired lock's scope, so a host without a ROS timer no longer keeps expired locks. The ROS 2 node starts the same class in place of its wall timer, and the ROS-free check requires the lock and its subscription to be gone after the expiry.
make_script_host() returns a ScriptManager backed by the plugin provider, or by a DefaultScriptProvider built from ScriptsConfig when a scripts directory is set. The ROS 2 node reads its parameters and manifest scripts into the same config and calls it, and the ROS-free check uploads a script over HTTP, runs it and reads its output.
AggregationHost builds the AggregationManager and the mDNS discovery from an AggregationConfig, and merge_peers() merges the peers' entities and publishes the routing table, leaf warnings and contributors. The ROS 2 node keeps its parameter parsing and uses the class, and the ROS-free check starts a second server in the same process as a peer and reads its entity through the first.
A host passes a null LifecycleStateReader: the status route then reports readiness from graph presence and a transition answers 501 without a LifecycleProvider. The ROS-free check pins both answers, also for an app that exposes the lifecycle services.
…way-core-11-core-host-wiring
…way-core-11-core-host-wiring
This branch has not been deployed
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Pull Request
Summary
Wiring that every program hosting the core needs moves out of the node:
LockReaperremoves expired locks and their cyclic subscriptions on a thread the core owns.locking.cleanup_intervalbelow 1 is raised to 1 second.make_script_host(ScriptsConfig, backend)builds the script manager with the default provider.AggregationHostowns the aggregation manager, mDNS discovery and the peer merge.The node uses the same pieces and keeps its parameters.
Issue
Type
Testing
scripts/check_cores_without_ros/run.sh: an expired lock and its subscription go away without host code, a script runs over HTTP, a second core server is read as a peer, and the lifecycle routes answer with no reader../scripts/test.sh integ --packages-select ros2_medkit_integration_testscovers the node path (locking, scripts, aggregation, lifecycle tests).Checklist