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A host builds the trigger store and manager from a neutral config, feeds fault triggers from a FaultEventSource and reads data items of plugin-served entities by polling. The ROS 2 node uses the same builder and keeps its topic transport and fault subscriber as adapters.
The check program creates a fault trigger and a data trigger over HTTP on a host with one fault event source and a plugin-served data item, and checks the trigger count limit. The docs describe the builder, the sources and the new host-only polling interval.
…y-core-12-core-triggers
…r does The polling source delivers the data field of the item body, the same value a topic trigger gets, so one trigger path works on both hosts. A body with no data field is delivered whole.
…y-core-12-core-triggers
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Pull Request
Summary
make_trigger_host(config, notifier, conditions, wiring)builds the trigger store and manager fromTriggerHostConfig(thetriggers.*names and defaults). Fault-event triggers are fed byTriggerFaultFeedfrom aFaultEventSource. Data triggers on a host without topics are fed byPollingDataItemSource, which reads the item the way the data route does and hands the trigger thedatavalue, as a topic trigger gets the message. The node keeps its topic path and its behaviour.Issue
Type
Testing
scripts/check_cores_without_ros/run.sh: a fault trigger fires on a confirmation from a shared event source while the SSE stream still gets it, a data trigger on plugin data fires once when the value enters the range, and the trigger limit answers 503../scripts/test.sh integ --packages-select ros2_medkit_integration_testscovers the node path (test_triggers_*,test_fault_triggers_api).Checklist