ros2agnocast_discovery_agent.agent module

Per-IPC-namespace discovery agent.

Reads the local Agnocast state via the existing NS-scoped ioctl wrapper (libagnocast_ioctl_wrapper.so) and publishes it as AgnocastDaemonState on /_agnocast_discovery so other namespaces and ECUs running ros2agnocast tooling can observe and make bridge generation decisions.

One daemon process is intended to run per IPC namespace. Lifecycle is the user’s responsibility (systemd unit, ros2 launch include, container entrypoint, etc.).

class ros2agnocast_discovery_agent.agent.DiscoveryAgent(*args: Any, **kwargs: Any)

Bases: Node

rclpy Node that publishes the local Agnocast state every PUBLISH_INTERVAL_SEC.

Also subscribes to its own gossip topic so the bridge decider can observe remote namespace state; the callback records the latest snapshot keyed by (host_uuid, ipc_ns_inode).

build_state() → ros2agnocast_discovery_msgs.msg.AgnocastDaemonState

publish_snapshot() → None: Build and publish the current local AgnocastDaemonState.

property remote_states: dict: Map of (host_uuid, ipc_ns_inode) to (msg, received_at_sec).

class ros2agnocast_discovery_agent.agent.TopicInfoRet

Bases: Structure

Mirror of struct topic_info_ret in agnocast_ioctl.hpp.

is_bridge: Structure/Union member

node_name: Structure/Union member

qos_depth: Structure/Union member

qos_is_reliable: Structure/Union member

qos_is_transient_local: Structure/Union member

ros2agnocast_discovery_agent.agent.main(argv=None) → int

ros2agnocast_discovery_agent.agent.read_local_topics(lib) → list

Snapshot the current namespace’s Agnocast topics via the ioctl wrapper.

Returns a list of AgnocastTopic msgs. The ioctl returns only the caller’s IPC namespace, so the daemon process just being inside that namespace is sufficient to scope the result.