Class XMedkit

Defined in File x_medkit.hpp

Class Documentation

class XMedkit

Fluent builder for x-medkit extension JSON object.

The x-medkit extension provides a clean separation between SOVD-compliant fields and ros2_medkit-specific extensions in API responses.

Example usage:

XMedkit ext;
ext.ros2_node("/sensors/temp_sensor")
   .ros2_type("sensor_msgs/msg/Temperature")
   .source("heuristic")
   .is_online(true);

json response;
response["id"] = "temp_sensor";
response["name"] = "Temperature Sensor";
if (!ext.empty()) {
  response["x-medkit"] = ext.build();
}

Output structure:

{
  "id": "temp_sensor",
  "name": "Temperature Sensor",
  "x-medkit": {
    "ros2": {
      "node": "/sensors/temp_sensor",
      "type": "sensor_msgs/msg/Temperature"
    },
    "source": "heuristic",
    "is_online": true
  }
}

Public Functions

XMedkit() = default

XMedkit &ros2_node(const std::string &node_name)

Set the ROS2 node name.

Parameters:: node_name – Fully qualified node name (e.g., “/namespace/node_name”)

XMedkit &ros2_namespace(const std::string &ns)

Set the ROS2 namespace.

Parameters:: ns – Namespace (e.g., “/sensors”)

XMedkit &ros2_type(const std::string &type)

Set the ROS2 message/service/action type.

Parameters:: type – Type string (e.g., “std_msgs/msg/String”)

XMedkit &ros2_topic(const std::string &topic)

Set the ROS2 topic name.

Parameters:: topic – Topic path (e.g., “/sensors/temperature”)

XMedkit &ros2_service(const std::string &service)

Set the ROS2 service name.

Parameters:: service – Service path (e.g., “/calibrate”)

XMedkit &ros2_action(const std::string &action)

Set the ROS2 action name.

Parameters:: action – Action path (e.g., “/navigate”)

XMedkit &ros2_kind(const std::string &kind)

Set the ROS2 interface kind.

Parameters:: kind – Interface kind (“topic”, “service”, “action”)

XMedkit &source(const std::string &source)

Set the entity discovery source.

Parameters:: source – Discovery source (“heuristic”, “static”, “runtime”)

XMedkit &is_online(bool online)

Set the entity online status.

Parameters:: online – True if the entity is currently online/available

XMedkit &component_id(const std::string &id)

Set the parent component ID.

Parameters:: id – Component identifier

XMedkit &entity_id(const std::string &id)

Set a generic entity ID reference.

Parameters:: id – Entity identifier

XMedkit &type_info(const nlohmann::json &info)

Set type introspection information.

Parameters:: info – JSON object with type metadata

XMedkit &type_schema(const nlohmann::json &schema)

Set ROS2 IDL type schema.

Note: This is distinct from SOVD’s OpenAPI schema. The type_schema contains ROS2 message/service/action structure derived from IDL definitions.

Parameters:: schema – JSON object with IDL-derived type structure

XMedkit &goal_id(const std::string &id)

Set the ROS2 action goal ID.

Parameters:: id – Goal UUID string

XMedkit &goal_status(const std::string &status)

Set the ROS2 action goal status.

Parameters:: status – Status string (“pending”, “executing”, “succeeded”, “canceled”, “aborted”)

XMedkit &last_feedback(const nlohmann::json &feedback)

Set the last received action feedback.

Parameters:: feedback – JSON object with feedback data

XMedkit &add(const std::string &key, const nlohmann::json &value)

Add a custom field to the x-medkit object (top level).

Parameters:

key – Field name
value – Field value

XMedkit &add_ros2(const std::string &key, const nlohmann::json &value)

Add a custom field to the ros2 sub-object.

Parameters:

key – Field name
value – Field value

nlohmann::json build() const

Build the final x-medkit JSON object.

Returns:: JSON object containing all set fields

bool empty() const

Check if any fields have been set.

Returns:: True if no fields have been set