Class RuntimeDiscoveryStrategy

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class RuntimeDiscoveryStrategy : public ros2_medkit_gateway::discovery::DiscoveryStrategy

Runtime discovery strategy using ROS 2 graph introspection.

This is the current discovery behavior extracted into a strategy class. It discovers entities by querying the ROS 2 node graph at runtime.

Features:

  • Discovers Functions from node namespaces (functional grouping)

  • Exposes nodes as Apps

  • Enriches apps with services, actions, and topics

Note: Synthetic/heuristic Area and Component creation has been removed. Areas come from manifest only. Components come from HostInfoProvider or manifest. Namespaces create Function entities.

Public Functions

explicit RuntimeDiscoveryStrategy(rclcpp::Node *node)

Construct runtime discovery strategy.

Parameters:

node – ROS 2 node for graph introspection (must outlive this strategy)

void set_config(const RuntimeConfig &config)

Set runtime discovery configuration.

Parameters:

config – Runtime options from DiscoveryConfig

virtual std::vector<Area> discover_areas() override

Discover all areas.

Note

Always returns empty - Areas come from manifest only

virtual std::vector<Component> discover_components() override

Discover all components.

Note

Always returns empty - Components come from HostInfoProvider or manifest

virtual std::vector<App> discover_apps() override

Discover all apps (empty for runtime-only strategy)

Note

Returns nodes as Apps in runtime discovery

virtual std::vector<Function> discover_functions() override

Discover all functions (empty for runtime-only strategy)

Note

Creates Function entities from namespace grouping when enabled

std::vector<Function> discover_functions(const std::vector<App> &apps)

Create Function entities from pre-discovered apps.

Avoids redundant ROS 2 graph introspection when apps have already been discovered in the same refresh cycle (e.g., refresh_cache() calls discover_apps() before discover_functions()).

Parameters:

apps – Pre-discovered apps to group by namespace

Returns:

Vector of Function entities

inline virtual std::string get_name() const override

Get strategy name for logging.

std::vector<ServiceInfo> discover_services()

Discover all services in the system with their types.

Returns:

Vector of ServiceInfo with schema information

std::vector<ActionInfo> discover_actions()

Discover all actions in the system with their types.

Returns:

Vector of ActionInfo with schema information

std::optional<ServiceInfo> find_service(const std::string &component_ns, const std::string &operation_name) const

Find a service by component namespace and operation name.

Parameters:

  • component_ns – Component namespace

  • operation_name – Service name

Returns:

ServiceInfo if found, nullopt otherwise

std::optional<ActionInfo> find_action(const std::string &component_ns, const std::string &operation_name) const

Find an action by component namespace and operation name.

Parameters:

  • component_ns – Component namespace

  • operation_name – Action name

Returns:

ActionInfo if found, nullopt otherwise

void set_topic_sampler(NativeTopicSampler *sampler)

Set the topic sampler for component-topic mapping.

Parameters:

sampler – Pointer to NativeTopicSampler (must outlive this strategy)

void set_type_introspection(TypeIntrospection *introspection)

Set the type introspection for operation schema enrichment.

Parameters:

introspection – Pointer to TypeIntrospection (must outlive this strategy)

void refresh_topic_map()

Refresh the cached topic map.

bool is_topic_map_ready() const

Check if topic map has been built at least once.

Returns:

true if topic map is ready, false if not yet built

struct RuntimeConfig

Runtime discovery configuration options.

Public Members

bool create_functions_from_namespaces = {true}