Class GatewayPlugin

Defined in File gateway_plugin.hpp

Nested Relationships

Nested Types

Struct GatewayPlugin::PluginRoute

Inheritance Relationships

Derived Types

public ParameterBeaconPlugin
public TopicBeaconPlugin
public ros2_medkit_gateway::GraphProviderPlugin
public ros2_medkit_gateway::OpcuaPlugin
public ros2_medkit_gateway::SovdServiceInterface

Class Documentation

class GatewayPlugin

Base class for all gateway plugins.

Plugins are loaded as shared libraries (.so) via dlopen/dlsym. Each .so must export two extern “C” functions: int plugin_api_version(); // must return PLUGIN_API_VERSION GatewayPlugin* create_plugin(); // factory

Plugins implement this base class plus one or more provider interfaces (UpdateProvider, IntrospectionProvider) via multiple inheritance.

See also

UpdateProvider, IntrospectionProvider for typed interfaces

Subclassed by ParameterBeaconPlugin, TopicBeaconPlugin, ros2_medkit_gateway::GraphProviderPlugin, ros2_medkit_gateway::OpcuaPlugin, ros2_medkit_gateway::SovdServiceInterface

Public Functions

virtual ~GatewayPlugin() = default

virtual std::string name() const = 0

Unique name for this plugin.

Returns:: Plugin name (e.g., “systemd”, “procfs”, “mender_ota”)

virtual void configure(const nlohmann::json &config) = 0

Configure the plugin.

Called once after loading with per-plugin config from YAML.

Parameters:: config – JSON configuration object

inline virtual void set_context(PluginContext&)

Receive gateway context.

Called after configure(). Provides access to the ROS 2 node, entity cache, fault data, and HTTP handler utilities. Store the reference if needed during runtime.

Parameters:: context – Gateway plugin context (outlives this plugin)

inline virtual std::vector<PluginRoute> get_routes()

Return custom REST routes for this plugin.

Called once during REST server setup. The gateway registers the returned routes on the HTTP server, wrapping PluginRequest/PluginResponse around the underlying library types.

Returns:: Routes to register (method, pattern, handler)

inline virtual void shutdown()

Shutdown hook for cleanup.

Called before the plugin is destroyed. Use for releasing resources, closing connections, etc.

Protected Functions

inline void log_info(const std::string &msg) const: Log an informational message (routed to gateway’s ROS 2 logger)

inline void log_warn(const std::string &msg) const: Log a warning message.

inline void log_error(const std::string &msg) const: Log an error message.

struct PluginRoute

Describes a single REST route registered by a plugin.

Public Members

std::string method: HTTP method (“GET”, “POST”, “PUT”, “DELETE”)

std::string pattern: Regex pattern relative to api_prefix.

std::function<void(const PluginRequest&, PluginResponse&)> handler