feat(#78): add ros2_medkit_fault_reporter client library #92
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Add FaultReporter client library for easy fault reporting with local filtering support. New package ros2_medkit_fault_reporter provides: - FaultReporter class with simple API: report(fault_code, severity, description) - LocalFilter class for per-fault-code threshold/window filtering - Local filtering enabled by default (3 reports in 10s before forwarding) - High-severity faults (ERROR, CRITICAL) bypass filtering - Configuration via ROS parameters Dependencies: rclcpp, ros2_medkit_msgs
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Pull request overview
This PR introduces a new ROS 2 client library package ros2_medkit_fault_reporter that provides a simple API for nodes to report faults to the central FaultManager with optional local filtering to reduce noise from repeated fault occurrences.
Key changes:
- New FaultReporter class with
report(fault_code, severity, description)API - LocalFilter class implementing threshold-based filtering within sliding time windows
- Local filtering enabled by default (3 reports in 10s) with high-severity bypass
- Comprehensive unit and integration tests
- Full documentation including design diagrams and usage examples
Reviewed changes
Copilot reviewed 11 out of 11 changed files in this pull request and generated 15 comments.
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| File | Description |
|---|---|
| src/ros2_medkit_fault_reporter/package.xml | Package metadata defining dependencies on rclcpp and ros2_medkit_msgs |
| src/ros2_medkit_fault_reporter/CMakeLists.txt | Build configuration for library, tests, and coverage support |
| src/ros2_medkit_fault_reporter/include/ros2_medkit_fault_reporter/fault_reporter.hpp | Public API for FaultReporter class with documentation |
| src/ros2_medkit_fault_reporter/include/ros2_medkit_fault_reporter/local_filter.hpp | LocalFilter class and FilterConfig struct definitions |
| src/ros2_medkit_fault_reporter/src/fault_reporter.cpp | Implementation of FaultReporter with parameter loading and service calls |
| src/ros2_medkit_fault_reporter/src/local_filter.cpp | Implementation of filtering logic with time-window tracking |
| src/ros2_medkit_fault_reporter/test/test_local_filter.cpp | Unit tests for LocalFilter threshold and window behavior |
| src/ros2_medkit_fault_reporter/test/test_integration.test.py | Integration tests verifying end-to-end fault reporting with FaultManager |
| src/ros2_medkit_fault_reporter/README.md | Package-level documentation with usage examples and configuration |
| src/ros2_medkit_fault_reporter/design/index.rst | Comprehensive design documentation with architecture diagrams |
| src/ros2_medkit_fault_reporter/design/architecture.puml | PlantUML class diagram source |
src/ros2_medkit_fault_reporter/include/ros2_medkit_fault_reporter/local_filter.hpp
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Thread safety fixes: - Move mutex acquisition before reading config_ in should_forward() - Return FilterConfig by value with mutex lock in config() method Robustness improvements: - Use WARN level logging when service unavailable for high-severity faults - Add has_parameter() checks before declare_parameter() to prevent exceptions - Validate source_id in constructor (warn if empty) - Validate fault_code in report() (reject if empty) - Add validate_config() to ensure threshold >= 1 and window > 0 Code quality: - Add documentation for FilterConfig struct fields - Optimize cleanup_expired() with fast path and std::lower_bound - Add explanatory comment for silent exception in test
bburda
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Dec 21, 2025
src/ros2_medkit_fault_reporter/include/ros2_medkit_fault_reporter/fault_reporter.hpp
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bburda
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Dec 21, 2025
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Pull Request
Closes #78
Summary
Add FaultReporter client library for easy fault reporting with local
filtering support.
New package ros2_medkit_fault_reporter provides:
Dependencies: rclcpp, ros2_medkit_msgs
Issue
Link the related issue (required):
Type
Testing
How was this tested / how should reviewers verify it?
Checklist