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Fix exceptions getting bulk_data.categories and plugins at startup #256

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Merged
bburda merged 3 commits into from
Mar 7, 2026
Merged

Fix exceptions getting bulk_data.categories and plugins at startup #256

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76145a7
Fix exceptions getting bulk_data.categories and plugins at startup
nnarain Mar 7, 2026
923ad66
remove empty strings before processing
nnarain Mar 7, 2026
4893673
clang format
nnarain Mar 7, 2026
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4 changes: 2 additions & 2 deletions src/ros2_medkit_gateway/config/gateway_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -273,7 +273,7 @@ ros2_medkit_gateway:
# Allowed bulk data categories (besides "rosbags" which is always
# available via FaultManager)
# Example: ["calibration", "firmware", "comlogs", "snapshots"]
categories: []
categories: [""]

# Plugin Framework
# Extend gateway with custom plugins loaded from shared libraries (.so).
Expand All @@ -291,7 +291,7 @@ ros2_medkit_gateway:
# Plugin lifecycle: load -> configure -> set_context -> register_routes
# Plugins that throw during any lifecycle call are disabled (not crashed).
# Default: [] (no plugins)
plugins: []
plugins: [""]

# Software Updates
# Enables /updates endpoints for SOVD-compliant software update management.
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11 changes: 11 additions & 0 deletions src/ros2_medkit_gateway/src/gateway_node.cpp
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Expand Up @@ -426,6 +426,12 @@ GatewayNode::GatewayNode() : Node("ros2_medkit_gateway") {
auto bd_storage_dir = get_parameter("bulk_data.storage_dir").as_string();
auto bd_max_upload = static_cast<size_t>(get_parameter("bulk_data.max_upload_size").as_int());
auto bd_categories = get_parameter("bulk_data.categories").as_string_array();
bd_categories.erase(std::remove_if(bd_categories.begin(), bd_categories.end(),
[](const auto & item) {
return item.empty();
}),
bd_categories.end());

bulk_data_store_ = std::make_unique<BulkDataStore>(bd_storage_dir, bd_max_upload, bd_categories);
RCLCPP_INFO(get_logger(), "Bulk data store: dir=%s, max_upload=%zuB, categories=%zu", bd_storage_dir.c_str(),
bd_max_upload, bd_categories.size());
Expand All @@ -438,6 +444,11 @@ GatewayNode::GatewayNode() : Node("ros2_medkit_gateway") {
// Initialize plugin manager
plugin_mgr_ = std::make_unique<PluginManager>();
auto plugin_names = get_parameter("plugins").as_string_array();
plugin_names.erase(std::remove_if(plugin_names.begin(), plugin_names.end(),
[](const auto & item) {
return item.empty();
}),
plugin_names.end());
if (!plugin_names.empty()) {
std::vector<PluginConfig> configs;
// Plugin name validation: alphanumeric, underscore, hyphen only (max 256 chars)
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