rosotacom-dev 2.5.dev16__tar.gz → 2.5.dev17__tar.gz

{rosotacom_dev-2.5.dev16 → rosotacom_dev-2.5.dev17}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: rosotacom-dev
-Version: 2.5.dev16
+Version: 2.5.dev17
 Summary: Host CLI for ROS OTA communication sessions.
 Author: develNor
 License-Expression: BSD-3-Clause

{rosotacom_dev-2.5.dev16 → rosotacom_dev-2.5.dev17}/docs/rfcs/0002-expectation-concepts.md

@@ -290,6 +290,24 @@ once `optional` are all fixed:
       end-to-end by remote_assist (`/tf` local→global, `/move_base_free/goal`
       global→local, both delivered to `native_in`); ffmpeg video is n/a -- there is no
       video/ffmpeg feature anywhere in the codebase, so there is nothing to test.
+- [x] The third latched "not delivering" state is named (issue #231, Option A).
+      A latched topic that has a publisher but holds no value now reads distinctly
+      ("has a publisher but holds no retained latched value") from "no publisher"
+      and "stopped", so a broken/empty latch is no longer indistinguishable from a
+      silent producer (`classify_stage` carries a `latched` flag; `_stage_diagnosis`
+      names it). The transient_local read Option A asks for was **not** forced per
+      declared role: a first attempt did (`collect_latched_stage_topics` ->
+      forced QoS) and broke `e2e-remote-assist`, because a latched topic's *native
+      source* stage is published VOLATILE (the ROS 1 bridge offers no durability)
+      and a TRANSIENT_LOCAL reader is incompatible with a VOLATILE writer -- it
+      received nothing and reported a false STALLED. The correct, per-stage form
+      is the existing publisher-matched `_observation_qos`, which already requests
+      transient_local on the delivered stages that offer it (com_in/app_in); that
+      matched subscription is observable on the graph (it raises the subscriber
+      count). Validation:
+      `tests/unit/test_status_overview.py::test_observation_qos_does_not_force_transient_local_for_latched_roles`,
+      `::test_stage_diagnosis_names_the_three_latched_states`,
+      `::test_classify_stage_marks_latched_role`.
 
 ### Replay-only (ground-truth) assertions — from "Live vs replay" above
 

{rosotacom_dev-2.5.dev16 → rosotacom_dev-2.5.dev17}/src/rosotacom/resources/ws/ros2src/com_py/com_py/status_overview.py

@@ -161,6 +161,18 @@ class StageObserver(Node):
         value. Adopting the publisher's offered durability/reliability (request ==
         offered) is always compatible and replays the durable history. Falls back
         to best-effort/volatile when no publisher QoS is available.
+
+        Adopting the *publisher's* offered durability (rather than forcing
+        TRANSIENT_LOCAL for every stage of a declared latched topic) is
+        deliberate: a latched topic's own source stage -- the vehicle's native
+        publish -- is VOLATILE (the ROS 1 bridge offers no durability), and a
+        TRANSIENT_LOCAL reader is incompatible with a VOLATILE writer and would
+        receive nothing, turning a healthy native stage into a false STALLED.
+        Only the delivered stages (com_in/app_in) offer TRANSIENT_LOCAL, and the
+        per-publisher match already requests it there -- which is the
+        "subscribe transient_local on latched roles" of issue #231, made
+        per-stage-correct. The matched subscription is observable on the graph
+        (it raises the topic's subscriber count).
         """
         durability = DurabilityPolicy.VOLATILE
         reliability = ReliabilityPolicy.BEST_EFFORT

{rosotacom_dev-2.5.dev16 → rosotacom_dev-2.5.dev17}/src/rosotacom/resources/ws/ros2src/com_py/com_py/status_overview_core.py

@@ -497,6 +497,7 @@ class StatusAggregator:
             "quality_reason": None,
             "observation": "graph" if obs is not None and obs.graph_only else "payload",
             "inferred_from": None,
+            "latched": str((expect or {}).get("mode", "")).strip().lower() == "latched",
         }
         if obs is None:
             return result
@@ -744,6 +745,16 @@ class StatusAggregator:
                     f"{topic} has a publisher; payload is intentionally not "
                     "subscribed and adjacent local flow is not observed"
                 )
+            if stage_result.get("latched"):
+                # The third state issue #231 names: distinct from "no publisher"
+                # (ABSENT) and "stopped" (STALE). The observation subscribes
+                # transient_local for latched roles, so a value published before
+                # it matched would have been replayed; holding none means nothing
+                # was ever latched (empty/broken latch), not a late-joining reader.
+                return (
+                    f"{topic} has a publisher but holds no retained latched "
+                    "value (nothing was latched, or the latch was lost)"
+                )
             return f"{topic} has a publisher but no messages observed yet"
         if st == STALE:
             return f"{topic} stopped receiving messages"

{rosotacom_dev-2.5.dev16 → rosotacom_dev-2.5.dev17}/src/rosotacom_dev.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: rosotacom-dev
-Version: 2.5.dev16
+Version: 2.5.dev17
 Summary: Host CLI for ROS OTA communication sessions.
 Author: develNor
 License-Expression: BSD-3-Clause

{rosotacom_dev-2.5.dev16 → rosotacom_dev-2.5.dev17}/src/rosotacom_dev.egg-info/scm_version.json

@@ -1,7 +1,7 @@
 {
   "tag": "2.4",
-  "distance": 16,
-  "node": "ge8bcbe8f985ad79a3be256a4e360cdad4b9d13c0",
+  "distance": 17,
+  "node": "g1e061c3143329436d338320f8f58fd3d26affbed",
   "dirty": false,
   "branch": "HEAD",
   "node_date": "2026-08-12"

{rosotacom_dev-2.5.dev16 → rosotacom_dev-2.5.dev17}/tests/unit/test_status_overview.py

@@ -179,6 +179,20 @@ def test_observation_qos_matches_publisher_durability() -> None:
     assert "qos = self._observation_qos(topic)" in source
 
 
+def test_observation_qos_does_not_force_transient_local_for_latched_roles() -> None:
+    """#231 regression: the observer must NOT force TRANSIENT_LOCAL for every
+    stage of a latched topic. A latched topic's native source stage is published
+    VOLATILE (the ROS 1 bridge offers no durability), and a TRANSIENT_LOCAL
+    reader is incompatible with a VOLATILE writer -- forcing it made the native
+    stage receive nothing and read a false STALLED (broke e2e-remote-assist).
+    The per-publisher QoS match already requests transient_local on the delivered
+    stages that offer it, which is the correct per-stage form of Option A.
+    """
+    source = STATUS_NODE_PY.read_text(encoding="utf-8")
+    assert "self._latched_topics" not in source
+    assert "collect_latched_stage_topics" not in source
+
+
 # ---------------------------------------------------------------------------
 # state classification + rollup
 # ---------------------------------------------------------------------------
@@ -294,6 +308,40 @@ def test_rollup_latched_never_delivered_still_stalled(tmp_path: Path) -> None:
     assert agg.rollup(spec, stages)["overall"] == core.STALLED
 
 
+def test_stage_diagnosis_names_the_three_latched_states(tmp_path: Path) -> None:
+    """#231: a latched topic that is not delivering reads as one of three
+    distinct states. The new one -- a publisher present but no retained value
+    held -- must not collapse into 'no publisher', which is the difference
+    between a broken latch and a genuinely silent producer."""
+    agg = _build({}, tmp_path)
+    topic = "/b/site/latched"
+    no_publisher = agg._stage_diagnosis({"state": core.ABSENT, "topic": topic, "produced_by": "relay"})
+    stopped = agg._stage_diagnosis({"state": core.STALE, "topic": topic, "produced_by": "relay"})
+    no_retained = agg._stage_diagnosis({"state": core.IDLE, "topic": topic, "produced_by": "relay", "latched": True})
+    plain_idle = agg._stage_diagnosis({"state": core.IDLE, "topic": "/heartbeat_a", "produced_by": "relay"})
+    assert "no publisher" in no_publisher
+    assert "stopped" in stopped
+    assert "retained latched" in no_retained
+    # all three name-distinct, and the latched case is not the plain-idle text
+    assert len({no_publisher, stopped, no_retained}) == 3
+    assert no_retained != plain_idle
+
+
+def test_classify_stage_marks_latched_role(tmp_path: Path) -> None:
+    """classify_stage carries the latched flag so _stage_diagnosis can name the
+    third state without re-reading the spec."""
+    agg = _build({}, tmp_path)
+    latched = agg.classify_stage(
+        {"stage": "app_in", "topic": "/b/site/latched"},
+        None,
+        0.0,
+        {"mode": "latched"},
+    )
+    streamed = agg.classify_stage({"stage": "native", "topic": "/b/twist"}, None, 0.0, {"mode": "stream"})
+    assert latched["latched"] is True
+    assert streamed["latched"] is False
+
+
 def test_rollup_latched_outbound_produced_is_ok(tmp_path: Path) -> None:
     # On the sender a one-shot held value shows at native/processed; the inferred
     # send stage may idle. Producing+latching is enough (receiver confirms delivery).