rosotacom-dev 2.5.dev37__tar.gz → 2.5.dev39__tar.gz

{rosotacom_dev-2.5.dev37 → rosotacom_dev-2.5.dev39}/DEVELOPMENT_PRINCIPLES.md

@@ -13,10 +13,16 @@ A change is complete only if:
 
 ## Compatibility Policy
 
-Preserve documented CLI behavior and the legacy `start_rosotacom` and
-`stop_rosotacom` entry points. Do not add silent aliases for removed behavior
+Preserve documented CLI behavior. Do not add silent aliases for removed behavior
 unless a migration explicitly requires them.
 
+`rosotacom` is the only console script this package installs. The
+`start_rosotacom` / `stop_rosotacom` entry points were the one standing
+exception to rule 6 above; they were removed on 2026-08-14 because they were
+nothing but `rosotacom start` and `rosotacom stop` under a second name, and a
+second name is what makes a stale shim on a machine indistinguishable from a
+live command. `rosotacom doctor` reports one that is still lying around.
+
 ## Testing Policy
 
 Test public behavior and contracts.

{rosotacom_dev-2.5.dev37 → rosotacom_dev-2.5.dev39}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: rosotacom-dev
-Version: 2.5.dev37
+Version: 2.5.dev39
 Summary: Host CLI for ROS OTA communication sessions.
 Author: develNor
 License-Expression: BSD-3-Clause

{rosotacom_dev-2.5.dev37 → rosotacom_dev-2.5.dev39}/install.sh

@@ -85,8 +85,18 @@ echo "  just setup"
 if [[ "$INSTALL_GLOBAL_SYMLINKS" == true ]]; then
   mkdir -p "$BIN_DIR"
   ln -sf "$VENV_DIR/bin/rosotacom" "$BIN_DIR/rosotacom"
-  ln -sf "$VENV_DIR/bin/start_rosotacom" "$BIN_DIR/start_rosotacom"
-  ln -sf "$VENV_DIR/bin/stop_rosotacom" "$BIN_DIR/stop_rosotacom"
   echo
-  echo "Installed legacy global symlinks into: $BIN_DIR"
+  echo "Installed global symlink into: $BIN_DIR"
+  # `start_rosotacom` / `stop_rosotacom` were entry points until 2026-08-14. A
+  # machine that ran an older install.sh still has their symlinks, and they now
+  # point into a venv whose package no longer provides them. Only links this
+  # script could have written are touched — into THIS checkout's venv, never a
+  # file or a link belonging to something else.
+  for retired in start_rosotacom stop_rosotacom; do
+    link="$BIN_DIR/$retired"
+    if [[ -L "$link" && "$(readlink -- "$link")" == "$VENV_DIR/bin/$retired" ]]; then
+      rm -- "$link"
+      echo "Removed retired symlink: $link  (use 'rosotacom start' / 'rosotacom stop')"
+    fi
+  done
 fi

{rosotacom_dev-2.5.dev37 → rosotacom_dev-2.5.dev39}/justfile

@@ -19,7 +19,7 @@ format:
 lint:
 	{{python}} -m ruff check .
 	{{python}} -m ruff format --check .
-	{{python}} -m py_compile src/rosotacom/*.py run_session_in_container.py stop_session_in_container.py
+	{{python}} -m py_compile src/rosotacom/*.py
 
 typecheck:
 	{{python}} -m mypy

{rosotacom_dev-2.5.dev37 → rosotacom_dev-2.5.dev39}/pyproject.toml

@@ -61,8 +61,6 @@ plots = [
 
 [project.scripts]
 rosotacom = "rosotacom.cli:main"
-start_rosotacom = "rosotacom.cli:start_compat_main"
-stop_rosotacom = "rosotacom.cli:stop_compat_main"
 
 [tool.setuptools]
 include-package-data = true

{rosotacom_dev-2.5.dev37 → rosotacom_dev-2.5.dev39}/src/rosotacom/cli.py

@@ -5676,18 +5676,21 @@ def doctor(args: argparse.Namespace) -> int:
     except Exception as exc:  # noqa: BLE001 - doctor reports all setup failures.
         line("ERROR", "config", str(exc))
 
-    stale = Path.home() / ".local" / "bin" / "start_rosotacom"
-    if stale.exists() or stale.is_symlink():
-        try:
-            target = stale.resolve(strict=False)
-        except OSError:
-            target = Path(os.readlink(stale))
-        if PROJECT_DIR not in [target, *target.parents]:
-            line("WARN", "legacy start_rosotacom", f"{stale} points to {target}, outside this checkout")
-        else:
-            line("OK", "legacy start_rosotacom", f"{stale} points to this checkout")
+    # `start_rosotacom` / `stop_rosotacom` were entry points of this package until
+    # 2026-08-14; `rosotacom start` and `rosotacom stop` are the command. A shim
+    # left behind keeps dispatching through whichever venv it points at, which is
+    # exactly the stale-install confusion this check used to report — so it is a
+    # leftover to delete now, not a second way to run this.
+    retired = [Path.home() / ".local" / "bin" / name for name in ("start_rosotacom", "stop_rosotacom")]
+    leftovers = [p for p in retired if p.exists() or p.is_symlink()]
+    if leftovers:
+        line(
+            "WARN",
+            "retired entry points",
+            f"{', '.join(str(p) for p in leftovers)} — remove; `rosotacom start` / `rosotacom stop` replaced them",
+        )
     else:
-        line("INFO", "legacy start_rosotacom", "no global legacy symlink found")
+        line("OK", "retired entry points", "no start_rosotacom/stop_rosotacom shim left")
 
     tmux = shutil.which("tmux")
     if tmux:
@@ -9757,13 +9760,5 @@ def main(argv: list[str] | None = None) -> int:
         return 1
 
 
-def start_compat_main() -> int:
-    return main(["start", *sys.argv[1:]])
-
-
-def stop_compat_main() -> int:
-    return main(["stop", *sys.argv[1:]])
-
-
 if __name__ == "__main__":
     raise SystemExit(main())

{rosotacom_dev-2.5.dev37 → rosotacom_dev-2.5.dev39}/src/rosotacom/resources/ws/ros2src/com_py/com_py/base_bridge_relay.py

@@ -61,8 +61,8 @@ class BaseBridgeRelay(Node, PairRefreshMixin):
         self.qos_config_file = self.declare_parameter('qos_config_file', '').value
 
         # Optional parameters with defaults
-        self.source_names = self.declare_parameter('source_names', rclpy.Parameter.Type.STRING_ARRAY).value or []
-        self.target_names = self.declare_parameter('target_names', rclpy.Parameter.Type.STRING_ARRAY).value or []
+        self.source_names = self.declare_optional_string_array('source_names')
+        self.target_names = self.declare_optional_string_array('target_names')
 
         # Derived classes can declare additional parameters here (must happen before initialize_node()).
         self.declare_additional_parameters()
@@ -73,6 +73,36 @@ class BaseBridgeRelay(Node, PairRefreshMixin):
         # Create timer for periodic refresh of invalid pairs
         self.init_pair_refresh(period_s=5.0, log_prefix=self.node_role)
 
+    def declare_optional_string_array(self, name: str) -> list:
+        """Declare an optional STRING_ARRAY that reads as [] rather than as unset.
+
+        Declaring a type without a value leaves the parameter
+        PARAMETER_NOT_SET. This node never notices — it reads the value once,
+        here, and an unset parameter simply yields None. Everything *else*
+        notices: reading a not-set parameter raises, and rclpy's parameter
+        service logs one warning per read against this node,
+
+            [WARN] [ota_relay_out]: Failed to get parameters: The parameter
+            'source_names' is not initialized: source_names
+
+        which anything that enumerates parameters then produces on a timer. A
+        Foxglove bridge with a parameter panel open put 107 of those lines into
+        a single pane in one session — the kind of noise that hides the message
+        somebody actually needs to see.
+
+        A plain default cannot express this: `declare_parameter(name, [])`
+        infers the type from the value, and an empty list satisfies the
+        BYTE_ARRAY test first (`all(...)` is true for an empty sequence). The
+        parameter would be typed BYTE_ARRAY and the real string array refused
+        later with "Wrong parameter type, expected '5' got '9'". Declaring the
+        type and then setting the empty value keeps it STRING_ARRAY, so a wrong
+        type is still rejected and an override still wins.
+        """
+        self.declare_parameter(name, rclpy.Parameter.Type.STRING_ARRAY)
+        if self.get_parameter_or(name).type_ == rclpy.Parameter.Type.NOT_SET:
+            self.set_parameters([rclpy.Parameter(name, rclpy.Parameter.Type.STRING_ARRAY, [])])
+        return self.get_parameter(name).value
+
     def initialize_node(self):
         """Initialize node with resolved topics and QoS configuration."""
         try:

{rosotacom_dev-2.5.dev37 → rosotacom_dev-2.5.dev39}/src/rosotacom/resources/ws/ros2src/com_py/com_py/qos.py

@@ -139,7 +139,13 @@ def get_topic_qos(logger, qos_config: dict, topic_name: str, role_name: str):
     Additionally supports a fallback lookup: if no exact match for topic_name exists
     in qos_config['topics'], we look for the most specific configured base topic key
     that matches as a path segment within topic_name (e.g. '/tf' for
-    '/shuttle_ella/tf/restamped'). If such a fallback is used, it is always logged.
+    '/shuttle_ella/tf/restamped'). Such a fallback is logged at debug level: it is
+    the designed path, not a degradation. Every processing stage appends a suffix,
+    so a session that uses framebridge, latching or a transport reaches it for most
+    of its topics, and a definition that declares QoS on the base topic and lets the
+    processed names inherit it is doing exactly what the schema intends. Logged as a
+    warning it was two lines per topic per peer at every start — enough noise around
+    a bring-up to bury an actual fault.
     """
     default = qos_config.get('default', {})
 
@@ -151,7 +157,7 @@ def get_topic_qos(logger, qos_config: dict, topic_name: str, role_name: str):
     if topic_name not in topics_cfg:
         base_match = _find_best_base_topic_match(topics_cfg, topic_name)
         if base_match is not None:
-            logger.warning(
+            logger.debug(
                 f"[dds_qos] No exact QoS match for topic='{topic_name}'. "
                 f"Falling back to base topic='{base_match}'."
             )

{rosotacom_dev-2.5.dev37 → rosotacom_dev-2.5.dev39}/src/rosotacom/resources/ws/session/content/base/session_plugin_base.yaml

@@ -534,6 +534,19 @@ windows:
       - commands:
         - if [ '${ipx_4_topics}' = "None" ]; then exit; fi
         - ros2 run com_py image_pixel_capper --ros-args -p topics:=[${ipx_4_topics}] -p max_pixels_preset:=${ipx_4_preset} -p qos_config_file:='${qos_config_file}'
+  # `if ...; then ...; fi`, never `[[ ... ]] && ...`, for the optional argument
+  # lines below. catmux sends every one of these to an interactive shell, and
+  # `catmux_log_setup.sh` hooks the pane-exit recorder into PROMPT_COMMAND — so
+  # it sees the status of each line, not just of the node the pane finally runs.
+  # `&&` short-circuits to status 1 whenever the option is unset, which is the
+  # normal case for every option a session does not override, so each of these
+  # lines wrote itself into `pane_failures.log` as a dead pane:
+  #
+  #   pane=13-IT/0	exit=1	command=[[ "None" != "None" ]] && args+=(-p "ut.foxglove.bit_rate:=None")
+  #
+  # A peer then reported `STARTUP CHECK FAILED ... 4 pane(s) exited` on every
+  # start while nothing was wrong, which is the one thing that check must not
+  # do: it exists to make a genuinely dead pane visible in seconds.
   - name: IT
     if: it
     layout: even-vertical
@@ -542,15 +555,15 @@ windows:
         - if [ '${it_1_topic}' = "None" ]; then exit; fi
         - if [[ "${it_1_topic}" == *"/compressed"* ]]; then it_in_transport="compressed"; else it_in_transport="raw"; fi
         - args=(ros2 run image_transport republish --ros-args -r __node:=republish1 -p in_transport:=${it_in_transport})
-        - '[[ "${it_1_transport}" != "None" ]] && args+=(-p "out_transport:=${it_1_transport}")'
-        - '[[ "${it_1_compressed_jpeg_quality}" != "None" ]] && args+=(-p "ut.compressed.jpeg_quality:=${it_1_compressed_jpeg_quality}")'
-        - '[[ "${it_1_ffmpeg_gop_size}" != "None" ]] && args+=(-p "ut.ffmpeg.gop_size:=${it_1_ffmpeg_gop_size}")'
-        - '[[ "${it_1_ffmpeg_encoder_av_options}" != "None" ]] && args+=(-p "ut.ffmpeg.encoder_av_options:=${it_1_ffmpeg_encoder_av_options}")'
-        - '[[ "${it_1_ffmpeg_bit_rate}" != "None" ]] && args+=(-p "ut.ffmpeg.bit_rate:=${it_1_ffmpeg_bit_rate}")'
-        - '[[ "${it_1_foxglove_gop_size}" != "None" ]] && args+=(-p "ut.foxglove.gop_size:=${it_1_foxglove_gop_size}")'
-        - '[[ "${it_1_foxglove_encoder_av_options}" != "None" ]] && args+=(-p "ut.foxglove.encoder_av_options:=${it_1_foxglove_encoder_av_options}")'
-        - '[[ "${it_1_foxglove_bit_rate}" != "None" ]] && args+=(-p "ut.foxglove.bit_rate:=${it_1_foxglove_bit_rate}")'
-        - '[[ "${it_1_foxglove_qmax}" != "None" ]] && args+=(-p "ut.foxglove.qmax:=${it_1_foxglove_qmax}")'
+        - 'if [[ "${it_1_transport}" != "None" ]]; then args+=(-p "out_transport:=${it_1_transport}"); fi'
+        - 'if [[ "${it_1_compressed_jpeg_quality}" != "None" ]]; then args+=(-p "ut.compressed.jpeg_quality:=${it_1_compressed_jpeg_quality}"); fi'
+        - 'if [[ "${it_1_ffmpeg_gop_size}" != "None" ]]; then args+=(-p "ut.ffmpeg.gop_size:=${it_1_ffmpeg_gop_size}"); fi'
+        - 'if [[ "${it_1_ffmpeg_encoder_av_options}" != "None" ]]; then args+=(-p "ut.ffmpeg.encoder_av_options:=${it_1_ffmpeg_encoder_av_options}"); fi'
+        - 'if [[ "${it_1_ffmpeg_bit_rate}" != "None" ]]; then args+=(-p "ut.ffmpeg.bit_rate:=${it_1_ffmpeg_bit_rate}"); fi'
+        - 'if [[ "${it_1_foxglove_gop_size}" != "None" ]]; then args+=(-p "ut.foxglove.gop_size:=${it_1_foxglove_gop_size}"); fi'
+        - 'if [[ "${it_1_foxglove_encoder_av_options}" != "None" ]]; then args+=(-p "ut.foxglove.encoder_av_options:=${it_1_foxglove_encoder_av_options}"); fi'
+        - 'if [[ "${it_1_foxglove_bit_rate}" != "None" ]]; then args+=(-p "ut.foxglove.bit_rate:=${it_1_foxglove_bit_rate}"); fi'
+        - 'if [[ "${it_1_foxglove_qmax}" != "None" ]]; then args+=(-p "ut.foxglove.qmax:=${it_1_foxglove_qmax}"); fi'
         - if [[ "${it_1_outgoing_suffix}" != "None" ]]; then outgoing_suffix="${it_1_outgoing_suffix}"; else outgoing_suffix="${it_1_transport}"; fi
         - if [[ "${it_in_transport}" == "raw" ]]; then in_remap="in"; else in_remap="in/${it_in_transport}"; fi
         - args+=(--remap "${in_remap}:=${it_1_topic}" --remap "out/${it_1_transport}:=${it_1_topic}/${outgoing_suffix}")
@@ -560,15 +573,15 @@ windows:
         - if [ '${it_2_topic}' = "None" ]; then exit; fi
         - if [[ "${it_2_topic}" == *"/compressed"* ]]; then it_in_transport="compressed"; else it_in_transport="raw"; fi
         - args=(ros2 run image_transport republish --ros-args -r __node:=republish2 -p in_transport:=${it_in_transport})
-        - '[[ "${it_2_transport}" != "None" ]] && args+=(-p "out_transport:=${it_2_transport}")'
-        - '[[ "${it_2_compressed_jpeg_quality}" != "None" ]] && args+=(-p "ut.compressed.jpeg_quality:=${it_2_compressed_jpeg_quality}")'
-        - '[[ "${it_2_ffmpeg_gop_size}" != "None" ]] && args+=(-p "ut.ffmpeg.gop_size:=${it_2_ffmpeg_gop_size}")'
-        - '[[ "${it_2_ffmpeg_encoder_av_options}" != "None" ]] && args+=(-p "ut.ffmpeg.encoder_av_options:=${it_2_ffmpeg_encoder_av_options}")'
-        - '[[ "${it_2_ffmpeg_bit_rate}" != "None" ]] && args+=(-p "ut.ffmpeg.bit_rate:=${it_2_ffmpeg_bit_rate}")'
-        - '[[ "${it_2_foxglove_gop_size}" != "None" ]] && args+=(-p "ut.foxglove.gop_size:=${it_2_foxglove_gop_size}")'
-        - '[[ "${it_2_foxglove_encoder_av_options}" != "None" ]] && args+=(-p "ut.foxglove.encoder_av_options:=${it_2_foxglove_encoder_av_options}")'
-        - '[[ "${it_2_foxglove_bit_rate}" != "None" ]] && args+=(-p "ut.foxglove.bit_rate:=${it_2_foxglove_bit_rate}")'
-        - '[[ "${it_2_foxglove_qmax}" != "None" ]] && args+=(-p "ut.foxglove.qmax:=${it_2_foxglove_qmax}")'
+        - 'if [[ "${it_2_transport}" != "None" ]]; then args+=(-p "out_transport:=${it_2_transport}"); fi'
+        - 'if [[ "${it_2_compressed_jpeg_quality}" != "None" ]]; then args+=(-p "ut.compressed.jpeg_quality:=${it_2_compressed_jpeg_quality}"); fi'
+        - 'if [[ "${it_2_ffmpeg_gop_size}" != "None" ]]; then args+=(-p "ut.ffmpeg.gop_size:=${it_2_ffmpeg_gop_size}"); fi'
+        - 'if [[ "${it_2_ffmpeg_encoder_av_options}" != "None" ]]; then args+=(-p "ut.ffmpeg.encoder_av_options:=${it_2_ffmpeg_encoder_av_options}"); fi'
+        - 'if [[ "${it_2_ffmpeg_bit_rate}" != "None" ]]; then args+=(-p "ut.ffmpeg.bit_rate:=${it_2_ffmpeg_bit_rate}"); fi'
+        - 'if [[ "${it_2_foxglove_gop_size}" != "None" ]]; then args+=(-p "ut.foxglove.gop_size:=${it_2_foxglove_gop_size}"); fi'
+        - 'if [[ "${it_2_foxglove_encoder_av_options}" != "None" ]]; then args+=(-p "ut.foxglove.encoder_av_options:=${it_2_foxglove_encoder_av_options}"); fi'
+        - 'if [[ "${it_2_foxglove_bit_rate}" != "None" ]]; then args+=(-p "ut.foxglove.bit_rate:=${it_2_foxglove_bit_rate}"); fi'
+        - 'if [[ "${it_2_foxglove_qmax}" != "None" ]]; then args+=(-p "ut.foxglove.qmax:=${it_2_foxglove_qmax}"); fi'
         - if [[ "${it_2_outgoing_suffix}" != "None" ]]; then outgoing_suffix="${it_2_outgoing_suffix}"; else outgoing_suffix="${it_2_transport}"; fi
         - if [[ "${it_in_transport}" == "raw" ]]; then in_remap="in"; else in_remap="in/${it_in_transport}"; fi
         - args+=(--remap "${in_remap}:=${it_2_topic}" --remap "out/${it_2_transport}:=${it_2_topic}/${outgoing_suffix}")
@@ -578,15 +591,15 @@ windows:
         - if [ '${it_3_topic}' = "None" ]; then exit; fi
         - if [[ "${it_3_topic}" == *"/compressed"* ]]; then it_in_transport="compressed"; else it_in_transport="raw"; fi
         - args=(ros2 run image_transport republish --ros-args -r __node:=republish3 -p in_transport:=${it_in_transport})
-        - '[[ "${it_3_transport}" != "None" ]] && args+=(-p "out_transport:=${it_3_transport}")'
-        - '[[ "${it_3_compressed_jpeg_quality}" != "None" ]] && args+=(-p "ut.compressed.jpeg_quality:=${it_3_compressed_jpeg_quality}")'
-        - '[[ "${it_3_ffmpeg_gop_size}" != "None" ]] && args+=(-p "ut.ffmpeg.gop_size:=${it_3_ffmpeg_gop_size}")'
-        - '[[ "${it_3_ffmpeg_encoder_av_options}" != "None" ]] && args+=(-p "ut.ffmpeg.encoder_av_options:=${it_3_ffmpeg_encoder_av_options}")'
-        - '[[ "${it_3_ffmpeg_bit_rate}" != "None" ]] && args+=(-p "ut.ffmpeg.bit_rate:=${it_3_ffmpeg_bit_rate}")'
-        - '[[ "${it_3_foxglove_gop_size}" != "None" ]] && args+=(-p "ut.foxglove.gop_size:=${it_3_foxglove_gop_size}")'
-        - '[[ "${it_3_foxglove_encoder_av_options}" != "None" ]] && args+=(-p "ut.foxglove.encoder_av_options:=${it_3_foxglove_encoder_av_options}")'
-        - '[[ "${it_3_foxglove_bit_rate}" != "None" ]] && args+=(-p "ut.foxglove.bit_rate:=${it_3_foxglove_bit_rate}")'
-        - '[[ "${it_3_foxglove_qmax}" != "None" ]] && args+=(-p "ut.foxglove.qmax:=${it_3_foxglove_qmax}")'
+        - 'if [[ "${it_3_transport}" != "None" ]]; then args+=(-p "out_transport:=${it_3_transport}"); fi'
+        - 'if [[ "${it_3_compressed_jpeg_quality}" != "None" ]]; then args+=(-p "ut.compressed.jpeg_quality:=${it_3_compressed_jpeg_quality}"); fi'
+        - 'if [[ "${it_3_ffmpeg_gop_size}" != "None" ]]; then args+=(-p "ut.ffmpeg.gop_size:=${it_3_ffmpeg_gop_size}"); fi'
+        - 'if [[ "${it_3_ffmpeg_encoder_av_options}" != "None" ]]; then args+=(-p "ut.ffmpeg.encoder_av_options:=${it_3_ffmpeg_encoder_av_options}"); fi'
+        - 'if [[ "${it_3_ffmpeg_bit_rate}" != "None" ]]; then args+=(-p "ut.ffmpeg.bit_rate:=${it_3_ffmpeg_bit_rate}"); fi'
+        - 'if [[ "${it_3_foxglove_gop_size}" != "None" ]]; then args+=(-p "ut.foxglove.gop_size:=${it_3_foxglove_gop_size}"); fi'
+        - 'if [[ "${it_3_foxglove_encoder_av_options}" != "None" ]]; then args+=(-p "ut.foxglove.encoder_av_options:=${it_3_foxglove_encoder_av_options}"); fi'
+        - 'if [[ "${it_3_foxglove_bit_rate}" != "None" ]]; then args+=(-p "ut.foxglove.bit_rate:=${it_3_foxglove_bit_rate}"); fi'
+        - 'if [[ "${it_3_foxglove_qmax}" != "None" ]]; then args+=(-p "ut.foxglove.qmax:=${it_3_foxglove_qmax}"); fi'
         - if [[ "${it_3_outgoing_suffix}" != "None" ]]; then outgoing_suffix="${it_3_outgoing_suffix}"; else outgoing_suffix="${it_3_transport}"; fi
         - if [[ "${it_in_transport}" == "raw" ]]; then in_remap="in"; else in_remap="in/${it_in_transport}"; fi
         - args+=(--remap "${in_remap}:=${it_3_topic}" --remap "out/${it_3_transport}:=${it_3_topic}/${outgoing_suffix}")
@@ -596,15 +609,15 @@ windows:
         - if [ '${it_4_topic}' = "None" ]; then exit; fi
         - if [[ "${it_4_topic}" == *"/compressed"* ]]; then it_in_transport="compressed"; else it_in_transport="raw"; fi
         - args=(ros2 run image_transport republish --ros-args -r __node:=republish4 -p in_transport:=${it_in_transport})
-        - '[[ "${it_4_transport}" != "None" ]] && args+=(-p "out_transport:=${it_4_transport}")'
-        - '[[ "${it_4_compressed_jpeg_quality}" != "None" ]] && args+=(-p "ut.compressed.jpeg_quality:=${it_4_compressed_jpeg_quality}")'
-        - '[[ "${it_4_ffmpeg_gop_size}" != "None" ]] && args+=(-p "ut.ffmpeg.gop_size:=${it_4_ffmpeg_gop_size}")'
-        - '[[ "${it_4_ffmpeg_encoder_av_options}" != "None" ]] && args+=(-p "ut.ffmpeg.encoder_av_options:=${it_4_ffmpeg_encoder_av_options}")'
-        - '[[ "${it_4_ffmpeg_bit_rate}" != "None" ]] && args+=(-p "ut.ffmpeg.bit_rate:=${it_4_ffmpeg_bit_rate}")'
-        - '[[ "${it_4_foxglove_gop_size}" != "None" ]] && args+=(-p "ut.foxglove.gop_size:=${it_4_foxglove_gop_size}")'
-        - '[[ "${it_4_foxglove_encoder_av_options}" != "None" ]] && args+=(-p "ut.foxglove.encoder_av_options:=${it_4_foxglove_encoder_av_options}")'
-        - '[[ "${it_4_foxglove_bit_rate}" != "None" ]] && args+=(-p "ut.foxglove.bit_rate:=${it_4_foxglove_bit_rate}")'
-        - '[[ "${it_4_foxglove_qmax}" != "None" ]] && args+=(-p "ut.foxglove.qmax:=${it_4_foxglove_qmax}")'
+        - 'if [[ "${it_4_transport}" != "None" ]]; then args+=(-p "out_transport:=${it_4_transport}"); fi'
+        - 'if [[ "${it_4_compressed_jpeg_quality}" != "None" ]]; then args+=(-p "ut.compressed.jpeg_quality:=${it_4_compressed_jpeg_quality}"); fi'
+        - 'if [[ "${it_4_ffmpeg_gop_size}" != "None" ]]; then args+=(-p "ut.ffmpeg.gop_size:=${it_4_ffmpeg_gop_size}"); fi'
+        - 'if [[ "${it_4_ffmpeg_encoder_av_options}" != "None" ]]; then args+=(-p "ut.ffmpeg.encoder_av_options:=${it_4_ffmpeg_encoder_av_options}"); fi'
+        - 'if [[ "${it_4_ffmpeg_bit_rate}" != "None" ]]; then args+=(-p "ut.ffmpeg.bit_rate:=${it_4_ffmpeg_bit_rate}"); fi'
+        - 'if [[ "${it_4_foxglove_gop_size}" != "None" ]]; then args+=(-p "ut.foxglove.gop_size:=${it_4_foxglove_gop_size}"); fi'
+        - 'if [[ "${it_4_foxglove_encoder_av_options}" != "None" ]]; then args+=(-p "ut.foxglove.encoder_av_options:=${it_4_foxglove_encoder_av_options}"); fi'
+        - 'if [[ "${it_4_foxglove_bit_rate}" != "None" ]]; then args+=(-p "ut.foxglove.bit_rate:=${it_4_foxglove_bit_rate}"); fi'
+        - 'if [[ "${it_4_foxglove_qmax}" != "None" ]]; then args+=(-p "ut.foxglove.qmax:=${it_4_foxglove_qmax}"); fi'
         - if [[ "${it_4_outgoing_suffix}" != "None" ]]; then outgoing_suffix="${it_4_outgoing_suffix}"; else outgoing_suffix="${it_4_transport}"; fi
         - if [[ "${it_in_transport}" == "raw" ]]; then in_remap="in"; else in_remap="in/${it_in_transport}"; fi
         - args+=(--remap "${in_remap}:=${it_4_topic}" --remap "out/${it_4_transport}:=${it_4_topic}/${outgoing_suffix}")

{rosotacom_dev-2.5.dev37 → rosotacom_dev-2.5.dev39}/src/rosotacom_dev.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: rosotacom-dev
-Version: 2.5.dev37
+Version: 2.5.dev39
 Summary: Host CLI for ROS OTA communication sessions.
 Author: develNor
 License-Expression: BSD-3-Clause

{rosotacom_dev-2.5.dev37 → rosotacom_dev-2.5.dev39}/src/rosotacom_dev.egg-info/SOURCES.txt

@@ -14,9 +14,7 @@ justfile
 pyproject.toml
 requirements.txt
 rosotacom.yaml
-run_session_in_container.py
 session-configuration.md
-stop_session_in_container.py
 terminology.md
 .devcontainer/devcontainer.json.template
 .devcontainer/re_generate_devcontainer_json.py
@@ -339,6 +337,8 @@ tests/unit/test_ota_unwrapper.py
 tests/unit/test_ota_wrapper.py
 tests/unit/test_ota_xml.py
 tests/unit/test_plots.py
+tests/unit/test_qos_fallback_logging.py
+tests/unit/test_relay_optional_parameters.py
 tests/unit/test_session_pipeline.py
 tests/unit/test_stage_latency.py
 tests/unit/test_status_eval.py

rosotacom_dev-2.5.dev39/src/rosotacom_dev.egg-info/entry_points.txt

@@ -0,0 +1,2 @@
+[console_scripts]
+rosotacom = rosotacom.cli:main

{rosotacom_dev-2.5.dev37 → rosotacom_dev-2.5.dev39}/src/rosotacom_dev.egg-info/scm_file_list.json

@@ -87,7 +87,6 @@
     "pyproject.toml",
     "requirements.txt",
     "rosotacom.yaml",
-    "run_session_in_container.py",
     "session-configuration.md",
     "src/rosotacom/__init__.py",
     "src/rosotacom/__main__.py",
@@ -281,7 +280,6 @@
     "src/rosotacom/trace_profiles.py",
     "src/rosotacom/transit.py",
     "src/rosotacom/video_quality.py",
-    "stop_session_in_container.py",
     "terminology.md",
     "tests/contract/test_benched_set_registry.py",
     "tests/contract/test_findings.py",
@@ -334,6 +332,8 @@
     "tests/unit/test_ota_wrapper.py",
     "tests/unit/test_ota_xml.py",
     "tests/unit/test_plots.py",
+    "tests/unit/test_qos_fallback_logging.py",
+    "tests/unit/test_relay_optional_parameters.py",
     "tests/unit/test_session_pipeline.py",
     "tests/unit/test_stage_latency.py",
     "tests/unit/test_status_eval.py",

{rosotacom_dev-2.5.dev37 → rosotacom_dev-2.5.dev39}/src/rosotacom_dev.egg-info/scm_version.json

@@ -1,7 +1,7 @@
 {
   "tag": "2.4",
-  "distance": 37,
-  "node": "g14af11d921417944e98035154a1166f10ebd923c",
+  "distance": 39,
+  "node": "g17e7c753489cb153f8066e2911d37fdd85dcdb2f",
   "dirty": false,
   "branch": "HEAD",
   "node_date": "2026-08-14"

{rosotacom_dev-2.5.dev37 → rosotacom_dev-2.5.dev39}/tests/contract/test_package_metadata.py

@@ -15,12 +15,20 @@ def test_package_version_is_derived_from_scm_metadata() -> None:
     assert '__version__ = "0.1.0"' not in package_init
 
 
-def test_console_scripts_target_package_cli() -> None:
+def test_rosotacom_is_the_only_console_script() -> None:
+    """One installed command, so a shim in ~/.local/bin cannot be mistaken for it.
+
+    `start_rosotacom` / `stop_rosotacom` were removed on 2026-08-14: they were
+    `rosotacom start` / `rosotacom stop` under a second name (see
+    DEVELOPMENT_PRINCIPLES.md, Compatibility Policy). This pins that no second
+    name comes back.
+    """
     pyproject = (PACKAGE_ROOT / "pyproject.toml").read_text(encoding="utf-8")
+    scripts = pyproject.split("[project.scripts]", 1)[1].split("\n[", 1)[0]
+    entries = [line.split("=", 1)[0].strip() for line in scripts.splitlines() if "=" in line]
 
     assert 'rosotacom = "rosotacom.cli:main"' in pyproject
-    assert 'start_rosotacom = "rosotacom.cli:start_compat_main"' in pyproject
-    assert 'stop_rosotacom = "rosotacom.cli:stop_compat_main"' in pyproject
+    assert entries == ["rosotacom"], entries
 
 
 def test_videoquality_reader_dependencies_are_packaged() -> None:

{rosotacom_dev-2.5.dev37 → rosotacom_dev-2.5.dev39}/tests/unit/test_catmux_pane_logging.py

@@ -111,3 +111,77 @@ def test_the_hook_is_installed_once_even_if_sourced_twice(pane_env: tuple[Path,
 
     (line,) = [ln for ln in result.stdout.splitlines() if ln.startswith("PC=")]
     assert line.count("__rosotacom_note_exit") == 1
+
+
+# What the recorder cannot know, and why the session template has to care.
+#
+# The hook runs from PROMPT_COMMAND, so it sees every line a pane shell runs --
+# including the lines that only assemble an argument list before the node
+# starts. A line of the form `[[ cond ]] && args+=(...)` exits 1 whenever the
+# condition is false, which is the normal case for every option a session leaves
+# unset, so each one recorded itself as a dead pane. A peer then reported four
+# exited panes at every start while nothing was wrong.
+
+_UNSET_OPTION = '[[ "None" != "None" ]]'
+_SET_OPTION = '[[ "22" != "None" ]]'
+
+
+def _failure_log(catmux_dir: Path) -> Path:
+    return catmux_dir.parent / "pane_failures.log"
+
+
+def test_the_short_circuit_form_records_a_false_failure(pane_env: tuple[Path, dict[str, str]]) -> None:
+    """The shape that was in the template: correct behaviour, status 1."""
+    catmux_dir, env = pane_env
+
+    _run(f'args=(); {_UNSET_OPTION} && args+=(-p "bit_rate:=None")', env)
+
+    assert _failure_log(catmux_dir).is_file()
+    assert "exit=1" in _failure_log(catmux_dir).read_text(encoding="utf-8")
+
+
+def test_the_if_form_leaves_an_unset_option_silent(pane_env: tuple[Path, dict[str, str]]) -> None:
+    """The shape it was replaced with: same behaviour, status 0."""
+    catmux_dir, env = pane_env
+
+    _run(f'args=(); if {_UNSET_OPTION}; then args+=(-p "bit_rate:=None"); fi', env)
+
+    assert not _failure_log(catmux_dir).exists()
+
+
+def test_the_if_form_still_appends_a_set_option(pane_env: tuple[Path, dict[str, str]]) -> None:
+    """Silencing the status must not silence the argument."""
+    catmux_dir, env = pane_env
+
+    result = _run(
+        f'args=(); if {_SET_OPTION}; then args+=(-p "bit_rate:=22"); fi\necho "ARGS=${{args[*]}}"',
+        env,
+    )
+
+    assert "ARGS=-p bit_rate:=22" in result.stdout
+    assert not _failure_log(catmux_dir).exists()
+
+
+def test_no_session_template_line_uses_the_short_circuit_form() -> None:
+    """The template is where this reaches a running session, so it is checked there."""
+    template = (
+        REPO_ROOT
+        / "src"
+        / "rosotacom"
+        / "resources"
+        / "ws"
+        / "session"
+        / "content"
+        / "base"
+        / "session_plugin_base.yaml"
+    )
+    offenders = [
+        line.strip()
+        for line in template.read_text(encoding="utf-8").splitlines()
+        if line.lstrip().startswith("- '[[") and "&&" in line
+    ]
+
+    assert offenders == [], (
+        "these lines exit non-zero when their option is unset and land in "
+        f"pane_failures.log; use `if ...; then ...; fi`: {offenders}"
+    )

{rosotacom_dev-2.5.dev37 → rosotacom_dev-2.5.dev39}/tests/unit/test_cli.py

@@ -1990,20 +1990,14 @@ rosbag2_bagfile_information:
     assert "TEST OK" in capsys.readouterr().out
 
 
-def test_start_and_stop_compat_entrypoints_prefix_commands(monkeypatch: pytest.MonkeyPatch) -> None:
-    calls: list[list[str]] = []
-
-    def fake_main(argv: list[str] | None = None) -> int:
-        calls.append(list(argv or []))
-        return 0
+def test_the_retired_compat_entrypoints_are_gone() -> None:
+    """Removed on 2026-08-14 — they were `start`/`stop` under a second name.
 
-    monkeypatch.setattr(rosotacom, "main", fake_main)
-    monkeypatch.setattr(sys, "argv", ["start_rosotacom", "1_heartbeat"])
-    assert rosotacom.start_compat_main() == 0
-    monkeypatch.setattr(sys, "argv", ["stop_rosotacom", "1_heartbeat"])
-    assert rosotacom.stop_compat_main() == 0
-
-    assert calls == [["start", "1_heartbeat"], ["stop", "1_heartbeat"]]
+    Asserting their absence is the point: a re-added alias would otherwise pass
+    every other test in this file silently.
+    """
+    assert not hasattr(rosotacom, "start_compat_main")
+    assert not hasattr(rosotacom, "stop_compat_main")
 
 
 def test_path_yaml_and_network_helpers(tmp_path: Path, monkeypatch: pytest.MonkeyPatch) -> None: