feat(log_bridge): add /rosout to faults bridge

docs/Doxyfile

@@ -14,6 +14,8 @@ INPUT                  = ../src/ros2_medkit_gateway/include \
                          ../src/ros2_medkit_fault_reporter/src \
                          ../src/ros2_medkit_diagnostic_bridge/include \
                          ../src/ros2_medkit_diagnostic_bridge/src \
+                         ../src/ros2_medkit_log_bridge/include \
+                         ../src/ros2_medkit_log_bridge/src \
                          ../src/ros2_medkit_serialization/include \
                          ../src/ros2_medkit_serialization/src \
                          ../src/ros2_medkit_msgs

docs/api/cpp.rst

@@ -83,6 +83,14 @@ Bridge node that converts ROS 2 /diagnostics messages to FaultManager faults.
 .. doxygenclass:: ros2_medkit_diagnostic_bridge::DiagnosticBridgeNode
    :members:
 
+ros2_medkit_log_bridge
+----------------------
+
+Bridge node that promotes ROS 2 /rosout log entries to FaultManager faults.
+
+.. doxygenclass:: ros2_medkit_log_bridge::LogBridgeNode
+   :members:
+
 ros2_medkit_serialization
 -------------------------
 

docs/changelog.rst

@@ -14,6 +14,8 @@ This page aggregates changelogs from all ros2_medkit packages.
 
 .. include:: ../src/ros2_medkit_diagnostic_bridge/CHANGELOG.rst
 
+.. include:: ../src/ros2_medkit_log_bridge/CHANGELOG.rst
+
 .. include:: ../src/ros2_medkit_serialization/CHANGELOG.rst
 
 .. include:: ../src/ros2_medkit_msgs/CHANGELOG.rst

docs/introduction.rst

@@ -59,6 +59,9 @@ ros2_medkit consists of several ROS 2 packages:
 **ros2_medkit_diagnostic_bridge**
    Bridge node that converts standard ROS 2 ``/diagnostics`` messages to fault manager faults.
 
+**ros2_medkit_log_bridge**
+   Bridge node that promotes ROS 2 ``/rosout`` log entries to fault manager faults.
+
 **ros2_medkit_msgs**
    Message and service definitions for fault management.
 

src/ros2_medkit_cmake/cmake/ROS2MedkitTestDomain.cmake

@@ -27,7 +27,9 @@
 #   ros2_medkit_topic_beacon:       110 - 119 (10 slots)
 #   ros2_medkit_graph_provider:     120 - 129 (10 slots)
 #   ros2_medkit_linux_introspection: 130 - 139 (10 slots)
-#   ros2_medkit_integration_tests:  140 - 219 (80 slots)
+#   ros2_medkit_integration_tests:  140 - 209 (70 slots)
+#   ros2_medkit_log_bridge:         210 - 214 (5 slots, carved from integration_tests)
+#   ros2_medkit_action_status_bridge: 215 - 219 (5 slots, carved from integration_tests)
 #   ros2_medkit_opcua:              220 - 229 (10 slots, carved from integration_tests)
 #   multi-domain tests (secondary): 230 - 232 (3 slots, reserved for peer_aggregation etc.)
 #

src/ros2_medkit_integration_tests/CMakeLists.txt

@@ -110,7 +110,7 @@ if(BUILD_TESTING)
   set(_INTEG_PORT 9100)
 
   include(ROS2MedkitTestDomain)
-  medkit_init_test_domains(START 140 END 229)
+  medkit_init_test_domains(START 140 END 209)
 
   # Feature tests (atomic, independent, 120s timeout)
   file(GLOB FEATURE_TESTS test/features/*.test.py)

src/ros2_medkit_log_bridge/CHANGELOG.rst

@@ -0,0 +1,9 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package ros2_medkit_log_bridge
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Forthcoming
+-----------
+* Initial release: promote ``/rosout`` log entries (WARN/ERROR/FATAL) to
+  FaultManager faults, attributed to the originating node via a per-source
+  FaultReporter, with auto-generated stable fault codes.

src/ros2_medkit_log_bridge/CMakeLists.txt

@@ -0,0 +1,125 @@
+# Copyright 2026 mfaferek93, bburda
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 3.8)
+project(ros2_medkit_log_bridge)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+find_package(ros2_medkit_cmake REQUIRED)
+include(ROS2MedkitCcache)
+include(ROS2MedkitSanitizers)
+include(ROS2MedkitLinting)
+include(ROS2MedkitWarnings)
+
+option(ENABLE_COVERAGE "Enable code coverage reporting" OFF)
+if(ENABLE_COVERAGE)
+  message(STATUS "Code coverage enabled")
+  add_compile_options(--coverage -O0 -g)
+  add_link_options(--coverage)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+include(ROS2MedkitCompat)
+
+find_package(rclcpp REQUIRED)
+find_package(rcl_interfaces REQUIRED)
+find_package(ros2_medkit_msgs REQUIRED)
+find_package(ros2_medkit_fault_reporter REQUIRED)
+
+# Library target (for testing)
+add_library(log_bridge_lib SHARED
+  src/log_bridge_node.cpp
+)
+
+target_include_directories(log_bridge_lib PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+
+medkit_target_dependencies(log_bridge_lib
+  rclcpp
+  rcl_interfaces
+  ros2_medkit_msgs
+  ros2_medkit_fault_reporter
+)
+
+# Executable
+add_executable(log_bridge_node src/main.cpp)
+target_link_libraries(log_bridge_node log_bridge_lib)
+medkit_target_dependencies(log_bridge_node rclcpp)
+
+install(TARGETS log_bridge_node
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(TARGETS log_bridge_lib
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(DIRECTORY include/
+  DESTINATION include
+)
+
+install(DIRECTORY launch config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(rclcpp rcl_interfaces ros2_medkit_msgs ros2_medkit_fault_reporter)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+
+  set(ament_cmake_clang_format_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-format")
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify ament_cmake_cpplint ament_cmake_clang_tidy)
+  ament_lint_auto_find_test_dependencies()
+
+  ros2_medkit_clang_tidy()
+
+  include(ROS2MedkitTestDomain)
+  medkit_init_test_domains(START 210 END 214)
+
+  ament_add_gtest(test_log_bridge test/test_log_bridge.cpp)
+  target_link_libraries(test_log_bridge log_bridge_lib)
+  medkit_target_dependencies(test_log_bridge rclcpp rcl_interfaces ros2_medkit_msgs)
+  medkit_set_test_domain(test_log_bridge)
+
+  if(ENABLE_COVERAGE)
+    target_compile_options(test_log_bridge PRIVATE --coverage -O0 -g)
+    target_link_options(test_log_bridge PRIVATE --coverage)
+  endif()
+
+  # Integration test (launch_testing): fault_manager + bridge + synthetic /rosout
+  install(DIRECTORY test
+    DESTINATION share/${PROJECT_NAME}
+  )
+  add_launch_test(
+    test/test_integration.test.py
+    TARGET test_integration
+    TIMEOUT 90
+  )
+
+  ros2_medkit_relax_vendor_warnings()
+endif()
+
+ament_package()

src/ros2_medkit_log_bridge/README.md

@@ -0,0 +1,101 @@
+# ros2_medkit_log_bridge
+
+Drop-in bridge that promotes ROS 2 `/rosout` log entries to structured medkit
+faults, attributing each fault to the node that logged it. No changes to the
+user's nodes are required.
+
+It is a compatibility adapter, the same category as
+`ros2_medkit_diagnostic_bridge`. Native `ros2_medkit_fault_reporter`
+instrumentation stays the canonical path for code you control; this bridge is
+the fallback for nodes that only log.
+
+## What it does
+
+Subscribes to `/rosout` (`rcl_interfaces/msg/Log`) and forwards entries at or
+above a severity floor to the FaultManager:
+
+| Log level | medkit severity |
+|-----------|-----------------|
+| DEBUG (10) / INFO (20) | dropped |
+| WARN (30) | `SEVERITY_WARN` |
+| ERROR (40) | `SEVERITY_ERROR` |
+| FATAL (50) | `SEVERITY_CRITICAL` |
+
+- `source_id` of each fault is the originating node's fully-qualified name. It
+  is derived from `Log.name` by taking the first dotted segment (a `Log.name`
+  may carry a sub-logger suffix, e.g. `controller_manager.resource_manager`, and
+  node names cannot contain `.`) and prefixing `/`, giving e.g.
+  `/controller_manager`. The gateway discovers entities by node FQN, so this is
+  the form that lets a fault (and its snapshots / rosbag) associate with the
+  entity in the SOVD tree. Each node gets its own per-node `FaultReporter` and
+  therefore its own client-side debounce.
+- `fault_code` is auto-generated as `<PREFIX>_<NODE>_<HASH>`. `<HASH>` is a fixed
+  FNV-1a 32-bit digest (8 lowercase hex) of a normalized message template
+  (numbers / hex / paths stripped, isolated single-letter tokens dropped) so the
+  same logical message maps to the same code across occurrences. `<NODE>` is the
+  upper-snake of `source_id`. The 8-hex hash is never truncated; if the 64-char
+  cap is hit the node part is trimmed instead.
+
+> Namespaced-node limitation: `Log.name` encodes a node's namespace with the same
+> `.` separator as a sub-logger suffix, so the two are indistinguishable from the
+> string alone. `source_id` takes the first dotted segment, which is right for a
+> non-namespaced node with a sub-logger but collapses a namespaced node
+> (`robot1.planner_server` -> `/robot1`) to its namespace, so same-named nodes in
+> different namespaces share one code. Multi-robot fleets typically isolate robots
+> by `ROS_DOMAIN_ID` (one gateway per robot, federated by peer aggregation), which
+> sidesteps this.
+
+## Forwarding, the LocalFilter, and confirmation
+
+Two independent debounces sit between a log line and a confirmed fault:
+
+1. Per-node `FaultReporter` `LocalFilter` (client-side). WARN is held until
+   `default_threshold` (3) occurrences within `default_window_sec` (10s).
+   ERROR/FATAL have severity `>= bypass_severity` (2) and bypass the filter,
+   forwarding immediately.
+2. Bridge `report_cooldown_sec` cooldown, applied only to `ERROR`/`FATAL` (the
+   levels that bypass the LocalFilter). It forwards the first occurrence of a
+   `(fault_code, severity)` immediately and suppresses that same pair for
+   `report_cooldown_sec` (default 5s, `0.0` disables), bounding a flood. `WARN`
+   is never cooled here (that would starve its LocalFilter threshold counting),
+   and keying on severity means a `WARN` never suppresses a same-message `ERROR`
+   escalation.
+
+Whether a forwarded fault then shows as `PREFAILED` (suspected) or `CONFIRMED`
+is a separate, gateway-side decision driven by the FaultManager's
+`confirmation_threshold` - not by this bridge and not by the client-side
+LocalFilter. For visible-but-quiet WARNs, launch the FaultManager with a low
+`confirmation_threshold` (or an entity threshold for `LOG_*` codes).
+
+## Hard limitations (by construction)
+
+- Only sees logs that reach `/rosout` via rclcpp from a still-alive node.
+  Console-only loggers (e.g. some Micro XRCE-DDS / non-rclcpp loggers) are
+  invisible.
+- A node that crashes hard may not flush its final log to `/rosout`, so the
+  terminating ERROR can be missed. Process-death detection belongs to a
+  separate liveliness bridge, not here.
+
+## Run it
+
+```bash
+# next to an existing stack + the medkit gateway/fault_manager
+ros2 launch ros2_medkit_log_bridge log_bridge.launch.py
+```
+
+## Configuration (`config/log_bridge.yaml`)
+
+| Param | Default | Meaning |
+|-------|---------|---------|
+| `rosout_topic` | `/rosout` | log topic to subscribe |
+| `severity_floor` | `30` (WARN) | minimum level promoted; raise to `40` on chatty / constrained targets. Clamped to `[0, 50]` at load (a value out of range is corrected with a warning) |
+| `code_prefix` | `LOG` | prefix for generated fault codes; normalized to `[A-Z0-9_]` at load |
+| `exclude_nodes` | `[]` | node-FQN substrings to skip |
+| `include_only_nodes` | `[]` | if set, only promote nodes whose FQN matches |
+| `max_tracked_nodes` | `512` | cap on per-node reporters; least-recently-used nodes evicted past this |
+| `report_cooldown_sec` | `5.0` | per-fault_code forward debounce; `0.0` disables |
+
+`exclude_nodes` / `include_only_nodes` match as **unanchored substrings**
+against the node FQN: `planner` matches `/planner_server` and
+`/robot1/planner_server`. Use a longer, more specific substring (e.g.
+`/planner_server`) to avoid accidental matches.

src/ros2_medkit_log_bridge/config/log_bridge.yaml

@@ -0,0 +1,21 @@
+log_bridge:
+  ros__parameters:
+    # Topic carrying aggregated node logs.
+    rosout_topic: "/rosout"
+    # Minimum rcl_interfaces/msg/Log level promoted to a fault.
+    # 10=DEBUG 20=INFO 30=WARN 40=ERROR 50=FATAL. Default WARN.
+    # Raise to 40 (ERROR) on chatty / resource-constrained targets.
+    severity_floor: 30
+    # Prefix for auto-generated fault codes (<PREFIX>_<NODE>_<HASH>).
+    code_prefix: "LOG"
+    # Originating-node FQN substrings to skip (e.g. noisy debug nodes).
+    exclude_nodes: []
+    # If non-empty, ONLY promote logs from nodes matching these substrings.
+    include_only_nodes: []
+    # Cap on per-node FaultReporters; least-recently-used nodes are evicted
+    # past this to bound memory under transient-node churn.
+    max_tracked_nodes: 512
+    # Per-fault_code forward debounce (seconds). First occurrence of a code is
+    # forwarded immediately; the same code within the window is suppressed.
+    # 0.0 disables. Tames ERROR/FATAL floods, which bypass the per-node filter.
+    report_cooldown_sec: 5.0