feat(plugins): add gateway plugin framework by bburda · Pull Request #237 · selfpatch/ros2_medkit

bburda · 2026-02-25T08:24:17Z

Pull Request

Summary

Add a plugin framework for extending the gateway with custom functionality via shared libraries (.so files). Plugins can provide software update backends, platform-specific introspection (preview), and custom REST endpoints.

Key design decisions:

extern "C" provider query functions instead of dynamic_cast across dlopen boundary (RTLD_LOCAL makes RTTI unreliable)
RAII GatewayPluginLoadResult with correct destruction ordering (providers -> plugin -> dlclose)
Non-owning UpdateProvider* in UpdateManager (ownership centralized in PluginManager)
Exception isolation at every lifecycle boundary - a failing plugin never crashes the gateway
Plugin names validated (alphanumeric + underscore + hyphen) to prevent injection via YAML config

What changed:

GatewayPlugin base class with lifecycle methods + logging API
UpdateProvider and IntrospectionProvider typed provider interfaces
PluginLoader with path validation, API version checking, and RTLD_NOW | RTLD_LOCAL
PluginManager orchestrating loading, lifecycle, error isolation, and dispatch
UpdateBackend replaced by UpdateProvider (non-owning pointer, dependency inversion)
GatewayNode integration with config-driven plugin loading
Plugin system tutorial, changelog, config docs, troubleshooting updates

Issue

closes Unified plugin framework for gateway extensibility #235

Type

New feature or tests
Breaking change
Bug fix
Documentation only

Testing

Unit tests (28 new):

test_plugin_loader (14 tests): happy path, path validation, symbol validation, minimal plugin (no providers), move semantics (ctor + assignment), load_plugins success path
test_plugin_manager (14 tests): lifecycle, dispatch, multi-capability, error isolation for configure/set_node/register_routes, shutdown idempotency, shutdown exception swallowing

Test fixtures (6 .so plugins):

test_gateway_plugin - full-featured plugin (both providers + custom route)
test_minimal_plugin - required exports only, no provider query functions
test_bad_version_plugin, test_no_symbols_plugin, test_null_factory_plugin, test_version_only_plugin - error path coverage

Integration tests:

test_updates.test.py updated to use new plugins config array instead of updates.backend/updates.plugin_path

Full suite: 1623 tests, 0 failures

Checklist

Breaking changes are clearly described (and announced in docs / changelog if needed)
Tests were added or updated if needed
Docs were updated if behavior or public API changed

Breaking Changes

updates.backend and updates.plugin_path parameters removed - use plugins array with plugins.<name>.path entries
UpdateBackend class replaced by UpdateProvider interface (same method signatures, different base class)

Copilot

Pull request overview

This PR introduces a unified shared-library plugin framework for ros2_medkit_gateway, replacing the previous update-backend-only plugin mechanism and enabling plugins to provide update backends, introspection (preview), and custom REST routes.

Changes:

Added core plugin ABI + loader/manager (GatewayPlugin, PluginLoader, PluginManager) with lifecycle orchestration and error isolation.
Migrated software updates from UpdateBackend/UpdatePluginLoader to UpdateProvider integrated via the plugin framework.
Added extensive unit + integration test coverage and updated docs/config/changelog for the new plugins parameter model.

Reviewed changes

Copilot reviewed 36 out of 37 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
src/ros2_medkit_integration_tests/test/features/test_updates.test.py	Updates integration test configuration to use `plugins` parameters.
src/ros2_medkit_gateway/test/test_update_manager.cpp	Adapts UpdateManager unit tests to non-owning `UpdateProvider*` wiring.
src/ros2_medkit_gateway/test/test_plugin_manager.cpp	New unit tests for PluginManager lifecycle, dispatch, and isolation.
src/ros2_medkit_gateway/test/test_plugin_loader.cpp	New unit tests for dlopen loader, ABI checks, and error paths.
src/ros2_medkit_gateway/test/demo_nodes/test_version_only_plugin.cpp	Test fixture plugin exporting only `plugin_api_version()`.
src/ros2_medkit_gateway/test/demo_nodes/test_update_backend.cpp	Converts integration-test backend to a plugin (`GatewayPlugin` + `UpdateProvider`).
src/ros2_medkit_gateway/test/demo_nodes/test_null_factory_plugin.cpp	Test fixture plugin with null factory return.
src/ros2_medkit_gateway/test/demo_nodes/test_no_symbols_plugin.cpp	Test fixture shared library with no required plugin symbols.
src/ros2_medkit_gateway/test/demo_nodes/test_minimal_plugin.cpp	Test fixture minimal valid plugin (required exports only).
src/ros2_medkit_gateway/test/demo_nodes/test_gateway_plugin.cpp	Test fixture full-feature plugin (providers + custom route).
src/ros2_medkit_gateway/test/demo_nodes/test_bad_version_plugin.cpp	Test fixture plugin with API version mismatch.
src/ros2_medkit_gateway/src/updates/update_manager.cpp	Removes dlopen ownership; adds `set_backend(UpdateProvider*)`.
src/ros2_medkit_gateway/src/updates/plugin_loader.cpp	Removes legacy updates-only plugin loader.
src/ros2_medkit_gateway/src/plugins/plugin_manager.cpp	New plugin lifecycle orchestration, dispatch, and isolation logic.
src/ros2_medkit_gateway/src/plugins/plugin_loader.cpp	New dlopen/dlsym loader with path validation + API versioning.
src/ros2_medkit_gateway/src/http/rest_server.cpp	Registers plugin-provided routes during REST server setup.
src/ros2_medkit_gateway/src/gateway_node.cpp	Adds plugin parameter handling + loads plugins; wires updates via PluginManager.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/updates/update_types.hpp	New header containing update-related shared types.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/updates/update_manager.hpp	Migrates UpdateManager to `UpdateProvider` interface.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/updates/update_backend.hpp	Removes legacy `UpdateBackend` interface header.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/updates/plugin_loader.hpp	Removes legacy updates-only plugin loader header.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/providers/update_provider.hpp	New provider interface replacing `UpdateBackend`.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/providers/introspection_provider.hpp	New provider interface for platform introspection (preview).
src/ros2_medkit_gateway/include/ros2_medkit_gateway/plugins/plugin_types.hpp	Defines plugin ABI constants/types and export visibility macro.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/plugins/plugin_manager.hpp	Declares PluginManager API and dispatch semantics.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/plugins/plugin_loader.hpp	Declares plugin loader + RAII load result contract.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/plugins/gateway_plugin.hpp	Defines the base plugin lifecycle interface + logging callback.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/gateway_node.hpp	Exposes PluginManager accessor; enforces member destruction order.
src/ros2_medkit_gateway/config/gateway_params.yaml	Updates configuration to `plugins` array and removes updates backend params.
src/ros2_medkit_gateway/CMakeLists.txt	Wires new plugin sources; adds plugin `.so` fixtures and new tests.
docs/tutorials/plugin-system.rst	New tutorial documenting the plugin system and ABI.
docs/tutorials/index.rst	Adds plugin tutorial to Sphinx toctree.
docs/troubleshooting.rst	Updates guidance to reflect plugin-based endpoint extension.
docs/config/server.rst	Documents plugin framework parameters and lifecycle.
docs/changelog.rst	Documents new plugin framework and breaking config changes.
docs/api/rest.rst	Updates updates API docs to reference plugin framework + `UpdateProvider`.
.gitignore	Adds `.worktrees/` ignore entry.

Copilot · 2026-02-25T08:34:14Z

src/ros2_medkit_gateway/src/gateway_node.cpp

+        return false;
+      }
+      return std::all_of(name.begin(), name.end(), [](char c) {
+        return std::isalnum(c) || c == '_' || c == '-';


std::isalnum(c) is undefined behavior when char is signed and c is negative (non-ASCII bytes). Cast to unsigned char (and typically to int) before calling std::isalnum to make the validation safe and locale-correct.

Suggested change

return std::isalnum(c) || c == '_' || c == '-';

return std::isalnum(static_cast<unsigned char>(c)) || c == '_' || c == '-';

Fixed in e51e8d7 - added static_cast<unsigned char>(c) before std::isalnum.

Copilot · 2026-02-25T08:34:15Z

src/ros2_medkit_gateway/src/gateway_node.cpp

+    for (const auto & pname : plugin_names) {
+      if (!is_valid_plugin_name(pname)) {
+        RCLCPP_ERROR(get_logger(),
+                     "Invalid plugin name '%s': must be alphanumeric, underscore, or hyphen (max 256 chars)",
+                     pname.c_str());
+        continue;
+      }
+      auto path_param = "plugins." + pname + ".path";
+      declare_parameter(path_param, std::string(""));
+      auto path = get_parameter(path_param).as_string();


plugins can contain duplicate names; in that case declare_parameter("plugins.<name>.path", ...) will throw on the second occurrence and crash node startup. Consider deduplicating plugin_names (e.g., track a std::unordered_set) or checking has_parameter(path_param) before declaring.

Fixed in e51e8d7 - added std::unordered_set to skip duplicates with a warning.

Copilot · 2026-02-25T08:34:15Z

src/ros2_medkit_gateway/src/plugins/plugin_manager.cpp

+void PluginManager::disable_plugin(LoadedPlugin & lp) {
+  lp.update_provider = nullptr;
+  lp.introspection_provider = nullptr;
+  lp.load_result.update_provider = nullptr;
+  lp.load_result.introspection_provider = nullptr;
+  lp.load_result.plugin.reset();
+}


disable_plugin() destroys the plugin instance via lp.load_result.plugin.reset() without calling GatewayPlugin::shutdown(), but GatewayPlugin’s contract says shutdown() is called before destruction. Consider invoking shutdown() (wrapped in try/catch like shutdown_all()) before resetting the plugin, or update the documented lifecycle if this is intentional.

Fixed in e51e8d7 - disable_plugin() now calls shutdown() (with try/catch) before resetting the plugin, matching the shutdown_all() pattern. The plugin pointer null check guards against double-shutdown.

Copilot · 2026-02-25T08:34:15Z

src/ros2_medkit_gateway/test/demo_nodes/test_null_factory_plugin.cpp

+extern "C" GATEWAY_PLUGIN_EXPORT void * create_plugin() {
+  return nullptr;


This test plugin exports create_plugin() with return type void*, but the plugin ABI contract expects GatewayPlugin*. Even though it currently returns nullptr, keeping the signature correct avoids UB if the implementation changes and documents the contract more clearly.

Fixed in e51e8d7 - changed return type to GatewayPlugin* and added the gateway_plugin.hpp include.

Copilot · 2026-02-25T08:34:16Z

src/ros2_medkit_gateway/test/demo_nodes/test_bad_version_plugin.cpp

+  return ros2_medkit_gateway::PLUGIN_API_VERSION + 1;
+}
+
+extern "C" GATEWAY_PLUGIN_EXPORT void * create_plugin() {


This test plugin exports create_plugin() with return type void*, but the plugin ABI contract expects GatewayPlugin*. Even if the gateway rejects this plugin on version mismatch before calling create_plugin(), keeping the signature correct helps prevent accidental UB and better reflects the intended interface.

Suggested change

extern "C" GATEWAY_PLUGIN_EXPORT void * create_plugin() {

extern "C" GATEWAY_PLUGIN_EXPORT ros2_medkit_gateway::GatewayPlugin * create_plugin() {

Fixed in e51e8d7 - same as above, changed to GatewayPlugin* with the proper include.

Copilot

Pull request overview

Copilot reviewed 39 out of 40 changed files in this pull request and generated 2 comments.

Copilot · 2026-02-25T17:51:47Z

docs/config/server.rst

+3. ``create_plugin()`` factory is called to instantiate the plugin
+4. Provider interfaces are queried via ``extern "C"`` functions
+5. ``configure()`` is called with per-plugin config
+6. ``set_node()`` provides access to the ROS 2 node


The documentation mentions that set_node() is replaced by set_context() in the plugin lifecycle, but the comment on line 289 still refers to the old method name. The text should read "Passes the gateway context..." and mention set_context() instead of set_node().

Suggested change

6. ``set_node()`` provides access to the ROS 2 node

6. ``set_context()`` passes the gateway context to the plugin

Fixed in e51e8d7 - updated to set_context().

Copilot · 2026-02-25T17:51:48Z

src/ros2_medkit_gateway/src/plugins/plugin_loader.cpp

+  auto update_fn = reinterpret_cast<UpdateProviderFn>(dlsym(handle, "get_update_provider"));
+  if (update_fn) {
+    result.update_provider = update_fn(raw_plugin);
+  }
+
+  using IntrospectionProviderFn = IntrospectionProvider * (*)(GatewayPlugin *);
+  auto introspection_fn = reinterpret_cast<IntrospectionProviderFn>(dlsym(handle, "get_introspection_provider"));
+  if (introspection_fn) {
+    result.introspection_provider = introspection_fn(raw_plugin);
+  }


The provider query functions (get_update_provider, get_introspection_provider) at lines 159-168 lack exception handling, unlike plugin_api_version() and create_plugin() which are wrapped in try-catch blocks. If a buggy plugin's get_*_provider function throws an exception, it will propagate up and potentially crash the gateway during plugin loading. Consider adding try-catch blocks around these calls for consistency with the other plugin lifecycle calls, or document why exceptions here are acceptable.

Fixed in e51e8d7 - wrapped both provider query calls in try/catch (matching the create_plugin() pattern). On exception the provider pointer stays nullptr and the plugin continues loading with that provider unavailable - provider interfaces are optional, so a broken provider should not prevent the core plugin from functioning.

mfaferek93

Nice work on the plugin framework - just a few comments

mfaferek93 · 2026-02-25T18:18:04Z

src/ros2_medkit_gateway/src/plugins/plugin_context.cpp

+    // Determine expected type from route path
+    auto expected_type = SovdEntityType::UNKNOWN;
+    auto path = req.path;
+    if (path.find("/components/") != std::string::npos) {


path.find("/components/") matches substrings anywhere - a vendor endpoint like /api/v1/x-vendor/components/foo would incorrectly match as COMPONENT. Consider reusing extract_entity_type_from_path() from http_utils.hpp which does proper boundary-checked matching.

Fixed in e51e8d7 - replaced the find() chain with extract_entity_type_from_path() from http_utils.hpp, which does proper segment-boundary matching.

mfaferek93 · 2026-02-25T18:18:04Z

src/ros2_medkit_gateway/src/http/handlers/discovery_handlers.cpp

 namespace ros2_medkit_gateway {
 namespace handlers {

+namespace {


If a plugin registers "x-foo" via both register_capability(APP, "x-foo") and register_entity_capability("sensor1", "x-foo"), the capability appears twice in the response. Dedup only works within each scope, not across both.

You're right - the two scopes are concatenated in append_plugin_capabilities() without cross-dedup. Per-scope dedup prevents accidental double-registration within each map, but a plugin deliberately registering the same capability at both type and entity level would produce duplicates in the response. That said, the scenario requires intentional misuse of two separate registration APIs for the same string. Adding a dedup pass in append_plugin_capabilities() (e.g. collecting into an unordered_set first) is cheap - I can add it if you think it's worth the extra safety. Otherwise happy to leave it as a known edge case.

mfaferek93 · 2026-02-25T18:18:04Z

src/ros2_medkit_gateway/src/plugins/plugin_loader.cpp

+    return tl::make_unexpected("Plugin path must be absolute: " + plugin_path);
+  }
+
+  if (fs_path.extension() != ".so") {


fs_path.extension() != ".so" rejects versioned libs like .so.1. Not a real issue for custom plugins, but worth a comment explaining this is intentional.

Intentional - plugins are loaded by explicit absolute path from config, not via ldconfig. Versioned sonames (libfoo.so.1) are a system packaging concern; gateway plugins are always unversioned .so files. Added a comment in e51e8d7 to document this intent.

mfaferek93 · 2026-02-25T18:18:04Z

src/ros2_medkit_gateway/src/plugins/plugin_manager.cpp

+      if (!first) {
+        first = lp.update_provider;
+      } else {
+        RCLCPP_WARN(logger(), "Multiple UpdateProvider plugins loaded - ignoring '%s'",


The "Multiple UpdateProvider" warning fires every time get_update_provider() is called. Currently once at init (fine), but if called again it spams. Consider logging it once during load_plugins() instead.

Fixed in e51e8d7 - moved the multi-provider detection and warning into load_plugins(), where providers are first discovered. get_update_provider() is now a pure accessor returning a cached first_update_provider_ member. Cache is also properly invalidated (with re-scan) in disable_plugin() if the disabled plugin was the cached provider.

mfaferek93 · 2026-02-25T18:18:04Z

src/ros2_medkit_gateway/include/ros2_medkit_gateway/updates/update_manager.hpp


  // Prevent copy/move (owns async tasks)
  UpdateManager(const UpdateManager &) = delete;
  UpdateManager & operator=(const UpdateManager &) = delete;


set_backend() is safe (called once at init) but a doc comment like "Must be called before any update operations" would prevent future misuse.

Fixed in e51e8d7 - added doc comment with both ownership and temporal ordering: "Must be called before any update operations; operations return NoBackend error until set."

mfaferek93 · 2026-02-25T18:18:04Z

docs/tutorials/plugin-system.rst

+------------------
+
+- **Same compiler and ABI** as the gateway executable
+- **RTTI must be enabled** - do NOT compile plugins with ``-fno-rtti``


"RTTI must be enabled" - this is only needed for in-process add_plugin() which uses dynamic_cast. PluginLoader::load() avoids RTTI via extern "C". Worth clarifying which scenario needs it.

Fixed in e51e8d7 - clarified that RTTI is only needed for in-process add_plugin() (which uses dynamic_cast), and that shared-library plugins loaded via PluginLoader::load() use extern "C" query functions and do not require RTTI.

Define the base class for all gateway plugins with lifecycle methods (configure, set_node, register_routes, shutdown) and callback-based logging. Plugins implement this plus typed provider interfaces. Refs #235

Typed provider interfaces that plugins implement alongside GatewayPlugin. UpdateProvider mirrors existing UpdateBackend. IntrospectionProvider defines the enrichment/discovery interface. Refs #235

Loads GatewayPlugin instances from .so via dlopen/dlsym. Checks plugin_api_version() before calling create_plugin() factory. Test plugin implements both UpdateProvider and IntrospectionProvider. Refs #235

Replace dynamic_cast with extern "C" provider query functions to avoid RTTI failures across dlopen boundaries. Add RAII to GatewayPluginLoadResult with correct destruction order (providers, plugin, dlclose) and move-only semantics. Add path validation (absolute, .so extension, canonical). Switch RTLD_LAZY to RTLD_NOW. Add GATEWAY_PLUGIN_EXPORT visibility macro. Replace non-portable libc.so.6 test with dedicated test plugins. Expand test coverage from 5 to 10 cases (version mismatch, null factory, missing factory symbol, path validation). Refs #235

Orchestrates plugin loading, configuration, route registration, and shutdown. Uses extern "C" provider pointers from PluginLoader for .so plugins (safe across dlopen boundary) and dynamic_cast for compile-time test plugins (safe within same binary). Error isolation: throwing plugins are disabled, not crashed. 10 test cases covering empty state, dispatch, configure, shutdown, multi-provider, single provider, duplicate UpdateProvider, throwing plugin, and load failure. Refs #235

Rename update_backend.hpp to update_types.hpp (types-only header). Remove the UpdateBackend abstract class - UpdateProvider replaces it. UpdateManager now takes non-owning UpdateProvider* via set_backend() instead of owning unique_ptr<UpdateBackend>. PluginManager owns the plugin lifecycle and dlopen handles. Old UpdatePluginLoader removed. test_update_backend.cpp migrated to new plugin framework exports. All 27 update manager tests pass with the new interface. Refs #235

Wire plugin loading, configuration, and lifecycle into the gateway. Plugins are declared via the 'plugins' parameter and loaded from per-plugin path config. UpdateProvider from plugins is automatically wired to UpdateManager when updates are enabled. Plugin routes are registered on the REST server after core routes.

- Fix integration test to use new plugin framework parameters (#235) - Update docs: remove stale updates.backend/plugin_path, add plugin framework section to server.rst, update changelog, rest.rst, FAQ - Add plugins section to gateway_params.yaml with documented examples - Add RTLD_LOCAL flag to dlopen for explicit symbol isolation - Use API_BASE_PATH constant instead of hardcoded "/api/v1" - Disable plugins on set_node()/register_routes() failure - Add logging to shutdown_all() catch block - Add doxygen to get_plugin_manager()

Documents plugin interface, configuration, extern "C" exports, lifecycle, custom REST endpoints, multi-plugin dispatch, error handling, and API versioning. Refs #235

Add shutdown idempotency guard preventing double-shutdown UB. Extract disable_plugin() helper to DRY lifecycle error handling and clear dangling provider pointers in GatewayPluginLoadResult. Re-check .so extension after symlink resolution. Validate plugin names from YAML config. Port thread safety docs from deleted UpdateBackend. Add 8 new tests covering set_node/register_routes error isolation, shutdown idempotency, move semantics, minimal plugin, and load_plugins success path. Add complete minimal plugin example to tutorial and fix misleading "Optional" labels on required provider query functions.

…ty registration Replace set_node(rclcpp::Node*) with set_context(PluginContext&) to give plugins access to entity cache, fault data, HTTP utilities, and capability registration. Plugins can now register custom capabilities per entity type or per specific entity, which appear in discovery responses with auto-generated hrefs.

Scan parameter overrides for plugins.<name>.* keys (excluding .path), convert ROS 2 parameter types to JSON, and pass the resulting object to each plugin's configure() method. Supports all ROS 2 parameter types.

- Cast to unsigned char before std::isalnum to prevent UB on signed char - Deduplicate plugin names to avoid ParameterAlreadyDeclaredException crash - Call shutdown() in disable_plugin() to honor lifecycle contract - Add try/catch around provider query functions in plugin_loader - Use extract_entity_type_from_path() for proper segment-boundary matching - Cache first UpdateProvider in load_plugins(), log warning once on duplicates - Fix test plugin return types from void* to GatewayPlugin* - Add temporal ordering doc to set_backend() - Fix stale set_node() reference in server.rst - Clarify RTTI scope in plugin-system.rst - Document .so extension intent in plugin_loader

Copilot AI review requested due to automatic review settings February 25, 2026 08:24

Copilot started reviewing on behalf of bburda February 25, 2026 08:24 View session

Copilot AI reviewed Feb 25, 2026

View reviewed changes

bburda marked this pull request as draft February 25, 2026 08:37

bburda self-assigned this Feb 25, 2026

bburda requested a review from Copilot February 25, 2026 17:37

bburda marked this pull request as ready for review February 25, 2026 17:37

Copilot started reviewing on behalf of bburda February 25, 2026 17:38 View session

Copilot AI reviewed Feb 25, 2026

View reviewed changes

mfaferek93 reviewed Feb 25, 2026

View reviewed changes

bburda added 14 commits February 25, 2026 20:25

chore: add .worktrees/ to gitignore

aad8dad

feat(plugins): add GatewayPlugin base class and plugin types

33ea91f

Define the base class for all gateway plugins with lifecycle methods (configure, set_node, register_routes, shutdown) and callback-based logging. Plugins implement this plus typed provider interfaces. Refs #235

feat(plugins): add UpdateProvider and IntrospectionProvider interfaces

936be5a

Typed provider interfaces that plugins implement alongside GatewayPlugin. UpdateProvider mirrors existing UpdateBackend. IntrospectionProvider defines the enrichment/discovery interface. Refs #235

feat(plugins): add PluginLoader with API versioning and test plugin

aeff01a

Loads GatewayPlugin instances from .so via dlopen/dlsym. Checks plugin_api_version() before calling create_plugin() factory. Test plugin implements both UpdateProvider and IntrospectionProvider. Refs #235

docs(plugins): add plugin system tutorial

27b5938

Documents plugin interface, configuration, extern "C" exports, lifecycle, custom REST endpoints, multi-plugin dispatch, error handling, and API versioning. Refs #235

feat(plugins): forward YAML config parameters to plugin configure()

a2f5bad

Scan parameter overrides for plugins.<name>.* keys (excluding .path), convert ROS 2 parameter types to JSON, and pass the resulting object to each plugin's configure() method. Supports all ROS 2 parameter types.

bburda force-pushed the feature/plugin-framework branch from e51e8d7 to 21c9663 Compare February 25, 2026 20:28

bburda added the enhancement New feature or request label Feb 25, 2026

	return std::isalnum(c) \|\| c == '_' \|\| c == '-';
	return std::isalnum(static_cast<unsigned char>(c)) \|\| c == '_' \|\| c == '-';

		extern "C" GATEWAY_PLUGIN_EXPORT void * create_plugin() {
		return nullptr;

	extern "C" GATEWAY_PLUGIN_EXPORT void * create_plugin() {
	extern "C" GATEWAY_PLUGIN_EXPORT ros2_medkit_gateway::GatewayPlugin * create_plugin() {

	6. ``set_node()`` provides access to the ROS 2 node
	6. ``set_context()`` passes the gateway context to the plugin

Conversation

bburda commented Feb 25, 2026

Pull Request

Summary

Issue

Type

Testing

Checklist

Breaking Changes

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull request overview

Reviewed changes

Uh oh!

Copilot AI Feb 25, 2026

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Copilot AI Feb 25, 2026

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Copilot AI Feb 25, 2026

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Copilot AI Feb 25, 2026

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Copilot AI Feb 25, 2026

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull request overview

Uh oh!

Copilot AI Feb 25, 2026

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Copilot AI Feb 25, 2026

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

mfaferek93 left a comment • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

mfaferek93 left a comment •

edited

Loading