fix: address review findings from PR #331

- Populate fault timestamps (first/last_occurred) from JSON response
- Fix TODO reference (removed stale #332 link)
- Add README.md for sovd_service_interface plugin
- Move test domain range from 230-232 to 1-9 (avoid collision with
  peer_aggregation secondary domains at 230)

Author: mfaferek93

src/ros2_medkit_cmake/cmake/ROS2MedkitTestDomain.cmake

@@ -19,6 +19,7 @@
 # non-overlapping domain ID ranges to prevent DDS cross-contamination.
 #
 # Allocated ranges:
+#   ros2_medkit_sovd_service_iface:   1 -   9 (9 slots)
 #   ros2_medkit_fault_manager:       10 -  29 (20 slots)
 #   ros2_medkit_gateway:             30 -  89 (60 slots)
 #   ros2_medkit_diagnostic_bridge:   90 -  99 (10 slots)
@@ -27,7 +28,7 @@
 #   ros2_medkit_graph_provider:     120 - 129 (10 slots)
 #   ros2_medkit_linux_introspection: 130 - 139 (10 slots)
 #   ros2_medkit_integration_tests:  140 - 229 (90 slots)
-#   ros2_medkit_sovd_service_iface: 230 - 232 (3 slots, max domain ID is 232)
+#   multi-domain tests (secondary): 230 - 232 (3 slots, reserved for peer_aggregation etc.)
 #
 # To add a new package: pick the next free range and update this comment.
 

src/ros2_medkit_plugins/ros2_medkit_sovd_service_interface/CMakeLists.txt

@@ -91,7 +91,7 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
 
   include(ROS2MedkitTestDomain)
-  medkit_init_test_domains(START 230 END 232)
+  medkit_init_test_domains(START 1 END 9)
 
   ament_add_gtest(test_sovd_service_interface
     test/test_sovd_service_interface.cpp

src/ros2_medkit_plugins/ros2_medkit_sovd_service_interface/README.md

@@ -0,0 +1,31 @@
+# ros2_medkit_sovd_service_interface
+
+Gateway plugin exposing medkit entity data via ROS 2 services. Enables ROS 2 nodes (e.g. VDA 5050 agent, BT.CPP, PlotJuggler) to access SOVD diagnostics without HTTP.
+
+## Services
+
+| Service | Type | Description |
+|---------|------|-------------|
+| `/medkit/list_entities` | `ros2_medkit_msgs/srv/ListEntities` | List all discovered entities (apps, components, areas) |
+| `/medkit/list_entity_faults` | `ros2_medkit_msgs/srv/ListFaultsForEntity` | Get faults for a specific entity |
+| `/medkit/get_entity_data` | `ros2_medkit_msgs/srv/GetEntityData` | Get entity topic data (not yet implemented) |
+| `/medkit/get_capabilities` | `ros2_medkit_msgs/srv/GetCapabilities` | Get SOVD capabilities for an entity |
+
+Service prefix is configurable via `plugins.sovd_service_interface.service_prefix` parameter (default: `/medkit`).
+
+## Usage
+
+Load as a gateway plugin:
+
+```bash
+ros2 run ros2_medkit_gateway gateway_node --ros-args \
+    -p "plugins:=[\"sovd_service_interface\"]" \
+    -p "plugins.sovd_service_interface.path:=/path/to/libsovd_service_interface.so" \
+    -p "plugins.sovd_service_interface.service_prefix:=/medkit"
+```
+
+## Tests
+
+```bash
+colcon test --packages-select ros2_medkit_sovd_service_interface
+```

src/ros2_medkit_plugins/ros2_medkit_sovd_service_interface/src/sovd_service_interface.cpp

@@ -179,6 +179,16 @@ void SovdServiceInterface::handle_list_entity_faults(
         fault.description = fault_json.value("description", std::string{});
         fault.status = fault_json.value("status", std::string{});
         fault.occurrence_count = fault_json.value("occurrence_count", static_cast<uint32_t>(0));
+        if (fault_json.contains("first_occurred") && fault_json["first_occurred"].is_number()) {
+          double ts = fault_json["first_occurred"].get<double>();
+          fault.first_occurred.sec = static_cast<int32_t>(ts);
+          fault.first_occurred.nanosec = static_cast<uint32_t>((ts - static_cast<int32_t>(ts)) * 1e9);
+        }
+        if (fault_json.contains("last_occurred") && fault_json["last_occurred"].is_number()) {
+          double ts = fault_json["last_occurred"].get<double>();
+          fault.last_occurred.sec = static_cast<int32_t>(ts);
+          fault.last_occurred.nanosec = static_cast<uint32_t>((ts - static_cast<int32_t>(ts)) * 1e9);
+        }
         if (fault_json.contains("reporting_sources") && fault_json["reporting_sources"].is_array()) {
           for (const auto & src : fault_json["reporting_sources"]) {
             if (src.is_string()) {
@@ -209,11 +219,9 @@ void SovdServiceInterface::handle_get_entity_data(
       return;
     }
 
-    // TODO(#332): Implement data retrieval via PluginContext::get_entity_data()
-    // when the method is added. Currently PluginContext exposes entity metadata
-    // and faults but not live topic data. The VDA 5050 agent should use the
-    // HTTP REST API (/api/v1/apps/{id}/data) as the primary data source until
-    // this service is fully implemented.
+    // TODO: Implement data retrieval when PluginContext gains data access.
+    // Currently PluginContext exposes entity metadata and faults but not live
+    // topic data. Use HTTP REST API (/api/v1/apps/{id}/data) as alternative.
     response->data_json = "{}";
     response->success = false;
     response->error_message = "GetEntityData not yet implemented - use HTTP REST API for topic data";