feat(vda5050): add VDA 5050 msgs + ros2_medkit Service Interface plugin

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)
-#   multi-domain tests (secondary):  230 - 232 (3 slots, via get_test_domain_id)
+#   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_msgs/CMakeLists.txt

@@ -33,6 +33,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Snapshot.msg"
   "msg/EnvironmentData.msg"
   "msg/MedkitDiscoveryHint.msg"
+  "msg/EntityInfo.msg"
   "srv/ReportFault.srv"
   "srv/ListFaults.srv"
   "srv/GetFault.srv"
@@ -41,6 +42,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/GetRosbag.srv"
   "srv/ListRosbags.srv"
   "srv/ListFaultsForEntity.srv"
+  "srv/ListEntities.srv"
+  "srv/GetEntityData.srv"
+  "srv/GetCapabilities.srv"
   DEPENDENCIES builtin_interfaces diagnostic_msgs
 )
 

src/ros2_medkit_msgs/msg/EntityInfo.msg

@@ -0,0 +1,37 @@
+# Copyright 2026 mfaferek93
+#
+# 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.
+#
+# EntityInfo.msg - SOVD entity descriptor for service interface responses.
+#
+# Provides basic metadata about a SOVD entity (app, component, area, function)
+# for consumers that need entity tree information via ROS 2 services.
+
+# Unique entity identifier (e.g., "temp_sensor", "powertrain")
+string id
+
+# Human-readable entity name
+string name
+
+# Entity type: "app", "component", "area", "function"
+string entity_type
+
+# Parent entity ID ("" for top-level entities)
+string parent_id
+
+# Fully-qualified ROS 2 name (e.g., "/powertrain/engine/temp_sensor")
+string fqn
+
+# SOVD capabilities available for this entity
+# (e.g., ["data", "faults", "operations", "configurations"])
+string[] capabilities

src/ros2_medkit_msgs/srv/GetCapabilities.srv

@@ -0,0 +1,34 @@
+# Copyright 2026 mfaferek93
+#
+# 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.
+#
+# GetCapabilities.srv - Query SOVD capabilities for an entity or server.
+#
+# Returns the list of SOVD resource types available for the specified entity.
+# Used by VDA 5050 agent to build factsheet protocolFeatures.
+
+# Request fields
+
+# Entity ID, or "" for server-level capabilities
+string entity_id
+---
+# Response fields
+
+bool success
+string error_message
+
+# Available SOVD capabilities (e.g., "data", "faults", "operations", "configurations")
+string[] capabilities
+
+# Available resource types (e.g., "apps", "components", "areas", "functions")
+string[] resource_types

src/ros2_medkit_msgs/srv/GetEntityData.srv

@@ -0,0 +1,34 @@
+# Copyright 2026 mfaferek93
+#
+# 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.
+#
+# GetEntityData.srv - Retrieve data values for a SOVD entity.
+#
+# Returns latest topic data for the specified entity as a JSON string.
+# Used by VDA 5050 agent to populate AGV state with sensor data.
+
+# Request fields
+
+# Entity ID to query
+string entity_id
+
+# Specific data keys (topic names) to return, [] for all available
+string[] data_keys
+---
+# Response fields
+
+bool success
+string error_message
+
+# JSON-encoded data: {"topic_name": {"field": value, ...}, ...}
+string data_json

src/ros2_medkit_msgs/srv/ListEntities.srv

@@ -0,0 +1,33 @@
+# Copyright 2026 mfaferek93
+#
+# 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.
+#
+# ListEntities.srv - List SOVD entities from the gateway entity tree.
+#
+# Returns entities matching the requested type and parent filters.
+# Used by VDA 5050 agent, BT.CPP, PlotJuggler, and other ROS 2 consumers
+# to discover the SOVD entity tree without HTTP.
+
+# Request fields
+
+# Filter by entity type: "app", "component", "area", "function", "" (all)
+string entity_type
+
+# Filter by parent entity ID, "" for no filter (returns all entities)
+string parent_id
+---
+# Response fields
+
+bool success
+string error_message
+EntityInfo[] entities

src/ros2_medkit_plugins/ros2_medkit_sovd_service_interface/CMakeLists.txt

@@ -0,0 +1,116 @@
+# Copyright 2026 mfaferek93
+#
+# 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_sovd_service_interface)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
+endif()
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Shared cmake modules (multi-distro compat)
+find_package(ros2_medkit_cmake REQUIRED)
+include(ROS2MedkitCompat)
+
+find_package(ament_cmake REQUIRED)
+find_package(ros2_medkit_gateway REQUIRED)
+find_package(ros2_medkit_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(nlohmann_json REQUIRED)
+find_package(OpenSSL REQUIRED)
+
+# cpp-httplib via multi-distro compatibility macro
+medkit_find_cpp_httplib()
+
+# Enable OpenSSL support for cpp-httplib
+add_compile_definitions(CPPHTTPLIB_OPENSSL_SUPPORT)
+
+# MODULE target: loaded via dlopen at runtime by PluginManager.
+# Symbols from gateway_lib are resolved from the host process at runtime.
+add_library(sovd_service_interface MODULE
+  src/sovd_service_interface.cpp
+  src/service_exports.cpp
+)
+
+target_include_directories(sovd_service_interface PRIVATE
+  ${CMAKE_CURRENT_SOURCE_DIR}/src
+)
+
+medkit_target_dependencies(sovd_service_interface
+  ros2_medkit_msgs
+  ros2_medkit_gateway
+  rclcpp
+)
+
+# Allow unresolved symbols - they resolve from the host process at runtime
+target_link_options(sovd_service_interface PRIVATE
+  -Wl,--unresolved-symbols=ignore-all
+)
+
+target_link_libraries(sovd_service_interface
+  nlohmann_json::nlohmann_json
+  cpp_httplib_target
+  OpenSSL::SSL OpenSSL::Crypto
+)
+
+install(TARGETS sovd_service_interface
+  LIBRARY DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # uncrustify/cpplint conflict with project-wide clang-format (120 cols vs 100)
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE
+    ament_cmake_uncrustify
+    ament_cmake_cpplint
+    ament_cmake_clang_format
+  )
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_clang_format REQUIRED)
+  file(GLOB_RECURSE _format_files
+    "src/*.hpp" "src/*.cpp" "test/*.cpp"
+  )
+  ament_clang_format(${_format_files}
+    CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../../.clang-format")
+
+  find_package(ament_cmake_gtest REQUIRED)
+
+  include(ROS2MedkitTestDomain)
+  medkit_init_test_domains(START 1 END 9)
+
+  ament_add_gtest(test_sovd_service_interface
+    test/test_sovd_service_interface.cpp
+    src/sovd_service_interface.cpp
+  )
+  target_include_directories(test_sovd_service_interface PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/src
+  )
+  medkit_target_dependencies(test_sovd_service_interface
+    ros2_medkit_gateway
+    rclcpp
+    ros2_medkit_msgs
+  )
+  target_link_libraries(test_sovd_service_interface
+    nlohmann_json::nlohmann_json
+    cpp_httplib_target
+    OpenSSL::SSL OpenSSL::Crypto
+  )
+  medkit_set_test_domain(test_sovd_service_interface)
+endif()
+
+ament_package()

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/package.xml

@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ros2_medkit_sovd_service_interface</name>
+  <version>0.4.0</version>
+  <description>SOVD Service Interface plugin - exposes medkit entity tree and fault data via ROS 2 services</description>
+  <maintainer email="bartoszburda93@gmail.com">bburda</maintainer>
+  <maintainer email="mfaferek93@gmail.com">mfaferek93</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ros2_medkit_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>ros2_medkit_msgs</depend>
+  <depend>ros2_medkit_gateway</depend>
+  <depend>nlohmann-json-dev</depend>
+  <depend>libcpp-httplib-dev</depend>
+  <depend>libssl-dev</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_clang_format</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/ros2_medkit_plugins/ros2_medkit_sovd_service_interface/src/service_exports.cpp

@@ -0,0 +1,26 @@
+// Copyright 2026 mfaferek93
+//
+// 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.
+
+#include "ros2_medkit_gateway/plugins/plugin_types.hpp"
+#include "sovd_service_interface.hpp"
+
+using namespace ros2_medkit_gateway;
+
+extern "C" GATEWAY_PLUGIN_EXPORT int plugin_api_version() {
+  return PLUGIN_API_VERSION;  // Must return 4 (exact match required)
+}
+
+extern "C" GATEWAY_PLUGIN_EXPORT GatewayPlugin * create_plugin() {
+  return new SovdServiceInterface();
+}