fix(gateway): aggregate component /logs and /bulk-data from hosted apps' fqns

.github/workflows/ci.yml

@@ -17,7 +17,6 @@ jobs:
             os_image: ubuntu:jammy
           - ros_distro: rolling
             os_image: ubuntu:noble
-    continue-on-error: ${{ matrix.ros_distro == 'rolling' }}
     container:
       image: ${{ matrix.os_image }}
     timeout-minutes: 60
@@ -59,7 +58,13 @@ jobs:
           fi
           source /opt/ros/${{ matrix.ros_distro }}/setup.bash
           rosdep update
-          rosdep install --from-paths src --ignore-src -y
+          # Linters (clang-tidy / clang-format) are gated to the Jazzy lint job
+          # in quality.yml, but multiple package.xml files still list them as
+          # <test_depend>. Their rosdep keys are not registered for noble
+          # (Rolling), which breaks rosdep install on that runner. Skip them
+          # on every distro this workflow targets - the linters never run here.
+          rosdep install --from-paths src --ignore-src -y \
+            --skip-keys "ament_cmake_clang_tidy ament_cmake_clang_format"
 
       - name: Build packages
         env:

.github/workflows/opcua-plugin.yml

@@ -83,13 +83,14 @@ jobs:
           apt-get install -y ros-${{ matrix.ros_distro }}-test-msgs libyaml-cpp-dev libssl-dev
           source /opt/ros/${{ matrix.ros_distro }}/setup.bash
           rosdep update
-          # Only skip nav2_msgs because vda5050_agent declares it as a dep but
-          # the apt package is not available on all distros. We do NOT skip
-          # ament_cmake_clang_format or test_msgs here: upstream medkit
-          # packages (ros2_medkit_serialization, gateway) require them at
-          # configure time via find_package.
+          # Skip nav2_msgs (vda5050_agent declares it; not available on all
+          # distros) and the linter rosdep keys. The clang_format / clang_tidy
+          # keys are not registered for noble (Rolling), and the upstream
+          # medkit packages have already been switched to QUIET + FOUND for
+          # those find_package calls so the build degrades gracefully without
+          # the linter packages installed.
           rosdep install --from-paths src --ignore-src -y \
-            --skip-keys='nav2_msgs'
+            --skip-keys='nav2_msgs ament_cmake_clang_format ament_cmake_clang_tidy'
 
       - name: Build ros2_medkit_opcua (and upstream deps)
         env:

Dockerfile

@@ -67,11 +67,22 @@ COPY src/ros2_medkit_diagnostic_bridge/ ${COLCON_WS}/src/ros2_medkit_diagnostic_
 COPY src/ros2_medkit_discovery_plugins/ ${COLCON_WS}/src/ros2_medkit_discovery_plugins/
 COPY src/ros2_medkit_plugins/ ${COLCON_WS}/src/ros2_medkit_plugins/
 
-# Install ROS dependencies and build (skip tests for smaller image)
+# Install ROS dependencies and build (skip tests for smaller image).
+#
+# apt-get update has to be re-run here: the previous RUN cleared
+# /var/lib/apt/lists, so without a fresh fetch rosdep's internal
+# apt-get install calls fail with "Unable to locate package" for anything
+# that wasn't pulled in by the first RUN's apt-get install (notably
+# python3-jsonschema, which the integration_tests package declares as a
+# test_depend and which rosdep tries to install even with BUILD_TESTING=OFF).
+# This was previously masked by Docker layer cache hits on CI; cold builds
+# always failed.
 RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    apt-get update && \
     rosdep update && \
     rosdep install --from-paths src --ignore-src -r -y \
       --skip-keys='ament_cmake_clang_format ament_cmake_clang_tidy test_msgs sqlite3 libcpp-httplib-dev rosbag2_storage_mcap' && \
+    rm -rf /var/lib/apt/lists/* && \
     colcon build --cmake-args -DBUILD_TESTING=OFF"
 
 # ============================================================================

docs/api/rest.rst

@@ -737,7 +737,8 @@ Logs Endpoints
 --------------
 
 Query and configure the /rosout ring buffer for an entity. Supported entity types:
-**areas** (namespace prefix match), **components** (namespace prefix match), **apps** (exact FQN match),
+**areas** (aggregated from hosted apps, namespace prefix fallback), **components** (aggregated from
+hosted apps, namespace prefix fallback for manifest-only deployments), **apps** (exact FQN match),
 and **functions** (aggregated from hosted apps).
 
 .. note::
@@ -748,7 +749,13 @@ and **functions** (aggregated from hosted apps).
    storage backend or take full ownership of the log pipeline (see plugin development docs).
 
 ``GET /api/v1/components/{id}/logs``
-   Query log entries for all nodes in the component namespace (prefix match).
+   Query log entries aggregated from the component's hosted apps. Resolves child apps via
+   the entity cache and queries each by exact FQN. Falls back to namespace prefix match only
+   when the component has no hosted apps but declares a non-empty namespace (manifest-only
+   deployments where the component groups topics rather than nodes). The response always
+   carries ``x-medkit.aggregation_level=component`` and ``aggregated=true``; the
+   ``app_count`` and ``aggregation_sources`` fields are populated only when hosted-app
+   aggregation is active and are omitted under the namespace-prefix fallback.
 
 ``GET /api/v1/apps/{id}/logs``
    Query log entries for the specific app node (exact match).

src/ros2_medkit_discovery_plugins/ros2_medkit_beacon_common/CMakeLists.txt

@@ -79,12 +79,17 @@ if(BUILD_TESTING)
   )
   ament_lint_auto_find_test_dependencies()
 
-  find_package(ament_cmake_clang_format REQUIRED)
-  file(GLOB_RECURSE _format_files
-    "include/*.hpp" "src/*.cpp" "test/*.cpp"
-  )
-  ament_clang_format(${_format_files}
-    CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../../.clang-format")
+  # ci.yml skips the ament_cmake_clang_format rosdep key on Humble + Rolling
+  # (linters only run in the Jazzy quality job), so QUIET + FOUND check
+  # avoids hard-failing on those runners.
+  find_package(ament_cmake_clang_format QUIET)
+  if(ament_cmake_clang_format_FOUND)
+    file(GLOB_RECURSE _format_files
+      "include/*.hpp" "src/*.cpp" "test/*.cpp"
+    )
+    ament_clang_format(${_format_files}
+      CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../../.clang-format")
+  endif()
 
   find_package(ament_cmake_gtest REQUIRED)
 

src/ros2_medkit_discovery_plugins/ros2_medkit_param_beacon/CMakeLists.txt

@@ -65,12 +65,17 @@ if(BUILD_TESTING)
   )
   ament_lint_auto_find_test_dependencies()
 
-  find_package(ament_cmake_clang_format REQUIRED)
-  file(GLOB_RECURSE _format_files
-    "include/*.hpp" "src/*.cpp" "test/*.cpp"
-  )
-  ament_clang_format(${_format_files}
-    CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../../.clang-format")
+  # ci.yml skips the ament_cmake_clang_format rosdep key on Humble + Rolling
+  # (linters only run in the Jazzy quality job), so QUIET + FOUND check
+  # avoids hard-failing on those runners.
+  find_package(ament_cmake_clang_format QUIET)
+  if(ament_cmake_clang_format_FOUND)
+    file(GLOB_RECURSE _format_files
+      "include/*.hpp" "src/*.cpp" "test/*.cpp"
+    )
+    ament_clang_format(${_format_files}
+      CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../../.clang-format")
+  endif()
 
   find_package(ament_cmake_gmock REQUIRED)
 

src/ros2_medkit_discovery_plugins/ros2_medkit_topic_beacon/CMakeLists.txt

@@ -70,12 +70,17 @@ if(BUILD_TESTING)
   )
   ament_lint_auto_find_test_dependencies()
 
-  find_package(ament_cmake_clang_format REQUIRED)
-  file(GLOB_RECURSE _format_files
-    "include/*.hpp" "src/*.cpp" "test/*.cpp"
-  )
-  ament_clang_format(${_format_files}
-    CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../../.clang-format")
+  # ci.yml skips the ament_cmake_clang_format rosdep key on Humble + Rolling
+  # (linters only run in the Jazzy quality job), so QUIET + FOUND check
+  # avoids hard-failing on those runners.
+  find_package(ament_cmake_clang_format QUIET)
+  if(ament_cmake_clang_format_FOUND)
+    file(GLOB_RECURSE _format_files
+      "include/*.hpp" "src/*.cpp" "test/*.cpp"
+    )
+    ament_clang_format(${_format_files}
+      CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../../.clang-format")
+  endif()
 
   find_package(ament_cmake_gtest REQUIRED)
 

src/ros2_medkit_gateway/CMakeLists.txt

@@ -327,17 +327,23 @@ if(BUILD_TESTING)
   )
   ament_copyright(EXCLUDE ${VENDORED_FILES})
 
-  # Configure clang-format to only check our source files (not vendored)
-  find_package(ament_cmake_clang_format REQUIRED)
-  file(GLOB_RECURSE _format_files
-    "include/*.h" "include/*.hpp"
-    "src/*.cpp" "src/*.h" "src/*.hpp"
-    "test/*.cpp" "test/*.h" "test/*.hpp"
-  )
-  list(FILTER _format_files EXCLUDE REGEX ".*/vendored/.*")
-  ament_clang_format(${_format_files}
-    CONFIG_FILE "${ament_cmake_clang_format_CONFIG_FILE}"
-  )
+  # Configure clang-format to only check our source files (not vendored).
+  # ament_cmake_clang_format is intentionally only installed in the Jazzy
+  # quality job (ci.yml skips its rosdep key on Humble + Rolling), so use
+  # QUIET + FOUND check instead of REQUIRED to gracefully degrade on the
+  # build-and-test runners without breaking the build.
+  find_package(ament_cmake_clang_format QUIET)
+  if(ament_cmake_clang_format_FOUND)
+    file(GLOB_RECURSE _format_files
+      "include/*.h" "include/*.hpp"
+      "src/*.cpp" "src/*.h" "src/*.hpp"
+      "test/*.cpp" "test/*.h" "test/*.hpp"
+    )
+    list(FILTER _format_files EXCLUDE REGEX ".*/vendored/.*")
+    ament_clang_format(${_format_files}
+      CONFIG_FILE "${ament_cmake_clang_format_CONFIG_FILE}"
+    )
+  endif()
 
   ros2_medkit_clang_tidy(
     HEADER_FILTER "^${CMAKE_CURRENT_SOURCE_DIR}/(include|src|test)/"

src/ros2_medkit_gateway/include/ros2_medkit_gateway/http/handlers/bulkdata_handlers.hpp

@@ -17,6 +17,7 @@
 #include <httplib.h>
 
 #include <string>
+#include <vector>
 
 #include "ros2_medkit_gateway/http/handlers/handler_context.hpp"
 
@@ -117,12 +118,10 @@ class BulkDataHandlers {
   /**
    * @brief Get source filters for rosbag queries based on entity type.
    *
-   * For apps/components/areas: returns the entity's FQN or namespace path.
-   * For functions: aggregates FQNs from all hosting apps (read-only
-   * aggregated view - upload/delete are blocked at the route level).
-   *
-   * @param entity Entity information
-   * @return Vector of source filter strings (empty if no valid filters)
+   * Thin instance wrapper that fetches the cache from ctx_ and delegates to
+   * detail::compute_bulkdata_source_filters. The pure logic (entity-type
+   * branching) is unit-tested via the free function instead of the member
+   * to keep the handler's public surface unchanged.
    */
   std::vector<std::string> get_source_filters(const EntityInfo & entity) const;
 
@@ -148,5 +147,33 @@ class BulkDataHandlers {
   static std::string resolve_rosbag_file_path(const std::string & path);
 };
 
+namespace detail {
+
+/**
+ * @brief Compute rosbag source filters for an entity based on its type.
+ *
+ * Pure helper that drives ``BulkDataHandlers::get_source_filters``. Lives in
+ * a ``detail`` namespace to signal "not part of the public API" while still
+ * being directly unit-testable without spinning up a ``GatewayNode``.
+ *
+ * - APP / AREA: returns the entity's FQN or namespace path (single filter).
+ * - FUNCTION: aggregates non-empty ``effective_fqn()`` values across all
+ *   hosted apps (no fallback - functions are pure aggregated views).
+ * - COMPONENT: aggregates from hosted apps; falls back to FQN/namespace_path
+ *   only when the component has no hosted apps (manifest deployments where
+ *   the component groups topics rather than nodes). This avoids the
+ *   synthetic-component bug where empty fqn + empty namespace_path produced
+ *   zero source filters.
+ *
+ * @param cache Entity cache to resolve hosted apps in (used for FUNCTION /
+ *              COMPONENT only)
+ * @param entity Entity information
+ * @return Vector of source filter strings (empty if no valid filters)
+ */
+std::vector<std::string> compute_bulkdata_source_filters(const ThreadSafeEntityCache & cache,
+                                                         const EntityInfo & entity);
+
+}  // namespace detail
+
 }  // namespace handlers
 }  // namespace ros2_medkit_gateway

src/ros2_medkit_gateway/include/ros2_medkit_gateway/http/handlers/handler_context.hpp

@@ -25,13 +25,16 @@
 #include <string>
 #include <tl/expected.hpp>
 
+#include <vector>
+
 #include "ros2_medkit_gateway/auth/auth_config.hpp"
 #include "ros2_medkit_gateway/auth/auth_manager.hpp"
 #include "ros2_medkit_gateway/config.hpp"
 #include "ros2_medkit_gateway/http/error_codes.hpp"
 #include "ros2_medkit_gateway/http/http_utils.hpp"
 #include "ros2_medkit_gateway/models/entity_capabilities.hpp"
 #include "ros2_medkit_gateway/models/entity_types.hpp"
+#include "ros2_medkit_gateway/models/thread_safe_entity_cache.hpp"
 
 namespace ros2_medkit_gateway {
 
@@ -316,6 +319,26 @@ class HandlerContext {
     return rclcpp::get_logger("rest_server");
   }
 
+  /**
+   * @brief Resolve a list of app IDs to their non-empty effective FQNs.
+   *
+   * Apps that are missing from the cache or that have an empty effective_fqn()
+   * are skipped silently. The returned vector preserves the input app_ids order
+   * (minus skipped entries) and may be empty. Apps whose effective_fqn() is
+   * already present in the result are skipped, so duplicates from manifest /
+   * runtime double-binds do not produce repeated downstream queries.
+   *
+   * Used by log_handlers and bulkdata_handlers to aggregate per-component /
+   * per-function resource queries from the entity's hosted apps. Static + public
+   * to enable direct unit testing without standing up a full GatewayNode fixture.
+   *
+   * @param cache Entity cache to look up apps in
+   * @param app_ids App IDs to resolve
+   * @return Effective FQNs for the apps that resolved
+   */
+  static std::vector<std::string> resolve_app_host_fqns(const ThreadSafeEntityCache & cache,
+                                                        const std::vector<std::string> & app_ids);
+
  private:
   GatewayNode * node_;
   CorsConfig cors_config_;

src/ros2_medkit_gateway/src/http/handlers/bulkdata_handlers.cpp

@@ -539,31 +539,41 @@ std::string BulkDataHandlers::get_rosbag_mimetype(const std::string & format) {
 }
 
 std::vector<std::string> BulkDataHandlers::get_source_filters(const EntityInfo & entity) const {
+  return detail::compute_bulkdata_source_filters(ctx_.node()->get_thread_safe_cache(), entity);
+}
+
+namespace detail {
+
+std::vector<std::string> compute_bulkdata_source_filters(const ThreadSafeEntityCache & cache,
+                                                         const EntityInfo & entity) {
   if (entity.type == EntityType::FUNCTION) {
-    // Functions aggregate rosbags from all hosting apps
-    const auto & cache = ctx_.node()->get_thread_safe_cache();
-    auto host_app_ids = cache.get_apps_for_function(entity.id);
-    std::vector<std::string> filters;
-    filters.reserve(host_app_ids.size());
-    for (const auto & app_id : host_app_ids) {
-      auto app = cache.get_app(app_id);
-      if (app) {
-        auto fqn = app->effective_fqn();
-        if (!fqn.empty()) {
-          filters.push_back(fqn);
-        }
-      }
+    // Functions are pure aggregated views over hosted apps - if no apps host the function,
+    // there is nothing to query. No fall-through to fqn/namespace_path.
+    return HandlerContext::resolve_app_host_fqns(cache, cache.get_apps_for_function(entity.id));
+  }
+
+  if (entity.type == EntityType::COMPONENT) {
+    // Synthetic / runtime-discovered components have an empty fqn / namespace_path,
+    // so the bare-fqn path used to silently return zero source filters and produce
+    // empty descriptor lists plus failed ownership checks on download. Resolve hosted
+    // apps first; manifest deployments where the component groups topics rather than
+    // nodes still need the namespace prefix path, so fall through if no apps host it.
+    auto filters = HandlerContext::resolve_app_host_fqns(cache, cache.get_apps_for_component(entity.id));
+    if (!filters.empty()) {
+      return filters;
     }
-    return filters;
+    // fall through to fqn/namespace_path
   }
 
-  // For other entity types, use FQN or namespace_path
+  // For other entity types and manifest-only components, use FQN or namespace_path
   std::string filter = entity.fqn.empty() ? entity.namespace_path : entity.fqn;
   if (filter.empty()) {
     return {};
   }
   return {filter};
 }
 
+}  // namespace detail
+
 }  // namespace handlers
 }  // namespace ros2_medkit_gateway

src/ros2_medkit_gateway/src/http/handlers/handler_context.cpp

@@ -15,6 +15,7 @@
 #include "ros2_medkit_gateway/http/handlers/handler_context.hpp"
 
 #include <algorithm>
+#include <unordered_set>
 
 #include "ros2_medkit_gateway/aggregation/aggregation_manager.hpp"
 #include "ros2_medkit_gateway/entity_validation.hpp"
@@ -346,5 +347,31 @@ void HandlerContext::send_json(httplib::Response & res, const json & data) {
   res.set_content(data.dump(2), "application/json");
 }
 
+std::vector<std::string> HandlerContext::resolve_app_host_fqns(const ThreadSafeEntityCache & cache,
+                                                               const std::vector<std::string> & app_ids) {
+  // Order-preserving dedup: two app_ids that resolve to the same effective_fqn
+  // (e.g. manifest + runtime double-bind to the same node) must not produce
+  // duplicate filters - downstream callers (LogManager::get_logs, bulkdata
+  // source filters) would either query twice and merge, or dedup silently;
+  // either way the duplicates are wasted CPU.
+  std::vector<std::string> fqns;
+  fqns.reserve(app_ids.size());
+  std::unordered_set<std::string> seen;
+  for (const auto & app_id : app_ids) {
+    auto app = cache.get_app(app_id);
+    if (!app) {
+      continue;
+    }
+    auto fqn = app->effective_fqn();
+    if (fqn.empty()) {
+      continue;
+    }
+    if (seen.insert(fqn).second) {
+      fqns.push_back(std::move(fqn));
+    }
+  }
+  return fqns;
+}
+
 }  // namespace handlers
 }  // namespace ros2_medkit_gateway