[#40] feat: implement PUT /components/{component_id}/data/{topic_name} endpoint

Michał Fąferek · Michał Fąferek · commit 2a2e7c474aa2 · 2025-11-29T22:24:05.000+01:00
- Add publish_to_topic() method to DataAccessManager using ros2 topic pub --once
  - Implement PUT handler with input validation:
    - Required fields: type (message type), data (payload)
    - Message type format validation (package/msg/Type)
    - Component existence check
  - Add 6 integration tests for publish endpoint (REQ_INTEROP_020)
  - Update Postman collection with PUT examples
  - Standardize endpoint list format with HTTP method prefixes
diff --git a/postman/collections/ros2-medkit-gateway.postman_collection.json b/postman/collections/ros2-medkit-gateway.postman_collection.json
@@ -187,6 +187,66 @@
             "description": "Read brake pressure topic data from the pressure_sensor component."
           },
           "response": []
+        },
+        {
+          "name": "PUT Publish Brake Command",
+          "request": {
+            "method": "PUT",
+            "header": [
+              {
+                "key": "Content-Type",
+                "value": "application/json"
+              }
+            ],
+            "body": {
+              "mode": "raw",
+              "raw": "{\n  \"type\": \"std_msgs/msg/Float32\",\n  \"data\": {\n    \"data\": 50.0\n  }\n}"
+            },
+            "url": {
+              "raw": "{{base_url}}/components/actuator/data/command",
+              "host": [
+                "{{base_url}}"
+              ],
+              "path": [
+                "components",
+                "actuator",
+                "data",
+                "command"
+              ]
+            },
+            "description": "Publish data to a component topic (REQ_INTEROP_020). Request body must contain 'type' (ROS 2 message type) and 'data' (message payload). Returns publish confirmation with topic, type, status, and timestamp."
+          },
+          "response": []
+        },
+        {
+          "name": "PUT Publish Temperature Value",
+          "request": {
+            "method": "PUT",
+            "header": [
+              {
+                "key": "Content-Type",
+                "value": "application/json"
+              }
+            ],
+            "body": {
+              "mode": "raw",
+              "raw": "{\n  \"type\": \"sensor_msgs/msg/Temperature\",\n  \"data\": {\n    \"temperature\": 85.5,\n    \"variance\": 0.1\n  }\n}"
+            },
+            "url": {
+              "raw": "{{base_url}}/components/temp_sensor/data/temperature",
+              "host": [
+                "{{base_url}}"
+              ],
+              "path": [
+                "components",
+                "temp_sensor",
+                "data",
+                "temperature"
+              ]
+            },
+            "description": "Publish temperature data to the temp_sensor component. Example of publishing sensor_msgs/msg/Temperature type."
+          },
+          "response": []
         }
       ]
     }
diff --git a/src/ros2_medkit_gateway/include/ros2_medkit_gateway/data_access_manager.hpp b/src/ros2_medkit_gateway/include/ros2_medkit_gateway/data_access_manager.hpp
@@ -48,6 +48,21 @@ class DataAccessManager {
         double timeout_sec = 3.0
     );
 
+    /**
+     * @brief Publish data to a specific topic
+     * @param topic_path Full topic path (e.g., /chassis/brakes/command)
+     * @param msg_type ROS 2 message type (e.g., std_msgs/msg/Float32)
+     * @param data JSON data to publish
+     * @param timeout_sec Timeout for the publish operation
+     * @return JSON with publish status
+     */
+    json publish_to_topic(
+        const std::string& topic_path,
+        const std::string& msg_type,
+        const json& data,
+        double timeout_sec = 5.0
+    );
+
 private:
     /**
      * @brief Find all topics under a given namespace
diff --git a/src/ros2_medkit_gateway/include/ros2_medkit_gateway/rest_server.hpp b/src/ros2_medkit_gateway/include/ros2_medkit_gateway/rest_server.hpp
@@ -46,6 +46,7 @@ class RESTServer {
     void handle_area_components(const httplib::Request& req, httplib::Response& res);
     void handle_component_data(const httplib::Request& req, httplib::Response& res);
     void handle_component_topic_data(const httplib::Request& req, httplib::Response& res);
+    void handle_component_topic_publish(const httplib::Request& req, httplib::Response& res);
 
     // Helper methods
     std::expected<void, std::string> validate_entity_id(const std::string& entity_id) const;
diff --git a/src/ros2_medkit_gateway/src/data_access_manager.cpp b/src/ros2_medkit_gateway/src/data_access_manager.cpp
@@ -207,4 +207,52 @@ json DataAccessManager::get_component_data(
     return result;
 }
 
+json DataAccessManager::publish_to_topic(
+    const std::string& topic_path,
+    const std::string& msg_type,
+    const json& data,
+    double timeout_sec
+) {
+    try {
+        // Convert JSON data to YAML string for ros2 topic pub
+        // The data should be in YAML format like: "{data: 50.0}"
+        std::string yaml_data = data.dump();
+
+        std::ostringstream cmd;
+        cmd << "timeout " << static_cast<int>(std::ceil(timeout_sec)) << "s "
+            << "ros2 topic pub --once "
+            << ROS2CLIWrapper::escape_shell_arg(topic_path) << " "
+            << ROS2CLIWrapper::escape_shell_arg(msg_type) << " "
+            << ROS2CLIWrapper::escape_shell_arg(yaml_data);
+
+        RCLCPP_INFO(node_->get_logger(), "Executing: %s", cmd.str().c_str());
+
+        std::string output = cli_wrapper_->exec(cmd.str());
+
+        RCLCPP_INFO(node_->get_logger(),
+                    "Published to topic '%s' with type '%s'",
+                    topic_path.c_str(),
+                    msg_type.c_str());
+
+        json result = {
+            {"topic", topic_path},
+            {"type", msg_type},
+            {"status", "published"},
+            {"timestamp", std::chrono::duration_cast<std::chrono::nanoseconds>(
+                std::chrono::system_clock::now().time_since_epoch()
+            ).count()}
+        };
+
+        return result;
+    } catch (const std::exception& e) {
+        RCLCPP_ERROR(node_->get_logger(),
+                    "Failed to publish to topic '%s': %s",
+                    topic_path.c_str(),
+                    e.what());
+        throw std::runtime_error(
+            "Failed to publish to topic '" + topic_path + "': " + e.what()
+        );
+    }
+}
+
 }  // namespace ros2_medkit_gateway
diff --git a/src/ros2_medkit_gateway/src/rest_server.cpp b/src/ros2_medkit_gateway/src/rest_server.cpp
@@ -78,6 +78,11 @@ void RESTServer::setup_routes() {
     server_->Get(R"(/components/([^/]+)/data$)", [this](const httplib::Request& req, httplib::Response& res) {
         handle_component_data(req, res);
     });
+
+    // Component topic publish (PUT)
+    server_->Put(R"(/components/([^/]+)/data/([^/]+)$)", [this](const httplib::Request& req, httplib::Response& res) {
+        handle_component_topic_publish(req, res);
+    });
 }
 
 void RESTServer::start() {
@@ -170,13 +175,14 @@ void RESTServer::handle_root(const httplib::Request& req, httplib::Response& res
             {"name", "ROS 2 Medkit Gateway"},
             {"version", "0.1.0"},
             {"endpoints", json::array({
-                "/health",
-                "/version-info",
-                "/areas",
-                "/components",
-                "/areas/{area_id}/components",
-                "/components/{component_id}/data",
-                "/components/{component_id}/data/{topic_name}"
+                "GET /health",
+                "GET /version-info",
+                "GET /areas",
+                "GET /components",
+                "GET /areas/{area_id}/components",
+                "GET /components/{component_id}/data",
+                "GET /components/{component_id}/data/{topic_name}",
+                "PUT /components/{component_id}/data/{topic_name}"
             })},
             {"capabilities", {
                 {"discovery", true},
@@ -546,4 +552,173 @@ void RESTServer::handle_component_topic_data(const httplib::Request& req, httpli
     }
 }
 
+void RESTServer::handle_component_topic_publish(
+    const httplib::Request& req,
+    httplib::Response& res
+) {
+    std::string component_id;
+    std::string topic_name;
+    try {
+        // Extract component_id and topic_name from URL path
+        if (req.matches.size() < 3) {
+            res.status = StatusCode::BadRequest_400;
+            res.set_content(
+                json{{"error", "Invalid request"}}.dump(2),
+                "application/json"
+            );
+            return;
+        }
+
+        component_id = req.matches[1];
+        topic_name = req.matches[2];
+
+        // Validate component_id
+        auto component_validation = validate_entity_id(component_id);
+        if (!component_validation) {
+            res.status = StatusCode::BadRequest_400;
+            res.set_content(
+                json{
+                    {"error", "Invalid component ID"},
+                    {"details", component_validation.error()},
+                    {"component_id", component_id}
+                }.dump(2),
+                "application/json"
+            );
+            return;
+        }
+
+        // Validate topic_name
+        auto topic_validation = validate_entity_id(topic_name);
+        if (!topic_validation) {
+            res.status = StatusCode::BadRequest_400;
+            res.set_content(
+                json{
+                    {"error", "Invalid topic name"},
+                    {"details", topic_validation.error()},
+                    {"topic_name", topic_name}
+                }.dump(2),
+                "application/json"
+            );
+            return;
+        }
+
+        // Parse request body
+        json body;
+        try {
+            body = json::parse(req.body);
+        } catch (const json::parse_error& e) {
+            res.status = StatusCode::BadRequest_400;
+            res.set_content(
+                json{
+                    {"error", "Invalid JSON in request body"},
+                    {"details", e.what()}
+                }.dump(2),
+                "application/json"
+            );
+            return;
+        }
+
+        // Validate required fields: type and data
+        if (!body.contains("type") || !body["type"].is_string()) {
+            res.status = StatusCode::BadRequest_400;
+            res.set_content(
+                json{
+                    {"error", "Missing or invalid 'type' field"},
+                    {"details", "Request body must contain 'type' string field"}
+                }.dump(2),
+                "application/json"
+            );
+            return;
+        }
+
+        if (!body.contains("data")) {
+            res.status = StatusCode::BadRequest_400;
+            res.set_content(
+                json{
+                    {"error", "Missing 'data' field"},
+                    {"details", "Request body must contain 'data' field"}
+                }.dump(2),
+                "application/json"
+            );
+            return;
+        }
+
+        std::string msg_type = body["type"].get<std::string>();
+        json data = body["data"];
+
+        // Validate message type format (e.g., std_msgs/msg/Float32)
+        if (msg_type.find('/') == std::string::npos) {
+            res.status = StatusCode::BadRequest_400;
+            res.set_content(
+                json{
+                    {"error", "Invalid message type format"},
+                    {"details", "Message type should be in format: package/msg/Type"},
+                    {"type", msg_type}
+                }.dump(2),
+                "application/json"
+            );
+            return;
+        }
+
+        const auto cache = node_->get_entity_cache();
+
+        // Find component in cache
+        std::string component_namespace;
+        bool component_found = false;
+
+        for (const auto& component : cache.components) {
+            if (component.id == component_id) {
+                component_namespace = component.namespace_path;
+                component_found = true;
+                break;
+            }
+        }
+
+        if (!component_found) {
+            res.status = StatusCode::NotFound_404;
+            res.set_content(
+                json{
+                    {"error", "Component not found"},
+                    {"component_id", component_id}
+                }.dump(2),
+                "application/json"
+            );
+            return;
+        }
+
+        // Construct full topic path
+        std::string full_topic_path = (component_namespace == "/")
+            ? "/" + topic_name
+            : component_namespace + "/" + topic_name;
+
+        // Publish data using DataAccessManager
+        auto data_access_mgr = node_->get_data_access_manager();
+        json result = data_access_mgr->publish_to_topic(full_topic_path, msg_type, data);
+
+        // Add component info to result
+        result["component_id"] = component_id;
+        result["topic_name"] = topic_name;
+
+        res.set_content(result.dump(2), "application/json");
+    } catch (const std::exception& e) {
+        res.status = StatusCode::InternalServerError_500;
+        res.set_content(
+            json{
+                {"error", "Failed to publish to topic"},
+                {"details", e.what()},
+                {"component_id", component_id},
+                {"topic_name", topic_name}
+            }.dump(2),
+            "application/json"
+        );
+        RCLCPP_ERROR(
+            rclcpp::get_logger("rest_server"),
+            "Error in handle_component_topic_publish for component '%s', topic '%s': %s",
+            component_id.c_str(),
+            topic_name.c_str(),
+            e.what()
+        );
+    }
+}
+
 }  // namespace ros2_medkit_gateway
diff --git a/src/ros2_medkit_gateway/test/test_gateway_node.cpp b/src/ros2_medkit_gateway/test/test_gateway_node.cpp
@@ -95,13 +95,14 @@ class GatewayNode : public rclcpp::Node {
               {"name", "ROS 2 Medkit Gateway"},
               {"version", VERSION},
               {"endpoints", nlohmann::json::array({
-                  "/health",
-                  "/version-info",
-                  "/areas",
-                  "/components",
-                  "/areas/{area_id}/components",
-                  "/components/{component_id}/data",
-                  "/components/{component_id}/data/{topic_name}"
+                  "GET /health",
+                  "GET /version-info",
+                  "GET /areas",
+                  "GET /components",
+                  "GET /areas/{area_id}/components",
+                  "GET /components/{component_id}/data",
+                  "GET /components/{component_id}/data/{topic_name}",
+                  "PUT /components/{component_id}/data/{topic_name}"
               })},
               {"capabilities", {
                   {"discovery", true},
@@ -172,7 +173,7 @@ TEST_F(TestGatewayNode, test_root_endpoint) {
   EXPECT_EQ(json_response["version"], "0.1.0");
   EXPECT_TRUE(json_response.contains("endpoints"));
   EXPECT_TRUE(json_response["endpoints"].is_array());
-  EXPECT_EQ(json_response["endpoints"].size(), 7);
+  EXPECT_EQ(json_response["endpoints"].size(), 8);
   EXPECT_TRUE(json_response.contains("capabilities"));
   EXPECT_TRUE(json_response["capabilities"]["discovery"]);
   EXPECT_TRUE(json_response["capabilities"]["data_access"]);
diff --git a/src/ros2_medkit_gateway/test/test_integration.test.py b/src/ros2_medkit_gateway/test/test_integration.test.py
