feat(foxglove,ros2,parser_ros): lazy per-topic subscription (SDK 0.15.0)#191
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feat(foxglove,ros2,parser_ros): lazy per-topic subscription (SDK 0.15.0)#191Alvvalencia wants to merge 5 commits into
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Both streamers declare kCapabilityLazySubscription: they connect without subscribing, advertise their full topic catalog to the host, and reconcile per-topic subscriptions against the host's declarative desired-active set (dialog selection = always-on eager floor). On a pre-0.15 host the advertise fails with the distinct fallback error and today's eager behavior is unchanged. - foxglove: dialog persists the FULL channel catalog (all_channels config key — the stolen socket never re-receives the advertise burst); onStart advertises all supported channels and subscribes only the eager floor; onActiveTopicsChanged reconciles via the pure computeSubscriptionOps diff (new in foxglove_protocol.hpp, unit-tested); mid-stream advertise/unadvertise re-advertises + reconciles; reconnect rebuilds the catalog from the fresh burst while host_active_ persists. OK button no longer requires a selection. - ros2: in-source graph discovery every ~20 poll ticks (~1 s) advertises the whole graph (ros2msg schemas cached per type); reconcile creates/destroys GenericSubscriptions on the poll thread — dropping one genuinely stops DDS delivery; empty selection allowed in lazy mode. - parser_ros: describeSchemaColumns walks rosx_introspection's schema tree and emits the flattened scalar-column manifest (types exactly as variantToValueRef emits; arrays and specialized builtin-object schemas stand down) so advertised-but-unsubscribed CDR topics show draggable fields with zero data. Consistency test pins manifest == parse emission. - SDK_VERSION 0.14.0 -> 0.15.0; extern/plotjuggler_core -> d338f44 (lazy-subscription SDK). Builds: foxglove + ros2 (jazzy inner) + parser_ros standalone vs plotjuggler_sdk/0.15.0; foxglove_protocol_test and parser_ros suites green. Pending: parser_protobuf manifest (foxglove protobuf channels stay field-less until first data). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01WUAom7BH7x39mRZFhBw79z
…policy The 20 s grace let two heavy topics coexist when the second was already plotted before the first was removed (eager eviction only fires on 0→1 activations). Object topics (pointclouds, images, video, grids — classified at advertise pre-bind) now go Active→Idle the instant their last consumer disappears; the grace window + eager eviction remain for light scalar topics only, where re-drop churn protection matters and the cost is small. AdvertisedTopic carries object_topic; StreamingSourceManager forwards the heavy set; TopicUsageRegistry::setAdvertisedTopics gains the heavy names. Test: heavy topic drops immediately even while others stay active; light topic still drains in the same situation. 250/250 green. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01WUAom7BH7x39mRZFhBw79z
…e chain recompute refs → registry active-set change → set_active_topics push. Used to verify the E2E wire timing (immediate heavy unsubscribe). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01WUAom7BH7x39mRZFhBw79z
- parser_ros manifest: omit STRING columns when string-to-number toggles are on (value-dependent type cannot be pre-declared) and stand down for topic-conditional object-only overrides (robot_description) — both cases previously pre-created columns parse() would contradict or never populate. Two new tests. - foxglove: old host + empty selection now fails loudly at onStart (mirrors ros2) instead of silently streaming nothing. - ros2: documented the poll-thread GenericSubscription destruction contract (per-distro stress verification flagged). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01WUAom7BH7x39mRZFhBw79z
…lling-dedup commit Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01WUAom7BH7x39mRZFhBw79z
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Plugin side of lazy subscription (SDK: PlotJuggler/plotjuggler_sdk#141, host: PlotJuggler/PJ4#348).
all_channels); advertises everything at start, subscribes only the dialog-selected eager floor; reconciles against the host's desired set via the pure, unit-testedcomputeSubscriptionOps; handles mid-stream advertise/unadvertise + reconnect; OK no longer requires a selection (old host + empty selection fails loudly).GenericSubscriptions — unsubscribed topics cost zero DDS traffic. Poll-thread destruction while the executor spins is flagged for per-distro stress verification (comment in code).describeSchemaColumnswalks the rosx_introspection schema tree so advertised-but-unsubscribed CDR topics show draggable fields with zero data; stands down for value-dependent types (string-to-number toggles) and topic-conditional object-only overrides. Consistency tests pin manifest == parse emission.SDK_VERSION → 0.15.0;
extern/plotjuggler_corepins the SDK PR branch (moves to the tagged release before merge). Requires host+plugins rebuilt together (see the SDK PR's break marker). Pending: parser_protobuf manifest.Suites green: foxglove_protocol_test (incl. reconcile ops), parser_ros 4/4 (2 new manifest tests), ros2 builds per-distro (jazzy).
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