Changelog for package yasmin

6.1.1 (2026-08-08)

6.1.0 (2026-07-26)

• style(pybind): fix indentation in add_state lambda Adjust the indentation of the [add_state]{.title-ref} lambda function in the pybind11 module definition to ensure consistent alignment of parameters and function body.
• feat(blackboard): add raw entry retrieval and batch processing methods
• refactor(state-machine): modernize concurrency primitives and signal handling Refactor the [StateMachine]{.title-ref} implementation to improve thread safety and simplify resource management. - Replace [std::unique_ptr<std::mutex>]{.title-ref} with a direct [mutable std::mutex]{.title-ref} to allow thread-safe access within [const]{.title-ref} methods and avoid heap allocation. - Implement a robust SIGINT callback registry using a mutex-protected [std::unordered_map]{.title-ref} to support multiple signal handlers. - Replace the global [sig_atomic_t]{.title-ref} flag with a structured registry system ([register_sigint_callback]{.title-ref}, [unregister_sigint_callback]{.title-ref}). - Simplify [wait_for_current_state]{.title-ref} by removing the timeout and using the predicate-based [wait]{.title-ref} overload.
  • Improve error message formatting in [add_state]{.title-ref} using [yasmin::join]{.title-ref}.
• fix: enhance thread safety with mutexes and shared pointers in callback and orthogonal state management
• fix: replace log_level and log_message with atomic types for thread safety
• fix: clean up code formatting and improve comments in various files
• Contributors: Miguel Ángel González Santamarta

6.0.0 (2026-07-07)

• relicense to Apache 2.0 (#122)
• feat: add validation methods for Concurrence and OrthogonalState with strict mode support
• feat: add JoinState support with dialog and factory integration
• refactor: add get_inner_state method to State and its overrides for JoinState detection
• refactor: update minimum CMake version to 3.10 across multiple CMakeLists.txt files
• refactor: removing duplicate code
• Enhance documentation and improve code clarity across multiple modules
  • Added detailed comments and descriptions for constructors, methods, and parameters in various classes, including [Concurrence]{.title-ref}, [StateMachine]{.title-ref}, and filter states in [yasmin_pcl]{.title-ref}.
  • Improved logging initialization comments in [logs.cpp]{.title-ref} for better understanding of log level settings.
  • Updated [blackboard_pybind11.cpp]{.title-ref} to clarify the registration of [BlackboardPyWrapper]{.title-ref}.
  • Enhanced the [yasmin_demos]{.title-ref} states with additional private member documentation for clarity on their purpose.
  • Improved the [yasmin_factory]{.title-ref} class documentation, particularly around blackboard key and parameter mappings.
  • Added utility functions in [test_utils.hpp]{.title-ref} for creating point clouds and temporary file paths with clear descriptions.
  • Enhanced the [ros_clients_cache]{.title-ref} and [supported_interface_serialization]{.title-ref} classes with detailed comments on cache management and serialization callbacks.
  • Improved the [YasminNode]{.title-ref} and [YasminViewerNode]{.title-ref} classes with comments on copy prevention and connection handling.
  • General code cleanup and formatting improvements for better readability and maintainability.
• refactor: improve asynchronous callback handling in CallbackSignal
• refactor: use 'this' pointer for member variable access in multiple state classes
• Refactor and enhance yasmin packages
  • Removed unnecessary destructors from PclToRosPointCloud2State and RosToPclPointCloud2State classes.
  • Added cancellation checks in SavePcdState and SavePlyState execute methods.
  • Improved ActionState to notify when action is done and handle cancellation more effectively.
  • Updated basic_outcomes to use inline constexpr for string constants.
  • Enhanced MonitorState and ServiceState to include cancellation checks and improved locking mechanisms.
  • Refactored ROSClientsCache to use per-map locks for thread safety.
  • Updated get_parameters_state to handle int64_t instead of int for parameter declaration.
  • Improved YasminViewerNode to manage active HTTP connections and handle server shutdown more gracefully.
  • Refactored yasmin_viewer_pub to use unordered_map for better performance and added checks for rclpy state before publishing.
• refactor: streamline Python bindings and logging functionality
• style: format code for improved readability in multiple files
• refactor: refactor and optimize yasmin code
  • Removed unnecessary code and improved the formatting of plugin

File truncated at 100 lines see the full file