Changelog for package yasmin

6.1.3 (2026-10-29)

6.1.2 (2026-09-17)

• fix(core): improve concurrency safety and Python interoperability
  • Implement [PythonCallbackHolder]{.title-ref} to manage Python function lifecycles safely across C++ threads by ensuring the GIL is held during destruction.
  • Add exception safety and resource cleanup in [Concurrence]{.title-ref} and [OrthogonalState]{.title-ref} using try-catch blocks and thread joining.
  • Improve [StateMachine]{.title-ref} callback execution by copying callback lists under lock to prevent deadlocks or iterator invalidation during execution.
  • Enhance [Blackboard]{.title-ref} Python wrapper to support direct [py::object]{.title-ref} round-tripping.
  • Add input validation to prevent null states in [StateMachine]{.title-ref} and [Concurrence]{.title-ref}.
  • Optimize [State]{.title-ref} parameter handling using [std::move]{.title-ref} to reduce unnecessary copies.
  • Fix [SIGINT]{.title-ref} handler registration to restore previous signal actions.
  • Update [JoinState]{.title-ref} type stubs and [OrthogonalState]{.title-ref} configuration logic.
• Fix Concurrence GIL deadlock with factory-loaded Python states + clean node shutdown (#130) (#131)
  • fix: Concurrence GIL deadlock with factory-loaded Python states + clean node shutdown (#130)
  • Compability for pybind11<2.6 and c++ formatting
• Contributors: Marco Wong, Miguel Ángel González Santamarta

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

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