Changelog for package yasmin_factory

6.1.1 (2026-08-08)

6.1.0 (2026-07-26)

• fix(tests): update action server executable path in test setup

• fix(action_server): improve error handling and logging for action server startup

• YASMIN Factory Action Server (#124)

  • add yasmin_factory_action_server
  • formatter cpp
  • formatter py
  • use ros2 run in tests
  • add reliable wrapper cleanup
  • use unique action name to prevent a newly started client from discovering the previous stale server endpoint.
  • use isolated ROS contexts, DDS domains, and context-bound executors for each test.

  * foxy support Foxy does not support domain_id keyword in rclpy.init

  • trigger ci
  • trigger ci
  • Split and document the factory action server
  • add action server to README
  • formatter

  * added an action server section to yasmin_factory.html ---------Co-authored-by: Maik Knof <<knofm@hs-weingarten.de>>

• refactor(yasmin_factory): simplify state creation and improve GIL management Refactor the [YasminFactory]{.title-ref} to remove redundant [base_dir]{.title-ref} parameters in state creation methods, instead utilizing an internal [xml_path_]{.title-ref} to manage file resolution. Key changes include:

  - Removed [base_dir]{.title-ref} from [create_concurrence]{.title-ref}, [create_orthogonal_state]{.title-ref}, [create_join_state]{.title-ref}, and [create_sm]{.title-ref} signatures.

  • Switched [state_loader_]{.title-ref} from [std::shared_ptr]{.title-ref} to [std::unique_ptr]{.title-ref}.

  - Improved Python/C++ interoperability by adding [py::gil_scoped_acquire]{.title-ref} in [load_json_value]{.title-ref}.

  - Simplified [PythonStateHolder]{.title-ref} by removing redundant existence checks when adding input/output keys and parameters.

  - Updated [pybind_bridge]{.title-ref} to use the registered [State]{.title-ref} class from the [yasmin.state]{.title-ref} module.

  - Refactored [gil_before_fork]{.title-ref} to ensure the GIL is held before saving thread state.

  - Renamed [validate_type]{.title-ref} to [normalize_type]{.title-ref} in [type_utils.py]{.title-ref} for consistency.

• fix(factory): enhance path traversal protection for user-supplied file paths

• build(yasmin_factory): install test targets and XML resources Add installation rules for the test plugin library, plugin descriptions, and various XML test files to ensure they are available in the install prefix. This enables testing against installed packages rather than relying solely on the build tree.

• feat(factory): enhance XML parsing robustness and support relative paths Improve the factory's ability to handle complex XML structures and ensure safer type conversion and resource management.

  • Core Logic:

  - Add [base_dir]{.title-ref} support to [create_sm]{.title-ref}, [create_concurrence]{.title-ref}, and [create_orthogonal_state]{.title-ref} to allow resolving relative file paths.

  - Implement stricter integer and float parsing with trailing character detection in [with_typed_xml_value]{.title-ref}.

  • Add support for [integer]{.title-ref} type normalization.

  - Prevent duplicate blackboard keys, outputs, and parameters during [PythonStateHolder]{.title-ref} initialization.

  • Python/C++ Bridge:

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