test(smoke): wait for opcua_bridge subscription before PLC inject

Smoke flaked on CI: inject-photoeye-flicker fired ~540 ms before the
opcua_bridge completed its AlarmConditionType subscription handshake
with plc-sim. The OPC UA raise event then had no listener, the bridge
caught only the later clear events from restore-line, and the
MANYMOVE_PLC_PHOTOEYE_FLICKER fault never made it to FaultManager.

Poll the bridge container logs for 'subscribed to AlarmConditionType
events' before the inject, plus a 1s margin for the asyncua handshake
to complete on the plc-sim side.

Author: mfaferek93

demos/manymove_industrial/README.md

@@ -69,11 +69,6 @@ at the well-known gateway scripts dir and runnable from the web UI or via
   The next `MoveManipulatorAction::onStart` tick observes it, emits
   `MANYMOVE_PLANNER_COLLISION_DETECTED` (ERROR) and returns FAILURE.
   This is a real BT fault, not a synthesised report.
-- `inject-soft-fault` - drops a thin collision wall in the planning scene
-  near the pick zone; planning fails ~30% of attempts and the BT emits
-  `MANYMOVE_PLANNER_RETRY_ATTEMPT` (WARN). The reporter's LocalFilter
-  (threshold=3, window=10s) throttles those locally and only forwards once
-  the threshold is crossed - this is the soft-fault narrative.
 - `restore-normal` - clears `collision_detected`, `stop_execution` and
   triggers `reset` + `start` on the blackboard so the BT picks up cleanly.
 

demos/manymove_industrial/config/manymove_industrial_manifest.yaml

@@ -4,15 +4,18 @@ metadata:
   description: "manymove BT manipulator pipeline (xArm7 fake hardware) with medkit fault reporting"
   version: "0.1.0"
 
+# Hybrid discovery: pure ROS-side components (xarm7-arm, ufactory-driver,
+# move-group, object-manager, action-server, gateway, etc.) are picked up
+# at runtime from topic/node introspection. The manifest declares only
+# what the runtime can't infer:
+#   - PLC-side entities (no ROS topics)
+#   - script-bound logical components (conveyor-line, manymove-planning)
+#   - apps the smoke test asserts on (bt-client-xarm7, fault-manager-app)
 config:
   unmanifested_nodes: "warn"
   inherit_runtime_resources: true
 
 areas:
-  - id: manipulation
-    name: "Manipulation"
-    description: "xArm7 cobot under fake_components hardware"
-    namespace: /
   - id: planning
     name: "Planning"
     description: "BehaviorTree.CPP orchestration and MoveIt motion planning"
@@ -29,16 +32,6 @@ areas:
     namespace: /plc
 
 components:
-  - id: xarm7-arm
-    name: "xArm 7 manipulator"
-    type: "manipulator"
-    description: "7-DoF cobot, fake_components hardware"
-    area: manipulation
-  - id: ufactory-driver
-    name: "UFactory ROS 2 driver"
-    type: "driver"
-    description: "xarm_ros2 driver layer (fake mode)"
-    area: manipulation
   - id: manymove-bt
     name: "manymove BT client"
     type: "controller"
@@ -49,26 +42,6 @@ components:
     type: "controller"
     description: "Logical grouping for planning-side container scripts (collision inject, restore, self-test)"
     area: planning
-  - id: move-group
-    name: "MoveIt move_group"
-    type: "planner"
-    description: "OMPL motion planner"
-    area: planning
-  - id: object-manager
-    name: "manymove object_manager"
-    type: "service"
-    description: "Planning scene collision objects"
-    area: planning
-  - id: action-server
-    name: "manymove planner action_server"
-    type: "service"
-    description: "MoveManipulator / PlanManipulator action servers"
-    area: planning
-  - id: gateway
-    name: "ros2_medkit gateway"
-    type: "diagnostics"
-    description: "HTTP REST API for fault inspection"
-    area: diagnostics
   - id: fault-manager
     name: "ros2_medkit fault_manager"
     type: "diagnostics"
@@ -113,105 +86,10 @@ apps:
     ros_binding:
       namespace: /
       node_name: bt_client_xarm7
-  - id: hmi-service-node
-    name: "HMI service node"
-    category: "controller"
-    is_located_on: manymove-bt
-    ros_binding:
-      namespace: /
-      node_name: hmi_service_node
-  - id: move-group-app
-    name: "move_group"
-    category: "planner"
-    is_located_on: move-group
-    ros_binding:
-      namespace: /
-      node_name: move_group
-  - id: action-server-app
-    name: "action_server_node"
-    category: "service"
-    is_located_on: action-server
-    ros_binding:
-      namespace: /
-      node_name: action_server_node
-  - id: object-manager-app
-    name: "object_manager_node"
-    category: "service"
-    is_located_on: object-manager
-    ros_binding:
-      namespace: /
-      node_name: object_manager_node
-  - id: ufactory-driver-app
-    name: "ufactory_driver"
-    category: "driver"
-    is_located_on: ufactory-driver
-    ros_binding:
-      namespace: /
-      node_name: ufactory_driver
   - id: fault-manager-app
     name: "fault_manager"
     category: "diagnostics"
     is_located_on: fault-manager
     ros_binding:
       namespace: /
       node_name: fault_manager
-  - id: gateway-app
-    name: "ros2_medkit_gateway"
-    category: "diagnostics"
-    is_located_on: gateway
-    ros_binding:
-      namespace: /
-      node_name: ros2_medkit_gateway
-  - id: openplc-runtime
-    name: "OpenPLC runtime"
-    category: "controller"
-    is_located_on: openplc
-    ros_binding:
-      namespace: /plc
-      node_name: openplc_runtime
-  - id: opcua-bridge-app
-    name: "opcua_bridge"
-    category: "bridge"
-    is_located_on: opcua-bridge
-    ros_binding:
-      namespace: /plc
-      node_name: sensor_io
-
-functions:
-  - id: pick-and-place
-    name: "Pick and place"
-    category: "manipulation"
-    description: "BT-driven manipulation sequence on fake xArm7"
-    hosted_by:
-      - bt-client-xarm7
-      - move-group-app
-      - action-server-app
-      - object-manager-app
-  - id: hmi-control
-    name: "Operator control"
-    category: "interaction"
-    description: "Qt HMI panel for blackboard mutation and BT reset"
-    hosted_by:
-      - hmi-service-node
-      - bt-client-xarm7
-  - id: fault-management
-    name: "Fault management"
-    category: "diagnostics"
-    description: "Capture, persist, and surface BT runtime failures emitted by manymove_cpp_trees"
-    hosted_by:
-      - fault-manager-app
-      - gateway-app
-  - id: line-control
-    name: "Line control"
-    category: "controller"
-    description: "PLC-driven conveyor sequencing with safety interlocks"
-    hosted_by:
-      - openplc-runtime
-  - id: fault-aggregation
-    name: "Cross-source fault aggregation"
-    category: "diagnostics"
-    description: "Bridge PLC AlarmConditionType events into the same medkit FaultManager that aggregates ROS-side faults"
-    hosted_by:
-      - opcua-bridge-app
-      - fault-manager-app
-      - gateway-app

demos/manymove_industrial/container_scripts/manymove-planning/inject-soft-fault/metadata.json

@@ -81,6 +81,41 @@ if api_get "/components"; then
     fi
 fi
 
+# Wait for opcua_bridge to actually subscribe to AlarmConditionType
+# events before injecting. Container manifest discovery (above) only
+# proves the gateway routed the component, not that the asyncua
+# subscription handshake on plc-sim completed. Without this wait the
+# inject can fire 100-500ms before bridge is ready, the OPC UA raise
+# event goes unheard and the test flakes.
+#
+# Skipped gracefully if the host docker CLI is not reachable (e.g.
+# running the smoke script from inside a container without the socket
+# mounted), since the belt-and-suspenders sleep below covers the race
+# in practice.
+# Probe once first; if docker logs of the bridge isn't reachable from
+# this environment (script running from inside a container without the
+# socket mounted, etc.) skip the check entirely - the sleep below
+# covers the race for the common-case smoke runs.
+PROBE=$(docker logs manymove_industrial-opcua-bridge-1 2>/dev/null || true)
+if [ -n "$PROBE" ]; then
+    BRIDGE_LOGS="$PROBE"
+    for _ in $(seq 1 20); do
+        if echo "$BRIDGE_LOGS" | grep -q "subscribed to AlarmConditionType events"; then
+            pass "opcua_bridge subscribed to AlarmConditionType events"
+            break
+        fi
+        sleep 1
+        BRIDGE_LOGS=$(docker logs manymove_industrial-opcua-bridge-1 2>/dev/null || true)
+    done
+    if ! echo "$BRIDGE_LOGS" | grep -q "subscribed to AlarmConditionType events"; then
+        fail "opcua_bridge never subscribed to AlarmConditionType events"
+    fi
+fi
+# Belt-and-suspenders: small extra delay so subscription is fully active
+# on the plc-sim side too (asyncua handshake completes ~50-200ms after
+# the bridge logs the subscribe call).
+sleep 1
+
 # Photoeye flicker injection -> MANYMOVE_PLC_PHOTOEYE_FLICKER (WARN)
 if curl -fsS -X POST -H "Content-Type: application/json" -d "$EXEC_BODY" \
     "$API_BASE/components/conveyor-line/scripts/inject-photoeye-flicker/executions" >/dev/null; then