Testbed Reload Configurations Mechanism

catkit2/bindings.cpp

@@ -684,6 +684,7 @@ PYBIND11_MODULE(catkit_bindings, m)
 		.def("interrupt_service", &TestbedProxy::InterruptService)
 		.def("terminate_service", &TestbedProxy::TerminateService)
 		.def("shut_down", &TestbedProxy::ShutDown)
+		.def("reload_config", &TestbedProxy::ReloadConfig)
 		.def_property_readonly("message_broker", &TestbedProxy::GetMessageBroker)
 		.def_property_readonly("is_simulated", &TestbedProxy::IsSimulated)
 		.def_property_readonly("is_alive", &TestbedProxy::IsAlive)

catkit2/testbed/testbed.py

@@ -381,6 +381,7 @@ def __init__(self, port, is_simulated, config):
         self.server.register_request_handler('get_service_info', self.on_get_service_info)
         self.server.register_request_handler('register_service', self.on_register_service)
         self.server.register_request_handler('shut_down', self.on_shut_down)
+        self.server.register_request_handler('reload_config', self.on_reload_config)
 
         self.is_running = False
         self.shutdown_requested = threading.Event()
@@ -668,6 +669,16 @@ def on_register_service(self, data):
 
         return reply.SerializeToString()
 
+    def on_reload_config(self, data):
+        request = testbed_proto.ReloadConfigRequest()
+        request.ParseFromString(data)
+
+        new_config = json.loads(request.config)
+        self.reload_config(new_config)
+
+        reply = testbed_proto.ReloadConfigReply()
+        return reply.SerializeToString()
+
     def on_shut_down(self, data):
         self.shutdown_requested.set()
 
@@ -686,6 +697,67 @@ def register_service_type(self, service_type, path):
         '''
         self.service_type_paths[service_type] = path
 
+    def reload_config(self, new_config):
+        '''Reload the testbed configuration.
+
+        This updates the configuration without restarting the testbed.
+        Services must be restarted to pick up their new configuration.
+
+        Parameters
+        ----------
+        new_config : dict
+            The new configuration dictionary.
+        '''
+        self.log.info('Reloading configuration...')
+
+        # Update the config
+        old_config = self.config
+        self.config = new_config
+
+        # Update simulation mode if it changed
+        if 'testbed' in new_config and 'simulated' in new_config['testbed']:
+            self.is_simulated = new_config['testbed']['simulated']
+
+        # Check for added/removed services
+        old_services = set(old_config.get('services', {}).keys())
+        new_services = set(new_config.get('services', {}).keys())
+
+        added = new_services - old_services
+        removed = old_services - new_services
+
+        if added:
+            self.log.info(f'New services in config: {list(added)}')
+            # Add new service references
+            for service_id in added:
+                service_info = new_config['services'][service_id]
+                service_type = service_info['service_type']
+
+                if self.is_simulated and 'simulated_service_type' in service_info:
+                    service_type = service_info['simulated_service_type']
+
+                dependencies = service_info.get('depends_on', [])
+                self.services[service_id] = ServiceReference(service_id, service_type, ServiceState.CLOSED, dependencies, self.message_broker)
+
+        if removed:
+            self.log.warning(f'Services removed from config: {list(removed)}')
+            # Check if any removed services are running
+            for service_id in removed:
+                if service_id in self.services and self.services[service_id].is_alive:
+                    self.log.warning(f'Service "{service_id}" is running but removed from config. Consider stopping it.')
+
+        # Update startup services list
+        self.startup_services = []
+        if 'safety' in self.config.get('testbed', {}):
+            self.startup_services.append(self.config['testbed']['safety']['service_id'])
+
+        if 'startup_services' in self.config.get('testbed', {}):
+            self.startup_services.extend(self.config['testbed']['startup_services'])
+
+        if self.is_simulated and 'simulator' not in self.startup_services:
+            self.startup_services.append('simulator')
+
+        self.log.info('Configuration reloaded successfully.')
+
     def start_service(self, service_id):
         '''Start a service.
 

catkit_core/TestbedProxy.cpp

@@ -197,6 +197,26 @@ void TestbedProxy::ShutDown()
 	}
 }
 
+void TestbedProxy::ReloadConfig(const json &new_config)
+{
+	catkit_proto::testbed::ReloadConfigRequest request;
+	request.set_config(new_config.dump());
+
+	catkit_proto::testbed::ReloadConfigReply reply;
+
+	try
+	{
+		reply.ParseFromString(MakeRequest("reload_config", Serialize(request)));
+	}
+	catch (...)
+	{
+		throw std::runtime_error("Unable to reload config.");
+	}
+
+	// Invalidate cached config so it gets refetched on next access
+	m_HasGottenInfo = false;
+}
+
 std::shared_ptr<DataStream> TestbedProxy::GetHeartbeat()
 {
 	GetTestbedInfo();

catkit_core/TestbedProxy.h

@@ -49,6 +49,7 @@ class TestbedProxy : public Client, public std::enable_shared_from_this<TestbedP
 	bool IsAlive();
 
 	void ShutDown();
+	void ReloadConfig(const nlohmann::json &new_config);
 
 	std::shared_ptr<DataStream> GetHeartbeat();
 	std::shared_ptr<MessageBroker> GetMessageBroker();

proto/service.proto

@@ -4,6 +4,57 @@ import "core.proto";
 
 package catkit_proto.service;
 
+message GetInfoRequest
+{
+}
+
+message GetInfoReply
+{
+    string service_id = 1;
+    string service_type = 2;
+    string config = 3;
+
+    repeated string property_names = 4;
+    repeated string command_names = 5;
+    map<string, string> datastream_ids = 6;
+
+    map<string, string> property_datastream_links = 8;
+
+    string heartbeat_stream_id = 7;
+}
+
+message GetPropertyRequest
+{
+    string property_name = 1;
+}
+
+message GetPropertyReply
+{
+    Value property_value = 1;
+}
+
+message SetPropertyRequest
+{
+    string property_name = 1;
+    Value property_value = 2;
+}
+
+message SetPropertyReply
+{
+    Value property_value = 1;
+}
+
+message ExecuteCommandRequest
+{
+    string command_name = 1;
+    Dict arguments = 2;
+}
+
+message ExecuteCommandReply
+{
+    Value result = 1;
+}
+
 message ShutDownRequest
 {
 }

proto/testbed.proto

@@ -120,3 +120,12 @@ message ShutDownRequest
 message ShutDownReply
 {
 }
+
+message ReloadConfigRequest
+{
+    string config = 1;
+}
+
+message ReloadConfigReply
+{
+}