Add layered MergePipeline for multi-source entity discovery by bburda · Pull Request #246 · selfpatch/ros2_medkit

bburda · 2026-03-04T19:26:42Z

Pull Request

Summary

Replace ad-hoc merging in HybridDiscoveryStrategy with a formal layered MergePipeline that orchestrates manifest, runtime, and plugin discovery sources with configurable per-field-group merge precedence (AUTHORITATIVE/ENRICHMENT/FALLBACK). Adds conflict detection, gap-fill filtering, runtime linker determinism fixes, and diagnostic reporting via /health endpoint.

Commit overview

feat(discovery): add layered MergePipeline with field-group merge - MergePolicy/FieldGroup enums, MergeReport, DiscoveryLayer interface, MergePipeline core with single/multi-layer merge and conflict resolution
feat(discovery): add ManifestLayer, RuntimeLayer, and PluginLayer - Concrete layer wrappers with per-field-group policies, GapFillConfig for namespace filtering
feat(discovery): add post-merge RuntimeLinker and wire into HybridDiscoveryStrategy - App-to-node binding with multi-match detection, orphan warnings, deterministic namespace matching; replaces ad-hoc merge logic in HybridDiscoveryStrategy
feat(discovery): add plugin integration, config, and /health reporting - IntrospectionProvider integration, YAML gap-fill config, MergeReport in /health, IntrospectionInput context passing, comprehensive docs
test(plugins): add vendor extension demo and integration test - VendorExtensionPlugin demo + integration test for plugin layer discovery
fix(build): enable POSITION_INDEPENDENT_CODE for MODULE targets - Fix TPOFF32/R_X86_64_PC32 linker errors for test_gateway_plugin.so

Issue

closes Discovery: Implement merge pipeline for discovery hybrid approach #113

Type

Bug fix
New feature or tests
Breaking change
Documentation only

Testing

80 unit tests covering merge pipeline (42) and runtime linker (38)
All 2410 tests passing across 7 packages (0 failures)
30 integration tests passing
Tests cover: single/multi/three-layer merge, all merge policies (AUTH/ENRICH/FALLBACK), conflict detection, gap-fill namespace filtering (whitelist/blacklist with path-segment boundaries), App STATUS bool-or semantics, layer exception safety, orphan policies (ERROR/WARN/IGNORE/INCLUDE_AS_ORPHAN), wildcard determinism, node exclusivity, binding conflicts, plugin context passing

Checklist

Breaking changes are clearly described (and announced in docs / changelog if needed)
Tests were added or updated if needed
Docs were updated if behavior or public API changed

Copilot

Pull request overview

Introduces a formal, layered discovery merge pipeline for HYBRID discovery mode, replacing the prior ad-hoc hybrid merging/linking approach and exposing pipeline diagnostics via the /health endpoint.

Changes:

Added DiscoveryLayer + concrete layers (ManifestLayer, RuntimeLayer, PluginLayer) and a MergePipeline with per-field-group merge policies, conflict/collision detection, and gap-fill filtering.
Updated HYBRID discovery to cache merged results and to run a post-merge RuntimeLinker step with deterministic namespace/topic matching and additional conflict reporting.
Exposed merge-pipeline diagnostics in /api/v1/health and added extensive unit tests for the pipeline and linker behavior.

Reviewed changes

Copilot reviewed 24 out of 24 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
src/ros2_medkit_gateway/test/test_runtime_linker.cpp	Adds deterministic namespace/topic matching and conflict scenario tests for `RuntimeLinker`.
src/ros2_medkit_gateway/test/test_merge_pipeline.cpp	New unit tests covering merge policies, layers, gap-fill config, plugin layer behavior, and post-merge linking.
src/ros2_medkit_gateway/src/plugins/plugin_manager.cpp	Adds API to return introspection providers along with their plugin names.
src/ros2_medkit_gateway/src/http/handlers/health_handlers.cpp	Adds discovery mode/strategy and merge-pipeline report summary to `/health`.
src/ros2_medkit_gateway/src/gateway_node.cpp	Adds merge-pipeline gap-fill params; registers introspection plugins as pipeline layers in HYBRID; adjusts cache refresh flow.
src/ros2_medkit_gateway/src/discovery/merge_pipeline.cpp	Implements merge pipeline execution, per-field-group merges, conflicts, ID collision logging, and post-merge app-to-node linking.
src/ros2_medkit_gateway/src/discovery/manifest/runtime_linker.cpp	Adds path-segment-boundary matching, deterministic candidate selection, and binding conflict counters/warnings.
src/ros2_medkit_gateway/src/discovery/layers/runtime_layer.cpp	New runtime discovery layer with gap-fill filtering and default merge policies.
src/ros2_medkit_gateway/src/discovery/layers/plugin_layer.cpp	New plugin discovery layer wrapping `IntrospectionProvider` output.
src/ros2_medkit_gateway/src/discovery/layers/manifest_layer.cpp	New manifest discovery layer wrapping `ManifestManager`.
src/ros2_medkit_gateway/src/discovery/hybrid_discovery.cpp	Refactors HYBRID discovery to use and cache `MergePipeline` output.
src/ros2_medkit_gateway/src/discovery/discovery_manager.cpp	Constructs pipeline in HYBRID mode, refreshes pipeline on topic-map refresh, supports adding plugin layers, and exposes merge reports.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/plugins/plugin_manager.hpp	Declares the new named introspection provider API.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/discovery/merge_types.hpp	Adds merge policy/types, merge report structure, and gap-fill config.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/discovery/merge_pipeline.hpp	Declares the `MergePipeline` interface and merge execution result.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/discovery/manifest/runtime_linker.hpp	Extends linking result stats/summary for conflicts and wildcard multi-match.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/discovery/layers/runtime_layer.hpp	Declares the runtime discovery layer wrapper and gap-fill filtering support.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/discovery/layers/plugin_layer.hpp	Declares the plugin discovery layer wrapper for introspection providers.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/discovery/layers/manifest_layer.hpp	Declares the manifest discovery layer wrapper.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/discovery/hybrid_discovery.hpp	Updates HYBRID strategy interface to pipeline-based caching and reporting.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/discovery/discovery_manager.hpp	Adds merge-pipeline config, plugin-layer API, and merge-report accessors.
src/ros2_medkit_gateway/include/ros2_medkit_gateway/discovery/discovery_layer.hpp	Introduces the `DiscoveryLayer` interface and `LayerOutput` struct.
src/ros2_medkit_gateway/config/gateway_params.yaml	Documents new merge-pipeline gap-fill configuration parameters.
src/ros2_medkit_gateway/CMakeLists.txt	Adds new pipeline/layer sources and new `test_merge_pipeline` target.

src/ros2_medkit_gateway/src/discovery/merge_pipeline.cpp

src/ros2_medkit_gateway/src/discovery/discovery_manager.cpp

src/ros2_medkit_gateway/src/discovery/layers/runtime_layer.cpp

src/ros2_medkit_gateway/include/ros2_medkit_gateway/discovery/merge_types.hpp

src/ros2_medkit_gateway/src/discovery/merge_pipeline.cpp

Copilot

Pull request overview

Copilot reviewed 24 out of 24 changed files in this pull request and generated 4 comments.

src/ros2_medkit_gateway/src/discovery/layers/runtime_layer.cpp

src/ros2_medkit_gateway/src/discovery/layers/plugin_layer.cpp

src/ros2_medkit_gateway/src/gateway_node.cpp

Copilot

Pull request overview

Copilot reviewed 31 out of 31 changed files in this pull request and generated 5 comments.

Copilot · 2026-03-04T21:23:16Z

src/ros2_medkit_gateway/src/discovery/manifest/runtime_linker.cpp

+/// Path-segment-boundary namespace match: "/nav" matches "/nav" and "/nav/sub" but NOT "/navigation"
+bool namespace_matches(const std::string & actual_ns, const std::string & expected_ns) {
+  if (actual_ns == expected_ns) {
+    return true;
+  }
+  if (actual_ns.size() > expected_ns.size() && actual_ns.compare(0, expected_ns.size(), expected_ns) == 0 &&
+      actual_ns[expected_ns.size()] == '/') {
+    return true;
+  }
+  return false;


This change updates namespace matching to allow path-segment-boundary prefixes (e.g., expected "/nav" matches actual "/nav/sub"). The docs in docs/config/manifest-schema.rst and the manifest discovery tutorial currently describe namespace matching as “exact match”. Please update those docs to reflect the new matching semantics, otherwise users may be surprised by bindings matching deeper namespaces.

Copilot · 2026-03-04T21:23:17Z

src/ros2_medkit_gateway/src/discovery/merge_pipeline.cpp

+    // Start with highest-priority layer's entity as base
+    Entity merged = std::move(entries[0].entity);
+    size_t owner_layer_idx = entries[0].layer_idx;
+    report.entity_source[id] = layers_[owner_layer_idx]->name();
+


In merge_entities(), the merge policies for subsequent layers are always evaluated against layers_[owner_layer_idx] (the first/initial layer for this entity). If a lower-priority layer wins a field group due to a higher MergePolicy, the code does not update the “owner” for that field group, so a third (or later) layer will be compared against the wrong target policy. This can lead to incorrect precedence/overrides and inaccurate conflict reporting in multi-layer pipelines. Consider tracking the effective/winning layer per FieldGroup (or recomputing target_policy from the current winner) and updating it when SOURCE wins, so later merges use the correct target policy.

Copilot · 2026-03-04T21:23:17Z

docs/config/discovery-options.rst

+
+**Built-in layer policies:**
+
+- **ManifestLayer** (priority 1): All field groups AUTHORITATIVE


This list states that ManifestLayer uses AUTHORITATIVE for all field groups, but the actual defaults in ManifestLayer are LIVE_DATA=ENRICHMENT and STATUS=FALLBACK (with IDENTITY/HIERARCHY/METADATA authoritative). Please align the documentation with the implemented default policies (or adjust the code if the doc is intended).

Suggested change

- **ManifestLayer** (priority 1): All field groups AUTHORITATIVE

- **ManifestLayer** (priority 1): IDENTITY/HIERARCHY/METADATA are AUTHORITATIVE, LIVE_DATA is ENRICHMENT, STATUS is FALLBACK

Copilot · 2026-03-04T21:23:17Z

src/ros2_medkit_gateway/design/index.rst

+
+   **Built-in Layers:**
+
+   - ``ManifestLayer`` - Wraps ManifestManager; all fields AUTHORITATIVE (manifest is source of truth)


This section says ManifestLayer is AUTHORITATIVE for all fields, but the implemented defaults are LIVE_DATA=ENRICHMENT and STATUS=FALLBACK. Please update this design doc to match the real merge policy defaults to avoid confusion when debugging merge results.

Suggested change

- ``ManifestLayer`` - Wraps ManifestManager; all fields AUTHORITATIVE (manifest is source of truth)

- ``ManifestLayer`` - Wraps ManifestManager; defaults to AUTHORITATIVE for all field groups except

``LIVE_DATA`` (ENRICHMENT) and ``STATUS`` (FALLBACK), with the manifest remaining the primary source of truth

Copilot · 2026-03-04T21:23:18Z

src/ros2_medkit_gateway/config/gateway_params.yaml

+        # Per-layer policy overrides (optional)
+        # Defaults: manifest=AUTH for identity/hierarchy, runtime=AUTH for live_data/status


gateway_params.yaml documents per-layer merge policy overrides under discovery.merge_pipeline.layers, but this PR only declares/reads gap_fill parameters (no layer policy override params are wired). This is likely to confuse users since it implies a supported configuration. Either implement the policy override parameters in GatewayNode/DiscoveryManager or reword this block as a future/unsupported feature.

Suggested change

# Per-layer policy overrides (optional)

# Defaults: manifest=AUTH for identity/hierarchy, runtime=AUTH for live_data/status

# Per-layer policy overrides (FUTURE / UNSUPPORTED FEATURE)

# NOTE: The Gateway currently only reads merge_pipeline.gap_fill parameters.

# Any "layers" configuration is ignored in the current implementation

# and is reserved for a future version of the merge pipeline.

# Do NOT rely on these options for behavior in this release.

#

# Intended defaults (subject to change when implemented):

# - manifest = authoritative for identity/hierarchy

# - runtime = authoritative for live_data/status

#

# Example (NOT YET SUPPORTED):

Copilot

Pull request overview

Copilot reviewed 35 out of 35 changed files in this pull request and generated 4 comments.

Copilot · 2026-03-05T15:08:33Z

src/ros2_medkit_gateway/src/discovery/hybrid_discovery.cpp

+  std::lock_guard<std::mutex> lock(mutex_);
+  cached_result_ = pipeline_.execute();
+  if (node_) {
+    RCLCPP_INFO(node_->get_logger(), "Hybrid discovery refreshed: %zu entities", cached_result_.report.total_entities);
  }


HybridDiscoveryStrategy::refresh() holds mutex_ while executing pipeline_.execute(). Pipeline execution can involve ROS graph introspection and plugin work and may take a non-trivial amount of time, blocking concurrent discover_* calls (and /health merge report reads). Consider executing the pipeline outside the lock and then swapping cached_result_ under the mutex to reduce contention while still keeping results consistent.

Suggested change

std::lock_guard<std::mutex> lock(mutex_);

cached_result_ = pipeline_.execute();

if (node_) {

RCLCPP_INFO(node_->get_logger(), "Hybrid discovery refreshed: %zu entities", cached_result_.report.total_entities);

}

// Run the potentially expensive pipeline execution without holding the mutex

auto new_result = pipeline_.execute();

if (node_) {

RCLCPP_INFO(

node_->get_logger(), "Hybrid discovery refreshed: %zu entities",

new_result.report.total_entities);

}

// Update the cached result under the mutex to keep readers consistent

std::lock_guard<std::mutex> lock(mutex_);

cached_result_ = std::move(new_result);

Copilot · 2026-03-05T15:08:33Z

src/ros2_medkit_gateway/src/discovery/merge_pipeline.cpp

+    // Merge with each subsequent (lower-priority) layer
+    for (size_t i = 1; i < entries.size(); i++) {
+      size_t source_layer_idx = entries[i].layer_idx;
+      report.enriched_count++;
+
+      for (auto fg : ALL_FIELD_GROUPS) {
+        auto target_policy = layers_[owner_layer_idx]->policy_for(fg);
+        auto source_policy = layers_[source_layer_idx]->policy_for(fg);
+        auto res = resolve_policies(target_policy, source_policy);
+
+        if (res.is_conflict) {
+          report.conflicts.push_back({id, fg, layers_[owner_layer_idx]->name(), layers_[source_layer_idx]->name()});
+          report.conflict_count++;
+        }
+
+        apply_field_group_merge(merged, entries[i].entity, fg, res);


merge_entities() keeps owner_layer_idx fixed to the first layer that introduced the entity. If a later layer wins a field group (e.g., owner FALLBACK but source AUTHORITATIVE), subsequent merges still compare against the original owner's policy, which can let an even-lower-priority layer override an already-winning AUTHORITATIVE value and also mis-report conflicts. Consider tracking the current “owning layer” per FieldGroup (or performing pairwise merges in layer-priority order for each FieldGroup) so later merges compare against the policy of the layer that currently owns that field group’s value.

Suggested change

// Merge with each subsequent (lower-priority) layer

for (size_t i = 1; i < entries.size(); i++) {

size_t source_layer_idx = entries[i].layer_idx;

report.enriched_count++;

for (auto fg : ALL_FIELD_GROUPS) {

auto target_policy = layers_[owner_layer_idx]->policy_for(fg);

auto source_policy = layers_[source_layer_idx]->policy_for(fg);

auto res = resolve_policies(target_policy, source_policy);

if (res.is_conflict) {

report.conflicts.push_back({id, fg, layers_[owner_layer_idx]->name(), layers_[source_layer_idx]->name()});

report.conflict_count++;

}

apply_field_group_merge(merged, entries[i].entity, fg, res);

// Track current owning layer per field group as we merge

std::vector<size_t> owner_layer_idx_per_fg;

owner_layer_idx_per_fg.resize(ALL_FIELD_GROUPS.size(), owner_layer_idx);

// Merge with each subsequent (lower-priority) layer

for (size_t i = 1; i < entries.size(); i++) {

size_t source_layer_idx = entries[i].layer_idx;

report.enriched_count++;

for (size_t fg_index = 0; fg_index < ALL_FIELD_GROUPS.size(); ++fg_index) {

auto fg = ALL_FIELD_GROUPS[fg_index];

size_t current_owner_idx = owner_layer_idx_per_fg[fg_index];

auto target_policy = layers_[current_owner_idx]->policy_for(fg);

auto source_policy = layers_[source_layer_idx]->policy_for(fg);

auto res = resolve_policies(target_policy, source_policy);

if (res.is_conflict) {

report.conflicts.push_back({id, fg, layers_[current_owner_idx]->name(), layers_[source_layer_idx]->name()});

report.conflict_count++;

}

apply_field_group_merge(merged, entries[i].entity, fg, res);

// If the source has a strictly higher-priority policy for this field group and

// there is no conflict, treat the source layer as the new owner for future merges.

if (!res.is_conflict) {

int target_prio = policy_priority(target_policy);

int source_prio = policy_priority(source_policy);

if (source_prio > target_prio) {

owner_layer_idx_per_fg[fg_index] = source_layer_idx;

}

}

Copilot · 2026-03-05T15:08:34Z

src/ros2_medkit_gateway/src/discovery/merge_pipeline.cpp

+  for (size_t i = 0; i < layers_.size(); ++i) {
+    // Build discovery context from entities collected so far (for plugin layers)
+    IntrospectionInput context;
+    for (const auto & [idx, entities] : area_layers) {
+      context.areas.insert(context.areas.end(), entities.begin(), entities.end());
+    }
+    for (const auto & [idx, entities] : component_layers) {
+      context.components.insert(context.components.end(), entities.begin(), entities.end());
+    }
+    for (const auto & [idx, entities] : app_layers) {
+      context.apps.insert(context.apps.end(), entities.begin(), entities.end());
+    }
+    for (const auto & [idx, entities] : function_layers) {
+      context.functions.insert(context.functions.end(), entities.begin(), entities.end());
+    }
+    layers_[i]->set_discovery_context(context);


MergePipeline::execute() rebuilds IntrospectionInput from scratch on every layer by re-copying all prior layer entity vectors. With multiple plugin layers and large entity sets this becomes O(L^2) copying and can noticeably increase discovery latency. Consider maintaining an accumulating context (append just the previous layer’s output each iteration), or building the context from the already-merged-so-far result to avoid repeated full copies.

Copilot · 2026-03-05T15:08:34Z

src/ros2_medkit_gateway/src/discovery/runtime_discovery.cpp

-  }
-  // Default: each node = 1 component (backward compatible)
-  return discover_node_components();
+  auto apps = discover_apps();


RuntimeDiscoveryStrategy::discover_components() now always derives Components via discover_synthetic_components(apps) and ignores config_.create_synthetic_components. This makes the "legacy" mode (create_synthetic_components=false => each node is a Component) impossible and changes component IDs/FQNs even when users explicitly disable synthetic components. Consider restoring the conditional: when create_synthetic_components is false, return per-node Components (with per-node fqn/namespace_path and live data) rather than synthetic groupings.

Suggested change

auto apps = discover_apps();

auto apps = discover_apps();

// Honor configuration: when synthetic components are disabled, each App becomes its own Component.

if (!config_.create_synthetic_components) {

std::vector<Component> components;

components.reserve(apps.size());

for (const auto & app : apps) {

Component component;

// Preserve per-node identity and namespace information where available

component.id = app.id;

component.namespace_path = app.namespace_path;

component.fqn = app.fqn;

component.area_id = app.area_id;

components.push_back(std::move(component));

}

return components;

}

// Default behavior: group Apps into synthetic Components based on the configured strategy.

Copilot

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Introduce MergePolicy (AUTHORITATIVE/ENRICHMENT/FALLBACK), FieldGroup enums, MergeReport diagnostics, DiscoveryLayer interface and LayerOutput struct. Implement MergePipeline core with single-layer passthrough and multi-layer field-group merge with conflict resolution.

Implement concrete DiscoveryLayer wrappers: ManifestLayer (delegates to ManifestManager, AUTHORITATIVE for identity/hierarchy/metadata), RuntimeLayer (delegates to RuntimeDiscoveryStrategy, AUTHORITATIVE for live_data/status), PluginLayer (wraps IntrospectionProvider, ENRICHMENT for all fields). Add GapFillConfig for RuntimeLayer namespace filtering in hybrid mode.

…coveryStrategy Implement RuntimeLinker that binds manifest apps (with ros_binding) to runtime-discovered ROS 2 nodes (with bound_fqn) after pipeline merge. Includes multi-match detection, binding conflict reporting, orphan node warnings, and deterministic namespace matching. Wire MergePipeline into HybridDiscoveryStrategy replacing the ad-hoc merge logic.

Integrate IntrospectionProviders as pipeline layers with priority ordering and batch registration. Add YAML configuration for merge pipeline gap-fill. Expose MergeReport and LinkingResult in GET /health endpoint. Pass merged entity context (IntrospectionInput) to plugin layers before discover(). Add comprehensive documentation for merge pipeline architecture, policies, gap-fill options, and merge report diagnostics.

Add VendorExtensionPlugin demo that registers custom entities and routes via the IntrospectionProvider interface. Add integration test validating plugin layer discovery, entity merging, and context passing through the merge pipeline.

Fix linker errors (TPOFF32, R_X86_64_PC32) when gateway_lib.a is linked into test_gateway_plugin.so (MODULE target). Remove static thread_local std::mt19937 in BulkDataStore (incompatible with initial-exec TLS model). Enable POSITION_INDEPENDENT_CODE on ros2_medkit_serialization static lib. Remove @verifies tag referencing nonexistent REQ_DISC_MERGE_FUNCTION.

Copilot AI review requested due to automatic review settings March 4, 2026 19:26

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bburda marked this pull request as draft March 4, 2026 19:27

bburda self-assigned this Mar 4, 2026

bburda added enhancement New feature or request discovery Discovery endpoints or strategies labels Mar 4, 2026

bburda added this to the MS1: Full Discovery & Data Access milestone Mar 4, 2026

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bburda force-pushed the feature/merge-pipeline branch from 5484fe5 to 8b47dd7 Compare March 4, 2026 20:08

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eclipse0922 mentioned this pull request Mar 5, 2026

feat(graph): x-medkit-graph vendor resource schema proposal for live pipeline topology #248

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bburda added 6 commits March 5, 2026 20:52

bburda force-pushed the feature/merge-pipeline branch from 61874c0 to e886342 Compare March 5, 2026 20:01

bburda changed the title ~~feat(discovery): add layered MergePipeline for multi-source entity discovery~~ Add layered MergePipeline for multi-source entity discovery Mar 5, 2026


		Built-in layer policies:

		- ManifestLayer (priority 1): All field groups AUTHORITATIVE

	- ManifestLayer (priority 1): All field groups AUTHORITATIVE
	- ManifestLayer (priority 1): IDENTITY/HIERARCHY/METADATA are AUTHORITATIVE, LIVE_DATA is ENRICHMENT, STATUS is FALLBACK


		Built-in Layers:

		- ``ManifestLayer`` - Wraps ManifestManager; all fields AUTHORITATIVE (manifest is source of truth)

	- ``ManifestLayer`` - Wraps ManifestManager; all fields AUTHORITATIVE (manifest is source of truth)
	- ``ManifestLayer`` - Wraps ManifestManager; defaults to AUTHORITATIVE for all field groups except
	``LIVE_DATA`` (ENRICHMENT) and ``STATUS`` (FALLBACK), with the manifest remaining the primary source of truth

		# Per-layer policy overrides (optional)
		# Defaults: manifest=AUTH for identity/hierarchy, runtime=AUTH for live_data/status

-        # Per-layer policy overrides (optional)
-        # Defaults: manifest=AUTH for identity/hierarchy, runtime=AUTH for live_data/status
+        # Per-layer policy overrides (FUTURE / UNSUPPORTED FEATURE)
+        # NOTE: The Gateway currently only reads merge_pipeline.gap_fill parameters.
+        #       Any "layers" configuration is ignored in the current implementation
+        #       and is reserved for a future version of the merge pipeline.
+        #       Do NOT rely on these options for behavior in this release.
+        #
+        # Intended defaults (subject to change when implemented):
+        #   - manifest = authoritative for identity/hierarchy
+        #   - runtime  = authoritative for live_data/status
+        #
+        # Example (NOT YET SUPPORTED):

-  auto apps = discover_apps();
+  auto apps = discover_apps();
+  // Honor configuration: when synthetic components are disabled, each App becomes its own Component.
+  if (!config_.create_synthetic_components) {
+    std::vector<Component> components;
+    components.reserve(apps.size());
+    for (const auto & app : apps) {
+      Component component;
+      // Preserve per-node identity and namespace information where available
+      component.id = app.id;
+      component.namespace_path = app.namespace_path;
+      component.fqn = app.fqn;
+      component.area_id = app.area_id;
+      components.push_back(std::move(component));
+    }
+    return components;
+  }
+  // Default behavior: group Apps into synthetic Components based on the configured strategy.

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bburda commented Mar 4, 2026 •

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