selfpatch · bburda · Mar 3, 2026 · Mar 3, 2026 · Mar 3, 2026 · Mar 3, 2026
diff --git a/README.md b/README.md
@@ -60,7 +60,7 @@ For more examples, see our [Postman collection](postman/).
 | 📡 Subscriptions | **Available** | Stream live data and fault events via SSE |
 | 🔄 Software Updates | **Available** | Async prepare/execute lifecycle with pluggable backends |
 | 🔒 Authentication | **Available** | JWT-based RBAC (viewer, operator, configurator, admin) |
-| 📋 Logs | Planned | Log sources, entries, and configuration |
+| 📋 Logs | **Available** | Log sources, entries, and configuration |
 | 🔁 Entity Lifecycle | Planned | Start, restart, shutdown control |
 | 🔐 Modes & Locking | Planned | Target mode control and resource locking |
 | 📝 Scripts | Planned | Diagnostic script upload and execution |

diff --git a/docs/api/rest.rst b/docs/api/rest.rst
@@ -487,6 +487,124 @@ Query and manage faults.
    - **400:** Invalid status parameter
    - **503:** Fault manager unavailable
 
+Logs Endpoints
+--------------
+
+Query and configure the /rosout ring buffer for an entity. Supported entity types:
+**components** and **apps**.
+
+.. note::
+
+   By default, log entries are sourced from the ``/rosout`` ROS 2 topic. ros2_medkit retains
+   the 200 most recent entries per node in an in-memory ring buffer (configurable via
+   ``logs.buffer_size`` in ``gateway_params.yaml``). A ``LogProvider`` plugin can replace the
+   storage backend or take full ownership of the log pipeline (see plugin development docs).
+
+``GET /api/v1/components/{id}/logs``
+   Query log entries for all nodes in the component namespace (prefix match).
+
+``GET /api/v1/apps/{id}/logs``
+   Query log entries for the specific app node (exact match).
+
+**Query parameters:**
+
+.. list-table::
+   :header-rows: 1
+   :widths: 20 80
+
+   * - Parameter
+     - Description
+   * - ``severity``
+     - Minimum severity filter (``debug`` | ``info`` | ``warning`` | ``error`` | ``fatal``).
+       The stricter of this parameter and the entity's configured ``severity_filter`` is applied.
+       Without this parameter, the entity's configured ``severity_filter`` (default: ``debug``)
+       determines the minimum level. Empty or absent = use entity config only.
+   * - ``context``
+     - Substring filter applied to the log entry's logger name (``context.node`` in the response).
+       Maximum length: 256 characters. Empty or absent = no filter.
+
+**Response 200:**
+
+.. code-block:: json
+
+   {
+     "items": [
+       {
+         "id": "log_42",
+         "timestamp": "2026-01-15T10:30:00.123456789Z",
+         "severity": "warning",
+         "message": "Calibration drift detected",
+         "context": {
+           "node": "powertrain/engine/temp_sensor",
+           "function": "read_sensor",
+           "file": "temp_sensor.cpp",
+           "line": 99
+         }
+       }
+     ]
+   }
+
+The ``context.function``, ``context.file``, and ``context.line`` fields are omitted when empty/zero.
+
+**Severity values** map directly to the ROS 2 log levels:
+
+.. list-table::
+   :header-rows: 1
+   :widths: 15 15 70
+
+   * - Value
+     - ROS 2 level
+     - Meaning
+   * - ``debug``
+     - DEBUG (10)
+     - Fine-grained diagnostic information
+   * - ``info``
+     - INFO (20)
+     - Normal operational messages
+   * - ``warning``
+     - WARN (30)
+     - Non-fatal anomalies
+   * - ``error``
+     - ERROR (40)
+     - Errors that may require attention
+   * - ``fatal``
+     - FATAL (50)
+     - Critical failures
+
+``GET /api/v1/components/{id}/logs/configuration`` / ``GET /api/v1/apps/{id}/logs/configuration``
+   Return the current log configuration for the entity.
+
+   **Response 200:**
+
+   .. code-block:: json
+
+      {
+        "severity_filter": "debug",
+        "max_entries": 100
+      }
+
+``PUT /api/v1/components/{id}/logs/configuration`` / ``PUT /api/v1/apps/{id}/logs/configuration``
+   Update the log configuration for the entity. All body fields are optional.
+
+   **Request body:**
+
+   .. code-block:: json
+
+      {
+        "severity_filter": "warning",
+        "max_entries": 500
+      }
+
+   ``severity_filter`` — minimum severity to return in query results (``debug`` | ``info`` | ``warning`` |
+   ``error`` | ``fatal``). Entries below this level are excluded from queries. Default: ``debug``.
+
+   ``max_entries`` — maximum number of entries returned per query. Must be between 1 and 10,000
+   (inclusive). Default: ``100``.
+
+   **Response 204:** No content.
+
+   - **400:** Invalid ``severity_filter`` or ``max_entries`` value
+
 Bulk Data Endpoints
 -------------------
 

diff --git a/docs/requirements/specs/data.rst b/docs/requirements/specs/data.rst
@@ -3,14 +3,14 @@ Data
 
 .. req:: GET /{entity}/data-categories
    :id: REQ_INTEROP_016
-   :status: open
+   :status: verified
    :tags: Data
 
    The endpoint shall provide metadata about available data categories on the addressed entity.
 
 .. req:: GET /{entity}/data-groups
    :id: REQ_INTEROP_017
-   :status: open
+   :status: verified
    :tags: Data
 
    The endpoint shall provide metadata about defined data or signal groups on the addressed entity.
@@ -35,4 +35,3 @@ Data
    :tags: Data
 
    The endpoint shall write a new value to the addressed data item on the entity, if it is writable.
-
diff --git a/docs/requirements/specs/logs.rst b/docs/requirements/specs/logs.rst
@@ -3,36 +3,22 @@ Logs
 
 .. req:: GET /{entity}/logs
    :id: REQ_INTEROP_061
-   :status: open
+   :status: verified
    :tags: Logs
 
-   The endpoint shall provide an overview of log sources and log configuration for the addressed entity.
+   The endpoint shall return log entries for the addressed entity, optionally filtered by
+   severity or context identifier. *(ISO 17978-3 §7.21)*
 
-.. req:: GET /{entity}/logs/entries
-   :id: REQ_INTEROP_062
-   :status: open
-   :tags: Logs
-
-   The endpoint shall return log entries for the addressed entity, optionally in a paged manner.
-
-.. req:: GET /{entity}/logs/config
+.. req:: GET /{entity}/logs/configuration
    :id: REQ_INTEROP_063
-   :status: open
+   :status: verified
    :tags: Logs
 
    The endpoint shall return the current logging configuration of the addressed entity.
 
-.. req:: PUT /{entity}/logs/config
+.. req:: PUT /{entity}/logs/configuration
    :id: REQ_INTEROP_064
-   :status: open
+   :status: verified
    :tags: Logs
 
    The endpoint shall update the logging configuration of the addressed entity.
-
-.. req:: DELETE /{entity}/logs/config
-   :id: REQ_INTEROP_065
-   :status: open
-   :tags: Logs
-
-   The endpoint shall reset the logging configuration of the addressed entity to default settings.
-
diff --git a/src/ros2_medkit_fault_manager/CMakeLists.txt b/src/ros2_medkit_fault_manager/CMakeLists.txt
@@ -126,24 +126,31 @@ if(BUILD_TESTING)
   ros2_medkit_clang_tidy()
 
   # Unit tests
+  # Each GTest target that instantiates ROS 2 nodes gets a dedicated ROS_DOMAIN_ID
+  # so it cannot interfere with launch_testing integration tests that run concurrently
+  # in the same CTest invocation and launch their own fault_manager_node subprocess.
   ament_add_gtest(test_fault_manager test/test_fault_manager.cpp)
   target_link_libraries(test_fault_manager fault_manager_lib)
   medkit_target_dependencies(test_fault_manager rclcpp ros2_medkit_msgs)
+  set_tests_properties(test_fault_manager PROPERTIES ENVIRONMENT "ROS_DOMAIN_ID=62")
 
   # SQLite storage tests
   ament_add_gtest(test_sqlite_storage test/test_sqlite_storage.cpp)
   target_link_libraries(test_sqlite_storage fault_manager_lib)
   medkit_target_dependencies(test_sqlite_storage rclcpp ros2_medkit_msgs)
+  set_tests_properties(test_sqlite_storage PROPERTIES ENVIRONMENT "ROS_DOMAIN_ID=63")
 
   # Snapshot capture tests
   ament_add_gtest(test_snapshot_capture test/test_snapshot_capture.cpp)
   target_link_libraries(test_snapshot_capture fault_manager_lib)
   medkit_target_dependencies(test_snapshot_capture rclcpp ros2_medkit_msgs)
+  set_tests_properties(test_snapshot_capture PROPERTIES ENVIRONMENT "ROS_DOMAIN_ID=64")
 
   # Rosbag capture tests
   ament_add_gtest(test_rosbag_capture test/test_rosbag_capture.cpp)
   target_link_libraries(test_rosbag_capture fault_manager_lib)
   medkit_target_dependencies(test_rosbag_capture rclcpp ros2_medkit_msgs)
+  set_tests_properties(test_rosbag_capture PROPERTIES ENVIRONMENT "ROS_DOMAIN_ID=65")
 
   # Correlation config parser tests
   ament_add_gtest(test_correlation_config_parser test/test_correlation_config_parser.cpp)

diff --git a/src/ros2_medkit_gateway/CMakeLists.txt b/src/ros2_medkit_gateway/CMakeLists.txt
@@ -80,6 +80,7 @@ add_library(gateway_lib STATIC
   src/operation_manager.cpp
   src/configuration_manager.cpp
   src/fault_manager.cpp
+  src/log_manager.cpp
   src/subscription_manager.cpp
   # Entity resource model
   src/models/entity_types.cpp
@@ -115,6 +116,7 @@ add_library(gateway_lib STATIC
   src/http/handlers/operation_handlers.cpp
   src/http/handlers/config_handlers.cpp
   src/http/handlers/fault_handlers.cpp
+  src/http/handlers/log_handlers.cpp
   src/http/handlers/bulkdata_handlers.cpp
   src/http/handlers/sse_fault_handler.cpp
   src/http/handlers/cyclic_subscription_handlers.cpp
@@ -442,6 +444,16 @@ if(BUILD_TESTING)
   ament_add_gtest(test_plugin_manager test/test_plugin_manager.cpp)
   target_link_libraries(test_plugin_manager gateway_lib)
 
+  # Log manager tests
+  # Dedicated ROS_DOMAIN_ID to prevent cross-talk with concurrent integration tests
+  ament_add_gtest(test_log_manager test/test_log_manager.cpp)
+  target_link_libraries(test_log_manager gateway_lib)
+  set_tests_properties(test_log_manager PROPERTIES ENVIRONMENT "ROS_DOMAIN_ID=66")
+
+  # Log handlers tests
+  ament_add_gtest(test_log_handlers test/test_log_handlers.cpp)
+  target_link_libraries(test_log_handlers gateway_lib)
+
   # Apply coverage flags to test targets
   if(ENABLE_COVERAGE)
     set(_test_targets
@@ -474,6 +486,8 @@ if(BUILD_TESTING)
       test_health_handlers
       test_plugin_loader
       test_plugin_manager
+      test_log_manager
+      test_log_handlers
     )
     foreach(_target ${_test_targets})
       target_compile_options(${_target} PRIVATE --coverage -O0 -g)

diff --git a/src/ros2_medkit_gateway/README.md b/src/ros2_medkit_gateway/README.md
@@ -64,6 +64,15 @@ All endpoints are prefixed with `/api/v1` for API versioning.
 - `POST /api/v1/{entity}/{id}/bulk-data/{category}` - Upload bulk data (components/apps only)
 - `DELETE /api/v1/{entity}/{id}/bulk-data/{category}/{item_id}` - Delete bulk data (components/apps only)
 
+### Logging Endpoints
+
+- `GET /api/v1/components/{component_id}/logs` - Query recent log entries for a component (all its nodes, prefix match)
+- `GET /api/v1/apps/{app_id}/logs` - Query recent log entries for a specific app node (exact match)
+- `GET /api/v1/components/{component_id}/logs/configuration` - Get log configuration for a component
+- `GET /api/v1/apps/{app_id}/logs/configuration` - Get log configuration for an app
+- `PUT /api/v1/components/{component_id}/logs/configuration` - Update log configuration for a component
+- `PUT /api/v1/apps/{app_id}/logs/configuration` - Update log configuration for an app
+
 ### API Reference
 
 #### GET /api/v1/areas
@@ -966,6 +975,92 @@ ros2 bag info fault_MOTOR_OVERHEAT_1735830000/
 | Query via REST | Yes (structured JSON) | Download only |
 | Default | Enabled | Disabled |
 
+### Logging Endpoints
+
+The gateway collects `/rosout` messages and exposes them via REST. Each node's log entries are stored in a per-node ring buffer (default: 200 entries, configurable via `logs.buffer_size` in `gateway_params.yaml`).
+
+**Query parameters for GET /logs:**
+
+| Parameter | Type | Description |
+|-----------|------|-------------|
+| `severity` | string | Minimum severity filter: `debug`, `info`, `warning`, `error`, `fatal` |
+| `context`  | string | Substring filter applied to the logger name |
+
+#### GET /api/v1/components/{component_id}/logs
+
+Returns recent log entries for all nodes under the component's namespace (prefix match). Results are capped at `max_entries` (default: 100, configurable per entity via `PUT /logs/configuration`).
+
+```bash
+curl http://localhost:8080/api/v1/components/temp_sensor/logs
+curl "http://localhost:8080/api/v1/components/temp_sensor/logs?severity=warning"
+```
+
+**Response:**
+
+```json
+{
+  "items": [
+    {
+      "id": "log_42",
+      "timestamp": "2026-03-03T12:00:00.000000000Z",
+      "severity": "warning",
+      "message": "Temperature exceeded threshold",
+      "context": {
+        "node": "powertrain/engine/temp_sensor",
+        "function": "publish_temperature",
+        "file": "temp_sensor_node.cpp",
+        "line": 87
+      }
+    }
+  ]
+}
+```
+
+#### GET /api/v1/apps/{app_id}/logs
+
+Same as above but for a single app node (exact logger name match).
+
+```bash
+curl http://localhost:8080/api/v1/apps/temp_sensor/logs
+curl "http://localhost:8080/api/v1/apps/temp_sensor/logs?severity=error&context=engine"
+```
+
+#### GET /api/v1/{entity}/{id}/logs/configuration
+
+Returns the current log configuration for the entity.
+
+```bash
+curl http://localhost:8080/api/v1/components/temp_sensor/logs/configuration
+```
+
+**Response:**
+
+```json
+{
+  "severity_filter": "debug",
+  "max_entries": 100
+}
+```
+
+#### PUT /api/v1/{entity}/{id}/logs/configuration
+
+Updates the log configuration. Both fields are optional; omitted fields are unchanged.
+
+```bash
+curl -X PUT http://localhost:8080/api/v1/components/temp_sensor/logs/configuration \
+  -H "Content-Type: application/json" \
+  -d '{"severity_filter": "warning", "max_entries": 50}'
+```
+
+**Request body:**
+
+| Field | Type | Description |
+|-------|------|-------------|
+| `severity_filter` | string | Minimum severity stored/returned: `debug`, `info`, `warning`, `error`, `fatal` |
+| `max_entries` | integer > 0 | Maximum entries returned by GET /logs for this entity |
+
+**Response:** `204 No Content`.
+
 ## Quick Start
 
 ### Build

diff --git a/src/ros2_medkit_gateway/config/gateway_params.yaml b/src/ros2_medkit_gateway/config/gateway_params.yaml
@@ -112,6 +112,15 @@ ros2_medkit_gateway:
       # Default: 100
       max_subscriptions: 100
 
+    # Logging Configuration
+    logs:
+      # Ring buffer capacity per node name.
+      # The gateway retains at most this many /rosout entries per node in memory.
+      # Oldest entries are dropped when the buffer is full.
+      # Valid range: 1-100000 (values outside this range are clamped with a warning).
+      # Default: 200
+      buffer_size: 200
+
     # Discovery Configuration
     # Controls how ROS 2 graph entities are mapped to SOVD entities
     discovery: