Changelog for package yasmin_factory

6.1.2 (2026-09-17)

• refactor(factory): improve thread safety and Python lifecycle management
  • Implement [std::once_flag]{.title-ref} for thread-safe Python interpreter initialization.
  • Add [py::gil_scoped_acquire]{.title-ref} in [PythonStateHolder]{.title-ref} destructor to safely release Python objects.
  • Introduce [SharedStateDeleter]{.title-ref} to ensure [pluginlib::ClassLoader]{.title-ref} remains alive as long as the wrapped state exists.
  • Add [XmlPathGuard]{.title-ref} RAII helper to ensure [_xml_path]{.title-ref} is restored after parsing.
  • Add mutex locking in [YasminFactoryActionServer::handle_accepted]{.title-ref} to prevent race conditions during shutdown.
  • Improve error handling in action server shutdown by attempting to destroy the Python [YasminNode]{.title-ref} instance.
  • Refactor Python-side factory logic to reduce redundancy and improve XML parsing robustness.
• Fix Concurrence GIL deadlock with factory-loaded Python states + clean node shutdown (#130) (#131)
  • fix: Concurrence GIL deadlock with factory-loaded Python states + clean node shutdown (#130)
  • Compability for pybind11<2.6 and c++ formatting
• Contributors: Marco Wong, Miguel Ángel González Santamarta

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.

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