Restrict goal-state transitions to an explicit allow-list - #19
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# Conflicts: # foreman/foreman/adapters/__init__.py # foreman/foreman/node.py # foreman/foreman/parser.py
isort import ordering and trailing whitespace, on top of the manual merge conflict resolution.
Same goal states as scenario.yaml, with autostart_goal_state set to "running" to demonstrate starting directly into the running state.
Each goal state can declare allowed_transitions: the set of goal states it may switch to next. Empty (the default) stays unrestricted, so existing scenarios are unaffected. Enforced in ForemanEngine.request_goal, since it's domain logic. Adds scenario_profile_switching.yaml as a worked example: idle can only go to all_broadcasters, all_broadcasters only to active, and active can go to all_broadcasters or stay active.
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Summary
Each goal state can declare
allowed_transitions: the list of goal states it may switch to next. Any other requested transition is rejected. Empty (the default) stays unrestricted, so existing scenarios are unaffected.SystemGoal.allowed_transitions: List[str], parsed from eachgoal_statesentry, with validation that listed targets are declared goals.ForemanEngine.request_goal()— domain logic, no ROS involved. Skipped when there is no current goal yet (e.g. the first request fromAutostartAdapter).scenario_profile_switching.yaml:idle→all_broadcasters→active, withactiveallowed to loop back toall_broadcastersor stayactive.Based on
feat/foreman-autostartsince it builds on that branch.Test plan
colcon build --packages-select foremancolcon test --packages-select foreman— 51/51 passedpre-commitclean on all changed files