Use atomic to store and update pid

Merge branch 'main' into restart-failed-nodes
chore: Update Cargo.lock (#1263 )
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -223,9 +223,8 @@ jobs:
        env:
          QT_QPA_PLATFORM: offscreen
        run: |
          source /opt/ros/humble/setup.bash && ros2 run turtlesim turtlesim_node &
          source /opt/ros/humble/setup.bash && ros2 run examples_rclcpp_minimal_service service_main &
          cargo run --example rust-ros2-dataflow --features="ros2-examples"
          source /opt/ros/humble/setup.bash &&
          cargo run -p dora-ros2-bridge --example rust-ros2-dataflow --features="ros2-examples"
      - uses: actions/setup-python@v5
        if: runner.os != 'Windows'
        with:
@@ -239,9 +238,8 @@ jobs:
        env:
          QT_QPA_PLATFORM: offscreen
        run: |
          # Reset only the turtlesim instance as it is not destroyed at the end of the previous job
          source /opt/ros/humble/setup.bash && ros2 service call /reset std_srvs/srv/Empty &
                    uv venv --seed -p 3.12
          source /opt/ros/humble/setup.bash &&
          uv venv --seed -p 3.12
          ## If not Windows
          if [ "$RUNNER_OS" != "Windows" ]; then
            source .venv/bin/activate
@@ -250,15 +248,14 @@ jobs:
          fi
          uv pip install -e apis/python/node
          uv pip install pyarrow
          cargo run --example python-ros2-dataflow --features="ros2-examples"
          cargo run -p dora-ros2-bridge --example python-ros2-dataflow --features="ros2-examples"
      - name: "c++-ros2-dataflow"
        timeout-minutes: 30
        env:
          QT_QPA_PLATFORM: offscreen
        run: |
          # Reset only the turtlesim instance as it is not destroyed at the end of the previous job
          source /opt/ros/humble/setup.bash && ros2 service call /reset std_srvs/srv/Empty &
          cargo run --example cxx-ros2-dataflow --features="ros2-examples"
          source /opt/ros/humble/setup.bash &&
          cargo run -p dora-ros2-bridge --example cxx-ros2-dataflow --features="ros2-examples"

  bench:
    name: "Bench"
@@ -567,9 +564,9 @@ jobs:
            target: armv7-unknown-linux-musleabihf
          - runner: ubuntu-22.04
            target: x86_64-pc-windows-gnu
          - runner: macos-13
          - runner: macos-15
            target: aarch64-apple-darwin
          - runner: macos-13
          - runner: macos-15
            target: x86_64-apple-darwin
      fail-fast: false
    steps:
--- a/.github/workflows/pip-release.yml
+++ b/.github/workflows/pip-release.yml
@@ -203,7 +203,7 @@ jobs:
      fail-fast: false
      matrix:
        platform:
          - runner: macos-13
          - runner: macos-15
            target: aarch64
        repository:
          - path: apis/python/node
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -476,9 +476,9 @@ checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"

 [[package]]
 name = "base64ct"
 version = "1.8.0"
 version = "1.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "55248b47b0caf0546f7988906588779981c43bb1bc9d0c44087278f80cdb44ba"
 checksum = "0e050f626429857a27ddccb31e0aca21356bfa709c04041aefddac081a8f068a"

 [[package]]
 name = "benchmark-example-node"
@@ -596,9 +596,9 @@ dependencies = [

 [[package]]
 name = "cc"
 version = "1.2.47"
 version = "1.2.49"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cd405d82c84ff7f35739f175f67d8b9fb7687a0e84ccdc78bd3568839827cf07"
 checksum = "90583009037521a116abf44494efecd645ba48b6622457080f080b85544e2215"
 dependencies = [
 "find-msvc-tools",
 "jobserver",
@@ -711,6 +711,15 @@ dependencies = [
 "strsim",
 ]

 [[package]]
 name = "clap_complete"
 version = "4.5.61"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "39615915e2ece2550c0149addac32fb5bd312c657f43845bb9088cb9c8a7c992"
 dependencies = [
 "clap",
 ]

 [[package]]
 name = "clap_derive"
 version = "4.5.49"
@@ -869,9 +878,9 @@ dependencies = [

 [[package]]
 name = "convert_case"
 version = "0.7.1"
 version = "0.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bb402b8d4c85569410425650ce3eddc7d698ed96d39a73f941b08fb63082f1e7"
 checksum = "633458d4ef8c78b72454de2d54fd6ab2e60f9e02be22f3c6104cdc8a4e0fceb9"
 dependencies = [
 "unicode-segmentation",
 ]
@@ -1020,7 +1029,7 @@ checksum = "829d955a0bb380ef178a640b91779e3987da38c9aea133b20614cfed8cdea9c6"
 dependencies = [
 "bitflags 2.10.0",
 "crossterm_winapi",
 "mio 1.1.0",
 "mio 1.1.1",
 "parking_lot",
 "rustix 0.38.44",
 "signal-hook",
@@ -1038,7 +1047,7 @@ dependencies = [
 "crossterm_winapi",
 "derive_more",
 "document-features",
 "mio 1.1.0",
 "mio 1.1.1",
 "parking_lot",
 "rustix 1.1.2",
 "signal-hook",
@@ -1132,9 +1141,9 @@ dependencies = [

 [[package]]
 name = "cxx"
 version = "1.0.189"
 version = "1.0.192"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2b788601e7e3e6944d9b37efbae0bee7ee44d9aab533838d4854f631534a1a49"
 checksum = "bbda285ba6e5866529faf76352bdf73801d9b44a6308d7cd58ca2379f378e994"
 dependencies = [
 "cc",
 "cxx-build",
@@ -1147,9 +1156,9 @@ dependencies = [

 [[package]]
 name = "cxx-build"
 version = "1.0.189"
 version = "1.0.192"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5e11d62eb0de451f6d3aa83f2cec0986af61c23bd7515f1e2d6572c6c9e53c96"
 checksum = "af9efde466c5d532d57efd92f861da3bdb7f61e369128ce8b4c3fe0c9de4fa4d"
 dependencies = [
 "cc",
 "codespan-reporting",
@@ -1162,9 +1171,9 @@ dependencies = [

 [[package]]
 name = "cxxbridge-cmd"
 version = "1.0.189"
 version = "1.0.192"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6a368ed4a0fd83ebd3f2808613842d942a409c41cc24cd9d83f1696a00d78afe"
 checksum = "3efb93799095bccd4f763ca07997dc39a69e5e61ab52d2c407d4988d21ce144d"
 dependencies = [
 "clap",
 "codespan-reporting",
@@ -1176,15 +1185,15 @@ dependencies = [

 [[package]]
 name = "cxxbridge-flags"
 version = "1.0.189"
 version = "1.0.192"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a9571a7c69f236d7202f517553241496125ed56a86baa1ce346d02aa72357c74"
 checksum = "3092010228026e143b32a4463ed9fa8f86dca266af4bf5f3b2a26e113dbe4e45"

 [[package]]
 name = "cxxbridge-macro"
 version = "1.0.189"
 version = "1.0.192"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "eba2aaae28ca1d721d3f364bb29d51811921e7194c08bb9eaf745c8ab8d81309"
 checksum = "31d72ebfcd351ae404fb00ff378dfc9571827a00722c9e735c9181aec320ba0a"
 dependencies = [
 "indexmap 2.12.1",
 "proc-macro2",
@@ -1314,24 +1323,56 @@ dependencies = [
 "syn 2.0.111",
 ]

 [[package]]
 name = "derive_builder"
 version = "0.20.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "507dfb09ea8b7fa618fcf76e953f4f5e192547945816d5358edffe39f6f94947"
 dependencies = [
 "derive_builder_macro",
 ]

 [[package]]
 name = "derive_builder_core"
 version = "0.20.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2d5bcf7b024d6835cfb3d473887cd966994907effbe9227e8c8219824d06c4e8"
 dependencies = [
 "darling 0.20.11",
 "proc-macro2",
 "quote",
 "syn 2.0.111",
 ]

 [[package]]
 name = "derive_builder_macro"
 version = "0.20.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ab63b0e2bf4d5928aff72e83a7dace85d7bba5fe12dcc3c5a572d78caffd3f3c"
 dependencies = [
 "derive_builder_core",
 "syn 2.0.111",
 ]

 [[package]]
 name = "derive_more"
 version = "2.0.1"
 version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "093242cf7570c207c83073cf82f79706fe7b8317e98620a47d5be7c3d8497678"
 checksum = "10b768e943bed7bf2cab53df09f4bc34bfd217cdb57d971e769874c9a6710618"
 dependencies = [
 "derive_more-impl",
 ]

 [[package]]
 name = "derive_more-impl"
 version = "2.0.1"
 version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bda628edc44c4bb645fbe0f758797143e4e07926f7ebf4e9bdfbd3d2ce621df3"
 checksum = "6d286bfdaf75e988b4a78e013ecd79c581e06399ab53fbacd2d916c2f904f30b"
 dependencies = [
 "convert_case",
 "proc-macro2",
 "quote",
 "rustc_version",
 "syn 2.0.111",
 ]

@@ -1451,6 +1492,7 @@ dependencies = [
 "arrow-json",
 "chrono",
 "clap",
 "clap_complete",
 "colored 2.2.0",
 "communication-layer-request-reply",
 "crossterm 0.29.0",
@@ -1482,6 +1524,7 @@ dependencies = [
 "serde",
 "serde_json",
 "serde_yaml 0.9.34+deprecated",
 "sysinfo 0.36.1",
 "tabwriter",
 "termcolor",
 "tokio",
@@ -1571,6 +1614,7 @@ dependencies = [
 "serde_yaml 0.9.34+deprecated",
 "shared-memory-server",
 "shellexpand 3.1.1",
 "sysinfo 0.36.1",
 "tokio",
 "tokio-stream",
 "tracing",
@@ -1794,12 +1838,15 @@ name = "dora-ros2-bridge"
 version = "0.3.13"
 dependencies = [
 "array-init",
 "dora-cli",
 "dora-daemon",
 "dora-ros2-bridge-msg-gen",
 "dunce",
 "eyre",
 "flume 0.11.1",
 "futures",
 "futures-timer",
 "process-wrap",
 "rand 0.8.5",
 "ros2-client",
 "rust-format",
@@ -2423,6 +2470,18 @@ dependencies = [
 "wasm-bindgen",
 ]

 [[package]]
 name = "getset"
 version = "0.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9cf0fc11e47561d47397154977bc219f4cf809b2974facc3ccb3b89e2436f912"
 dependencies = [
 "proc-macro-error2",
 "proc-macro2",
 "quote",
 "syn 2.0.111",
 ]

 [[package]]
 name = "git-version"
 version = "0.3.9"
@@ -2659,7 +2718,7 @@ dependencies = [
 "tokio",
 "tokio-rustls",
 "tower-service",
 "webpki-roots 1.0.4",
 "webpki-roots",
 ]

 [[package]]
@@ -2677,9 +2736,9 @@ dependencies = [

 [[package]]
 name = "hyper-util"
 version = "0.1.18"
 version = "0.1.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "52e9a2a24dc5c6821e71a7030e1e14b7b632acac55c40e9d2e082c621261bb56"
 checksum = "727805d60e7938b76b826a6ef209eb70eaa1812794f9424d4a4e2d740662df5f"
 dependencies = [
 "base64",
 "bytes",
@@ -2771,9 +2830,9 @@ checksum = "7aedcccd01fc5fe81e6b489c15b247b8b0690feb23304303a9e560f37efc560a"

 [[package]]
 name = "icu_properties"
 version = "2.1.1"
 version = "2.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e93fcd3157766c0c8da2f8cff6ce651a31f0810eaa1c51ec363ef790bbb5fb99"
 checksum = "020bfc02fe870ec3a66d93e677ccca0562506e5872c650f893269e08615d74ec"
 dependencies = [
 "icu_collections",
 "icu_locale_core",
@@ -2785,9 +2844,9 @@ dependencies = [

 [[package]]
 name = "icu_properties_data"
 version = "2.1.1"
 version = "2.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "02845b3647bb045f1100ecd6480ff52f34c35f82d9880e029d329c21d1054899"
 checksum = "616c294cf8d725c6afcd8f55abc17c56464ef6211f9ed59cccffe534129c77af"

 [[package]]
 name = "icu_provider"
@@ -2955,9 +3014,9 @@ dependencies = [

 [[package]]
 name = "instability"
 version = "0.3.9"
 version = "0.3.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "435d80800b936787d62688c927b6490e887c7ef5ff9ce922c6c6050fca75eb9a"
 checksum = "6778b0196eefee7df739db78758e5cf9b37412268bfa5650bfeed028aed20d9c"
 dependencies = [
 "darling 0.20.11",
 "indoc",
@@ -3130,9 +3189,9 @@ dependencies = [

 [[package]]
 name = "js-sys"
 version = "0.3.82"
 version = "0.3.83"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b011eec8cc36da2aab2d5cff675ec18454fad408585853910a202391cf9f8e65"
 checksum = "464a3709c7f55f1f721e5389aa6ea4e3bc6aba669353300af094b29ffbdde1d8"
 dependencies = [
 "once_cell",
 "wasm-bindgen",
@@ -3271,9 +3330,9 @@ dependencies = [

 [[package]]
 name = "libc"
 version = "0.2.177"
 version = "0.2.178"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2874a2af47a2325c2001a6e6fad9b16a53b802102b528163885171cf92b15976"
 checksum = "37c93d8daa9d8a012fd8ab92f088405fb202ea0b6ab73ee2482ae66af4f42091"

 [[package]]
 name = "libgit2-sys"
@@ -3393,14 +3452,14 @@ checksum = "11d3d7f243d5c5a8b9bb5d6dd2b1602c0cb0b9db1621bafc7ed66e35ff9fe092"

 [[package]]
 name = "local-ip-address"
 version = "0.6.5"
 version = "0.6.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "656b3b27f8893f7bbf9485148ff9a65f019e3f33bd5cdc87c83cab16b3fd9ec8"
 checksum = "0a60bf300a990b2d1ebdde4228e873e8e4da40d834adbf5265f3da1457ede652"
 dependencies = [
 "libc",
 "neli",
 "thiserror 2.0.17",
 "windows-sys 0.59.0",
 "windows-sys 0.61.2",
 ]

 [[package]]
@@ -3414,11 +3473,11 @@ dependencies = [

 [[package]]
 name = "log"
 version = "0.4.28"
 version = "0.4.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "34080505efa8e45a4b816c349525ebe327ceaa8559756f0356cba97ef3bf7432"
 checksum = "5e5032e24019045c762d3c0f28f5b6b8bbf38563a65908389bf7978758920897"
 dependencies = [
 "serde",
 "serde_core",
 ]

 [[package]]
@@ -3571,9 +3630,9 @@ dependencies = [

 [[package]]
 name = "mio"
 version = "1.1.0"
 version = "1.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "69d83b0086dc8ecf3ce9ae2874b2d1290252e2a30720bea58a5c6639b0092873"
 checksum = "a69bcab0ad47271a0234d9422b131806bf3968021e5dc9328caf2d4cd58557fc"
 dependencies = [
 "libc",
 "log",
@@ -3648,27 +3707,31 @@ checksum = "27b02d87554356db9e9a873add8782d4ea6e3e58ea071a9adb9a2e8ddb884a8b"

 [[package]]
 name = "neli"
 version = "0.6.5"
 version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "93062a0dce6da2517ea35f301dfc88184ce18d3601ec786a727a87bf535deca9"
 checksum = "e23bebbf3e157c402c4d5ee113233e5e0610cc27453b2f07eefce649c7365dcc"
 dependencies = [
 "bitflags 2.10.0",
 "byteorder",
 "derive_builder",
 "getset",
 "libc",
 "log",
 "neli-proc-macros",
 "parking_lot",
 ]

 [[package]]
 name = "neli-proc-macros"
 version = "0.1.4"
 version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0c8034b7fbb6f9455b2a96c19e6edf8dc9fc34c70449938d8ee3b4df363f61fe"
 checksum = "05d8d08c6e98f20a62417478ebf7be8e1425ec9acecc6f63e22da633f6b71609"
 dependencies = [
 "either",
 "proc-macro2",
 "quote",
 "serde",
 "syn 1.0.109",
 "syn 2.0.111",
 ]

 [[package]]
@@ -3974,6 +4037,16 @@ version = "4.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ef25abbcd74fb2609453eb695bd2f860d389e457f67dc17cafc8b8cbc89d0c33"

 [[package]]
 name = "objc2-io-kit"
 version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "33fafba39597d6dc1fb709123dfa8289d39406734be322956a69f0931c73bb15"
 dependencies = [
 "libc",
 "objc2-core-foundation",
 ]

 [[package]]
 name = "oid-registry"
 version = "0.8.1"
@@ -4127,7 +4200,7 @@ checksum = "3ff095ac36df870a11380877fb7e9b1e7529abfe994fd06a6d6d17ca1c77d30b"
 dependencies = [
 "eyre",
 "opentelemetry 0.29.1",
 "sysinfo",
 "sysinfo 0.34.2",
 "tokio",
 "tracing",
 ]
@@ -4509,6 +4582,28 @@ dependencies = [
 "toml_edit",
 ]

 [[package]]
 name = "proc-macro-error-attr2"
 version = "2.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "96de42df36bb9bba5542fe9f1a054b8cc87e172759a1868aa05c1f3acc89dfc5"
 dependencies = [
 "proc-macro2",
 "quote",
 ]

 [[package]]
 name = "proc-macro-error2"
 version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "11ec05c52be0a07b08061f7dd003e7d7092e0472bc731b4af7bb1ef876109802"
 dependencies = [
 "proc-macro-error-attr2",
 "proc-macro2",
 "quote",
 "syn 2.0.111",
 ]

 [[package]]
 name = "proc-macro2"
 version = "1.0.103"
@@ -4956,9 +5051,9 @@ checksum = "7a2d987857b319362043e95f5353c0535c1f58eec5336fdfcf626430af7def58"

 [[package]]
 name = "reqwest"
 version = "0.12.24"
 version = "0.12.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9d0946410b9f7b082a427e4ef5c8ff541a88b357bc6c637c40db3a68ac70a36f"
 checksum = "3b4c14b2d9afca6a60277086b0cc6a6ae0b568f6f7916c943a8cdc79f8be240f"
 dependencies = [
 "base64",
 "bytes",
@@ -4992,7 +5087,7 @@ dependencies = [
 "wasm-bindgen",
 "wasm-bindgen-futures",
 "web-sys",
 "webpki-roots 1.0.4",
 "webpki-roots",
 ]

 [[package]]
@@ -5021,14 +5116,15 @@ dependencies = [

 [[package]]
 name = "ron"
 version = "0.11.0"
 version = "0.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "db09040cc89e461f1a265139777a2bde7f8d8c67c4936f700c63ce3e2904d468"
 checksum = "fd490c5b18261893f14449cbd28cb9c0b637aebf161cd77900bfdedaff21ec32"
 dependencies = [
 "base64",
 "bitflags 2.10.0",
 "once_cell",
 "serde",
 "serde_derive",
 "typeid",
 "unicode-ident",
 ]

@@ -5129,7 +5225,7 @@ dependencies = [
 ]

 [[package]]
 name = "rust-ros2-dataflow-example-node"
 name = "rust-ros2-example-node"
 version = "0.3.13"
 dependencies = [
 "dora-node-api",
@@ -5247,7 +5343,7 @@ dependencies = [
 "once_cell",
 "ring",
 "rustls-pki-types",
 "rustls-webpki 0.103.8",
 "rustls-webpki",
 "subtle",
 "zeroize",
 ]
@@ -5275,9 +5371,9 @@ dependencies = [

 [[package]]
 name = "rustls-pki-types"
 version = "1.13.0"
 version = "1.13.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "94182ad936a0c91c324cd46c6511b9510ed16af436d7b5bab34beab0afd55f7a"
 checksum = "708c0f9d5f54ba0272468c1d306a52c495b31fa155e91bc25371e6df7996908c"
 dependencies = [
 "web-time",
 "zeroize",
@@ -5297,7 +5393,7 @@ dependencies = [
 "rustls",
 "rustls-native-certs",
 "rustls-platform-verifier-android",
 "rustls-webpki 0.103.8",
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@@ -5310,17 +5406,6 @@ version = "0.1.1"
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 [[package]]
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@@ -5394,19 +5479,6 @@ dependencies = [
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@@ -5426,24 +5498,13 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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 [[package]]
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@@ -5660,9 +5721,9 @@ dependencies = [

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@@ -5679,9 +5740,9 @@ dependencies = [

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@@ -5828,7 +5889,7 @@ checksum = "b75a19a7a740b25bc7944bdee6172368f988763b744e3d4dfe753f6b4ece40cc"
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@@ -5853,9 +5914,9 @@ dependencies = [

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 [[package]]
@@ -5985,7 +6056,19 @@ dependencies = [
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 [[package]]
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 [[package]]
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@@ -6102,6 +6198,20 @@ dependencies = [
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@@ -6318,7 +6428,7 @@ checksum = "ff360e02eab121e0bc37a2d3b4d4dc622e6eda3a8e5253d5435ecf5bd4c68408"
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@@ -6396,9 +6506,9 @@ dependencies = [

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@@ -6478,9 +6588,9 @@ dependencies = [

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@@ -6508,9 +6618,9 @@ checksum = "8df9b6e13f2d32c91b9bd719c00d1958837bc7dec474d94952798cc8e69eeec3"

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@@ -6520,9 +6630,9 @@ dependencies = [

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@@ -6531,9 +6641,9 @@ dependencies = [

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@@ -6580,9 +6690,9 @@ dependencies = [

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@@ -6629,6 +6739,12 @@ version = "2.1.2"
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 [[package]]
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@@ -6746,13 +6862,13 @@ checksum = "0976c77def3f1f75c4ef892a292c31c0bbe9e3d0702c63044d7c76db298171a3"

 [[package]]
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 [[package]]
@@ -6793,23 +6909,23 @@ checksum = "06abde3611657adf66d383f00b093d7faecc7fa57071cce2578660c9f1010821"

 [[package]]
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@@ -6900,9 +7016,9 @@ dependencies = [

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@@ -6913,9 +7029,9 @@ dependencies = [

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@@ -6926,9 +7042,9 @@ dependencies = [

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@@ -6936,9 +7052,9 @@ dependencies = [

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@@ -6949,18 +7065,18 @@ dependencies = [

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 [[package]]
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@@ -7002,15 +7118,6 @@ dependencies = [
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 ]

 [[package]]
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 dependencies = [
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 [[package]]
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@@ -7634,9 +7741,9 @@ checksum = "d6bbff5f0aada427a1e5a6da5f1f98158182f26556f345ac9e04d36d0ebed650"

 [[package]]
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@@ -7750,15 +7857,16 @@ dependencies = [

 [[package]]
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@@ -7767,7 +7875,6 @@ dependencies = [
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 "paste",
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@@ -7802,18 +7909,18 @@ dependencies = [

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@@ -7823,18 +7930,18 @@ dependencies = [

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@@ -7857,9 +7964,9 @@ dependencies = [

 [[package]]
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@@ -7869,9 +7976,9 @@ dependencies = [

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@@ -7883,15 +7990,15 @@ dependencies = [

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@@ -7899,9 +8006,9 @@ dependencies = [

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 dependencies = [
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@@ -7918,9 +8025,9 @@ dependencies = [

 [[package]]
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 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5be05b499b789afb2024de4253e12ccaa3e296f66a0db6147deb9acec491f622"
 checksum = "52d1c652a706da1da46eae54a65c4b658153cdebfa213f061beea3bef71088f2"
 dependencies = [
 "async-trait",
 "base64",
@@ -7930,7 +8037,7 @@ dependencies = [
 "rustls",
 "rustls-pemfile",
 "rustls-pki-types",
 "rustls-webpki 0.102.8",
 "rustls-webpki",
 "secrecy",
 "serde",
 "socket2 0.5.10",
@@ -7938,7 +8045,7 @@ dependencies = [
 "tokio",
 "tokio-util",
 "tracing",
 "webpki-roots 0.26.11",
 "webpki-roots",
 "x509-parser",
 "zenoh-buffers",
 "zenoh-codec",
@@ -7952,22 +8059,22 @@ dependencies = [

 [[package]]
 name = "zenoh-link-quic"
 version = "1.6.2"
 version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4168034bb7005d313ba834d105ede7c7f9fac48684f80a140fccb8302e9ca4aa"
 checksum = "0069d889388d06e56eb86139021a1af12b9846222847aeabaa05eb92fc2ee108"
 dependencies = [
 "async-trait",
 "base64",
 "quinn",
 "rustls",
 "rustls-pemfile",
 "rustls-webpki 0.102.8",
 "rustls-webpki",
 "secrecy",
 "time",
 "tokio",
 "tokio-util",
 "tracing",
 "webpki-roots 0.26.11",
 "webpki-roots",
 "zenoh-config",
 "zenoh-core",
 "zenoh-link-commons",
@@ -7978,14 +8085,14 @@ dependencies = [

 [[package]]
 name = "zenoh-link-quic_datagram"
 version = "1.6.2"
 version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b954594b5283afcbfc65a5090829b7a09701a29c99ad528fc09cdcef607a4e51"
 checksum = "dc81e512b51cf9b6ab479ba11be70e7a4ce072c0e985271e09c88e4bbff591b3"
 dependencies = [
 "async-trait",
 "quinn",
 "rustls",
 "rustls-webpki 0.102.8",
 "rustls-webpki",
 "time",
 "tokio",
 "tokio-util",
@@ -7999,9 +8106,9 @@ dependencies = [

 [[package]]
 name = "zenoh-link-tcp"
 version = "1.6.2"
 version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3b968d3506682350760fb69c07b3c9aea07f351ac39993c7d948bdc5a19d5645"
 checksum = "279ff42ab4a65508069596045ab8a3c6fb03f94343c290a9b75f9568c49094e4"
 dependencies = [
 "async-trait",
 "socket2 0.5.10",
@@ -8017,16 +8124,16 @@ dependencies = [

 [[package]]
 name = "zenoh-link-tls"
 version = "1.6.2"
 version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a810a4ba44011cc4c75713eadcf1a03fb2e22f0907d62f9b12c04d42ba1d596f"
 checksum = "d3172615126b64456beb0c537351eb9c715f20f641e37ae8f84cb209816d205a"
 dependencies = [
 "async-trait",
 "base64",
 "rustls",
 "rustls-pemfile",
 "rustls-pki-types",
 "rustls-webpki 0.102.8",
 "rustls-webpki",
 "secrecy",
 "socket2 0.5.10",
 "time",
@@ -8035,7 +8142,7 @@ dependencies = [
 "tokio-rustls",
 "tokio-util",
 "tracing",
 "webpki-roots 0.26.11",
 "webpki-roots",
 "x509-parser",
 "zenoh-config",
 "zenoh-core",
@@ -8047,9 +8154,9 @@ dependencies = [

 [[package]]
 name = "zenoh-link-udp"
 version = "1.6.2"
 version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a4178b940cc613b4d0db3f06ceb71377199cacb22087f589bc60d1b4df6a2365"
 checksum = "11006545a887167d431e8c3f2867ad386e7d678ee8babd3df4a7537b168e47de"
 dependencies = [
 "async-trait",
 "libc",
@@ -8069,9 +8176,9 @@ dependencies = [

 [[package]]
 name = "zenoh-link-unixsock_stream"
 version = "1.6.2"
 version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "486de15a9f4ecc6d5839ec0153450bafee202355ea20810e81c65d70045d210b"
 checksum = "ab57f1a899f869dea28168d6ab46a820b0d94e025e1db8cf8e686fc08b4f5de3"
 dependencies = [
 "async-trait",
 "nix 0.29.0",
@@ -8088,9 +8195,9 @@ dependencies = [

 [[package]]
 name = "zenoh-link-ws"
 version = "1.6.2"
 version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1cb73dab1b8b8406ac288586727590e6830cc35a25f3c31ffb3d88518446f7e9"
 checksum = "41c398aaee46ce19ca01c709ea38985da7da6b4ffb803c6b5c07a56e8a31f8b4"
 dependencies = [
 "async-trait",
 "futures-util",
@@ -8109,9 +8216,9 @@ dependencies = [

 [[package]]
 name = "zenoh-macros"
 version = "1.6.2"
 version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2bbff17ef687e10ed4f6a956fb78fc97205a4a6242c657638e8e5da726840aca"
 checksum = "21df1681ca014a4bd69db91d356bcf699d346f854ff8a6b73123cee75f5073cd"
 dependencies = [
 "proc-macro2",
 "quote",
@@ -8121,14 +8228,14 @@ dependencies = [

 [[package]]
 name = "zenoh-plugin-trait"
 version = "1.6.2"
 version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "968571b0b585c5be1f19c553b368994424a869af46a4785bf5a3248194a97172"
 checksum = "4651bc51951eb004e71bba71583f9ea60240bdd11351b61dbd6956e906088567"
 dependencies = [
 "git-version",
 "libloading 0.8.9",
 "serde",
 "stabby",
 "stabby 72.1.1",
 "tracing",
 "zenoh-config",
 "zenoh-keyexpr",
@@ -8139,9 +8246,9 @@ dependencies = [

 [[package]]
 name = "zenoh-protocol"
 version = "1.6.2"
 version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "879a66ef51831f54f5f824bf9005bf73129bc2485053311ffb7a245f907f721c"
 checksum = "ab17d39b24f6fbd0a24e03a5ab96c236d3d5ebb5071978338c9bc3fe1ccff626"
 dependencies = [
 "const_format",
 "rand 0.8.5",
@@ -8154,18 +8261,18 @@ dependencies = [

 [[package]]
 name = "zenoh-result"
 version = "1.6.2"
 version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e0f564d3324e443d0d48a4656d89bab1d0b263660fb7e17ba149c464e62f94bd"
 checksum = "1b7d23a2f69c4b96ae95ac2f80808cce5f2ed9697ba37e769a75428fb6806a57"
 dependencies = [
 "anyhow",
 ]

 [[package]]
 name = "zenoh-runtime"
 version = "1.6.2"
 version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e3a5cef13fd469aeb146518532751dbecd2b0f99ac56b6df667f954f11348dcf"
 checksum = "a71f356bb63c1c9d37cb4bc89112e83a9fd6079458d1440232d67ca41a52c687"
 dependencies = [
 "lazy_static",
 "ron",
@@ -8178,9 +8285,9 @@ dependencies = [

 [[package]]
 name = "zenoh-sync"
 version = "1.6.2"
 version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "04a23123511fb7ce5990a778dcdcf41b5129ad8c5ef8d1e7ff719a538c3270e3"
 checksum = "e3b1113111e247d6b1ebd5d406b43e23e78faca2c7525dca22a2a075c64787bd"
 dependencies = [
 "arc-swap",
 "event-listener",
@@ -8193,9 +8300,9 @@ dependencies = [

 [[package]]
 name = "zenoh-task"
 version = "1.6.2"
 version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8ad997618409140b23a2ef0957f7995afec2667ff3951f580de8a506c7814e41"
 checksum = "7a1f690f81704b1e934b9fb7a63ce544af73521ca9d11b5a439cdfc74108dd28"
 dependencies = [
 "futures",
 "tokio",
@@ -8207,16 +8314,15 @@ dependencies = [

 [[package]]
 name = "zenoh-transport"
 version = "1.6.2"
 version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2abd4521cd556093161156fc0799a506743304e1510fc7ed83adff99ca601f34"
 checksum = "41cdc4dcb4a68161afe25e44871a66a5c3c347d86a77628ab101d859a9518db9"
 dependencies = [
 "async-trait",
 "crossbeam-utils",
 "flume 0.11.1",
 "lazy_static",
 "lz4_flex",
 "paste",
 "rand 0.8.5",
 "ringbuffer-spsc",
 "rsa",
@@ -8242,9 +8348,9 @@ dependencies = [

 [[package]]
 name = "zenoh-util"
 version = "1.6.2"
 version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "42a736159ed0935c9ef258c151067ccce40f95f08d7f9360993e858e268b0a9d"
 checksum = "ea9b52e8beceffc0deca01e10ca726c604286a1ac475f95acdd87ee55f18b120"
 dependencies = [
 "async-trait",
 "const_format",
@@ -8255,7 +8361,7 @@ dependencies = [
 "libc",
 "libloading 0.8.9",
 "pnet_datalink",
 "schemars 0.8.22",
 "schemars 1.1.0",
 "serde",
 "serde_json",
 "shellexpand 3.1.1",
@@ -8269,18 +8375,18 @@ dependencies = [

 [[package]]
 name = "zerocopy"
 version = "0.8.30"
 version = "0.8.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4ea879c944afe8a2b25fef16bb4ba234f47c694565e97383b36f3a878219065c"
 checksum = "fd74ec98b9250adb3ca554bdde269adf631549f51d8a8f8f0a10b50f1cb298c3"
 dependencies = [
 "zerocopy-derive",
 ]

 [[package]]
 name = "zerocopy-derive"
 version = "0.8.30"
 version = "0.8.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cf955aa904d6040f70dc8e9384444cb1030aed272ba3cb09bbc4ab9e7c1f34f5"
 checksum = "d8a8d209fdf45cf5138cbb5a506f6b52522a25afccc534d1475dad8e31105c6a"
 dependencies = [
 "proc-macro2",
 "quote",
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -17,7 +17,7 @@ members = [
    "examples/rust-dataflow/status-node",
    "examples/rust-dataflow/sink",
    "examples/rust-dataflow/sink-dynamic",
    "examples/rust-ros2-dataflow/node",
    "examples/ros2-bridge/rust/rust-ros2-example-node",
    "examples/benchmark/node",
    "examples/benchmark/sink",
    "examples/multiple-daemons/node",
@@ -132,11 +132,6 @@ path = "examples/rust-dataflow/run.rs"
 name = "rust-dataflow-git"
 path = "examples/rust-dataflow-git/run.rs"

 [[example]]
 name = "rust-ros2-dataflow"
 path = "examples/rust-ros2-dataflow/run.rs"
 required-features = ["ros2-examples"]

 # TODO: Fix example #192
 [[example]]
 name = "rust-dataflow-url"
@@ -154,11 +149,6 @@ path = "examples/c++-arrow-dataflow/run.rs"
 name = "python-dataflow"
 path = "examples/python-dataflow/run.rs"

 [[example]]
 name = "python-ros2-dataflow"
 path = "examples/python-ros2-dataflow/run.rs"
 required-features = ["ros2-examples"]

 [[example]]
 name = "python-operator-dataflow"
 path = "examples/python-operator-dataflow/run.rs"
@@ -175,11 +165,6 @@ path = "examples/multiple-daemons/run.rs"
 name = "cmake-dataflow"
 path = "examples/cmake-dataflow/run.rs"

 [[example]]
 name = "cxx-ros2-dataflow"
 path = "examples/c++-ros2-dataflow/run.rs"
 required-features = ["ros2-examples"]

 # The profile that 'dist' will build with
 [profile.dist]
 inherits = "release"
--- a/apis/python/node/src/lib.rs
+++ b/apis/python/node/src/lib.rs
@@ -4,16 +4,18 @@ use std::env::current_dir;
 use std::path::PathBuf;
 use std::sync::Arc;
 use std::time::Duration;
 use tokio::sync::Mutex;

 use arrow::pyarrow::{FromPyArrow, ToPyArrow};
 use dora_download::download_file;
 use dora_node_api::dora_core::config::NodeId;
 use dora_node_api::dora_core::descriptor::source_is_url;
 use dora_node_api::merged::{MergeExternalSend, MergedEvent};
 use dora_node_api::{DataflowId, DoraNode, EventStream};
 use dora_node_api::{DataflowId, DoraNode, EventStream, TryRecvError};
 use dora_operator_api_python::{DelayedCleanup, NodeCleanupHandle, PyEvent, pydict_to_metadata};
 use dora_ros2_bridge_python::Ros2Subscription;
 use eyre::{Context, ContextCompat};

 use futures::{Stream, StreamExt};
 use pyo3::prelude::*;
 use pyo3::types::{PyBytes, PyDict};
@@ -134,7 +136,7 @@ impl Node {

        Ok(Node {
            events: Events {
                inner: EventsInner::Dora(events),
                inner: Arc::new(Mutex::new(EventsInner::Dora(events))),
                _cleanup_handle: cleanup_handle,
            },
            dataflow_id,
@@ -166,7 +168,7 @@ impl Node {
    /// :rtype: dict
    #[pyo3(signature = (timeout=None))]
    #[allow(clippy::should_implement_trait)]
    pub fn next(&mut self, py: Python, timeout: Option<f32>) -> PyResult<Option<Py<PyDict>>> {
    pub fn next(&self, py: Python, timeout: Option<f32>) -> PyResult<Option<Py<PyDict>>> {
        let event = py.allow_threads(|| self.events.recv(timeout.map(Duration::from_secs_f32)));
        if let Some(event) = event {
            let dict = event
@@ -178,8 +180,18 @@ impl Node {
        }
    }

    /// `.drain()` gives you all available inputs that the node has received.
    /// It does not block until the next event becomes available.
    ///
    /// ```python
    /// events = node.drain()
    /// for event in events:
    ///     print(event)
    /// ```
    ///
    /// :rtype: list[dict]
    #[allow(clippy::should_implement_trait)]
    pub fn drain(&mut self, py: Python) -> PyResult<Vec<Py<PyDict>>> {
    pub fn drain(&self, py: Python) -> PyResult<Vec<Py<PyDict>>> {
        let events = self
            .events
            .drain()
@@ -195,6 +207,34 @@ impl Node {
        Ok(events)
    }

    /// `.try_recv()` gives you the next input in the queue that the node has received.
    /// It does not block until the next event becomes available.
    ///
    /// ```python
    /// event = events.try_recv()
    ///     print(event)
    /// ```
    ///
    /// :rtype: dict
    #[allow(clippy::should_implement_trait)]
    pub fn try_recv(&mut self, py: Python) -> Option<Py<PyDict>> {
        match self.events.try_recv() {
            Ok(event) => match event.to_py_dict(py) {
                Ok(dict) => Some(dict),
                Err(_) => None,
            },
            Err(_) => None,
        }
    }

    /// Check if there are any buffered events in the event stream.
    ///
    /// :rtype: bool
    #[allow(clippy::should_implement_trait)]
    pub fn is_empty(&self) -> bool {
        self.events.is_empty()
    }

    /// `.recv_async()` gives you the next input that the node has received asynchronously.
    /// It does not blocks until the next event becomes available.
    /// You can use timeout in seconds to return if no input is available.
@@ -214,7 +254,7 @@ impl Node {
    /// :rtype: dict
    #[pyo3(signature = (timeout=None))]
    #[allow(clippy::should_implement_trait)]
    pub async fn recv_async(&mut self, timeout: Option<f32>) -> PyResult<Option<Py<PyDict>>> {
    pub async fn recv_async(&self, timeout: Option<f32>) -> PyResult<Option<Py<PyDict>>> {
        let event = self
            .events
            .recv_async_timeout(timeout.map(Duration::from_secs_f32))
@@ -225,6 +265,7 @@ impl Node {
                let dict = event
                    .to_py_dict(py)
                    .context("Could not convert event into a dict")?;

                Ok(Some(dict))
            })
        } else {
@@ -245,7 +286,7 @@ impl Node {
    /// Default behaviour is to timeout after 2 seconds.
    ///
    /// :rtype: dict
    pub fn __next__(&mut self, py: Python) -> PyResult<Option<Py<PyDict>>> {
    pub fn __next__(&self, py: Python) -> PyResult<Option<Py<PyDict>>> {
        self.next(py, None)
    }

@@ -285,7 +326,7 @@ impl Node {
    /// :rtype: None
    #[pyo3(signature = (output_id, data, metadata=None))]
    pub fn send_output(
        &mut self,
        &self,
        output_id: String,
        data: PyObject,
        metadata: Option<Bound<'_, PyDict>>,
@@ -317,7 +358,7 @@ impl Node {
    /// This method returns the parsed dataflow YAML file.
    ///
    /// :rtype: dict
    pub fn dataflow_descriptor(&mut self, py: Python) -> eyre::Result<PyObject> {
    pub fn dataflow_descriptor(&self, py: Python) -> eyre::Result<PyObject> {
        Ok(
            pythonize::pythonize(py, &self.node.get_mut().dataflow_descriptor()?)
                .map(|x| x.unbind())?,
@@ -327,7 +368,7 @@ impl Node {
    /// Returns the node configuration.
    ///
    /// :rtype: dict
    pub fn node_config(&mut self, py: Python) -> eyre::Result<PyObject> {
    pub fn node_config(&self, py: Python) -> eyre::Result<PyObject> {
        Ok(pythonize::pythonize(py, &self.node.get_mut().node_config()).map(|x| x.unbind())?)
    }

@@ -343,10 +384,7 @@ impl Node {
    ///
    /// :type subscription: dora.Ros2Subscription
    /// :rtype: None
    pub fn merge_external_events(
        &mut self,
        subscription: &mut Ros2Subscription,
    ) -> eyre::Result<()> {
    pub fn merge_external_events(&self, subscription: &mut Ros2Subscription) -> eyre::Result<()> {
        let subscription = subscription.into_stream()?;
        let stream = futures::stream::poll_fn(move |cx| {
            let s = subscription.as_stream().map(|item| {
@@ -365,12 +403,13 @@ impl Node {
        });

        // take out the event stream and temporarily replace it with a dummy
        let mut inner = self.events.inner.blocking_lock();
        let events = std::mem::replace(
            &mut self.events.inner,
            &mut *inner,
            EventsInner::Merged(Box::new(futures::stream::empty())),
        );
        // update self.events with the merged stream
        self.events.inner = EventsInner::Merged(events.merge_external_send(Box::pin(stream)));
        *inner = EventsInner::Merged(events.merge_external_send(Box::pin(stream)));

        Ok(())
    }
@@ -385,13 +424,14 @@ fn err_to_pyany(err: eyre::Report, gil: Python<'_>) -> Py<PyAny> {
 }

 struct Events {
    inner: EventsInner,
    inner: Arc<Mutex<EventsInner>>,
    _cleanup_handle: NodeCleanupHandle,
 }

 impl Events {
    fn recv(&mut self, timeout: Option<Duration>) -> Option<PyEvent> {
        let event = match &mut self.inner {
    fn recv(&self, timeout: Option<Duration>) -> Option<PyEvent> {
        let mut inner = self.inner.blocking_lock();
        let event = match &mut *inner {
            EventsInner::Dora(events) => match timeout {
                Some(timeout) => events.recv_timeout(timeout).map(MergedEvent::Dora),
                None => events.recv().map(MergedEvent::Dora),
@@ -401,8 +441,20 @@ impl Events {
        event.map(|event| PyEvent { event })
    }

    async fn recv_async_timeout(&mut self, timeout: Option<Duration>) -> Option<PyEvent> {
        let event = match &mut self.inner {
    fn try_recv(&self) -> Result<PyEvent, TryRecvError> {
        let mut inner = self.inner.blocking_lock();
        let event = match &mut *inner {
            EventsInner::Dora(events) => events.try_recv().map(MergedEvent::Dora),
            EventsInner::Merged(_events) => {
                todo!("try_recv on external event stream is not yet implemented!")
            }
        };
        event.map(|event| PyEvent { event })
    }

    async fn recv_async_timeout(&self, timeout: Option<Duration>) -> Option<PyEvent> {
        let mut inner = self.inner.lock().await;
        let event = match &mut *inner {
            EventsInner::Dora(events) => match timeout {
                Some(timeout) => events
                    .recv_async_timeout(timeout)
@@ -415,8 +467,9 @@ impl Events {
        event.map(|event| PyEvent { event })
    }

    fn drain(&mut self) -> Option<Vec<PyEvent>> {
        match &mut self.inner {
    fn drain(&self) -> Option<Vec<PyEvent>> {
        let mut inner = self.inner.blocking_lock();
        match &mut *inner {
            EventsInner::Dora(events) => match events.drain() {
                Some(items) => {
                    return Some(
@@ -434,6 +487,16 @@ impl Events {
            }
        };
    }

    fn is_empty(&self) -> bool {
        let inner = self.inner.blocking_lock();
        match &*inner {
            EventsInner::Dora(events) => events.is_empty(),
            EventsInner::Merged(_events) => {
                todo!("is_empty on external event stream is not yet implemented!")
            }
        }
    }
 }

 #[allow(clippy::large_enum_variant)]
--- a/apis/python/operator/src/lib.rs
+++ b/apis/python/operator/src/lib.rs
@@ -40,7 +40,7 @@ impl<T> DelayedCleanup<T> {
        CleanupHandle(self.0.clone())
    }

    pub fn get_mut(&mut self) -> std::sync::MutexGuard<T> {
    pub fn get_mut(&self) -> std::sync::MutexGuard<T> {
        self.0.try_lock().expect("failed to lock DelayedCleanup")
    }
 }
--- a/apis/rust/node/src/event_stream/mod.rs
+++ b/apis/rust/node/src/event_stream/mod.rs
@@ -334,6 +334,11 @@ impl EventStream {
        event.map(Self::convert_event_item)
    }

    /// Check if there are any buffered events in the scheduler or the receiver.
    pub fn is_empty(&self) -> bool {
        self.scheduler.is_empty() & self.receiver.is_empty()
    }

    fn add_event(&mut self, event: EventItem) {
        self.record_event(&event).unwrap();
        self.scheduler.add_event(event);
@@ -506,6 +511,7 @@ impl EventStream {
 }

 /// No event is available right now or the event stream has been closed.
 #[derive(Debug)]
 pub enum TryRecvError {
    /// No new event is available right now.
    Empty,
--- a/binaries/cli/Cargo.toml
+++ b/binaries/cli/Cargo.toml
@@ -23,6 +23,7 @@ python = ["pyo3"]
 [dependencies]
 arrow = { workspace = true }
 clap = { version = "4.0.3", features = ["derive"] }
 clap_complete = "4.5.61"
 eyre = "0.6.8"
 dora-core = { workspace = true, features = ["zenoh"] }
 dora-message = { workspace = true }
@@ -55,6 +56,7 @@ colored = "2.1.0"
 crossterm = "0.29.0"
 ratatui = "0.29.0"
 itertools = "0.14"
 sysinfo = "0.36.1"

 env_logger = "0.11.3"
 self_update = { version = "0.42.0", features = [
--- a/binaries/cli/src/command/completion.rs
+++ b/binaries/cli/src/command/completion.rs
@@ -0,0 +1,84 @@
 use clap::{CommandFactory, ValueEnum};
 use clap_complete::Shell;

 use crate::command::Executable;
 use sysinfo;

 #[derive(Debug, clap::Args)]
 #[command(after_help = r#"
 USAGE:
  eval $(dora completion)              # Auto-detect shell
  eval $(dora completion <SHELL>)      # Specify shell explicitly

 PERSIST COMPLETION:

  Bash:
    echo 'eval "$(dora completion bash)"' >> ~/.bashrc
    # Then restart shell

  Zsh:
    echo 'eval "$(dora completion zsh)"' >> ~/.zshrc
    # Then restart shell

    # If you get 'command not found: compdef', add this before the eval line:
    autoload -Uz compinit
    compinit

  Fish:
    # Add to ~/.config/fish/config.fish
    if status is-interactive
        eval "$(dora completion fish)"
    end
    # Then restart shell

 "#)]
 pub struct Completion {
    /// The shell to generate the script for
    #[arg(value_enum)]
    shell: Option<Shell>,
 }
 impl Executable for Completion {
    fn execute(self) -> eyre::Result<()> {
        let shell = if let Some(sh) = self.shell {
            sh
        } else {
            get_shell().map_err(|e| {
                eyre::eyre!(
                    "Please specify the shell via parameter. Unable to get the current shell. ({})",
                    e
                )
            })?
        };
        clap_complete::generate(
            shell,
            &mut crate::Args::command(),
            "dora",
            &mut std::io::stdout(),
        );
        Ok(())
    }
 }

 fn get_shell() -> eyre::Result<Shell> {
    let pid =
        sysinfo::get_current_pid().map_err(|_| eyre::eyre!("Unable to get the current PID"))?;
    let system = sysinfo::System::new_all();
    let process = system
        .process(pid)
        .ok_or(eyre::eyre!("Unable to get the current process"))?;
    let parent_pid = process
        .parent()
        .ok_or(eyre::eyre!("Unable to get the parent process PID"))?;
    let parent_process = system
        .process(parent_pid)
        .ok_or(eyre::eyre!("Unable to get the parent process"))?;
    let current_shell = Shell::from_str(
        parent_process
            .name()
            .to_str()
            .ok_or(eyre::eyre!("Unable to get the shell name"))?,
        true,
    )
    .map_err(|_| eyre::eyre!("Unable to get the shell type"))?;
    Ok(current_shell)
 }
--- a/binaries/cli/src/command/inspect/mod.rs
+++ b/binaries/cli/src/command/inspect/mod.rs
@@ -0,0 +1,19 @@
 mod top;

 use clap::Subcommand;

 use super::Executable;

 #[derive(Debug, Subcommand)]
 pub enum Inspect {
    /// Real-time monitor node resource usage (similar to Linux top)
    Top(top::Top),
 }

 impl Executable for Inspect {
    fn execute(self) -> eyre::Result<()> {
        match self {
            Inspect::Top(args) => args.execute(),
        }
    }
 }
--- a/binaries/cli/src/command/inspect/top.rs
+++ b/binaries/cli/src/command/inspect/top.rs
@@ -0,0 +1,442 @@
 use std::{
    io,
    time::{Duration, Instant},
 };

 use clap::Args;
 use crossterm::{
    event::{self, DisableMouseCapture, EnableMouseCapture, Event, KeyCode, KeyEventKind},
    execute,
    terminal::{EnterAlternateScreen, LeaveAlternateScreen, disable_raw_mode, enable_raw_mode},
 };
 use dora_core::topics::DORA_COORDINATOR_PORT_CONTROL_DEFAULT;
 use dora_message::{
    cli_to_coordinator::ControlRequest,
    coordinator_to_cli::{ControlRequestReply, NodeInfo},
    id::NodeId,
 };
 use eyre::{Context, eyre};
 use ratatui::{
    Frame, Terminal,
    backend::{Backend, CrosstermBackend},
    layout::{Constraint, Layout},
    style::{Color, Modifier, Style},
    widgets::{Block, Borders, Cell, Row, Table, TableState},
 };
 use uuid::Uuid;

 use crate::{LOCALHOST, common::connect_to_coordinator};

 use super::super::{Executable, default_tracing};

 /// Real-time monitor node resource usage (similar to Linux top)
 ///
 /// Metrics are collected by daemons and reported to the coordinator,
 /// so this works for distributed dataflows across multiple machines.
 ///
 /// Note:
 /// - Values are averaged over the last refresh period
 /// - CPU percentage is of a single core (values can add to more than 100% if multiple cores are used)
 /// - Nodes can run on different machines with potentially different CPUs, so percentages are not comparable across machines
 #[derive(Debug, Args)]
 pub struct Top {
    /// Address of the dora coordinator
    #[clap(long, value_name = "IP", default_value_t = LOCALHOST)]
    pub coordinator_addr: std::net::IpAddr,
    /// Port number of the coordinator control server
    #[clap(long, value_name = "PORT", default_value_t = DORA_COORDINATOR_PORT_CONTROL_DEFAULT)]
    pub coordinator_port: u16,
    /// Refresh interval in seconds
    #[clap(long, value_name = "SECONDS", default_value_t = 2)]
    pub refresh_interval: u64,
 }

 impl Executable for Top {
    fn execute(self) -> eyre::Result<()> {
        default_tracing()?;

        // Setup terminal
        enable_raw_mode()?;
        let mut stdout = io::stdout();
        execute!(stdout, EnterAlternateScreen, EnableMouseCapture)?;
        let backend = CrosstermBackend::new(stdout);
        let mut terminal = Terminal::new(backend)?;

        // Create app and run it
        let refresh_duration = Duration::from_secs(self.refresh_interval);
        let res = run_app(
            &mut terminal,
            self.coordinator_addr,
            self.coordinator_port,
            refresh_duration,
        );

        // Restore terminal
        disable_raw_mode()?;
        execute!(
            terminal.backend_mut(),
            LeaveAlternateScreen,
            DisableMouseCapture
        )?;
        terminal.show_cursor()?;

        if let Err(err) = res {
            eprintln!("Error: {err:?}");
        }

        Ok(())
    }
 }

 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 enum SortColumn {
    Node,
    Cpu,
    Memory,
 }

 struct App {
    node_stats: Vec<NodeStats>,
    table_state: TableState,
    sort_column: SortColumn,
    sort_ascending: bool,
 }

 #[derive(Debug, Clone)]
 struct NodeStats {
    #[allow(dead_code)]
    dataflow_id: Uuid,
    dataflow_name: String,
    node_id: NodeId,
    pid: Option<u32>,
    cpu_usage: f32,
    memory_mb: f64,
    disk_read_mb_s: Option<f64>,
    disk_write_mb_s: Option<f64>,
 }

 impl App {
    fn new() -> Self {
        let mut table_state = TableState::default();
        table_state.select(Some(0));
        Self {
            node_stats: Vec::new(),
            table_state,
            sort_column: SortColumn::Cpu,
            sort_ascending: false,
        }
    }

    fn next(&mut self) {
        if self.node_stats.is_empty() {
            return;
        }
        let i = match self.table_state.selected() {
            Some(i) => {
                if i >= self.node_stats.len() - 1 {
                    0
                } else {
                    i + 1
                }
            }
            None => 0,
        };
        self.table_state.select(Some(i));
    }

    fn previous(&mut self) {
        if self.node_stats.is_empty() {
            return;
        }
        let i = match self.table_state.selected() {
            Some(i) => {
                if i == 0 {
                    self.node_stats.len() - 1
                } else {
                    i - 1
                }
            }
            None => 0,
        };
        self.table_state.select(Some(i));
    }

    fn toggle_sort(&mut self, column: SortColumn) {
        if self.sort_column == column {
            self.sort_ascending = !self.sort_ascending;
        } else {
            self.sort_column = column;
            self.sort_ascending = false;
        }
        self.sort();
    }

    fn sort(&mut self) {
        match self.sort_column {
            SortColumn::Node => {
                self.node_stats.sort_by(|a, b| {
                    let cmp = a.node_id.as_ref().cmp(b.node_id.as_ref());
                    if self.sort_ascending {
                        cmp
                    } else {
                        cmp.reverse()
                    }
                });
            }
            SortColumn::Cpu => {
                self.node_stats.sort_by(|a, b| {
                    let cmp = a
                        .cpu_usage
                        .partial_cmp(&b.cpu_usage)
                        .unwrap_or(std::cmp::Ordering::Equal);
                    if self.sort_ascending {
                        cmp
                    } else {
                        cmp.reverse()
                    }
                });
            }
            SortColumn::Memory => {
                self.node_stats.sort_by(|a, b| {
                    let cmp = a
                        .memory_mb
                        .partial_cmp(&b.memory_mb)
                        .unwrap_or(std::cmp::Ordering::Equal);
                    if self.sort_ascending {
                        cmp
                    } else {
                        cmp.reverse()
                    }
                });
            }
        }
    }

    fn update_stats(&mut self, node_infos: Vec<NodeInfo>) {
        self.node_stats.clear();

        // Use daemon-provided metrics (works for distributed nodes!)
        for node_info in node_infos {
            let (pid, cpu_usage, memory_mb, disk_read_mb_s, disk_write_mb_s) =
                if let Some(metrics) = &node_info.metrics {
                    (
                        Some(metrics.pid),
                        metrics.cpu_usage,
                        metrics.memory_mb,
                        metrics.disk_read_mb_s,
                        metrics.disk_write_mb_s,
                    )
                } else {
                    (None, 0.0, 0.0, None, None)
                };

            self.node_stats.push(NodeStats {
                dataflow_id: node_info.dataflow_id,
                dataflow_name: node_info
                    .dataflow_name
                    .unwrap_or_else(|| "<unnamed>".to_string()),
                node_id: node_info.node_id,
                pid,
                cpu_usage,
                memory_mb,
                disk_read_mb_s,
                disk_write_mb_s,
            });
        }

        self.sort();
    }
 }

 fn run_app<B: Backend>(
    terminal: &mut Terminal<B>,
    coordinator_addr: std::net::IpAddr,
    coordinator_port: u16,
    refresh_duration: Duration,
 ) -> eyre::Result<()> {
    let mut app = App::new();
    let mut last_update = Instant::now();
    let mut node_infos: Vec<NodeInfo> = Vec::new();

    // Reuse coordinator connection
    let mut session = connect_to_coordinator((coordinator_addr, coordinator_port).into())
        .wrap_err("Failed to connect to coordinator")?;

    // Query node info once initially
    let request = ControlRequest::GetNodeInfo;
    let reply_raw = session
        .request(&serde_json::to_vec(&request).unwrap())
        .wrap_err("failed to send initial request to coordinator")?;

    let reply: ControlRequestReply =
        serde_json::from_slice(&reply_raw).wrap_err("failed to parse reply")?;

    node_infos = match reply {
        ControlRequestReply::NodeInfoList(infos) => infos,
        ControlRequestReply::Error(err) => {
            return Err(eyre!("coordinator error: {err}"));
        }
        _ => {
            return Err(eyre!("unexpected reply from coordinator"));
        }
    };

    loop {
        terminal.draw(|f| ui(f, &mut app, refresh_duration))?;

        let timeout = refresh_duration
            .checked_sub(last_update.elapsed())
            .unwrap_or(Duration::from_millis(100));

        if event::poll(timeout)? {
            if let Event::Key(key) = event::read()? {
                if key.kind == KeyEventKind::Press {
                    match key.code {
                        KeyCode::Char('q') | KeyCode::Esc => {
                            return Ok(());
                        }
                        KeyCode::Down | KeyCode::Char('j') => {
                            app.next();
                        }
                        KeyCode::Up | KeyCode::Char('k') => {
                            app.previous();
                        }
                        KeyCode::Char('n') => {
                            app.toggle_sort(SortColumn::Node);
                        }
                        KeyCode::Char('c') => {
                            app.toggle_sort(SortColumn::Cpu);
                        }
                        KeyCode::Char('m') => {
                            app.toggle_sort(SortColumn::Memory);
                        }
                        KeyCode::Char('r') => {
                            // Force refresh by resetting last_update
                            last_update = Instant::now()
                                .checked_sub(refresh_duration)
                                .unwrap_or(Instant::now());
                        }
                        _ => {}
                    }
                }
            }
        }

        // Update data if refresh interval has passed
        if last_update.elapsed() >= refresh_duration {
            // Query node info every refresh interval to get updated metrics
            let request = ControlRequest::GetNodeInfo;
            let reply_raw = session
                .request(&serde_json::to_vec(&request).unwrap())
                .wrap_err("failed to send request to coordinator")?;

            let reply: ControlRequestReply =
                serde_json::from_slice(&reply_raw).wrap_err("failed to parse reply")?;

            match reply {
                ControlRequestReply::NodeInfoList(infos) => {
                    node_infos = infos;
                }
                ControlRequestReply::Error(err) => {
                    return Err(eyre!("coordinator error: {err}"));
                }
                _ => {
                    return Err(eyre!("unexpected reply from coordinator"));
                }
            }

            // Update stats with current node info
            app.update_stats(node_infos.clone());
            last_update = Instant::now();
        }
    }
 }

 fn ui(f: &mut Frame, app: &mut App, refresh_duration: Duration) {
    let chunks = Layout::default()
        .constraints([Constraint::Min(0)])
        .split(f.area());

    let sort_indicator = |col: SortColumn| {
        if app.sort_column == col {
            if app.sort_ascending { " ▲" } else { " ▼" }
        } else {
            ""
        }
    };

    let header_strings = vec![
        format!("NODE{}", sort_indicator(SortColumn::Node)),
        "DATAFLOW".to_string(),
        "PID".to_string(),
        format!("CPU%{}", sort_indicator(SortColumn::Cpu)),
        format!("MEMORY (MB){}", sort_indicator(SortColumn::Memory)),
        "I/O READ (MB/s)".to_string(),
        "I/O WRITE (MB/s)".to_string(),
    ];

    let header_cells = header_strings.iter().map(|h| {
        Cell::from(h.as_str()).style(
            Style::default()
                .fg(Color::Yellow)
                .add_modifier(Modifier::BOLD),
        )
    });

    let header = Row::new(header_cells).height(1).bottom_margin(1);

    let rows = app.node_stats.iter().map(|stats| {
        let cells = vec![
            Cell::from(stats.node_id.as_ref()),
            Cell::from(stats.dataflow_name.as_str()),
            Cell::from(
                stats
                    .pid
                    .map(|p| p.to_string())
                    .unwrap_or_else(|| "N/A".to_string()),
            ),
            Cell::from(format!("{:.1}%", stats.cpu_usage)),
            Cell::from(format!("{:.1}", stats.memory_mb)),
            Cell::from(
                stats
                    .disk_read_mb_s
                    .map(|v| format!("{:.1}", v))
                    .unwrap_or_else(|| "N/A".to_string()),
            ),
            Cell::from(
                stats
                    .disk_write_mb_s
                    .map(|v| format!("{:.1}", v))
                    .unwrap_or_else(|| "N/A".to_string()),
            ),
        ];
        Row::new(cells).height(1)
    });

    let widths = [
        Constraint::Percentage(20),
        Constraint::Percentage(20),
        Constraint::Percentage(8),
        Constraint::Percentage(12),
        Constraint::Percentage(12),
        Constraint::Percentage(14),
        Constraint::Percentage(14),
    ];

    let title = format!(
        " Dora Inspect Top - Refreshing every {}s (q: quit, n/c/m: sort, r: refresh nodes) ",
        refresh_duration.as_secs()
    );

    let table = Table::new(rows, widths)
        .header(header)
        .block(Block::default().borders(Borders::ALL).title(title))
        .row_highlight_style(
            Style::default()
                .bg(Color::DarkGray)
                .add_modifier(Modifier::BOLD),
        )
        .highlight_symbol(">> ");

    f.render_stateful_widget(table, chunks[0], &mut app.table_state);
 }
--- a/binaries/cli/src/command/mod.rs
+++ b/binaries/cli/src/command/mod.rs
@@ -1,12 +1,15 @@
 mod build;
 mod check;
 mod completion;
 mod coordinator;
 mod daemon;
 mod destroy;
 mod graph;
 mod inspect;
 mod list;
 mod logs;
 mod new;
 mod node;
 mod run;
 mod runtime;
 mod self_;
@@ -20,14 +23,17 @@ pub use run::{run, run_func};

 use build::Build;
 use check::Check;
 use completion::Completion;
 use coordinator::Coordinator;
 use daemon::Daemon;
 use destroy::Destroy;
 use eyre::Context;
 use graph::Graph;
 use inspect::Inspect;
 use list::ListArgs;
 use logs::LogsArgs;
 use new::NewArgs;
 use node::Node;
 use run::Run;
 use runtime::Runtime;
 use self_::SelfSubCommand;
@@ -58,12 +64,17 @@ pub enum Command {
    // Stats,
    // Get,
    // Upgrade,
    #[clap(subcommand)]
    Inspect(Inspect),
    Daemon(Daemon),
    Runtime(Runtime),
    Coordinator(Coordinator),
    #[clap(subcommand)]
    Topic(Topic),
    #[clap(subcommand)]
    Node(Node),

    Completion(Completion),
    Self_ {
        #[clap(subcommand)]
        command: SelfSubCommand,
@@ -102,10 +113,13 @@ impl Executable for Command {
            Command::Stop(args) => args.execute(),
            Command::List(args) => args.execute(),
            Command::Logs(args) => args.execute(),
            Command::Inspect(args) => args.execute(),
            Command::Daemon(args) => args.execute(),
            Command::Self_ { command } => command.execute(),
            Command::Runtime(args) => args.execute(),
            Command::Topic(args) => args.execute(),
            Command::Node(args) => args.execute(),
            Command::Completion(args) => args.execute(),
        }
    }
 }
--- a/binaries/cli/src/command/node/list.rs
+++ b/binaries/cli/src/command/node/list.rs
@@ -0,0 +1,186 @@
 use std::io::Write;

 use clap::Args;
 use serde::Serialize;
 use tabwriter::TabWriter;
 use uuid::Uuid;

 use crate::{
    command::{Executable, default_tracing},
    common::CoordinatorOptions,
    formatting::OutputFormat,
 };
 use communication_layer_request_reply::TcpRequestReplyConnection;
 use dora_message::{
    cli_to_coordinator::ControlRequest,
    coordinator_to_cli::{ControlRequestReply, NodeInfo},
 };
 use eyre::{Context, bail};

 /// List all currently running nodes and their status.
 ///
 /// Examples:
 ///
 /// List all nodes:
 ///   dora node list
 ///
 /// List nodes in a specific dataflow:
 ///   dora node list --dataflow my-dataflow
 ///
 /// List nodes as JSON:
 ///   dora node list --format json
 #[derive(Debug, Args)]
 #[clap(verbatim_doc_comment)]
 pub struct List {
    /// Filter by dataflow name or UUID
    #[clap(long, short = 'd', value_name = "NAME_OR_UUID")]
    pub dataflow: Option<String>,

    /// Output format
    #[clap(long, value_name = "FORMAT", default_value_t = OutputFormat::Table)]
    pub format: OutputFormat,

    #[clap(flatten)]
    coordinator: CoordinatorOptions,
 }

 impl Executable for List {
    fn execute(self) -> eyre::Result<()> {
        default_tracing()?;

        let mut session = self.coordinator.connect()?;
        list(session.as_mut(), self.dataflow, self.format)
    }
 }

 #[derive(Serialize)]
 struct OutputEntry {
    node: String,
    status: String,
    pid: String,
    cpu: String,
    memory: String,
    #[serde(skip_serializing_if = "Option::is_none")]
    dataflow: Option<String>,
 }

 fn list(
    session: &mut TcpRequestReplyConnection,
    dataflow_filter: Option<String>,
    format: OutputFormat,
 ) -> eyre::Result<()> {
    // Request node information from coordinator
    let reply_raw = session
        .request(&serde_json::to_vec(&ControlRequest::GetNodeInfo).unwrap())
        .wrap_err("failed to send GetNodeInfo request")?;

    let reply: ControlRequestReply =
        serde_json::from_slice(&reply_raw).wrap_err("failed to parse reply")?;

    let node_infos = match reply {
        ControlRequestReply::NodeInfoList(infos) => infos,
        ControlRequestReply::Error(err) => bail!("{err}"),
        other => bail!("unexpected reply: {other:?}"),
    };

    // Filter by dataflow if specified
    let filtered_nodes: Vec<NodeInfo> = if let Some(ref filter) = dataflow_filter {
        // Try to parse as UUID first
        let filter_uuid = Uuid::parse_str(filter).ok();

        node_infos
            .into_iter()
            .filter(|node| {
                // Match by UUID or name
                if let Some(uuid) = filter_uuid {
                    node.dataflow_id == uuid
                } else {
                    node.dataflow_name.as_deref() == Some(filter)
                }
            })
            .collect()
    } else {
        node_infos
    };

    // Convert to output entries
    let entries: Vec<OutputEntry> = filtered_nodes
        .into_iter()
        .map(|node| {
            let (status, pid, cpu, memory) = if let Some(metrics) = node.metrics {
                (
                    "Running".to_string(),
                    metrics.pid.to_string(),
                    format!("{:.1}%", metrics.cpu_usage),
                    format!("{:.0} MB", metrics.memory_mb),
                )
            } else {
                // Node exists but no metrics available (might be starting or error state)
                (
                    "Unknown".to_string(),
                    "-".to_string(),
                    "-".to_string(),
                    "-".to_string(),
                )
            };

            OutputEntry {
                node: node.node_id.to_string(),
                status,
                pid,
                cpu,
                memory,
                dataflow: if dataflow_filter.is_none() {
                    Some(
                        node.dataflow_name
                            .unwrap_or_else(|| node.dataflow_id.to_string()),
                    )
                } else {
                    None
                },
            }
        })
        .collect();

    match format {
        OutputFormat::Table => {
            let mut tw = TabWriter::new(std::io::stdout().lock());

            // Write header
            if dataflow_filter.is_none() {
                tw.write_all(b"NODE\tSTATUS\tPID\tCPU\tMEMORY\tDATAFLOW\n")?;
            } else {
                tw.write_all(b"NODE\tSTATUS\tPID\tCPU\tMEMORY\n")?;
            }

            // Write entries
            for entry in entries {
                if let Some(ref dataflow) = entry.dataflow {
                    tw.write_all(
                        format!(
                            "{}\t{}\t{}\t{}\t{}\t{}\n",
                            entry.node, entry.status, entry.pid, entry.cpu, entry.memory, dataflow
                        )
                        .as_bytes(),
                    )?;
                } else {
                    tw.write_all(
                        format!(
                            "{}\t{}\t{}\t{}\t{}\n",
                            entry.node, entry.status, entry.pid, entry.cpu, entry.memory
                        )
                        .as_bytes(),
                    )?;
                }
            }
            tw.flush()?;
        }
        OutputFormat::Json => {
            for entry in entries {
                println!("{}", serde_json::to_string(&entry)?);
            }
        }
    }

    Ok(())
 }
--- a/binaries/cli/src/command/node/mod.rs
+++ b/binaries/cli/src/command/node/mod.rs
@@ -0,0 +1,19 @@
 use crate::command::Executable;

 mod list;

 pub use list::List;

 /// Manage and inspect dataflow nodes.
 #[derive(Debug, clap::Subcommand)]
 pub enum Node {
    List(List),
 }

 impl Executable for Node {
    fn execute(self) -> eyre::Result<()> {
        match self {
            Node::List(cmd) => cmd.execute(),
        }
    }
 }
--- a/binaries/cli/src/command/topic/hz.rs
+++ b/binaries/cli/src/command/topic/hz.rs
@@ -22,10 +22,11 @@ use crate::{
    common::CoordinatorOptions,
 };

 /// Measure topic publish frequency (Hz).
 /// Measure topic publish intervals.
 ///
 /// Subscribe to one or more outputs and display per-topic statistics (average,
 /// min, max, stddev) over a sliding window.
 /// Subscribe to one or more outputs and display per-topic interval statistics
 /// (average, min, max, stddev) over a sliding window. Average frequency (Hz)
 /// is derived from the average interval.
 ///
 /// If no `DATA` is provided, all outputs from the selected dataflow will be
 /// echoed.
@@ -117,46 +118,55 @@ impl HzStats {
        }
    }

    fn calculate(&self) -> Option<Stats> {
        let intervals = self
            .timestamps
    fn intervals_ms(&self) -> Vec<f64> {
        // Return inter-arrival times in milliseconds for the current window
        self.timestamps
            .lock()
            .unwrap()
            .iter()
            .tuple_windows()
            .filter_map(|(a, b)| {
                let interval = b.duration_since(*a).as_secs_f64();
                if interval > 0.0 {
                    Some(1.0 / interval)
                } else {
                    None
                }
                let dt = b.duration_since(*a).as_secs_f64() * 1000.0;
                if dt > 0.0 { Some(dt) } else { None }
            })
            .collect::<Vec<_>>();
            .collect()
    }

    fn calculate(&self) -> Option<Stats> {
        let intervals = self.intervals_ms();
        if intervals.is_empty() {
            return None;
        }

        let sum: f64 = intervals.iter().sum();
        let avg = sum / intervals.len() as f64;
        let avg_ms = sum / intervals.len() as f64;

        let min = intervals.iter().cloned().fold(f64::INFINITY, f64::min);
        let max = intervals.iter().cloned().fold(f64::NEG_INFINITY, f64::max);
        let min_ms = intervals.iter().cloned().fold(f64::INFINITY, f64::min);
        let max_ms = intervals.iter().cloned().fold(f64::NEG_INFINITY, f64::max);

        let variance =
            intervals.iter().map(|hz| (hz - avg).powi(2)).sum::<f64>() / intervals.len() as f64;
        let std = variance.sqrt();
            intervals.iter().map(|x| (x - avg_ms).powi(2)).sum::<f64>() / intervals.len() as f64;
        let std_ms = variance.sqrt();

        let avg_hz = if avg_ms > 0.0 { 1000.0 / avg_ms } else { 0.0 };

        Some(Stats { avg, min, max, std })
        Some(Stats {
            avg_ms,
            avg_hz,
            min_ms,
            max_ms,
            std_ms,
        })
    }
 }

 #[derive(Debug)]
 struct Stats {
    avg: f64,
    min: f64,
    max: f64,
    std: f64,
    avg_ms: f64,
    avg_hz: f64,
    min_ms: f64,
    max_ms: f64,
    std_ms: f64,
 }

 async fn run_hz(
@@ -166,31 +176,101 @@ async fn run_hz(
    outputs: BTreeSet<TopicIdentifier>,
    coordinator_addr: IpAddr,
 ) -> eyre::Result<()> {
    let stats = outputs
    // Add a synthetic aggregate entry ("<ALL>") that merges all outputs
    let mut topics_with_all = Vec::with_capacity(outputs.len() + 1);
    topics_with_all.push(TopicIdentifier {
        node_id: "<ALL>".to_string().into(),
        data_id: "*".to_string().into(),
    });
    topics_with_all.extend(outputs.into_iter());

    let stats = topics_with_all
        .iter()
        .map(|topic| (topic, Arc::new(HzStats::new(window))))
        .collect::<Vec<_>>();

    terminal.draw(|f| ui(f, &stats))?;
    let mut selected: usize = 0;
    // Ssub-window for instantaneous rate (Hz)
    let sub_window = Duration::from_millis(1000);
    // Keep a flowing sparkline per topic for recent rates
    let mut rate_series: Vec<VecDeque<u64>> = vec![VecDeque::with_capacity(240); stats.len()];
    // Start time to decide whether full window elapsed
    let start = Instant::now();

    terminal.draw(|f| {
        ui(
            f,
            &stats,
            selected,
            &rate_series,
            start,
            Duration::from_secs(window as u64),
        )
    })?;

    let zenoh_session = open_zenoh_session(Some(coordinator_addr))
        .await
        .context("failed to open zenoh session")?;

    // Spawn subscribers for each output
    for (topic, hz_stats) in &stats {
    // Aggregator is at index 0
    let all_stats = stats[0].1.clone();
    for (i, (topic, hz_stats)) in stats.iter().enumerate() {
        if i == 0 {
            continue;
        }
        let zenoh_session = zenoh_session.clone();
        let topic = (*topic).clone();
        let hz_stats = hz_stats.clone();
        let all_stats_cloned = all_stats.clone();
        tokio::spawn(async move {
            if let Err(e) = subscribe_output(zenoh_session, dataflow_id, &topic, hz_stats).await {
            if let Err(e) = subscribe_output(
                zenoh_session,
                dataflow_id,
                &topic,
                hz_stats,
                Some(all_stats_cloned),
            )
            .await
            {
                eprintln!("Error subscribing to {topic}: {e}");
            }
        });
    }

    loop {
        terminal.draw(|f| ui(f, &stats))?;
        // Update per-topic instantaneous rate and append to series
        let now = Instant::now();
        for (i, (_topic, s)) in stats.iter().enumerate() {
            // count messages within sub_window
            let cutoff = now - sub_window;
            let mut count = 0usize;
            let ts = s.timestamps.lock().unwrap();
            for &t in ts.iter().rev() {
                if t < cutoff {
                    break;
                }
                count += 1;
            }
            let hz = (count as f64) / sub_window.as_secs_f64();
            let v = hz.max(0.0).round() as u64;
            let buf = &mut rate_series[i];
            if buf.len() >= 240 {
                buf.pop_front();
            }
            buf.push_back(v);
        }

        terminal.draw(|f| {
            ui(
                f,
                &stats,
                selected,
                &rate_series,
                start,
                Duration::from_secs(window as u64),
            )
        })?;

        if crossterm::event::poll(Duration::from_millis(50))? {
            if let Event::Key(key) = crossterm::event::read()? {
@@ -200,6 +280,24 @@ async fn run_hz(
                {
                    break;
                }

                match key.code {
                    KeyCode::Up => {
                        if selected == 0 {
                            selected = stats.len().saturating_sub(1);
                        } else {
                            selected -= 1;
                        }
                    }
                    KeyCode::Down => {
                        if stats.is_empty() {
                            selected = 0;
                        } else {
                            selected = (selected + 1) % stats.len();
                        }
                    }
                    _ => {}
                }
            }
        }
    }
@@ -212,6 +310,7 @@ async fn subscribe_output(
    dataflow_id: Uuid,
    topic: &TopicIdentifier,
    hz_stats: Arc<HzStats>,
    aggregate: Option<Arc<HzStats>>,
 ) -> eyre::Result<()> {
    let subscribe_topic = zenoh_output_publish_topic(dataflow_id, &topic.node_id, &topic.data_id);
    let subscriber = zenoh_session
@@ -229,7 +328,11 @@ async fn subscribe_output(

        match event.inner {
            InterDaemonEvent::Output { .. } => {
                hz_stats.record(Instant::now());
                let now = Instant::now();
                hz_stats.record(now);
                if let Some(all) = &aggregate {
                    all.record(now);
                }
            }
            InterDaemonEvent::OutputClosed { .. } => {
                break;
@@ -240,34 +343,69 @@ async fn subscribe_output(
    Ok(())
 }

 fn ui(f: &mut Frame<'_>, stats: &[(&TopicIdentifier, Arc<HzStats>)]) {
    let header = Row::new(["Output", "Avg (Hz)", "Min (Hz)", "Max (Hz)", "Std (Hz)"])
        .style(Style::default().fg(Color::White).bg(Color::Blue).bold())
        .height(1);

    let rows = stats.iter().map(|(output_name, hz_stats)| {
        if let Some(stats) = hz_stats.calculate() {
            Row::new([
                output_name.to_string(),
                format!("{:.2}", stats.avg),
                format!("{:.2}", stats.min),
                format!("{:.2}", stats.max),
                format!("{:.2}", stats.std),
            ])
        } else {
            Row::new(
                iter::once(Cow::Owned(output_name.to_string()))
                    .chain(iter::repeat_n(Cow::Borrowed("-"), 4)),
            )
        }
        .height(1)
    });
 fn ui(
    f: &mut Frame<'_>,
    stats: &[(&TopicIdentifier, Arc<HzStats>)],
    selected: usize,
    rate_series: &[VecDeque<u64>],
    start: Instant,
    window_dur: Duration,
 ) {
    // Layout: table | charts | footer
    let chunks = Layout::default()
        .direction(Direction::Vertical)
        .constraints([
            Constraint::Percentage(55),
            Constraint::Percentage(44),
            Constraint::Length(1),
        ])
        .split(f.area());

    // Table header: interval stats in ms + derived avg Hz
    let header = Row::new([
        "Output", "Avg (ms)", "Avg (Hz)", "Min (ms)", "Max (ms)", "Std (ms)",
    ])
    .style(Style::default().fg(Color::White).bg(Color::Blue).bold())
    .height(1);

    let rows = stats
        .iter()
        .enumerate()
        .map(|(i, (output_name, hz_stats))| {
            if let Some(s) = hz_stats.calculate() {
                Row::new([
                    output_name.to_string(),
                    format!("{:.2}", s.avg_ms),
                    format!("{:.2}", s.avg_hz),
                    format!("{:.2}", s.min_ms),
                    format!("{:.2}", s.max_ms),
                    format!("{:.2}", s.std_ms),
                ])
                .style(if i == selected {
                    Style::default().fg(Color::Yellow)
                } else {
                    Style::default()
                })
            } else {
                Row::new(
                    iter::once(Cow::Owned(output_name.to_string()))
                        .chain(iter::repeat_n(Cow::Borrowed("-"), 5)),
                )
                .style(if i == selected {
                    Style::default().fg(Color::Yellow)
                } else {
                    Style::default()
                })
            }
            .height(1)
        });

    let table = Table::new(
        rows,
        [
            Constraint::Fill(1),
            Constraint::Length(12),
            Constraint::Length(10),
            Constraint::Length(12),
            Constraint::Length(12),
            Constraint::Length(12),
@@ -283,9 +421,126 @@ fn ui(f: &mut Frame<'_>, stats: &[(&TopicIdentifier, Arc<HzStats>)]) {

    f.render_widget(table, chunks[0]);

    // Charts area split horizontally
    let chart_chunks = Layout::default()
        .direction(Direction::Horizontal)
        .constraints([Constraint::Percentage(50), Constraint::Percentage(50)])
        .split(chunks[1]);

    // Draw charts for the selected topic if available
    if let Some((name, selected_stats)) = stats.get(selected) {
        // Prepare data
        let intervals = selected_stats.intervals_ms();
        let now = Instant::now();

        // Left: Rolling rate sparkline (Hz within sub-window)
        let mut series: Vec<u64> = rate_series
            .get(selected)
            .map(|d| d.iter().copied().collect())
            .unwrap_or_default();
        if series.is_empty() {
            // Show hint while not enough samples
            let info = Paragraph::new("Waiting for data...")
                .style(Style::default().fg(Color::Gray).italic())
                .block(
                    Block::default()
                        .title("Recent Rate (Hz)")
                        .borders(Borders::ALL),
                );
            f.render_widget(info, chart_chunks[0]);
        } else {
            // Fit series to available width
            let w = chart_chunks[0].width.saturating_sub(2) as usize; // borders
            if series.len() > w {
                series = series[series.len() - w..].to_vec();
            }
            let spark = Sparkline::default()
                .data(&series)
                .style(Style::default().fg(Color::Cyan))
                .block(
                    Block::default()
                        .title(format!("Recent Rate (Hz) — {}", name))
                        .borders(Borders::ALL),
                );
            f.render_widget(spark, chart_chunks[0]);
        }

        // Right: Histogram (s) using BarChart
        if intervals.is_empty() {
            let info = Paragraph::new("No samples for histogram")
                .style(Style::default().fg(Color::Gray).italic())
                .block(
                    Block::default()
                        .title("Histogram (ms)")
                        .borders(Borders::ALL),
                );
            f.render_widget(info, chart_chunks[1]);
        } else {
            let min = intervals.iter().cloned().fold(f64::INFINITY, f64::min);
            let max = intervals.iter().cloned().fold(f64::NEG_INFINITY, f64::max);
            let bins = 10usize
                .max((chart_chunks[1].width as usize).saturating_sub(8) / 4)
                .min(40);
            let span = (max - min).max(1e-9);
            let step = span / bins as f64;
            let mut counts = vec![0u64; bins];
            for &v in &intervals {
                let mut idx = ((v - min) / step).floor() as usize;
                if idx >= bins {
                    idx = bins - 1;
                }
                counts[idx] += 1;
            }

            let bars: Vec<Bar<'_>> = counts
                .iter()
                .enumerate()
                .map(|(i, &c)| {
                    let lo = min + i as f64 * step;
                    let hi = lo + step;
                    Bar::default()
                        .value(c)
                        .label(format!("{:.3}-{:.3}", lo, hi).into())
                        .style(Style::default().fg(Color::Green))
                })
                .collect();

            let group = BarGroup::default().bars(&bars);
            let barchart = BarChart::default()
                .block(
                    Block::default()
                        .title(format!("Histogram (ms) — min={:.2}, max={:.2}", min, max))
                        .borders(Borders::ALL),
                )
                .data(group)
                .bar_width(3)
                .bar_gap(1);
            f.render_widget(barchart, chart_chunks[1]);
        }

        // If full window time not elapsed since start, render hint
        if now.duration_since(start) + Duration::from_millis(1) < window_dur {
            let warn = Paragraph::new(format!(
                "Filling window: {:.0}/{:.0} ms",
                now.duration_since(start).as_secs_f64() * 1000.0,
                window_dur.as_secs_f64() * 1000.0
            ))
            .style(Style::default().fg(Color::Yellow))
            .alignment(Alignment::Center);
            f.render_widget(warn, chunks[1]);
        }
    } else {
        // Nothing selected or empty stats
        let info = Paragraph::new("No topics selected")
            .style(Style::default().fg(Color::Gray))
            .alignment(Alignment::Center)
            .block(Block::default().borders(Borders::ALL));
        f.render_widget(info, chunks[1]);
    }

    // Footer with key hints
    let footer = Paragraph::new("Exit: q | Ctrl-C | Esc")
    let footer = Paragraph::new("Up/Down: Select  |  Exit: q / Ctrl-C / Esc")
        .style(Style::default().fg(Color::Yellow))
        .alignment(Alignment::Center);
    f.render_widget(footer, chunks[1]);
    f.render_widget(footer, chunks[2]);
 }
--- a/binaries/coordinator/src/lib.rs
+++ b/binaries/coordinator/src/lib.rs
@@ -773,6 +773,43 @@ async fn start_inner(
                                },
                            ));
                        }
                        ControlRequest::GetNodeInfo => {
                            use dora_message::coordinator_to_cli::{NodeInfo, NodeMetricsInfo};

                            let mut node_infos = Vec::new();
                            for dataflow in running_dataflows.values() {
                                for (node_id, _node) in &dataflow.nodes {
                                    // Get the specific daemon this node is running on
                                    if let Some(daemon_id) = dataflow.node_to_daemon.get(node_id) {
                                        // Get metrics if available
                                        let metrics = dataflow.node_metrics.get(node_id).map(|m| {
                                            NodeMetricsInfo {
                                                pid: m.pid,
                                                cpu_usage: m.cpu_usage,
                                                // Use 1000 for MB (megabytes) instead of 1024 (mebibytes)
                                                memory_mb: m.memory_bytes as f64 / 1000.0 / 1000.0,
                                                disk_read_mb_s: m
                                                    .disk_read_bytes
                                                    .map(|b| b as f64 / 1000.0 / 1000.0),
                                                disk_write_mb_s: m
                                                    .disk_write_bytes
                                                    .map(|b| b as f64 / 1000.0 / 1000.0),
                                            }
                                        });

                                        node_infos.push(NodeInfo {
                                            dataflow_id: dataflow.uuid,
                                            dataflow_name: dataflow.name.clone(),
                                            node_id: node_id.clone(),
                                            daemon_id: daemon_id.clone(),
                                            metrics,
                                        });
                                    }
                                }
                            }
                            let _ = reply_sender
                                .send(Ok(ControlRequestReply::NodeInfoList(node_infos)));
                        }
                    }
                }
                ControlEvent::Error(err) => tracing::error!("{err:?}"),
@@ -885,6 +922,17 @@ async fn start_inner(
                tracing::info!("Daemon `{daemon_id}` exited");
                daemon_connections.remove(&daemon_id);
            }
            Event::NodeMetrics {
                dataflow_id,
                metrics,
            } => {
                // Store metrics for this dataflow
                if let Some(dataflow) = running_dataflows.get_mut(&dataflow_id) {
                    for (node_id, node_metrics) in metrics {
                        dataflow.node_metrics.insert(node_id, node_metrics);
                    }
                }
            }
            Event::DataflowBuildResult {
                build_id,
                daemon_id,
@@ -1063,6 +1111,10 @@ struct RunningDataflow {
    pending_daemons: BTreeSet<DaemonId>,
    exited_before_subscribe: Vec<NodeId>,
    nodes: BTreeMap<NodeId, ResolvedNode>,
    /// Maps each node to the daemon it's running on
    node_to_daemon: BTreeMap<NodeId, DaemonId>,
    /// Latest metrics for each node (from daemons)
    node_metrics: BTreeMap<NodeId, dora_message::daemon_to_coordinator::NodeMetrics>,

    spawn_result: CachedResult,
    stop_reply_senders: Vec<tokio::sync::oneshot::Sender<eyre::Result<ControlRequestReply>>>,
@@ -1454,6 +1506,7 @@ async fn start_dataflow(
        uuid,
        daemons,
        nodes,
        node_to_daemon,
    } = spawn_dataflow(
        build_id,
        session_id,
@@ -1477,6 +1530,8 @@ async fn start_dataflow(
        exited_before_subscribe: Default::default(),
        daemons: daemons.clone(),
        nodes,
        node_to_daemon,
        node_metrics: BTreeMap::new(),
        spawn_result: CachedResult::default(),
        stop_reply_senders: Vec::new(),
        buffered_log_messages: Vec::new(),
@@ -1566,6 +1621,10 @@ pub enum Event {
        daemon_id: DaemonId,
        result: eyre::Result<()>,
    },
    NodeMetrics {
        dataflow_id: uuid::Uuid,
        metrics: BTreeMap<NodeId, dora_message::daemon_to_coordinator::NodeMetrics>,
    },
 }

 impl Event {
@@ -1592,6 +1651,7 @@ impl Event {
            Event::DaemonExit { .. } => "DaemonExit",
            Event::DataflowBuildResult { .. } => "DataflowBuildResult",
            Event::DataflowSpawnResult { .. } => "DataflowSpawnResult",
            Event::NodeMetrics { .. } => "NodeMetrics",
        }
    }
 }
--- a/binaries/coordinator/src/listener.rs
+++ b/binaries/coordinator/src/listener.rs
@@ -42,14 +42,19 @@ pub async fn handle_connection(
                break;
            }
        };
        let message: Timestamped<CoordinatorRequest> =
            match serde_json::from_slice(&raw).wrap_err("failed to deserialize message") {
                Ok(e) => e,
                Err(err) => {
                    tracing::warn!("{err:?}");
                    continue;
                }
            };
        let message: Timestamped<CoordinatorRequest> = match serde_json::from_slice(&raw)
            .wrap_err_with(|| {
                format!(
                    "failed to deserialize message: {}",
                    String::from_utf8_lossy(&raw)
                )
            }) {
            Ok(e) => e,
            Err(err) => {
                tracing::warn!("{err:?}");
                continue;
            }
        };

        if let Err(err) = clock.update_with_timestamp(&message.timestamp) {
            tracing::warn!("failed to update coordinator clock: {err}");
@@ -112,6 +117,18 @@ pub async fn handle_connection(
                        break;
                    }
                }
                DaemonEvent::NodeMetrics {
                    dataflow_id,
                    metrics,
                } => {
                    let event = Event::NodeMetrics {
                        dataflow_id,
                        metrics,
                    };
                    if events_tx.send(event).await.is_err() {
                        break;
                    }
                }
                DaemonEvent::BuildResult { build_id, result } => {
                    let event = Event::DataflowBuildResult {
                        build_id,
--- a/binaries/coordinator/src/run/mod.rs
+++ b/binaries/coordinator/src/run/mod.rs
@@ -39,6 +39,8 @@ pub(super) async fn spawn_dataflow(
        .into_group_map_by(|n| n.deploy.as_ref().and_then(|d| d.machine.as_ref()));

    let mut daemons = BTreeSet::new();
    let mut node_to_daemon = BTreeMap::new();

    for (machine, nodes_on_machine) in &nodes_by_daemon {
        let spawn_nodes = nodes_on_machine.iter().map(|n| n.id.clone()).collect();
        tracing::debug!(
@@ -65,7 +67,12 @@ pub(super) async fn spawn_dataflow(
            spawn_dataflow_on_machine(daemon_connections, machine.map(|m| m.as_str()), &message)
                .await
                .wrap_err_with(|| format!("failed to spawn dataflow on machine `{machine:?}`"))?;
        daemons.insert(daemon_id);
        daemons.insert(daemon_id.clone());

        // Map each node on this machine to its daemon
        for node in nodes_on_machine {
            node_to_daemon.insert(node.id.clone(), daemon_id.clone());
        }
    }

    tracing::info!("successfully triggered dataflow spawn `{uuid}`",);
@@ -74,6 +81,7 @@ pub(super) async fn spawn_dataflow(
        uuid,
        daemons,
        nodes,
        node_to_daemon,
    })
 }

@@ -119,4 +127,5 @@ pub struct SpawnedDataflow {
    pub uuid: Uuid,
    pub daemons: BTreeSet<DaemonId>,
    pub nodes: BTreeMap<NodeId, ResolvedNode>,
    pub node_to_daemon: BTreeMap<NodeId, DaemonId>,
 }
--- a/binaries/daemon/Cargo.toml
+++ b/binaries/daemon/Cargo.toml
@@ -53,6 +53,7 @@ process-wrap = { version = "8.2.1", features = ["tokio1"] }
 memchr = "2.7.5"
 chrono = { version = "0.4", features = ["serde"] }
 shellexpand = "3.1.1"
 sysinfo = "0.36.1"
 clonable-command = "0.2.0"

 [target.'cfg(windows)'.dependencies]
--- a/binaries/daemon/src/lib.rs
+++ b/binaries/daemon/src/lib.rs
@@ -52,7 +52,7 @@ use std::{
    pin::pin,
    sync::{
        Arc,
        atomic::{self, AtomicBool},
        atomic::{self, AtomicBool, AtomicU32},
    },
    time::{Duration, Instant},
 };
@@ -117,6 +117,8 @@ pub struct Daemon {
    sessions: BTreeMap<SessionId, BuildId>,
    builds: BTreeMap<BuildId, BuildInfo>,
    git_manager: GitManager,
    /// System instance for metrics collection (reused across calls)
    metrics_system: sysinfo::System,
 }

 type DaemonRunResult = BTreeMap<Uuid, BTreeMap<NodeId, Result<(), NodeError>>>;
@@ -357,6 +359,7 @@ impl Daemon {
            git_manager: Default::default(),
            builds,
            sessions: Default::default(),
            metrics_system: sysinfo::System::new(),
        };

        let dora_events = ReceiverStream::new(dora_events_rx);
@@ -368,7 +371,23 @@ impl Daemon {
            inner: Event::HeartbeatInterval,
            timestamp: watchdog_clock.new_timestamp(),
        });
        let events = (external_events, dora_events, watchdog_interval).merge();

        let metrics_clock = daemon.clock.clone();
        let metrics_interval = tokio_stream::wrappers::IntervalStream::new(tokio::time::interval(
            Duration::from_secs(2), // Collect metrics every 2 seconds
        ))
        .map(|_| Timestamped {
            inner: Event::MetricsInterval,
            timestamp: metrics_clock.new_timestamp(),
        });

        let events = (
            external_events,
            dora_events,
            watchdog_interval,
            metrics_interval,
        )
            .merge();
        daemon.run_inner(events).await
    }

@@ -426,6 +445,9 @@ impl Daemon {
                        }
                    }
                }
                Event::MetricsInterval => {
                    self.collect_and_send_metrics().await?;
                }
                Event::CtrlC => {
                    tracing::info!("received ctrlc signal -> stopping all dataflows");
                    for dataflow in self.running.values_mut() {
@@ -864,6 +886,99 @@ impl Daemon {
        Ok(status)
    }

    async fn collect_and_send_metrics(&mut self) -> eyre::Result<()> {
        use dora_message::daemon_to_coordinator::NodeMetrics;
        use sysinfo::{Pid, ProcessRefreshKind, ProcessesToUpdate};

        if self.coordinator_connection.is_none() {
            return Ok(());
        }

        // Reuse system instance for metrics collection
        let system = &mut self.metrics_system;

        // Metrics are collected every 2 seconds (metrics_interval)
        const METRICS_INTERVAL_SECS: f64 = 2.0;

        // Collect metrics for all running dataflows
        for (dataflow_id, dataflow) in &self.running {
            let mut metrics = BTreeMap::new();

            // Collect all PIDs for this dataflow
            let pids: Vec<Pid> = dataflow
                .running_nodes
                .values()
                .filter_map(|node| {
                    node.pid
                        .as_ref()
                        .map(|pid| Pid::from_u32(pid.load(atomic::Ordering::Acquire)))
                })
                .collect();

            if !pids.is_empty() {
                // Refresh process metrics (cpu, memory, disk)
                let refresh_kind = ProcessRefreshKind::nothing()
                    .with_cpu()
                    .with_memory()
                    .with_disk_usage();
                system.refresh_processes_specifics(
                    ProcessesToUpdate::Some(&pids),
                    true,
                    refresh_kind,
                );

                // Collect metrics for each node
                for (node_id, running_node) in &dataflow.running_nodes {
                    if let Some(pid) = running_node.pid.as_ref() {
                        let pid = pid.load(atomic::Ordering::Acquire);
                        let sys_pid = Pid::from_u32(pid);
                        if let Some(process) = system.process(sys_pid) {
                            let disk_usage = process.disk_usage();
                            // Divide by metrics_interval to get per-second averages
                            metrics.insert(
                                node_id.clone(),
                                NodeMetrics {
                                    pid,
                                    cpu_usage: process.cpu_usage(),
                                    memory_bytes: process.memory(),
                                    disk_read_bytes: Some(
                                        (disk_usage.read_bytes as f64 / METRICS_INTERVAL_SECS)
                                            as u64,
                                    ),
                                    disk_write_bytes: Some(
                                        (disk_usage.written_bytes as f64 / METRICS_INTERVAL_SECS)
                                            as u64,
                                    ),
                                },
                            );
                        }
                    }
                }
            }

            // Send metrics to coordinator if we have any
            if !metrics.is_empty() {
                if let Some(connection) = &mut self.coordinator_connection {
                    let msg = serde_json::to_vec(&Timestamped {
                        inner: CoordinatorRequest::Event {
                            daemon_id: self.daemon_id.clone(),
                            event: DaemonEvent::NodeMetrics {
                                dataflow_id: *dataflow_id,
                                metrics,
                            },
                        },
                        timestamp: self.clock.new_timestamp(),
                    })?;
                    socket_stream_send(connection, &msg)
                        .await
                        .wrap_err("failed to send metrics to coordinator")?;
                }
            }
        }

        Ok(())
    }

    async fn handle_inter_daemon_event(&mut self, event: InterDaemonEvent) -> eyre::Result<()> {
        match event {
            InterDaemonEvent::Output {
@@ -2418,6 +2533,7 @@ fn close_input(
 pub struct RunningNode {
    process: Option<ProcessHandle>,
    node_config: NodeConfig,
    pid: Option<Arc<AtomicU32>>,
    restart_policy: RestartPolicy,
    /// Don't restart the node even if the restart policy says so.
    ///
@@ -2787,6 +2903,7 @@ pub enum Event {
    Dora(DoraEvent),
    DynamicNode(DynamicNodeEventWrapper),
    HeartbeatInterval,
    MetricsInterval,
    CtrlC,
    SecondCtrlC,
    DaemonError(eyre::Report),
@@ -2826,6 +2943,7 @@ impl Event {
            Event::Dora(_) => "Dora",
            Event::DynamicNode(_) => "DynamicNode",
            Event::HeartbeatInterval => "HeartbeatInterval",
            Event::MetricsInterval => "MetricsInterval",
            Event::CtrlC => "CtrlC",
            Event::SecondCtrlC => "SecondCtrlC",
            Event::DaemonError(_) => "DaemonError",
--- a/binaries/daemon/src/spawn/prepared.rs
+++ b/binaries/daemon/src/spawn/prepared.rs
@@ -29,7 +29,7 @@ use std::{
    path::{Path, PathBuf},
    sync::{
        Arc,
        atomic::{self, AtomicBool},
        atomic::{self, AtomicBool, AtomicU32},
    },
 };
 use tokio::{
@@ -69,17 +69,25 @@ impl PreparedNode {
            .await?;

        let disable_restart = Arc::new(AtomicBool::new(false));
        let pid = Arc::new(AtomicU32::new(0));
        let running_node = RunningNode {
            process: match kind {
            process: match &kind {
                NodeKind::Dynamic => None,
                NodeKind::Spawned => Some(crate::ProcessHandle::new(op_tx)),
                NodeKind::Spawned { .. } => Some(crate::ProcessHandle::new(op_tx)),
            },
            node_config: self.node_config.clone(),
            restart_policy: self.restart_policy(),
            disable_restart: disable_restart.clone(),
            pid: match kind {
                NodeKind::Dynamic => None,
                NodeKind::Spawned { pid: new_pid } => {
                    pid.store(new_pid, atomic::Ordering::Release);
                    Some(pid.clone())
                }
            },
        };

        tokio::spawn(self.restart_loop(logger, finished_rx, disable_restart));
        tokio::spawn(self.restart_loop(logger, finished_rx, disable_restart, pid));

        Ok(running_node)
    }
@@ -96,6 +104,7 @@ impl PreparedNode {
        mut logger: NodeLogger<'static>,
        mut finished_rx: oneshot::Receiver<NodeProcessFinished>,
        disable_restart: Arc<AtomicBool>,
        pid: Arc<AtomicU32>,
    ) {
        loop {
            let Ok(NodeProcessFinished { exit_status, op_rx }) = finished_rx.await else {
@@ -151,8 +160,9 @@ impl PreparedNode {
                    .spawn_inner(&mut logger, op_rx, finished_tx)
                    .await;
                match result {
                    Ok(NodeKind::Spawned) => {
                    Ok(NodeKind::Spawned { pid: new_pid }) => {
                        finished_rx = finished_rx_new;
                        pid.store(new_pid, atomic::Ordering::Release);
                    }
                    Ok(NodeKind::Dynamic) => {
                        logger
@@ -512,14 +522,14 @@ impl PreparedNode {
                )
            });
        });
        Ok(NodeKind::Spawned)
        Ok(NodeKind::Spawned { pid })
    }
 }

 #[must_use]
 enum NodeKind {
    Dynamic,
    Spawned,
    Spawned { pid: u32 },
 }

 struct NodeProcessFinished {
--- a/examples/python-concurrent-rw/dataflow.yml
+++ b/examples/python-concurrent-rw/dataflow.yml
@@ -0,0 +1,14 @@
 nodes:
  - id: node1
    path: ./receive_data.py
    inputs:
      data: node2/data
    outputs:
      - data

  - id: node2
    path: ./receive_data.py
    inputs:
      data: node1/data
    outputs:
      - data
--- a/examples/python-concurrent-rw/pyproject.toml
+++ b/examples/python-concurrent-rw/pyproject.toml
@@ -0,0 +1,11 @@
 [project]
 name = "dora-test"
 version = "0.1.0"
 description = "Add your description here"
 readme = "README.md"
 requires-python = ">=3.12"
 dependencies = [
    "asyncio>=4.0.0",
    "dora-rs-cli>=0.3.13",
    "numpy>=2.3.5",
 ]
--- a/examples/python-concurrent-rw/receive_data.py
+++ b/examples/python-concurrent-rw/receive_data.py
@@ -0,0 +1,47 @@
 from dora import Node

 import logging
 import threading
 import time

 import numpy as np
 import pyarrow as pa


 def read_data_task(node, log):
    """Task that reads incoming events."""
    while (event := node.next()) is not None:
        if event["type"] == "INPUT":
            print(f"info {event['value'].to_numpy()}")
        del event
    log.log(logging.INFO, "read_data_task done!")


 def publish_task(node, log):
    """Task that publishes to a topic."""
    while True:
        time.sleep(1)  # Publish every 1s
        now = time.perf_counter_ns()
        node.send_output("data", pa.array([np.uint64(now)]))


 def main():
    node = Node()
    log = logging.getLogger(__name__)
    
    # Create thread for read task
    read_thread = threading.Thread(target=read_data_task, args=(node, log))
    read_thread.start()
    
    # Run publish task in a daemon thread (so it doesn't block main thread)
    publish_thread = threading.Thread(target=publish_task, args=(node, log), daemon=True)
    publish_thread.start()
    
    # Wait for read thread to complete
    read_thread.join()
    
    log.log(logging.INFO, "done!")


 if __name__ == "__main__":
    main()
--- a/examples/python-drain/receive_data.py
+++ b/examples/python-drain/receive_data.py
@@ -9,9 +9,10 @@ def main():
    drained_data = node.drain()
    print("drained: ", drained_data)
    for _ in range(100):
        _event = node.next()
        # print(event)
        # del event
        try:
            _event = node.try_recv()
        except Exception as e:
            print("Error receiving event:", e)
    print("done!")


--- a/examples/python-operator-dataflow/README.md
+++ b/examples/python-operator-dataflow/README.md
@@ -21,7 +21,7 @@ cargo run --example python-operator-dataflow

 ```bash
 conda create -n example_env python=3.11
 conda activate test_env
 conda activate example_env
 pip install -r requirements.txt
 pip install -r requirements_llm.txt
 ```
--- a/examples/python-ros2-dataflow/run.rs
+++ b/examples/python-ros2-dataflow/run.rs
@@ -1,15 +0,0 @@
 use dora_cli::{build, run as dora_run};
 use eyre::WrapErr;
 use std::path::Path;

 fn main() -> eyre::Result<()> {
    let root = Path::new(env!("CARGO_MANIFEST_DIR"));
    std::env::set_current_dir(root.join(file!()).parent().unwrap())
        .wrap_err("failed to set working dir")?;

    build("dataflow.yml".to_string(), None, None, true, true)?;

    dora_run("dataflow.yml".to_string(), true)?;

    Ok(())
 }
--- a/examples/ros2-bridge/c++/turtle/.gitignore
+++ b/examples/ros2-bridge/c++/turtle/.gitignore
--- a/examples/ros2-bridge/c++/turtle/README.md
+++ b/examples/ros2-bridge/c++/turtle/README.md
--- a/examples/ros2-bridge/c++/turtle/dataflow.yml
+++ b/examples/ros2-bridge/c++/turtle/dataflow.yml
--- a/examples/ros2-bridge/c++/turtle/node-rust-api/main.cc
+++ b/examples/ros2-bridge/c++/turtle/node-rust-api/main.cc
@@ -72,6 +72,11 @@ int main()
                example_interfaces::AddTwoInts_Request request = {.a = 4, .b = 5};
                add_two_ints->send_request(request);
            }
            else if (ty == DoraEventType::Stop)
            {
                std::cout << "Received stop event" << std::endl;
                break;
            }
            else
            {
                std::cerr << "Unknown event type " << static_cast<int>(ty) << std::endl;
--- a/examples/ros2-bridge/c++/turtle/run.rs
+++ b/examples/ros2-bridge/c++/turtle/run.rs
@@ -1,6 +1,10 @@
 use eyre::{Context, bail};
 use std::{env::consts::EXE_SUFFIX, path::Path};

 use process_wrap::std::{
    ProcessGroup, StdChildWrapper as ChildWrapper, StdCommandWrap as CommandWrap,
 };

 fn main() -> eyre::Result<()> {
    if cfg!(windows) {
        tracing::error!(
@@ -9,7 +13,7 @@ fn main() -> eyre::Result<()> {
        return Ok(());
    }

    let root = Path::new(env!("CARGO_MANIFEST_DIR"));
    let root = Path::new(env!("CARGO_MANIFEST_DIR")).join("../../../");
    let target = root.join("target");
    std::env::set_current_dir(root.join(file!()).parent().unwrap())
        .wrap_err("failed to set working dir")?;
@@ -17,14 +21,14 @@ fn main() -> eyre::Result<()> {
    std::fs::create_dir_all("build")?;
    let build_dir = Path::new("build");

    build_package("dora-node-api-cxx", &["ros2-bridge"]);
    build_package("dora-node-api-cxx", &["ros2-bridge"])?;
    let node_cxxbridge = target
        .join("cxxbridge")
        .join("dora-node-api-cxx")
        .join("install");

    build_cxx_node(
        root,
        &root,
        &[
            &dunce::canonicalize(Path::new("node-rust-api").join("main.cc"))?,
            &dunce::canonicalize(node_cxxbridge.join("dora-node-api.cc"))?,
@@ -44,13 +48,36 @@ fn main() -> eyre::Result<()> {
            "-l",
            "dora_node_api_cxx",
        ],
    );
    )?;

    let dataflow_task = std::thread::spawn(|| {
        dora_cli::run("dataflow.yml".to_string(), false).unwrap();
    });

    let mut add_service_task = run_ros_node("examples_rclcpp_minimal_service", "service_main")?;
    let mut turtle_task = run_ros_node("turtlesim", "turtlesim_node")?;

    dora_cli::run("dataflow.yml".to_string(), false)?;
    dataflow_task
        .join()
        .map_err(|_| eyre::eyre!("Failed to run dataflow"))?;

    add_service_task.kill()?;
    turtle_task.kill()?;

    Ok(())
 }

 fn run_ros_node(package: &str, node: &str) -> eyre::Result<Box<dyn ChildWrapper>> {
    let mut command = CommandWrap::with_new("ros2", |cmd| {
        cmd.arg("run");
        cmd.arg(package).arg(node);
    });
    command.wrap(ProcessGroup::leader());
    command
        .spawn()
        .map_err(|e| eyre::eyre!("failed to spawn ros node: {}", e))
 }

 fn build_package(package: &str, features: &[&str]) -> eyre::Result<()> {
    let cargo = std::env::var("CARGO").unwrap();
    let mut cmd = std::process::Command::new(&cargo);
--- a/examples/ros2-bridge/python/turtle/README.md
+++ b/examples/ros2-bridge/python/turtle/README.md
@@ -3,16 +3,14 @@
 To get started:

 ```bash
 source /opt/ros/humble/setup.bash && ros2 run turtlesim turtlesim_node &
 source /opt/ros/humble/setup.bash && ros2 run examples_rclcpp_minimal_service service_main &
 source /opt/ros/humble/setup.bash && ros2 run turtlesim turtlesim_node
 cargo run --example python-ros2-dataflow --features="ros2-examples"
 ```

 - alternatively:

 ```bash
 source /opt/ros/humble/setup.bash && ros2 run turtlesim turtlesim_node &
 source /opt/ros/humble/setup.bash && ros2 run examples_rclcpp_minimal_service service_main &
 source /opt/ros/humble/setup.bash && ros2 run turtlesim turtlesim_node

 # cd examples/python-ros2-dataflow
 uv pip install -e ../.../apis/python/node --reinstall
--- a/examples/ros2-bridge/python/turtle/control_node.py
+++ b/examples/ros2-bridge/python/turtle/control_node.py
--- a/examples/ros2-bridge/python/turtle/dataflow.yml
+++ b/examples/ros2-bridge/python/turtle/dataflow.yml
--- a/examples/ros2-bridge/python/turtle/random_turtle.py
+++ b/examples/ros2-bridge/python/turtle/random_turtle.py
--- a/examples/ros2-bridge/python/turtle/run.rs
+++ b/examples/ros2-bridge/python/turtle/run.rs
@@ -0,0 +1,41 @@
 use dora_cli::{build, run as dora_run};
 use eyre::WrapErr;
 use std::path::Path;

 use process_wrap::std::{
    ProcessGroup, StdChildWrapper as ChildWrapper, StdCommandWrap as CommandWrap,
 };

 fn main() -> eyre::Result<()> {
    let root = Path::new(env!("CARGO_MANIFEST_DIR")).join("../../../");
    std::env::set_current_dir(root.join(file!()).parent().unwrap())
        .wrap_err("failed to set working dir")?;

    build("dataflow.yml".to_string(), None, None, true, true)?;

    let dataflow_task = std::thread::spawn(|| {
        dora_run("dataflow.yml".to_string(), true).unwrap();
    });

    // let mut add_service_task = run_ros_node("examples_rclcpp_minimal_service", "service_main")?;
    let mut turtle_task = run_ros_node("turtlesim", "turtlesim_node")?;

    dataflow_task
        .join()
        .map_err(|_| eyre::eyre!("Failed to run dataflow"))?;

    // add_service_task.kill()?;
    turtle_task.kill()?;
    Ok(())
 }

 fn run_ros_node(package: &str, node: &str) -> eyre::Result<Box<dyn ChildWrapper>> {
    let mut command = CommandWrap::with_new("ros2", |cmd| {
        cmd.arg("run");
        cmd.arg(package).arg(node);
    });
    command.wrap(ProcessGroup::leader());
    command
        .spawn()
        .map_err(|e| eyre::eyre!("failed to spawn ros node: {}", e))
 }
--- a/examples/ros2-bridge/rust/rust-ros2-example-node/Cargo.toml
+++ b/examples/ros2-bridge/rust/rust-ros2-example-node/Cargo.toml
@@ -1,5 +1,5 @@
 [package]
 name = "rust-ros2-dataflow-example-node"
 name = "rust-ros2-example-node"
 version.workspace = true
 edition.workspace = true
 rust-version.workspace = true
@@ -12,7 +12,28 @@ publish = false
 ros2 = []

 [[bin]]
 name = "rust-ros2-dataflow-example-node"
 name = "rust-ros2-example-node-turtle"
 path = "src/turtle.rs"
 required-features = ["ros2"]

 [[bin]]
 name = "rust-ros2-example-node-topic-sub"
 path = "src/topic_sub.rs"
 required-features = ["ros2"]

 [[bin]]
 name = "rust-ros2-example-node-topic-pub"
 path = "src/topic_pub.rs"
 required-features = ["ros2"]

 [[bin]]
 name = "rust-ros2-example-node-service-client"
 path = "src/service_client.rs"
 required-features = ["ros2"]

 [[bin]]
 name = "rust-ros2-example-node-service-server"
 path = "src/service_server.rs"
 required-features = ["ros2"]

 [dependencies]
--- a/examples/ros2-bridge/rust/rust-ros2-example-node/src/service_client.rs
+++ b/examples/ros2-bridge/rust/rust-ros2-example-node/src/service_client.rs
@@ -0,0 +1,125 @@
 use std::time::Duration;

 use dora_node_api::{self, DoraNode, Event};
 use dora_ros2_bridge::{
    messages::example_interfaces::service::{AddTwoInts, AddTwoIntsRequest},
    ros2_client::{self, NodeOptions},
    rustdds::{self, policy},
 };
 use eyre::{Context, eyre};
 use futures::task::SpawnExt;

 fn main() -> eyre::Result<()> {
    let mut ros_node = init_ros_node()?;

    // spawn a background spinner task that is handles service discovery (and other things)
    let pool = futures::executor::ThreadPool::new()?;
    let spinner = ros_node
        .spinner()
        .map_err(|e| eyre::eyre!("failed to create spinner: {e:?}"))?;
    pool.spawn(async {
        if let Err(err) = spinner.spin().await {
            eprintln!("ros2 spinner failed: {err:?}");
        }
    })
    .context("failed to spawn ros2 spinner")?;

    let client = create_service_client(&mut ros_node)?; // should be after the spiner started
    let (_node, mut dora_events) = DoraNode::init_from_env()?;

    for i in 0..20 {
        let event = match dora_events.recv() {
            Some(input) => input,
            None => break,
        };

        match event {
            Event::Input {
                id,
                metadata: _,
                data: _,
            } => match id.as_str() {
                "tick" => {
                    let a = rand::random();
                    let b = rand::random();
                    let request = AddTwoIntsRequest { a, b };

                    println!("tick {i}, sending {request:?}");
                    let req_id = client.send_request(request)?;

                    futures::executor::block_on(async {
                        let response = client
                            .async_receive_response(req_id)
                            .await
                            .expect("failed to receive response");
                        println!("tick {i}, received {response:?}");
                    });
                }
                other => eprintln!("Ignoring unexpected input `{other}`"),
            },
            Event::Stop(_) => {
                println!("Received stop");
                break;
            }
            other => eprintln!("Received unexpected input: {other:?}"),
        }
    }

    Ok(())
 }

 fn init_ros_node() -> eyre::Result<ros2_client::Node> {
    let ros_context = ros2_client::Context::new().unwrap();

    ros_context
        .new_node(
            ros2_client::NodeName::new("/", "ros2_dora_service_client")
                .map_err(|e| eyre!("failed to create ROS2 node name: {e}"))?,
            NodeOptions::new().enable_rosout(true),
        )
        .map_err(|e| eyre::eyre!("failed to create ros2 node: {e:?}"))
 }

 fn create_service_client(
    ros_node: &mut ros2_client::Node,
 ) -> eyre::Result<ros2_client::Client<AddTwoInts>> {
    // create an example service client
    let service_qos = {
        rustdds::QosPolicyBuilder::new()
            .reliability(policy::Reliability::Reliable {
                max_blocking_time: rustdds::Duration::from_millis(100),
            })
            .history(policy::History::KeepLast { depth: 1 })
            .build()
    };
    let add_client = ros_node
        .create_client::<AddTwoInts>(
            ros2_client::ServiceMapping::Enhanced,
            &ros2_client::Name::new("/", "add_two_ints").unwrap(),
            &ros2_client::ServiceTypeName::new("example_interfaces", "AddTwoInts"),
            service_qos.clone(),
            service_qos.clone(),
        )
        .map_err(|e| eyre::eyre!("failed to create service client: {e:?}"))?;

    println!("wait for add_two_ints service");
    let service_ready = async {
        for _ in 0..10 {
            let ready = add_client.wait_for_service(&ros_node);
            futures::pin_mut!(ready);
            let timeout = futures_timer::Delay::new(Duration::from_secs(2));
            match futures::future::select(ready, timeout).await {
                futures::future::Either::Left(((), _)) => {
                    println!("add_two_ints service is ready");
                    return Ok(());
                }
                futures::future::Either::Right(_) => {
                    println!("timeout while waiting for add_two_ints service, retrying");
                }
            }
        }
        eyre::bail!("add_two_ints service not available");
    };
    futures::executor::block_on(service_ready)?;
    Ok(add_client)
 }
--- a/examples/ros2-bridge/rust/rust-ros2-example-node/src/service_server.rs
+++ b/examples/ros2-bridge/rust/rust-ros2-example-node/src/service_server.rs
@@ -0,0 +1,106 @@
 use dora_node_api::{
    self, DoraNode, Event,
    merged::{MergeExternal, MergedEvent},
 };
 use dora_ros2_bridge::{
    messages::example_interfaces::service::{AddTwoInts, AddTwoIntsResponse},
    ros2_client::{self, NodeOptions},
    rustdds::{self, policy},
 };
 use eyre::{Context, eyre};
 use futures::task::SpawnExt;

 fn main() -> eyre::Result<()> {
    let mut ros_node = init_ros_node()?;

    // spawn a background spinner task that is handles service discovery (and other things)
    let pool = futures::executor::ThreadPool::new()?;
    let spinner = ros_node
        .spinner()
        .map_err(|e| eyre::eyre!("failed to create spinner: {e:?}"))?;
    pool.spawn(async {
        if let Err(err) = spinner.spin().await {
            eprintln!("ros2 spinner failed: {err:?}");
        }
    })
    .context("failed to spawn ros2 spinner")?;

    let server = create_service_server(&mut ros_node)?; // should be after the spiner started
    let (_node, dora_events) = DoraNode::init_from_env()?;
    let merged_events = dora_events.merge_external(server.receive_request_stream());

    let mut events = futures::executor::block_on_stream(merged_events);

    let mut counter = 0;
    loop {
        let event = match events.next() {
            Some(input) => input,
            None => break,
        };

        match event {
            MergedEvent::Dora(Event::Input {
                id,
                metadata: _,
                data: _,
            }) => match id.as_str() {
                "tick" => {}
                other => eprintln!("Ignoring unexpected input `{other}`"),
            },
            MergedEvent::Dora(Event::Stop(_)) => {
                println!("Received stop");
                break;
            }
            MergedEvent::External(Ok((req_id, req))) => {
                println!("request: {} + {}", req.a, req.b);
                let resp = AddTwoIntsResponse { sum: req.a + req.b };
                futures::executor::block_on(server.async_send_response(req_id, resp))?;
                counter += 1;
                if counter > 3 {
                    // only 3 times, because the service discovery is slow.
                    break;
                }
            }
            other => eprintln!("Received unexpected input: {other:?}"),
        }
    }

    Ok(())
 }

 fn init_ros_node() -> eyre::Result<ros2_client::Node> {
    let ros_context = ros2_client::Context::new().unwrap();

    ros_context
        .new_node(
            ros2_client::NodeName::new("/", "ros2_dora_service_client")
                .map_err(|e| eyre!("failed to create ROS2 node name: {e}"))?,
            NodeOptions::new().enable_rosout(true),
        )
        .map_err(|e| eyre::eyre!("failed to create ros2 node: {e:?}"))
 }

 fn create_service_server(
    ros_node: &mut ros2_client::Node,
 ) -> eyre::Result<ros2_client::Server<AddTwoInts>> {
    // create an example service client
    let service_qos = {
        rustdds::QosPolicyBuilder::new()
            .reliability(policy::Reliability::Reliable {
                max_blocking_time: rustdds::Duration::from_millis(100),
            })
            .history(policy::History::KeepLast { depth: 1 })
            .build()
    };
    let add_server = ros_node
        .create_server::<AddTwoInts>(
            ros2_client::ServiceMapping::Enhanced,
            &ros2_client::Name::new("/", "add_two_ints").unwrap(),
            &ros2_client::ServiceTypeName::new("example_interfaces", "AddTwoInts"),
            service_qos.clone(),
            service_qos.clone(),
        )
        .map_err(|e| eyre::eyre!("failed to create service client: {e:?}"))?;

    Ok(add_server)
 }
--- a/examples/ros2-bridge/rust/rust-ros2-example-node/src/topic_pub.rs
+++ b/examples/ros2-bridge/rust/rust-ros2-example-node/src/topic_pub.rs
@@ -0,0 +1,104 @@
 use dora_node_api::{self, DoraNode, Event};
 use dora_ros2_bridge::{
    messages::std_msgs::msg::String as Ros2String,
    ros2_client::{self, NodeOptions, ros2},
    rustdds::{self, policy},
 };
 use eyre::{Context, eyre};
 use futures::task::SpawnExt;

 fn main() -> eyre::Result<()> {
    let mut ros_node = init_ros_node()?;
    let publisher = create_publisher(&mut ros_node)?;

    // spawn a background spinner task that is handles service discovery (and other things)
    let pool = futures::executor::ThreadPool::new()?;
    let spinner = ros_node
        .spinner()
        .map_err(|e| eyre::eyre!("failed to create spinner: {e:?}"))?;
    pool.spawn(async {
        if let Err(err) = spinner.spin().await {
            eprintln!("ros2 spinner failed: {err:?}");
        }
    })
    .context("failed to spawn ros2 spinner")?;

    let (_node, dora_events) = DoraNode::init_from_env()?;

    let mut events = futures::executor::block_on_stream(dora_events);

    for i in 0..20 {
        let event = match events.next() {
            Some(input) => input,
            None => break,
        };

        match event {
            Event::Input {
                id,
                metadata: _,
                data: _,
            } => match id.as_str() {
                "tick" => {
                    let msg = Ros2String {
                        data: format!("The {i} hello from Dora"),
                    };
                    println!("tick {i}, sending {msg:?}");
                    publisher.publish(msg).unwrap();
                }
                other => eprintln!("Ignoring unexpected input `{other}`"),
            },
            Event::Stop(_) => {
                println!("Received stop");
                break;
            }
            other => eprintln!("Received unexpected input: {other:?}"),
        }
    }

    Ok(())
 }

 fn init_ros_node() -> eyre::Result<ros2_client::Node> {
    let ros_context = ros2_client::Context::new().unwrap();

    ros_context
        .new_node(
            ros2_client::NodeName::new("/", "ros2_dora_pub")
                .map_err(|e| eyre!("failed to create ROS2 node name: {e}"))?,
            NodeOptions::new().enable_rosout(true),
        )
        .map_err(|e| eyre::eyre!("failed to create ros2 node: {e:?}"))
 }

 fn create_publisher(
    ros_node: &mut ros2_client::Node,
 ) -> eyre::Result<ros2_client::Publisher<Ros2String>> {
    let topic_qos: rustdds::QosPolicies = {
        rustdds::QosPolicyBuilder::new()
            .durability(policy::Durability::Volatile)
            .liveliness(policy::Liveliness::Automatic {
                lease_duration: ros2::Duration::INFINITE,
            })
            .reliability(policy::Reliability::Reliable {
                max_blocking_time: ros2::Duration::from_millis(100),
            })
            .history(policy::History::KeepLast { depth: 1 })
            .build()
    };

    let topic = ros_node
        .create_topic(
            &ros2_client::Name::new("/", "topic")
                .map_err(|e| eyre!("failed to create ROS2 name: {e}"))?,
            ros2_client::MessageTypeName::new("std_msgs", "String"),
            &topic_qos,
        )
        .context("failed to create topic")?;

    // The point here is to publish Twist for the turtle
    let publisher = ros_node
        .create_publisher::<Ros2String>(&topic, None)
        .context("failed to create publisher")?;
    Ok(publisher)
 }
--- a/examples/ros2-bridge/rust/rust-ros2-example-node/src/topic_sub.rs
+++ b/examples/ros2-bridge/rust/rust-ros2-example-node/src/topic_sub.rs
@@ -0,0 +1,91 @@
 use dora_node_api::{
    self, DoraNode, Event,
    merged::{MergeExternal, MergedEvent},
 };
 use dora_ros2_bridge::{
    messages::std_msgs::msg::String as Ros2String,
    ros2_client::{self, NodeOptions},
 };
 use eyre::{Context, eyre};
 use futures::task::SpawnExt;

 fn main() -> eyre::Result<()> {
    let mut ros_node = init_ros_node()?;
    let subscriber = create_subscriber(&mut ros_node)?;

    // spawn a background spinner task that is handles service discovery (and other things)
    let pool = futures::executor::ThreadPool::new()?;
    let spinner = ros_node
        .spinner()
        .map_err(|e| eyre::eyre!("failed to create spinner: {e:?}"))?;
    pool.spawn(async {
        if let Err(err) = spinner.spin().await {
            eprintln!("ros2 spinner failed: {err:?}");
        }
    })
    .context("failed to spawn ros2 spinner")?;

    let (_node, dora_events) = DoraNode::init_from_env()?;

    let merged_events = dora_events.merge_external(Box::pin(subscriber.async_stream()));
    let mut events = futures::executor::block_on_stream(merged_events);

    let mut count = 0usize;
    while let Some(event) = events.next() {
        match event {
            MergedEvent::Dora(event) => match event {
                Event::Input {
                    id,
                    metadata: _,
                    data: _,
                } => match id.as_str() {
                    "tick" => {}
                    other => eprintln!("Ignoring unexpected input `{other}`"),
                },
                Event::Stop(_) => {
                    println!("Received stop");
                    break;
                }
                other => eprintln!("Received unexpected input: {other:?}"),
            },
            MergedEvent::External(recv) => {
                println!("received external event: {:?}", recv);
                count += 1;
                if count > 20 {
                    break;
                }
            }
        }
    }

    Ok(())
 }

 fn init_ros_node() -> eyre::Result<ros2_client::Node> {
    let ros_context = ros2_client::Context::new().unwrap();

    ros_context
        .new_node(
            ros2_client::NodeName::new("/", "ros2_dora_sub")
                .map_err(|e| eyre!("failed to create ROS2 node name: {e}"))?,
            NodeOptions::new().enable_rosout(true),
        )
        .map_err(|e| eyre::eyre!("failed to create ros2 node: {e:?}"))
 }

 fn create_subscriber(
    ros_node: &mut ros2_client::Node,
 ) -> eyre::Result<ros2_client::Subscription<Ros2String>> {
    let topic = ros_node
        .create_topic(
            &ros2_client::Name::new("/", "topic")
                .map_err(|e| eyre!("failed to create ROS2 name: {e}"))?,
            ros2_client::MessageTypeName::new("std_msgs", "String"),
            &Default::default(),
        )
        .context("failed to create topic")?;
    let subscriber = ros_node
        .create_subscription::<Ros2String>(&topic, None)
        .context("failed to create subscription")?;
    Ok(subscriber)
 }
--- a/examples/ros2-bridge/rust/rust-ros2-example-node/src/turtle.rs
+++ b/examples/ros2-bridge/rust/rust-ros2-example-node/src/turtle.rs
@@ -79,7 +79,7 @@ fn main() -> eyre::Result<()> {
    let merged = dora_events.merge_external(Box::pin(turtle_pose_reader.async_stream()));
    let mut events = futures::executor::block_on_stream(merged);

    for i in 0..1000 {
    for i in 0..600 {
        let event = match events.next() {
            Some(input) => input,
            None => break,
@@ -118,7 +118,10 @@ fn main() -> eyre::Result<()> {
                    }
                    other => eprintln!("Ignoring unexpected input `{other}`"),
                },
                Event::Stop(_) => println!("Received stop"),
                Event::Stop(_) => {
                    println!("Received stop");
                    break;
                }
                other => eprintln!("Received unexpected input: {other:?}"),
            },
            MergedEvent::External(pose) => {
--- a/examples/ros2-bridge/rust/service-client/dataflow.yml
+++ b/examples/ros2-bridge/rust/service-client/dataflow.yml
@@ -0,0 +1,7 @@
 nodes:
    - id: rust-node
      build: cargo build -p rust-ros2-example-node --bin rust-ros2-example-node-service-client --features ros2
      path: ../../../../target/debug/rust-ros2-example-node-service-client
      inputs:
          tick: dora/timer/millis/500
      outputs:
--- a/examples/ros2-bridge/rust/service-client/run.rs
+++ b/examples/ros2-bridge/rust/service-client/run.rs
@@ -0,0 +1,39 @@
 use dora_cli::{build, run};
 use eyre::Context;
 use std::path::Path;

 use process_wrap::std::{
    ProcessGroup, StdChildWrapper as ChildWrapper, StdCommandWrap as CommandWrap,
 };

 fn main() -> eyre::Result<()> {
    let root = Path::new(env!("CARGO_MANIFEST_DIR"));
    std::env::set_current_dir(root.join("../../../").join(file!()).parent().unwrap())
        .wrap_err("failed to set working dir")?;

    build("dataflow.yml".to_string(), None, None, false, true)?;

    let dataflow_task = std::thread::spawn(|| {
        run("dataflow.yml".to_string(), false).unwrap();
    });

    let mut service_task = run_ros_node("examples_rclcpp_minimal_service", "service_main")?;

    dataflow_task
        .join()
        .map_err(|_| eyre::eyre!("Failed to run dataflow"))?;

    service_task.kill()?;
    Ok(())
 }

 fn run_ros_node(package: &str, node: &str) -> eyre::Result<Box<dyn ChildWrapper>> {
    let mut command = CommandWrap::with_new("ros2", |cmd| {
        cmd.arg("run");
        cmd.arg(package).arg(node);
    });
    command.wrap(ProcessGroup::leader());
    command
        .spawn()
        .map_err(|e| eyre::eyre!("failed to spawn ros node: {}", e))
 }
--- a/examples/ros2-bridge/rust/service-server/dataflow.yml
+++ b/examples/ros2-bridge/rust/service-server/dataflow.yml
@@ -0,0 +1,7 @@
 nodes:
    - id: rust-node
      build: cargo build -p rust-ros2-example-node --bin rust-ros2-example-node-service-server --features ros2
      path: ../../../../target/debug/rust-ros2-example-node-service-server
      inputs:
          tick: dora/timer/millis/500
      outputs:
--- a/examples/ros2-bridge/rust/service-server/run.rs
+++ b/examples/ros2-bridge/rust/service-server/run.rs
@@ -0,0 +1,63 @@
 use dora_cli::{build, run};
 use eyre::Context;
 use std::pin::Pin;
 use std::{path::Path, sync::mpsc};
 use tokio;

 use process_wrap::tokio::{
    ProcessGroup, TokioChildWrapper as ChildWrapper, TokioCommandWrap as CommandWrap,
 };

 fn main() -> eyre::Result<()> {
    let root = Path::new(env!("CARGO_MANIFEST_DIR"));
    std::env::set_current_dir(root.join("../../../").join(file!()).parent().unwrap())
        .wrap_err("failed to set working dir")?;

    build("dataflow.yml".to_string(), None, None, false, true)?;

    let (finish_tx, finish_rx) = mpsc::channel();
    let dataflow_task = std::thread::spawn(move || {
        run("dataflow.yml".to_string(), false).unwrap();
        finish_tx.send(());
    });

    let rt = tokio::runtime::Runtime::new()?;
    let (finish_async_tx, mut finish_async_rx) = tokio::sync::mpsc::channel(1);
    // the task for converting std::sync::mpsc to tokio::sync::mpsc
    rt.spawn(async move {
        finish_rx.recv();
        finish_async_tx.send(()).await;
    });

    // Each client_main only sends one request, and the server node will terminate after 3 times requirement
    rt.block_on(async move {
        let mut client_task = run_ros_node("examples_rclcpp_minimal_client", "client_main")?;
        loop {
            tokio::select! {
                _ = finish_async_rx.recv() => {
                    break;
                },
                ret = Box::into_pin(client_task.wait()) => {
                    client_task = run_ros_node("examples_rclcpp_minimal_client", "client_main")?;
                }
            }
        }
        Box::into_pin(client_task.kill()).await?;
        Ok::<(), eyre::Report>(())
    })?;

    // The dataflow_task does no need to be join() here, because the finish signal have been sent

    Ok(())
 }

 fn run_ros_node(package: &str, node: &str) -> eyre::Result<Box<dyn ChildWrapper>> {
    let mut command = CommandWrap::with_new("ros2", |cmd| {
        cmd.arg("run");
        cmd.arg(package).arg(node);
    });
    command.wrap(ProcessGroup::leader());
    command
        .spawn()
        .map_err(|e| eyre::eyre!("failed to spawn ros node: {}", e))
 }
--- a/examples/ros2-bridge/rust/topic-pub/dataflow.yml
+++ b/examples/ros2-bridge/rust/topic-pub/dataflow.yml
@@ -0,0 +1,7 @@
 nodes:
    - id: rust-node
      build: cargo build -p rust-ros2-example-node --bin rust-ros2-example-node-topic-pub --features ros2
      path: ../../../../target/debug/rust-ros2-example-node-topic-pub
      inputs:
          tick: dora/timer/millis/500
      outputs:
--- a/examples/ros2-bridge/rust/topic-pub/run.rs
+++ b/examples/ros2-bridge/rust/topic-pub/run.rs
@@ -0,0 +1,39 @@
 use dora_cli::{build, run};
 use eyre::Context;
 use std::path::Path;

 use process_wrap::std::{
    ProcessGroup, StdChildWrapper as ChildWrapper, StdCommandWrap as CommandWrap,
 };

 fn main() -> eyre::Result<()> {
    let root = Path::new(env!("CARGO_MANIFEST_DIR"));
    std::env::set_current_dir(root.join("../../../").join(file!()).parent().unwrap())
        .wrap_err("failed to set working dir")?;

    build("dataflow.yml".to_string(), None, None, false, true)?;

    let dataflow_task = std::thread::spawn(|| {
        run("dataflow.yml".to_string(), false).unwrap();
    });

    let mut sub_task = run_ros_node("examples_rclcpp_minimal_subscriber", "subscriber_lambda")?;

    dataflow_task
        .join()
        .map_err(|_| eyre::eyre!("Failed to run dataflow"))?;

    sub_task.kill()?;
    Ok(())
 }

 fn run_ros_node(package: &str, node: &str) -> eyre::Result<Box<dyn ChildWrapper>> {
    let mut command = CommandWrap::with_new("ros2", |cmd| {
        cmd.arg("run");
        cmd.arg(package).arg(node);
    });
    command.wrap(ProcessGroup::leader());
    command
        .spawn()
        .map_err(|e| eyre::eyre!("failed to spawn ros node: {}", e))
 }
--- a/examples/ros2-bridge/rust/topic-sub/dataflow.yml
+++ b/examples/ros2-bridge/rust/topic-sub/dataflow.yml
@@ -0,0 +1,7 @@
 nodes:
    - id: rust-node
      build: cargo build -p rust-ros2-example-node --bin rust-ros2-example-node-topic-sub --features ros2
      path: ../../../../target/debug/rust-ros2-example-node-topic-sub
      inputs:
          tick: dora/timer/millis/500
      outputs:
--- a/examples/ros2-bridge/rust/topic-sub/run.rs
+++ b/examples/ros2-bridge/rust/topic-sub/run.rs
@@ -0,0 +1,39 @@
 use dora_cli::{build, run};
 use eyre::Context;
 use std::path::Path;

 use process_wrap::std::{
    ProcessGroup, StdChildWrapper as ChildWrapper, StdCommandWrap as CommandWrap,
 };

 fn main() -> eyre::Result<()> {
    let root = Path::new(env!("CARGO_MANIFEST_DIR"));
    std::env::set_current_dir(root.join("../../../").join(file!()).parent().unwrap())
        .wrap_err("failed to set working dir")?;

    build("dataflow.yml".to_string(), None, None, false, true)?;

    let dataflow_task = std::thread::spawn(|| {
        run("dataflow.yml".to_string(), false).unwrap();
    });

    let mut pub_task = run_ros_node("examples_rclcpp_minimal_publisher", "publisher_lambda")?;

    dataflow_task
        .join()
        .map_err(|_| eyre::eyre!("Failed to run dataflow"))?;

    pub_task.kill()?;
    Ok(())
 }

 fn run_ros_node(package: &str, node: &str) -> eyre::Result<Box<dyn ChildWrapper>> {
    let mut command = CommandWrap::with_new("ros2", |cmd| {
        cmd.arg("run");
        cmd.arg(package).arg(node);
    });
    command.wrap(ProcessGroup::leader());
    command
        .spawn()
        .map_err(|e| eyre::eyre!("failed to spawn ros node: {}", e))
 }
--- a/examples/ros2-bridge/rust/turtle/README.md
+++ b/examples/ros2-bridge/rust/turtle/README.md
--- a/examples/ros2-bridge/rust/turtle/dataflow.yml
+++ b/examples/ros2-bridge/rust/turtle/dataflow.yml
@@ -0,0 +1,9 @@
 nodes:
    - id: rust-node
      build: cargo build -p rust-ros2-example-node --bin rust-ros2-example-node-turtle --features ros2
      path: ../../../../target/debug/rust-ros2-example-node-turtle
      inputs:
          tick: dora/timer/millis/500
          service_timer: dora/timer/secs/1
      outputs:
          - pose
--- a/examples/ros2-bridge/rust/turtle/run.rs
+++ b/examples/ros2-bridge/rust/turtle/run.rs
@@ -0,0 +1,41 @@
 use dora_cli::{build, run};
 use eyre::Context;
 use std::path::Path;

 use process_wrap::std::{
    ProcessGroup, StdChildWrapper as ChildWrapper, StdCommandWrap as CommandWrap,
 };

 fn main() -> eyre::Result<()> {
    let root = Path::new(env!("CARGO_MANIFEST_DIR"));
    std::env::set_current_dir(root.join("../../../").join(file!()).parent().unwrap())
        .wrap_err("failed to set working dir")?;

    build("dataflow.yml".to_string(), None, None, false, true)?;

    let dataflow_task = std::thread::spawn(|| {
        run("dataflow.yml".to_string(), false).unwrap();
    });

    let mut add_service_task = run_ros_node("examples_rclcpp_minimal_service", "service_main")?;
    let mut turtle_task = run_ros_node("turtlesim", "turtlesim_node")?;

    dataflow_task
        .join()
        .map_err(|_| eyre::eyre!("Failed to run dataflow"))?;

    add_service_task.kill()?;
    turtle_task.kill()?;
    Ok(())
 }

 fn run_ros_node(package: &str, node: &str) -> eyre::Result<Box<dyn ChildWrapper>> {
    let mut command = CommandWrap::with_new("ros2", |cmd| {
        cmd.arg("run");
        cmd.arg(package).arg(node);
    });
    command.wrap(ProcessGroup::leader());
    command
        .spawn()
        .map_err(|e| eyre::eyre!("failed to spawn ros node: {}", e))
 }
--- a/examples/rust-ros2-dataflow/dataflow.yml
+++ b/examples/rust-ros2-dataflow/dataflow.yml
@@ -1,9 +0,0 @@
 nodes:
  - id: rust-node
    build: cargo build -p rust-ros2-dataflow-example-node --features ros2
    path: ../../target/debug/rust-ros2-dataflow-example-node
    inputs:
      tick: dora/timer/millis/500
      service_timer: dora/timer/secs/1
    outputs:
      - pose
--- a/examples/rust-ros2-dataflow/run.rs
+++ b/examples/rust-ros2-dataflow/run.rs
@@ -1,15 +0,0 @@
 use dora_cli::{build, run};
 use eyre::Context;
 use std::path::Path;

 fn main() -> eyre::Result<()> {
    let root = Path::new(env!("CARGO_MANIFEST_DIR"));
    std::env::set_current_dir(root.join(file!()).parent().unwrap())
        .wrap_err("failed to set working dir")?;

    build("dataflow.yml".to_string(), None, None, false, true)?;

    run("dataflow.yml".to_string(), false)?;

    Ok(())
 }
--- a/libraries/extensions/ros2-bridge/Cargo.toml
+++ b/libraries/extensions/ros2-bridge/Cargo.toml
@@ -34,11 +34,49 @@ futures = { version = "0.3.21", features = ["thread-pool"] }
 futures-timer = "3.0.3"

 [dev-dependencies]
 dora-cli = { workspace = true }
 dunce = "1.0.2"
 rand = "0.8.5"
 futures = { version = "0.3.28", default-features = false }
 process-wrap = { version = "8.2.1", features = ["std", "tokio1"] }

 [build-dependencies]
 dora-ros2-bridge-msg-gen = { workspace = true, optional = true }
 rust-format = { version = "0.3.4", features = [
    "pretty_please",
 ], optional = true }

 [[example]]
 name = "rust-ros2-dataflow"
 path = "../../../examples/ros2-bridge/rust/turtle/run.rs"
 required-features = ["ros2-examples"]

 [[example]]
 name = "rust-ros2-dataflow-topic-sub"
 path = "../../../examples/ros2-bridge/rust/topic-sub/run.rs"
 required-features = ["ros2-examples"]

 [[example]]
 name = "rust-ros2-dataflow-topic-pub"
 path = "../../../examples/ros2-bridge/rust/topic-pub/run.rs"
 required-features = ["ros2-examples"]

 [[example]]
 name = "rust-ros2-dataflow-service-client"
 path = "../../../examples/ros2-bridge/rust/service-client/run.rs"
 required-features = ["ros2-examples"]

 [[example]]
 name = "rust-ros2-dataflow-service-server"
 path = "../../../examples/ros2-bridge/rust/service-server/run.rs"
 required-features = ["ros2-examples"]

 [[example]]
 name = "python-ros2-dataflow"
 path = "../../../examples/ros2-bridge/python/turtle/run.rs"
 required-features = ["ros2-examples"]

 [[example]]
 name = "cxx-ros2-dataflow"
 path = "../../../examples/ros2-bridge/c++/turtle/run.rs"
 required-features = ["ros2-examples"]
--- a/libraries/message/src/cli_to_coordinator.rs
+++ b/libraries/message/src/cli_to_coordinator.rs
@@ -90,4 +90,5 @@ pub enum ControlRequest {
        level: log::LevelFilter,
    },
    CliAndDefaultDaemonOnSameMachine,
    GetNodeInfo,
 }
--- a/libraries/message/src/common.rs
+++ b/libraries/message/src/common.rs
@@ -94,32 +94,13 @@ impl From<LogMessageHelper> for LogMessage {
    }
 }

 impl<'de> Deserialize<'de> for LogLevelOrStdout {
    fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
    where
        D: Deserializer<'de>,
    {
        let s = String::deserialize(deserializer)?;

        match s.to_lowercase().as_str() {
            "stdout" => Ok(LogLevelOrStdout::Stdout),
            "trace" => Ok(LogLevelOrStdout::LogLevel(LogLevel::Trace)),
            "debug" => Ok(LogLevelOrStdout::LogLevel(LogLevel::Debug)),
            "info" => Ok(LogLevelOrStdout::LogLevel(LogLevel::Info)),
            "warn" | "warning" => Ok(LogLevelOrStdout::LogLevel(LogLevel::Warn)),
            "error" => Ok(LogLevelOrStdout::LogLevel(LogLevel::Error)),
            _ => Err(serde::de::Error::custom(format!(
                "invalid log level or stdout: '{}'. Expected one of: trace, debug, info, warn, error, stdout",
                s
            ))),
        }
    }
 }

 #[derive(Debug, Clone, serde::Serialize, PartialEq, Eq, PartialOrd, Ord)]
 #[derive(Debug, Clone, serde::Serialize, serde::Deserialize, PartialEq, Eq, PartialOrd, Ord)]
 #[serde(rename_all = "UPPERCASE")]
 pub enum LogLevelOrStdout {
    LogLevel(LogLevel),
    #[serde(rename = "stdout")]
    Stdout,
    #[serde(untagged)]
    LogLevel(LogLevel),
 }

 impl From<LogLevel> for LogLevelOrStdout {
--- a/libraries/message/src/coordinator_to_cli.rs
+++ b/libraries/message/src/coordinator_to_cli.rs
@@ -46,6 +46,31 @@ pub enum ControlRequestReply {
        default_daemon: Option<IpAddr>,
        cli: Option<IpAddr>,
    },
    NodeInfoList(Vec<NodeInfo>),
 }

 #[derive(Debug, Clone, serde::Deserialize, serde::Serialize)]
 pub struct NodeInfo {
    pub dataflow_id: Uuid,
    pub dataflow_name: Option<String>,
    pub node_id: NodeId,
    pub daemon_id: DaemonId,
    pub metrics: Option<NodeMetricsInfo>,
 }

 /// Resource metrics for a node (from daemon)
 #[derive(Debug, Clone, serde::Deserialize, serde::Serialize)]
 pub struct NodeMetricsInfo {
    /// Process ID
    pub pid: u32,
    /// CPU usage percentage (0-100 per core)
    pub cpu_usage: f32,
    /// Memory usage in megabytes
    pub memory_mb: f64,
    /// Disk read MB/s (if available)
    pub disk_read_mb_s: Option<f64>,
    /// Disk write MB/s (if available)
    pub disk_write_mb_s: Option<f64>,
 }

 #[derive(Debug, Clone, serde::Deserialize, serde::Serialize)]
--- a/libraries/message/src/daemon_to_coordinator.rs
+++ b/libraries/message/src/daemon_to_coordinator.rs
@@ -67,6 +67,25 @@ pub enum DaemonEvent {
    Heartbeat,
    Log(LogMessage),
    Exit,
    NodeMetrics {
        dataflow_id: DataflowId,
        metrics: BTreeMap<NodeId, NodeMetrics>,
    },
 }

 /// Resource metrics for a node process
 #[derive(Debug, Clone, serde::Serialize, serde::Deserialize)]
 pub struct NodeMetrics {
    /// Process ID
    pub pid: u32,
    /// CPU usage percentage (0-100 per core)
    pub cpu_usage: f32,
    /// Memory usage in bytes
    pub memory_bytes: u64,
    /// Disk read bytes per second (if available)
    pub disk_read_bytes: Option<u64>,
    /// Disk write bytes per second (if available)
    pub disk_write_bytes: Option<u64>,
 }

 #[derive(Debug, Clone, serde::Deserialize, serde::Serialize)]
Author	SHA1	Message	Date
Philipp Oppermann	95d6c27f8f	Use atomic to store and update pid	5 hours ago
Philipp Oppermann	796f51496c	Merge branch 'main' into restart-failed-nodes	5 hours ago
github-actions[bot]	b00b4adee5	chore: Update Cargo.lock (#1263 ) Co-authored-by: Dora Bot <dora-bot@phil-opp.com>	8 hours ago
Pratyksh Gupta	3b49a44d1e	feat: implement dora node list command with metrics and filtering (#1202 ) (#1262 )	9 hours ago
Haixuan Xavier Tao	e5a11b1892	Fix serialization of `LogLevelOrStdout` to match deserialization (#1258 ) In `40de6a27fd (diff-9503d86f1f775fbb8657d29e9e692c96d5227828367fdd3e05ca08fb6becb28fR89-R111)` , the derived `Deserialize` implementation was replaced with a custom one, which doesn't match the `Serialize` implementation. This led to deserialization errors when sending log messages from the daemon to the coordinator. This commit fixes the issue by removing the enum tagging for the `LogLevel` variant, thereby matching the `Deserialize` implementation again. Serialization before: ```json "level": { "LogLevel": "INFO" } ``` Serialization after: ```json "level": "INFO" ```	3 days ago
Pratyksh Gupta	24c2f3a742	fix: update macOS runner from macos-13/macos-14 to macos-15 (#1256 ) fix: update macOS runner from macos-13/macos-14 to macos-15 to resolve deprecation warnings Use pinned version macos-15 instead of macos-latest to avoid breaking CI with unintentional updates.	4 days ago
Pratyksh Gupta	e7f295984e	feat: implement dora inspect top command for real-time node resource monitoring (#1251 ) * feat: implement dora inspect top command for real-time node resource monitoring (#1210) * fix: address review comments for inspect top command * Implement daemon-side metrics collection for distributed node monitoring * fix: address review feedback for dora inspect top command * Fixed the formatting error * fix: address review feedback for dora inspect top command * fix the formatting issues	4 days ago
Philipp Oppermann	a6805c1f54	Remove custom `Deserialize` implementation for `LogLevelOrStdout` To avoid similar errors in the future. By deriving the traits, we can be sure that the `Serialize` and `Deserialize` impls are always compatible. Note that the `Deserialize` impl for `LogLevel` [1] is calling the `FromStr` implementation [2], which ignores case. So deserializing 'INFO', 'info', and 'InFO' will all still work. The `stdout` variant needs to match exactly, but this is a custom extension of ours, so we can ensure to use lowercase everywhere. [1]: https://docs.rs/log/latest/src/log/serde.rs.html#61 [2]: https://docs.rs/log/latest/src/log/lib.rs.html#517-525	4 days ago
Philipp Oppermann	e93604e342	Print message on failed deserialization	4 days ago
Philipp Oppermann	a53024bd6a	Fix serialization of `LogLevelOrStdout` to match deserialization In `40de6a27fd (diff-9503d86f1f775fbb8657d29e9e692c96d5227828367fdd3e05ca08fb6becb28fR89-R111)` , the derived `Deserialize` implementation was replaced with a custom one, which doesn't match the `Serialize` implementation. This led to deserialization errors when sending log messages from the daemon to the coordinator. This commit fixes the issue by removing the enum tagging for the `LogLevel` variant, thereby matching the `Deserialize` implementation again. Serialization before: ```json "level": { "LogLevel": "INFO" } ``` Serialization after: ```json "level": "INFO" ```	4 days ago
Nitish	cec84bb0fc	Fix environment activation command in README (#1257 ) Fixed README.md by making environment name consistent	5 days ago
github-actions[bot]	158204a8f8	chore: Update Cargo.lock (#1254 ) Co-authored-by: Dora Bot <dora-bot@phil-opp.com> Co-authored-by: Philipp Oppermann <dev@phil-opp.com>	6 days ago
Philipp Oppermann	c77b3f42b5	Update to `macos-14` in `cross-check` CI job (#1255 )	6 days ago
sjfhsjfh	8a7830ca1f	Fix topic statistcs (#1247 ) feat: add sparkline chart	1 week ago
Philipp Oppermann	abc00082ba	chore: Update Cargo.lock (#1246 ) Automated weekly update of Cargo.lock via `cargo update`. cc @phil-opp	1 week ago
Dora Bot	41d187decd	chore: Update Cargo.lock	2 weeks ago
Haixuan Xavier Tao	ddb64e81c2	Python node event mutex (#1244 ) Allows concurrent read/write access through a node (to address https://github.com/dora-rs/dora/issues/748). "Already borrowed" seems to happen when there are concurrent calls to read/write functions because both currently require an exclusive `Node` ref. 1. Updates `DelayedCleanup.get_mut` and callers to use `&self` instead of `&mut self`. 2. Adds a mutex to `Events.inner` so callers can use `&self` instead of `&mut self`. 3. Adds an example dataflow that fails on main (with the "Already borrowed" error) but works with this change	2 weeks ago
Oliver Ortlieb	896516089e	chore: rustfmt	2 weeks ago
Oliver Ortlieb	aa9db52b13	chore: use Arc<Mutex>	2 weeks ago
Oliver Ortlieb	41087a2d5e	fix: type errors after merge	2 weeks ago
Oliver Ortlieb	496f75ef0b	Merge branch 'main' into python-node-event-mutex	2 weeks ago
Drin	e14d802647	Standalone ros2 example (#1236 ) * refactor: place the ros2-bridge example standalone place the rust ros2 example standalone add ros2 rust example align with ros2's official minimal example Signed-off-by: drindr <dreamchancn@qq.com> * refactor: place ros2 example of c++ python into the ros2-bridge folder Signed-off-by: drindr <dreamchancn@qq.com> * fix: downgrade the process-wrap to satisfy the CI about rust-version check Signed-off-by: drindr <dreamchancn@qq.com> * fix: fix the CI command for the ros2-bridge Signed-off-by: drindr <dreamchancn@qq.com> * fix: ci about ros2 Signed-off-by: drindr <dreamchancn@qq.com> * Replace busy loop in examples with join and async method Signed-off-by: drindr <dreamchancn@qq.com> --------- Signed-off-by: drindr <dreamchancn@qq.com>	2 weeks ago
Philipp Oppermann	19082e1b9a	Add is empty method to the API (#1242 )	2 weeks ago
haixuantao	32bc10c4f2	Add is empty method	3 weeks ago
Haixuan Xavier Tao	2143f93b97	Add completions subcommand (#1240 ) With this command, it can generate auto-completion script for specific shell, like bash and fish. Use `eval "$(dora completions <SHELL>)"` to apply the autocompletion script. This PR is proposed in #1228.	2 weeks ago
Haixuan Xavier Tao	7da7887752	add `try_recv` method for python (#1241 ) this function enables to check for input without waiting for it to resolve	2 weeks ago
Oliver Ortlieb	ec1c8f5dde	chore: rustfmt	2 weeks ago
Oliver Ortlieb	929a625445	fix: add mutex around events	2 weeks ago
Oliver Ortlieb	8f64fef486	fix: change get_mut and callers to take &self instead of &mut self	2 weeks ago
Oliver Ortlieb	15b8e1a3c2	chore: add example dataflow	2 weeks ago
haixuantao	1ea1b482fa	Make try_recv not error out	2 weeks ago
drindr	51ef62dd7c	Completions command: autodetect shell and more help info Signed-off-by: drindr <dreamchancn@qq.com>	2 weeks ago
haixuantao	7c128114e7	Improve documentation	2 weeks ago
haixuantao	bd695c420b	add try_recv method for python	3 weeks ago
drindr	d3c4da9c6f	Add completions subcommand With this command, it can generate auto-completion script for specific shell, like bash and fish. Use `eval "$(dora completions <SHELL>)"` to apply the autocompletion script Signed-off-by: drindr <dreamchancn@qq.com>	3 weeks ago