refactor(gateway): pure-C++ managers via Transport adapters + discovery split + graph-event refresh

docs/config/server.rst

@@ -255,10 +255,14 @@ Performance Tuning
      - Description
    * - ``refresh_interval_ms``
      - int
-     - ``10000``
-     - Cache refresh interval. How often to discover ROS 2 nodes. Range: 100-60000 (0.1s-60s).
-
-Lower values provide faster updates but increase CPU usage.
+     - ``30000``
+     - Safety-backstop refresh interval (ms). Primary discovery is graph-event
+       driven (polled every 100 ms); this timer forces a full refresh only if
+       a graph event is missed. Range: 100-60000 (0.1s-60s).
+
+Lower values shorten the worst-case recovery window if a graph event is missed
+but increase idle CPU. The default rarely fires on a stable graph because the
+graph-event poll handles node up/down events directly.
 
 Bulk Data Storage
 -----------------

docs/troubleshooting.rst

@@ -197,11 +197,16 @@ Optimize with:
 
 **High CPU usage**
 
-Reduce cache refresh rate:
+Discovery is graph-event driven (polled every 100 ms), so a stable graph
+already incurs near-zero refresh overhead. On a graph with frequent node
+churn that does not need to be reflected immediately, raise the safety-backstop
+interval above the default ``30000`` to reduce the worst-case forced refresh
+rate:
 
 .. code-block:: yaml
 
-   refresh_interval_ms: 30000  # 30 seconds instead of default 10s
+   refresh_interval_ms: 60000  # Raise from default 30s if recovery from a
+                                # missed graph event can tolerate longer delay.
 
 FAQ
 ---

docs/tutorials/plugin-system.rst

@@ -75,8 +75,8 @@ Writing a Plugin
 
 .. code-block:: cpp
 
-   #include "ros2_medkit_gateway/plugins/gateway_plugin.hpp"
-   #include "ros2_medkit_gateway/plugins/plugin_types.hpp"
+   #include "ros2_medkit_gateway/core/plugins/gateway_plugin.hpp"
+   #include "ros2_medkit_gateway/core/plugins/plugin_types.hpp"
    #include "ros2_medkit_gateway/core/providers/update_provider.hpp"
 
    using namespace ros2_medkit_gateway;
@@ -179,8 +179,8 @@ A self-contained plugin implementing UpdateProvider (copy-paste starting point):
 .. code-block:: cpp
 
    // my_ota_plugin.cpp
-   #include "ros2_medkit_gateway/plugins/gateway_plugin.hpp"
-   #include "ros2_medkit_gateway/plugins/plugin_types.hpp"
+   #include "ros2_medkit_gateway/core/plugins/gateway_plugin.hpp"
+   #include "ros2_medkit_gateway/core/plugins/plugin_types.hpp"
    #include "ros2_medkit_gateway/core/providers/update_provider.hpp"
 
    #include <nlohmann/json.hpp>
@@ -512,8 +512,8 @@ subscribes to ``/ros2_medkit/discovery``, stores incoming
 
 .. code-block:: cpp
 
-   #include "ros2_medkit_gateway/plugins/gateway_plugin.hpp"
-   #include "ros2_medkit_gateway/discovery/introspection_provider.hpp"
+   #include "ros2_medkit_gateway/core/plugins/gateway_plugin.hpp"
+   #include "ros2_medkit_gateway/core/providers/introspection_provider.hpp"
 
    using namespace ros2_medkit_gateway;
 
@@ -584,7 +584,7 @@ execute, and control executions:
 
 .. code-block:: cpp
 
-   #include "ros2_medkit_gateway/plugins/gateway_plugin.hpp"
+   #include "ros2_medkit_gateway/core/plugins/gateway_plugin.hpp"
    #include "ros2_medkit_gateway/core/providers/script_provider.hpp"
 
    using namespace ros2_medkit_gateway;
@@ -701,10 +701,10 @@ via ``DataProvider``. OperationProvider and FaultProvider follow the same patter
 
 .. code-block:: cpp
 
-   #include "ros2_medkit_gateway/plugins/gateway_plugin.hpp"
-   #include "ros2_medkit_gateway/plugins/plugin_types.hpp"
-   #include "ros2_medkit_gateway/discovery/introspection_provider.hpp"
-   #include "ros2_medkit_gateway/providers/data_provider.hpp"
+   #include "ros2_medkit_gateway/core/plugins/gateway_plugin.hpp"
+   #include "ros2_medkit_gateway/core/plugins/plugin_types.hpp"
+   #include "ros2_medkit_gateway/core/providers/introspection_provider.hpp"
+   #include "ros2_medkit_gateway/core/providers/data_provider.hpp"
 
    using namespace ros2_medkit_gateway;
 

scripts/check_no_naked_subscriptions.sh

@@ -46,9 +46,9 @@ ALLOWED_DIRS_PATTERN="(${GATEWAY_ROOT}/src/ros2_common/|${GATEWAY_ROOT}/include/
 ALLOWED_LEGACY_FILES=(
   "${GATEWAY_ROOT}/src/http/handlers/sse_fault_handler.cpp"        # faults provider follow-up
   "${GATEWAY_ROOT}/src/trigger_fault_subscriber.cpp"               # faults provider follow-up
-  "${GATEWAY_ROOT}/src/trigger_topic_subscriber.cpp"               # data_stream provider follow-up
-  "${GATEWAY_ROOT}/src/operation_manager.cpp"                      # operations provider follow-up
-  "${GATEWAY_ROOT}/src/log_manager.cpp"                            # logs provider follow-up
+  "${GATEWAY_ROOT}/src/ros2/trigger_topic_subscriber.cpp"          # adapter for TopicSubscriptionTransport (rclcpp boundary)
+  "${GATEWAY_ROOT}/src/ros2/transports/ros2_action_transport.cpp"  # operations provider follow-up
+  "${GATEWAY_ROOT}/src/ros2/transports/ros2_log_source.cpp"        # /rosout adapter (LogSource port)
   "${FAULT_MANAGER_ROOT}/src/snapshot_capture.cpp"                 # uses LockedSubscriptionGuard (in-place serialisation)
   "${FAULT_MANAGER_ROOT}/include/ros2_medkit_fault_manager/snapshot_capture.hpp"  # comment references the guarded API
   "${FAULT_MANAGER_ROOT}/src/rosbag_capture.cpp"                   # bag-recorder spawns its own node + executor, no shared rcl hash map

scripts/clang-tidy-diff.sh

@@ -54,10 +54,19 @@ for file in "$@"; do
     ABS_FILE="$(realpath "$file" 2>/dev/null || echo "$file")"
   fi
 
-  echo "clang-tidy: $file"
-  if ! clang-tidy -p "$(dirname "$COMPILE_DB")" --config-file="$CLANG_TIDY_CONFIG" "$ABS_FILE"; then
+  # Capture output: clang-tidy emits a "X warnings generated. Suppressed Y"
+  # summary plus source snippets on stderr even when every diagnostic is
+  # suppressed. Replaying that for every clean file overflows pre-commit's
+  # output buffer (BlockingIOError on sys.stdout.buffer.write). Keep stdout
+  # silent for clean runs and only print the captured output on failure.
+  output=$(clang-tidy -p "$(dirname "$COMPILE_DB")" --quiet --config-file="$CLANG_TIDY_CONFIG" "$ABS_FILE" 2>&1) || rc=$?
+  rc=${rc:-0}
+  if [ "$rc" -ne 0 ]; then
+    echo "clang-tidy: $file"
+    echo "$output"
     ERRORS=$((ERRORS + 1))
   fi
+  unset rc
 done
 
 if [ "$ERRORS" -gt 0 ]; then

src/ros2_medkit_discovery_plugins/ros2_medkit_beacon_common/include/ros2_medkit_beacon_common/beacon_entity_mapper.hpp

@@ -22,7 +22,7 @@
 
 #include "ros2_medkit_beacon_common/beacon_hint_store.hpp"
 #include "ros2_medkit_beacon_common/beacon_types.hpp"
-#include "ros2_medkit_gateway/discovery/introspection_provider.hpp"
+#include "ros2_medkit_gateway/core/providers/introspection_provider.hpp"
 
 namespace ros2_medkit_beacon {
 

src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/container_plugin.cpp

@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ros2_medkit_gateway/discovery/introspection_provider.hpp"
-#include "ros2_medkit_gateway/plugins/gateway_plugin.hpp"
-#include "ros2_medkit_gateway/plugins/plugin_context.hpp"
-#include "ros2_medkit_gateway/plugins/plugin_http_types.hpp"
-#include "ros2_medkit_gateway/plugins/plugin_types.hpp"
+#include "ros2_medkit_gateway/core/plugins/gateway_plugin.hpp"
+#include "ros2_medkit_gateway/core/plugins/plugin_http_types.hpp"
+#include "ros2_medkit_gateway/core/plugins/plugin_types.hpp"
+#include "ros2_medkit_gateway/core/providers/introspection_provider.hpp"
+#include "ros2_medkit_gateway/plugins/ros_plugin_context.hpp"
 #include "ros2_medkit_linux_introspection/cgroup_reader.hpp"
 #include "ros2_medkit_linux_introspection/container_utils.hpp"
 #include "ros2_medkit_linux_introspection/plugin_config.hpp"

src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/procfs_plugin.cpp

@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ros2_medkit_gateway/discovery/introspection_provider.hpp"
-#include "ros2_medkit_gateway/plugins/gateway_plugin.hpp"
-#include "ros2_medkit_gateway/plugins/plugin_context.hpp"
-#include "ros2_medkit_gateway/plugins/plugin_http_types.hpp"
-#include "ros2_medkit_gateway/plugins/plugin_types.hpp"
+#include "ros2_medkit_gateway/core/plugins/gateway_plugin.hpp"
+#include "ros2_medkit_gateway/core/plugins/plugin_http_types.hpp"
+#include "ros2_medkit_gateway/core/plugins/plugin_types.hpp"
+#include "ros2_medkit_gateway/core/providers/introspection_provider.hpp"
+#include "ros2_medkit_gateway/plugins/ros_plugin_context.hpp"
 #include "ros2_medkit_linux_introspection/plugin_config.hpp"
 #include "ros2_medkit_linux_introspection/proc_reader.hpp"
 #include "ros2_medkit_linux_introspection/procfs_utils.hpp"

src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/src/systemd_plugin.cpp

@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ros2_medkit_gateway/discovery/introspection_provider.hpp"
-#include "ros2_medkit_gateway/plugins/gateway_plugin.hpp"
-#include "ros2_medkit_gateway/plugins/plugin_context.hpp"
-#include "ros2_medkit_gateway/plugins/plugin_http_types.hpp"
-#include "ros2_medkit_gateway/plugins/plugin_types.hpp"
+#include "ros2_medkit_gateway/core/plugins/gateway_plugin.hpp"
+#include "ros2_medkit_gateway/core/plugins/plugin_http_types.hpp"
+#include "ros2_medkit_gateway/core/plugins/plugin_types.hpp"
+#include "ros2_medkit_gateway/core/providers/introspection_provider.hpp"
+#include "ros2_medkit_gateway/plugins/ros_plugin_context.hpp"
 #include "ros2_medkit_linux_introspection/plugin_config.hpp"
 #include "ros2_medkit_linux_introspection/proc_reader.hpp"
 #include "ros2_medkit_linux_introspection/systemd_utils.hpp"

src/ros2_medkit_discovery_plugins/ros2_medkit_param_beacon/include/ros2_medkit_param_beacon/param_beacon_plugin.hpp

@@ -35,10 +35,10 @@
 #include "ros2_medkit_beacon_common/beacon_hint_store.hpp"
 #include "ros2_medkit_beacon_common/beacon_types.hpp"
 #include "ros2_medkit_beacon_common/beacon_validator.hpp"
-#include "ros2_medkit_gateway/discovery/introspection_provider.hpp"
-#include "ros2_medkit_gateway/plugins/gateway_plugin.hpp"
-#include "ros2_medkit_gateway/plugins/plugin_context.hpp"
-#include "ros2_medkit_gateway/plugins/plugin_types.hpp"
+#include "ros2_medkit_gateway/core/plugins/gateway_plugin.hpp"
+#include "ros2_medkit_gateway/core/plugins/plugin_types.hpp"
+#include "ros2_medkit_gateway/core/providers/introspection_provider.hpp"
+#include "ros2_medkit_gateway/plugins/ros_plugin_context.hpp"
 #include "ros2_medkit_param_beacon/parameter_client_interface.hpp"
 
 class ParameterBeaconPlugin : public ros2_medkit_gateway::GatewayPlugin,

src/ros2_medkit_discovery_plugins/ros2_medkit_param_beacon/test/test_param_beacon_plugin.cpp

@@ -24,7 +24,7 @@
 #include <nlohmann/json.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include "ros2_medkit_gateway/plugins/plugin_http_types.hpp"
+#include "ros2_medkit_gateway/core/plugins/plugin_http_types.hpp"
 #include "ros2_medkit_param_beacon/param_beacon_plugin.hpp"
 
 using ros2_medkit_beacon::BeaconHint;

src/ros2_medkit_discovery_plugins/ros2_medkit_topic_beacon/include/ros2_medkit_topic_beacon/topic_beacon_plugin.hpp

@@ -30,10 +30,10 @@
 #include "ros2_medkit_beacon_common/beacon_hint_store.hpp"
 #include "ros2_medkit_beacon_common/beacon_types.hpp"
 #include "ros2_medkit_beacon_common/beacon_validator.hpp"
-#include "ros2_medkit_gateway/discovery/introspection_provider.hpp"
-#include "ros2_medkit_gateway/plugins/gateway_plugin.hpp"
-#include "ros2_medkit_gateway/plugins/plugin_context.hpp"
-#include "ros2_medkit_gateway/plugins/plugin_types.hpp"
+#include "ros2_medkit_gateway/core/plugins/gateway_plugin.hpp"
+#include "ros2_medkit_gateway/core/plugins/plugin_types.hpp"
+#include "ros2_medkit_gateway/core/providers/introspection_provider.hpp"
+#include "ros2_medkit_gateway/plugins/ros_plugin_context.hpp"
 
 // Simple token bucket for rate limiting.
 // Thread safety: on_beacon() is called from the DDS callback thread,

src/ros2_medkit_discovery_plugins/ros2_medkit_topic_beacon/test/test_topic_beacon_plugin.cpp

@@ -24,7 +24,7 @@
 #include <nlohmann/json.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include "ros2_medkit_gateway/plugins/plugin_http_types.hpp"
+#include "ros2_medkit_gateway/core/plugins/plugin_http_types.hpp"
 #include "ros2_medkit_topic_beacon/topic_beacon_plugin.hpp"
 
 using ros2_medkit_beacon::BeaconHint;