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

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

src/ros2_medkit_gateway/CMakeLists.txt

@@ -149,21 +149,26 @@ target_precompile_headers(gateway_core PRIVATE
 # transitively get both layers from a single dependency.
 add_library(gateway_ros2 STATIC
   src/aggregation/aggregation_manager.cpp
-  src/configuration_manager.cpp
-  src/data_access_manager.cpp
   src/data/ros2_topic_data_provider.cpp
+  src/ros2/conversions/fault_msg_conversions.cpp
+  src/ros2/providers/ros2_runtime_introspection.cpp
+  src/ros2/transports/ros2_action_transport.cpp
+  src/ros2/transports/ros2_fault_service_transport.cpp
+  src/ros2/transports/ros2_log_source.cpp
+  src/ros2/transports/ros2_parameter_transport.cpp
+  src/ros2/transports/ros2_service_transport.cpp
+  src/ros2/transports/ros2_topic_subscription_transport.cpp
+  src/ros2/transports/ros2_topic_transport.cpp
+  src/ros2/trigger_topic_subscriber.cpp
   src/default_script_provider.cpp
   src/discovery/discovery_manager.cpp
-  src/discovery/hybrid_discovery.cpp
   src/discovery/layers/manifest_layer.cpp
   src/discovery/layers/plugin_layer.cpp
   src/discovery/layers/runtime_layer.cpp
   src/discovery/manifest/manifest_manager.cpp
   src/discovery/manifest/manifest_parser.cpp
   src/discovery/manifest/runtime_linker.cpp
   src/discovery/merge_pipeline.cpp
-  src/discovery/runtime_discovery.cpp
-  src/fault_manager.cpp
   src/fault_manager_paths.cpp
   src/gateway_node.cpp
   src/http/handlers/auth_handlers.cpp
@@ -186,8 +191,6 @@ add_library(gateway_ros2 STATIC
   src/http/handlers/update_handlers.cpp
   src/http/http_server.cpp
   src/http/rest_server.cpp
-  src/log_manager.cpp
-  src/operation_manager.cpp
   src/openapi/capability_generator.cpp
   src/openapi/openapi_spec_builder.cpp
   src/openapi/path_builder.cpp
@@ -200,9 +203,6 @@ add_library(gateway_ros2 STATIC
   src/ros2_common/ros2_subscription_slot.cpp
   src/script_manager.cpp
   src/trigger_fault_subscriber.cpp
-  src/trigger_manager.cpp
-  src/trigger_topic_subscriber.cpp
-  src/type_introspection.cpp
 )
 
 # Private implementation headers for openapi module (shared by both layers)
@@ -366,6 +366,112 @@ if(BUILD_TESTING)
   )
   set_tests_properties(gateway_core_smoke PROPERTIES LABELS "unit")
 
+  # ─── DataAccessManager routing test (gateway_core only) ────────────────────
+  # Mock-transport coverage proving the manager body compiles + links against
+  # gateway_core alone, with no rclcpp on the link line.
+  add_executable(test_data_access_manager_routing test/test_data_access_manager_routing.cpp)
+  target_link_libraries(test_data_access_manager_routing
+    PRIVATE
+      gateway_core
+      GTest::gtest
+      GTest::gtest_main
+  )
+  add_test(
+    NAME data_access_manager_routing
+    COMMAND $<TARGET_FILE:test_data_access_manager_routing>
+  )
+  set_tests_properties(data_access_manager_routing PROPERTIES LABELS "unit")
+
+  # ─── OperationManager routing test (gateway_core only) ─────────────────────
+  # Mock-transport coverage proving the manager body (service / action call
+  # routing, goal tracking, status callback wiring, cleanup) compiles and
+  # links against gateway_core alone, with no rclcpp on the link line.
+  add_executable(test_operation_manager_routing test/test_operation_manager_routing.cpp)
+  target_link_libraries(test_operation_manager_routing
+    PRIVATE
+      gateway_core
+      GTest::gtest
+      GTest::gtest_main
+  )
+  add_test(
+    NAME operation_manager_routing
+    COMMAND $<TARGET_FILE:test_operation_manager_routing>
+  )
+  set_tests_properties(operation_manager_routing PROPERTIES LABELS "unit")
+
+  # ─── ConfigurationManager routing test (gateway_core only) ─────────────────
+  # Mock-transport coverage proving the manager body (CRUD delegation,
+  # self-node short circuit, reset orchestration via cached defaults,
+  # shutdown idempotency, error code propagation) compiles and links against
+  # gateway_core alone, with no rclcpp on the link line.
+  add_executable(test_configuration_manager_routing test/test_configuration_manager_routing.cpp)
+  target_link_libraries(test_configuration_manager_routing
+    PRIVATE
+      gateway_core
+      GTest::gtest
+      GTest::gtest_main
+  )
+  add_test(
+    NAME configuration_manager_routing
+    COMMAND $<TARGET_FILE:test_configuration_manager_routing>
+  )
+  set_tests_properties(configuration_manager_routing PROPERTIES LABELS "unit")
+
+  # ─── FaultManager routing test (gateway_core only) ─────────────────────────
+  # Mock-transport coverage proving the manager body (eight SOVD operations,
+  # error_message propagation, JSON-shape contract for get_fault_with_env)
+  # compiles and links against gateway_core alone, with no rclcpp on the link
+  # line.
+  add_executable(test_fault_manager_routing test/test_fault_manager_routing.cpp)
+  target_link_libraries(test_fault_manager_routing
+    PRIVATE
+      gateway_core
+      GTest::gtest
+      GTest::gtest_main
+  )
+  add_test(
+    NAME fault_manager_routing
+    COMMAND $<TARGET_FILE:test_fault_manager_routing>
+  )
+  set_tests_properties(fault_manager_routing PROPERTIES LABELS "unit")
+
+  # ─── LogManager routing test (gateway_core only) ───────────────────────────
+  # Mock-source coverage proving the manager body (ring-buffer storage,
+  # plugin observer pattern, manages_ingestion short-circuit, severity
+  # filter, source teardown) compiles and links against gateway_core alone,
+  # with no rclcpp on the link line.
+  add_executable(test_log_manager_routing test/test_log_manager_routing.cpp)
+  target_link_libraries(test_log_manager_routing
+    PRIVATE
+      gateway_core
+      GTest::gtest
+      GTest::gtest_main
+  )
+  add_test(
+    NAME log_manager_routing
+    COMMAND $<TARGET_FILE:test_log_manager_routing>
+  )
+  set_tests_properties(log_manager_routing PROPERTIES LABELS "unit")
+
+  # ─── TriggerManager routing test (gateway_core only) ───────────────────────
+  # Mock-transport coverage proving the manager body (data-trigger subscribe
+  # routing, handle-destruction unsubscribe, sample callback dispatch into
+  # the resource-change notifier, orphan sweep, multi-trigger isolation,
+  # shutdown teardown) compiles and links against gateway_core alone, with
+  # no rclcpp on the link line.
+  add_executable(test_trigger_manager_routing test/test_trigger_manager_routing.cpp)
+  target_link_libraries(test_trigger_manager_routing
+    PRIVATE
+      gateway_core
+      GTest::gtest
+      GTest::gtest_main
+  )
+  add_test(
+    NAME trigger_manager_routing
+    COMMAND $<TARGET_FILE:test_trigger_manager_routing>
+  )
+  set_tests_properties(trigger_manager_routing PROPERTIES LABELS "unit")
+
   # Add GTest
   find_package(ament_cmake_gtest REQUIRED)
   find_package(rclcpp_action REQUIRED)
@@ -409,7 +515,7 @@ if(BUILD_TESTING)
   medkit_target_dependencies(test_discovery_manager std_msgs)
   medkit_set_test_domain(test_discovery_manager)
 
-  # Add RuntimeDiscoveryStrategy tests
+  # Add Ros2RuntimeIntrospection tests
   ament_add_gtest(test_runtime_discovery test/test_runtime_discovery.cpp)
   target_link_libraries(test_runtime_discovery gateway_ros2)
   medkit_set_test_domain(test_runtime_discovery)

src/ros2_medkit_gateway/README.md

@@ -1156,7 +1156,7 @@ The gateway can be configured via parameters in `config/gateway_params.yaml` or
 | ---------------------------- | ------ | ----------- | -------------------------------------------------------------------------------------- |
 | `server.host`                | string | `127.0.0.1` | Host to bind the REST server (`127.0.0.1` for localhost, `0.0.0.0` for all interfaces) |
 | `server.port`                | int    | `8080`      | Port for the REST API (range: 1024-65535)                                              |
-| `refresh_interval_ms`        | int    | `10000`     | Cache refresh interval in milliseconds (range: 100-60000)                              |
+| `refresh_interval_ms`        | int    | `30000`     | Safety-backstop refresh interval in milliseconds. Primary refresh is graph-event driven; this controls only the periodic forced refresh (range: 100-60000) |
 | `data_provider.max_parallel_samples` | int | `8` | Max concurrent topic samples when fetching data (range: 1-256)                                |
 | `topic_sample_timeout_sec`   | float  | `2.0`       | Timeout for sampling topics with active publishers (range: 0.1-30.0)                   |
 | `fault_manager.namespace`    | string | `""`        | Optional namespace prefix for fault manager services and events (for example `robot1`)  |
@@ -1405,7 +1405,7 @@ ros2 launch ros2_medkit_gateway gateway_https.launch.py min_tls_version:=1.3
 | `server_host`         | `127.0.0.1`                | Host to bind HTTPS server                        |
 | `server_port`         | `8443`                     | Port for HTTPS API                               |
 | `min_tls_version`     | `1.2`                      | Minimum TLS version (`1.2` or `1.3`)             |
-| `refresh_interval_ms` | `10000`                    | Cache refresh interval in milliseconds           |
+| `refresh_interval_ms` | `30000`                    | Safety-backstop refresh interval (graph events drive primary refresh) |
 
 **Usage with curl (self-signed certs):**
 ```bash

src/ros2_medkit_gateway/config/gateway_params.yaml

@@ -47,11 +47,18 @@ ros2_medkit_gateway:
         # TODO: Mutual TLS (client certificate verification) is not yet implemented
         # See: https://github.com/selfpatch/ros2_medkit/issues/XXX
 
-    # Cache refresh interval in milliseconds
-    # How often to discover ROS 2 nodes and update the cache
+    # Safety-backstop refresh interval in milliseconds.
+    #
+    # Primary discovery is driven by rclcpp graph events (polled every
+    # 100 ms): a refresh runs whenever a node, topic, service or action
+    # is added or removed, so on a stable graph this timer rarely fires.
+    # This value controls only the safety backstop that forces a refresh
+    # in the unlikely case a graph event is missed (lost wakeup, rclcpp
+    # anomaly, etc.).
+    #
     # Valid range: 100-60000 (0.1s to 60s)
-    # Default: 10000 (10 seconds) - optimized for developer experience
-    refresh_interval_ms: 10000
+    # Default: 30000 (30 seconds)
+    refresh_interval_ms: 30000
 
     # CORS Configuration
     # Cross-Origin Resource Sharing settings for browser-based clients
@@ -156,10 +163,14 @@ ros2_medkit_gateway:
     # Controls how ROS 2 graph entities are mapped to SOVD entities
     discovery:
       # Discovery mode
-      # Options:
-      #   - "runtime_only": Use ROS 2 graph introspection only (default)
-      #   - "manifest_only": Only expose manifest-declared entities
-      #   - "hybrid": Manifest as source of truth + runtime linking
+      # Selects which layers the merge pipeline activates:
+      #   - "runtime_only": Bypass the pipeline; ROS 2 graph introspection
+      #     drives entities directly (default).
+      #   - "manifest_only": Bypass the pipeline; manifest is the sole source
+      #     of truth.
+      #   - "hybrid": Run the merge pipeline with manifest + runtime + plugin
+      #     layers. Manifest is the source of truth; runtime data links to
+      #     manifest apps.
       mode: "runtime_only"
 
       # Path to manifest file (required for manifest_only and hybrid modes)

src/ros2_medkit_gateway/design/aggregation.rst

@@ -504,10 +504,11 @@ Health Monitoring
 ~~~~~~~~~~~~~~~~~
 
 ``AggregationManager`` calls ``check_all_health()`` during each entity cache
-refresh cycle (controlled by ``refresh_interval_ms``, default: 10000 ms). Each
-``PeerClient`` GETs ``/api/v1/health`` on its peer. If the health check fails,
-the peer is marked unhealthy and excluded from fan-out queries and entity
-fetching.
+refresh cycle. Refresh is primarily driven by rclcpp graph events (polled
+every 100 ms), with ``refresh_interval_ms`` (default: 30000 ms) providing a
+safety backstop for the case a graph event is missed. Each ``PeerClient``
+GETs ``/api/v1/health`` on its peer. If the health check fails, the peer is
+marked unhealthy and excluded from fan-out queries and entity fetching.
 
 When a peer recovers (health check succeeds again), it is automatically
 re-included.