From 2f5ce5596768041024308d8e11815f6b807d19de Mon Sep 17 00:00:00 2001
From: Codex <codex@localhost>
Date: Tue, 16 Jun 2026 21:09:02 +0200
Subject: [PATCH] =?UTF-8?q?M5:=20implement=20real=20Iceoryx2Sink=20?=
 =?UTF-8?q?=E2=80=94=20iceoryx2=200.9.1=20production=20plane=20sink?=
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Replaces the stub that returned Err(Unimplemented) with a working iceoryx2
publish-subscribe sink. Key design:

- One iceoryx2 pub/sub service per configured stream at {prefix}/{stream}
- Fixed-size [u8] samples with in-band binary header (seq, src_ts_us, ts_us,
  NUL-padded key(48), len(32), value(N)) — no unsafe repr(packed) needed
- Heartbeat stream at {prefix}/hzbridge_heartbeat with same layout
- Uses BackpressureStrategy::DiscardData to avoid blocking the feeder
- Uses ipc_threadsafe::Service so the Publisher is Send (ipc::Service uses
  SingleThreaded sync which is !Send)
- Daemon builds Iceoryx2Sink by default; --allow-null-sink for dev use only

Constraint compliance:
  C1 — no unsafe (crate-root forbid(unsafe_code) enforced by compiler)
  C2 — no async (all iceoryx2 calls synchronous)
  C5 — iceoryx2 0.9.1 already pinned per ADR-001
  C8 — fixed-size samples, pre-allocated publishers, bounded loan slots

Co-authored-by: CommandCodeBot <noreply@commandcode.ai>