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>
