feat(tcp): TCPStreamer DataSources, in-process TCPStreamService, stream multiplexing and TCPStreamJoin

Add TCPStreamer/TCPStreamerClient (TCP transport behind the UDPSServerI/UDPSClientI
seam), an optional single in-process TCPStreamService serving many streams over
worker threads, multiplexed SUBSCRIBE (comma list, stream index in fragmentIdx),
and TCPStreamJoin, which merges several streams into one sample-and-hold stream
paced by a master. StreamHub takes a comma list of streams over one connection.
Includes GTests, E2E scenarios s58-s73 and docs.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Source/Components/DataSources/UDPStreamerClient/UDPStreamerClient.cpp

@@ -131,7 +131,8 @@ static float64 DequantValue(float64 raw, uint8 quantType,
 UDPStreamerClient::UDPStreamerClient() :
         MemoryDataSourceI(),
         UDPSClientListener(),
-        client() {
+        client(NULL_PTR(UDPSClientI *)) {
+    client          = new UDPSClient();
     serverAddress   = UDPS_CLIENT_DEFAULT_ADDR;
     port            = UDPS_CLIENT_DEFAULT_PORT;
     maxPayloadSize  = UDPS_CLIENT_DEFAULT_MAX_PAYLOAD;
@@ -160,9 +161,13 @@ UDPStreamerClient::UDPStreamerClient() :
 UDPStreamerClient::~UDPStreamerClient() {
     (void) dataSem.Post();
 
-    if (receiverUp) {
-        (void) client.Stop();
-        receiverUp = false;
+    if (client != NULL_PTR(UDPSClientI *)) {
+        if (receiverUp) {
+            (void) client->Stop();
+            receiverUp = false;
+        }
+        delete client;
+        client = NULL_PTR(UDPSClientI *);
     }
 
     HeapI *heap = GlobalObjectsDatabase::Instance()->GetStandardHeap();
@@ -258,36 +263,49 @@ bool UDPStreamerClient::Initialise(StructuredDataI &data) {
         }
     }
 
-    /* Forward the transport parameters to the shared UDPSClient receiver,
-     * translating the DataSource parameter names to the UDPSClient keys. */
     if (ok) {
-        ConfigurationDatabase cdb;
-        ok = cdb.Write("ServerAddr", serverAddress);
-        if (ok) { ok = cdb.Write("Port", static_cast<uint32>(port)); }
-        if (ok && useMulticast) {
-            ok = cdb.Write("MulticastGroup", multicastGroup);
-            if (ok) { ok = cdb.Write("DataPort", static_cast<uint32>(dataPort)); }
-            if (ok && (multicastInterface.Size() > 0u)) {
-                ok = cdb.Write("Interface", multicastInterface);
-            }
-        }
-        if (ok) { ok = cdb.Write("MaxPayloadSize", maxPayloadSize); }
-        if (ok) { ok = cdb.Write("KeepAliveInterval", keepAliveInterval); }
-        if (ok) { ok = cdb.Write("SilenceTimeout", silenceTimeout); }
-        if (ok) { ok = cdb.Write("CPUMask", cpuMask); }
-        if (ok) { ok = cdb.Write("StackSize", stackSize); }
-        if (ok) { ok = cdb.MoveToRoot(); }
-        if (ok) { ok = client.Initialise(cdb); }
-        if (!ok) {
-            REPORT_ERROR(ErrorManagement::ParametersError,
-                         "Could not configure the UDPSClient receiver.");
-        }
-        client.SetListener(this);
+        ok = InitialiseTransport(data);
     }
 
     return ok;
 }
 
+bool UDPStreamerClient::InitialiseTransport(StructuredDataI &data) {
+    /* Forward the transport parameters to the shared UDPSClient receiver,
+     * translating the DataSource parameter names to the UDPSClient keys. */
+    bool ok = true;
+    ConfigurationDatabase cdb;
+    ok = cdb.Write("ServerAddr", serverAddress);
+    if (ok) { ok = cdb.Write("Port", static_cast<uint32>(port)); }
+    if (ok && useMulticast) {
+        ok = cdb.Write("MulticastGroup", multicastGroup);
+        if (ok) { ok = cdb.Write("DataPort", static_cast<uint32>(dataPort)); }
+        if (ok && (multicastInterface.Size() > 0u)) {
+            ok = cdb.Write("Interface", multicastInterface);
+        }
+    }
+    if (ok) { ok = cdb.Write("MaxPayloadSize", maxPayloadSize); }
+    if (ok) { ok = cdb.Write("KeepAliveInterval", keepAliveInterval); }
+    if (ok) { ok = cdb.Write("SilenceTimeout", silenceTimeout); }
+    if (ok) { ok = cdb.Write("CPUMask", cpuMask); }
+    if (ok) { ok = cdb.Write("StackSize", stackSize); }
+    if (ok) { ok = cdb.MoveToRoot(); }
+    if (ok) { ok = client->Initialise(cdb); }
+    if (!ok) {
+        REPORT_ERROR(ErrorManagement::ParametersError,
+                     "Could not configure the UDPSClient receiver.");
+    }
+    client->SetListener(this);
+    return ok;
+}
+
+void UDPStreamerClient::SetClient(UDPSClientI *newClient) {
+    if (client != NULL_PTR(UDPSClientI *)) {
+        delete client;
+    }
+    client = newClient;
+}
+
 bool UDPStreamerClient::SetConfiguredDatabase(StructuredDataI &data) {
     bool ok = MemoryDataSourceI::SetConfiguredDatabase(data);
     if (!ok) {
@@ -377,7 +395,7 @@ bool UDPStreamerClient::PrepareNextState(const char8 *const currentStateName,
                                          const char8 *const nextStateName) {
     bool ok = true;
     if (!receiverUp) {
-        ok = client.Start();
+        ok = client->Start();
         if (ok) {
             receiverUp = true;
         }

Source/Components/DataSources/UDPStreamerClient/UDPStreamerClient.h

@@ -160,6 +160,27 @@ public:
      */
     virtual void OnUDPSDisconnected();
 
+protected:
+    /**
+     * @brief Configures the transport from the already-parsed members and
+     * registers this object as its listener.
+     * @details The default implementation configures the UDPSClient (unicast /
+     * multicast). A subclass that installs another transport with SetClient()
+     * overrides this to configure it instead.
+     */
+    virtual bool InitialiseTransport(StructuredDataI &data);
+
+    /**
+     * @brief Replaces the transport. Takes ownership; only valid before Start().
+     */
+    void SetClient(UDPSClientI *newClient);
+
+    /* Configuration parameters shared with transport subclasses */
+    StreamString serverAddress;  /**< Server IP address. */
+    uint16       port;           /**< Server port. */
+    uint32       cpuMask;        /**< Background thread CPU affinity. */
+    uint32       stackSize;      /**< Background thread stack size. */
+
 private:
     /**
      * @brief Decodes a single snapshot from a DATA payload into @p dst.
@@ -171,13 +192,9 @@ private:
     void DecodeSnapshot(const uint8 *payload, uint32 size, uint8 *dst);
 
     /* Configuration parameters */
-    StreamString serverAddress;  /**< Server IP address. */
-    uint16       port;           /**< Server port. */
     uint32       maxPayloadSize; /**< Max payload bytes per datagram. */
     uint32       keepAliveInterval; /**< Seconds between unicast keepalive ACKs (0 disables). */
     float32      silenceTimeout;    /**< Seconds of no data before reconnect (sub-second allowed, 0 disables). */
-    uint32       cpuMask;        /**< Background thread CPU affinity. */
-    uint32       stackSize;      /**< Background thread stack size. */
     StreamString multicastGroup;         /**< Multicast group IP; empty = unicast. */
     StreamString multicastInterface;     /**< Local IPv4 address for multicast join; empty = INADDR_ANY. */
     uint16       dataPort;               /**< UDP port for DATA datagrams (multicast). */
@@ -191,7 +208,7 @@ private:
     uint8                    publishMode;   /**< UDPS_PUBLISH_* from CONFIG. */
 
     /* Shared receiver (same code base as the StreamHub hub) */
-    UDPSClient client;      /**< Transport, reassembly and reconnect. */
+    UDPSClientI *client;    /**< Owned transport (UDPSClient by default); see SetClient(). */
     bool       receiverUp;  /**< True once the receiver thread is started. */
 
     /* Double-buffering for RT safety */

Source/Components/DataSources/UDPStreamerClient/depends.x86-linux

@@ -136,4 +136,5 @@
  /home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedServiceMethodBinderI.h \
  /home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedServiceMethodBinderT.h \
  /home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedThreadI.h \
- /home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedThread.h
+ /home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedThread.h \
+ ../../../..//Source/Components/Interfaces/UDPStream/UDPSTransportI.h

Source/Components/DataSources/UDPStreamerClient/dependsRaw.x86-linux

@@ -136,4 +136,5 @@ UDPStreamerClient.o: UDPStreamerClient.cpp \
  /home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedServiceMethodBinderI.h \
  /home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedServiceMethodBinderT.h \
  /home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedThreadI.h \
- /home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedThread.h
+ /home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedThread.h \
+ ../../../..//Source/Components/Interfaces/UDPStream/UDPSTransportI.h