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>

Test/E2E/suite/gen_cfg.py

@@ -103,10 +103,23 @@ def _streamer_sig(sig):
     return f"{sig['name']} = {{ {' '.join(parts)} }}"
 
 
+SERVICE_NAME = "Svc"
+
+
+def _service_port(scenario):
+    """Port of the shared TCPStreamService (first source's port)."""
+    return scenario["sources"][0]["udp_port"]
+
+
 def _streamer_block(src, scenario):
     s = src["signals"]
-    parts = [f"Port = {src['udp_port']}",
-             f"MaxPayloadSize = {scenario['max_payload']}",
+    net = scenario["network"]
+    if net == "tcp_service":
+        # Port, MaxClients, ... belong to the service; the streamer only joins it.
+        parts = [f'Service = "{SERVICE_NAME}"', f'StreamName = "{S.stream_name(scenario, src)}"']
+    else:
+        parts = [f"Port = {src['udp_port']}"]
+    parts += [f"MaxPayloadSize = {scenario['max_payload']}",
              f'PublishingMode = "{scenario["publishing"]}"']
     if scenario["publishing"] == "Accumulate":
         parts.append(f"MinRefreshRate = {scenario['min_refresh_hz']}")
@@ -118,7 +131,8 @@ def _streamer_block(src, scenario):
         iface = src.get("interface") or _mcast_interface_ip(src["multicast_group"])
         parts.append(f'Interface = "{iface}"')
     sigs = " ".join(_streamer_sig(sig) for sig in s)
-    return (f"        +Streamer_{src['id']} = {{ Class = UDPStreamer "
+    cls = "UDPStreamer" if net in ("unicast", "multicast") else "TCPStreamer"
+    return (f"        +Streamer_{src['id']} = {{ Class = {cls} "
             f"{' '.join(parts)} Signals = {{ {sigs} }} }}")
 
 
@@ -202,7 +216,19 @@ def write_marte_cfg(scenario, path, input_bin, tap_bin=None):
     data_block = "\n".join(datas)
     thread_list = " ".join(thread_funcs)
 
-    cfg = f"""$ChainE2E = {{
+    service_block = ""
+    if scenario["network"] == "tcp_service":
+        service_block = (f"+{SERVICE_NAME} = {{ Class = TCPStreamService "
+                         f"Port = {_service_port(scenario)} Workers = 2 "
+                         f"MaxClients = 16 MaxStreams = 16 }}\n")
+        hub = scenario.get("hub")
+        if hub and hub["mode"] == "join":
+            names = ",".join(S.stream_name(scenario, x) for x in scenario["sources"])
+            service_block += (f"+Join = {{ Class = TCPStreamJoin Service = \"{SERVICE_NAME}\" "
+                              f"StreamName = \"{hub['name']}\" Sources = \"{names}\" "
+                              f"Master = \"{hub['master']}\" }}\n")
+
+    cfg = f"""{service_block}$ChainE2E = {{
     Class = RealTimeApplication
     +Functions = {{
         Class = ReferenceContainer
@@ -227,10 +253,26 @@ def write_marte_cfg(scenario, path, input_bin, tap_bin=None):
 def write_hub_cfg(scenario, path):
     os.makedirs(os.path.dirname(os.path.abspath(path)), exist_ok=True)
     src_blocks = []
-    for src in scenario["sources"]:
+    hub = scenario.get("hub")
+    if hub and hub["mode"] == "mux":
+        names = ",".join(S.stream_name(scenario, x) for x in scenario["sources"])
+        src_blocks.append(
+            f'        {hub["node"]} = {{ Label = "chain" Addr = "127.0.0.1" '
+            f'Port = {_service_port(scenario)} Transport = "tcp" StreamName = "{names}" }}')
+    elif hub and hub["mode"] == "join":
+        src_blocks.append(
+            f'        {hub["name"]} = {{ Label = "chain {hub["name"]}" Addr = "127.0.0.1" '
+            f'Port = {_service_port(scenario)} Transport = "tcp" StreamName = "{hub["name"]}" }}')
+    for src in ([] if hub else scenario["sources"]):
+        net = scenario["network"]
+        port = _service_port(scenario) if net == "tcp_service" else src["udp_port"]
         parts = [f'Label = "chain {src["id"]}"', 'Addr = "127.0.0.1"',
-                 f"Port = {src['udp_port']}"]
-        if scenario["network"] == "multicast":
+                 f"Port = {port}"]
+        if net in ("tcp", "tcp_service"):
+            parts.append('Transport = "tcp"')
+        if net == "tcp_service":
+            parts.append(f'StreamName = "{src["id"]}"')
+        if net == "multicast":
             parts.append(f'MulticastGroup = "{src["multicast_group"]}"')
             parts.append(f"DataPort = {src['data_port']}")
         src_blocks.append(f"        {src['id']} = {{ {' '.join(parts)} }}")