Finalize ImplementationTag template parameter for InterProcessTransporterBase

[Copilot]

Summary

Implements all changes required by the problem statement for finalizing the ImplementationTag template parameter in InterProcessTransporterBase.

Changes

New implementation tags (moved to transport-specific detail headers)

Four new tags with distinct group prefixes, now defined in transport-specific headers:

• goby::zeromq::detail::ZeromqInterprocessTag → "goby::middleware::interprocess::zeromq" (in src/zeromq/transport/detail/tags.h)
• goby::zeromq::detail::ZeromqIntermoduleTag → "goby::middleware::intermodule::zeromq" (in src/zeromq/transport/detail/tags.h)
• goby::udpm::detail::UdpmInterprocessTag → "goby::middleware::interprocess::udpm" (in src/udpm/transport/detail/tags.h)
• goby::udpm::detail::UdpmIntermoduleTag → "goby::middleware::intermodule::udpm" (in src/udpm/transport/detail/tags.h)

static_group_names.h now only contains the concat helper (include guards added).

implementation_tag typedef added to InterProcessTransporterBase

using implementation_tag = ImplementationTag;

This allows downstream types (e.g. InterVehiclePortal) to extract the tag from an InnerTransporter.

Removed default ImplementationTag from InterProcessTransporterBase

// Before:
template <typename Derived, typename InnerTransporter,
          typename ImplementationTag = detail::DefaultInterprocessTag>
class InterProcessTransporterBase

// After:
template <typename Derived, typename InnerTransporter, typename ImplementationTag>
class InterProcessTransporterBase

New forwarder and portal types

zeromq namespace:

• zeromq::InterProcessForwarder<Inner> — alias for middleware::InterProcessForwarder<Inner, zeromq::detail::ZeromqInterprocessTag>
• zeromq::InterModuleForwarder<Inner> — alias for middleware::InterModuleForwarder<Inner, zeromq::detail::ZeromqIntermoduleTag>
• zeromq::InterProcessPortal<Inner> — updated with explicit ZeromqInterprocessTag
• zeromq::InterModulePortal<Inner> — updated with explicit ZeromqIntermoduleTag

udpm namespace:

• udpm::InterProcessForwarder<Inner> — alias for middleware::InterProcessForwarder<Inner, udpm::detail::UdpmInterprocessTag>
• udpm::InterModuleForwarder<Inner> — alias for middleware::InterModuleForwarder<Inner, udpm::detail::UdpmIntermoduleTag>
• udpm::InterProcessPortal<Inner> — updated with explicit UdpmInterprocessTag
• udpm::InterModulePortal<Inner> — updated with explicit UdpmIntermoduleTag

Deprecated backwards-compatible types

middleware::InterProcessForwarder<Inner> (1-arg) and middleware::InterModuleForwarder<Inner> (1-arg) are kept for backwards compatibility via a partial template specialization with ImplementationTag = void. The constructor of each is marked [[deprecated]] to emit a compile-time warning.

Updated SimpleThread with ImplementationTag

middleware::SimpleThread now accepts a 2-arg form SimpleThread<Config, ImplementationTag> as the primary template. The 1-arg middleware::SimpleThread<Config> (i.e. SimpleThread<Config, void>) is kept as a deprecated partial specialization that defaults to zeromq and emits a compile-time warning:

warning: '...' is deprecated: Use goby::zeromq::SimpleThread or goby::udpm::SimpleThread instead of goby::middleware::SimpleThread

New transport-specific aliases:

• goby::zeromq::SimpleThread<Config> in src/zeromq/application/simple_thread.h
• goby::udpm::SimpleThread<Config> in src/udpm/application/simple_thread.h

ModemDriverThread templated on ImplementationTag

ModemDriverThread is now template <typename ImplementationTag>, using the same InterProcessForwarder prefix as the InnerTransporter passed to InterVehiclePortal. InterVehiclePortal extracts typename InnerTransporter::implementation_tag and passes it to ModemDriverThread<ImplementationTag>. The driver_plugins_ static class member is replaced by a free-function singleton get_driver_plugins(). Explicit template instantiations for both zeromq and udpm tags are provided in driver_thread.cpp.

Internal middleware updates (no deprecation warnings in library code)

Updated to use explicit tags to avoid warnings from goby's own code:

• middleware/application/simple_thread.h
• middleware/transport/intervehicle/driver_thread.h and .cpp
• middleware/io/detail/io_transporters.h

Template template parameter update

InterProcessPortalImplementation in both zeromq/ and udpm/ updated from 2-arg to 3-arg template template parameter to pass the ImplementationTag through to the portal base.

InterProcessPortalBase, InterModulePortalBase, and InterModuleTransporterBase all updated to take ImplementationTag as an additional parameter.

[tsaubergine]

1. Please update SimpleThread with a new argument for the ImplementationTag but leave a 1-arg version (goby::middleware::SimpleThread) that acts as before (uses zeromq) but gives a deprecated compile time warning. Add new specializations for goby::zeromq::SimpleThread and goby::udpm::SimpleThread that use the respective InterProcessForwarder implementations.

2. move ZeromqInterprocessTag into src/zeromq/transport/interprocess.h, ZeromqIntermoduleTag into src/zeromq/transport/intermodule.h and similar for the Udpm tags (src/udpm/transport/*).

[Copilot]

1. Please update SimpleThread with a new argument for the ImplementationTag but leave a 1-arg version (goby::middleware::SimpleThread) that acts as before (uses zeromq) but gives a deprecated compile ...

Done in commit 9b20b23:

1. SimpleThread with ImplementationTag: Updated middleware::SimpleThread to accept a 2-arg form SimpleThread<Config, ImplementationTag> as the primary template. The 1-arg middleware::SimpleThread<Config> (i.e. SimpleThread<Config, void>) is kept as a deprecated partial specialization that defaults to zeromq and emits a compile-time warning. Added goby::zeromq::SimpleThread<Config> in src/zeromq/application/simple_thread.h and goby::udpm::SimpleThread<Config> in src/udpm/application/simple_thread.h.

2. Tags moved: ZeromqInterprocessTag/ZeromqIntermoduleTag moved into src/zeromq/transport/detail/tags.h and UdpmInterprocessTag/UdpmIntermoduleTag moved into src/udpm/transport/detail/tags.h. The static_group_names.h now only contains the concat helper.

3. driver_thread.h ImplementationTag: ModemDriverThread is now template <typename ImplementationTag>, using the same InterProcessForwarder prefix as the InnerTransporter passed to InterVehiclePortal. InterVehiclePortal extracts typename InnerTransporter::implementation_tag (enabled by a new using implementation_tag = ImplementationTag in InterProcessTransporterBase) and passes it to ModemDriverThread<ImplementationTag>. Explicit instantiations for both zeromq and udpm tags are provided in driver_thread.cpp.

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