refactor(rtps_embedded): De-template the engine (Phase 3)

[finger563]

Phase 3 (de-templating) of the components/rtps_embedded refactor — see REFACTOR_PLAN.md. Follows #706 (now merged).

What

Remove the NetworkDriver template parameter from the engine's three endpoint classes. There is exactly one transport (EsppTransport), so the template bought nothing but .tpp files and compile time.

• StatelessWriterT<NetworkDriver> / StatefulWriterT<NetworkDriver> / StatefulReaderT<NetworkDriver> → concrete StatelessWriter / StatefulWriter / StatefulReader (their former alias names, so every consumer — Domain, Participant — is unchanged).
• Headers keep the forward-declared EsppTransport (members are pointers); the full EsppTransport.hpp is pulled only into the new .cpp translation units where m_transport-> is dereferenced.
• Each entities/*.tpp folded verbatim into src/entities/*.cpp — method bodies unchanged (heartbeatTick, the submit() heartbeat piggyback, m_protocolNudge all preserved) — and registered in both build files. storages/ThreadSafeCircularBuffer.tpp (a genuine container template) is left as-is.

Why

.tpp template-implementation files, longer compile times, and template error messages, all for a parameter that only ever takes one value. Concrete classes are simpler to read, debug, and (next) evolve.

Wire-neutral by construction

A rename/move cannot change bytes. Verified anyway:

• Golden wire tests: byte-identical, never regenerated.
• Interop matrix (docker, FastDDS + ROS 2 jazzy): 8/8 — espp↔espp loopback + cross-process, espp↔ROS 2 reliable both directions + best-effort.
• esp32 example builds for esp32p4 on ESP-IDF 6.0.
• Host lib (win/mac/linux) + reliable loopbacks pass.

Not included (deliberately)

The plan groups a BaseComponent/lock "hierarchy collapse" under Phase 3, but on inspection it's debatable for this engine (it uses its own Log.hpp printf macros for ~90% of log sites; the lock pain-point in the plan was about the native rtps component being retired in Phase 6). Kept separate pending discussion.

🤖 Generated with Claude Code

[github-actions]

✅Static analysis result - no issues found! ✅

[Copilot]

Pull request overview

This PR implements Phase 3 of the components/rtps_embedded refactor by removing the NetworkDriver template parameter from the engine endpoint classes and moving their former .tpp implementations into concrete .cpp translation units, keeping EsppTransport forward-declared in headers and only included where dereferenced.

Changes:

• De-templated StatelessWriterT / StatefulWriterT / StatefulReaderT into concrete StatelessWriter / StatefulWriter / StatefulReader types (preserving the public alias names used by consumers).
• Folded former template implementations into src/entities/*.cpp and added the new sources to both the ESP-IDF component build and the host/library build.
• Updated endpoint headers to use EsppTransport directly (forward-declared) and removed .tpp includes.

Reviewed changes

Copilot reviewed 8 out of 8 changed files in this pull request and generated no comments.

Show a summary per file

File	Description
lib/espp.cmake	Adds the new StatefulReader.cpp, StatefulWriter.cpp, and StatelessWriter.cpp sources to the host/library build source list.
components/rtps_embedded/CMakeLists.txt	Registers the new endpoint .cpp translation units in the ESP-IDF component build.
components/rtps_embedded/src/entities/StatelessWriter.cpp	Provides concrete StatelessWriter method definitions and pulls in EsppTransport.hpp only in the .cpp.
components/rtps_embedded/src/entities/StatefulWriter.cpp	Provides concrete StatefulWriter method definitions with EsppTransport-backed transport usage in the .cpp.
components/rtps_embedded/src/entities/StatefulReader.cpp	Provides concrete StatefulReader method definitions and includes EsppTransport.hpp only where needed.
components/rtps_embedded/include/rtps/entities/StatelessWriter.hpp	Removes templating, switches to EsppTransport*, and removes .tpp inclusion.
components/rtps_embedded/include/rtps/entities/StatefulWriter.hpp	Removes templating, switches to EsppTransport*, and removes .tpp inclusion.
components/rtps_embedded/include/rtps/entities/StatefulReader.hpp	Removes templating, switches to EsppTransport*, and removes .tpp inclusion.

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