refactor(bridge): reduce standard bridge manager's memory usage

[bdm-k]

Closes #1209

Description

The previous BridgeInfo struct stored two full MqMsgBridge instances, holding many redundant fields that are identical for both directions.

This PR replaces BridgeInfo with a compact struct ManagedBridgeEntry:

struct ManagedBridgeEntry
{
  BridgeFactorySpec factory_spec;
  // Use -1 when not requested. Valid topic_local_id_t values are [0..MAX_TOPIC_LOCAL_ID).
  topic_local_id_t target_id_r2a;
  topic_local_id_t target_id_a2r;
  bool is_requested_r2a;
  bool is_requested_a2r;
};

struct BridgeFactorySpec
{
  // If set to std::nullopt, the factory functions reside in the main executable.
  std::optional<std::string> shared_lib_path;
  uintptr_t fn_offset_r2a;
  uintptr_t fn_offset_a2r;
};

BridgeFactorySpec takes advantage of the fact that the symbol_name field in BridgeFactoryInfo is only used to identify whether the factories are in the main executable. We set shared_lib_path to nullopt when the factories are in the main executable.

Received MqMsgBridge is now decomposed into ManagedBridgeEntry at reception time in register_request(), rather than being stored as is. The parameters of the related functions are updated accordingly.

This PR also adds handling of a previously ignored corner case (indeed, this can barely happen): a request is delegated to a bridge manager that has already removed the topic from its managed_bridges_. This is a timing issue.

Related links

How was this PR tested?

• Autoware (required)
• bash scripts/test/e2e_test_1to1.bash (required)
• bash scripts/test/e2e_test_2to2.bash (required)
• kunit tests (required when modifying the kernel module)
• bash scripts/test/run_requires_kernel_module_tests.bash (required)
• sample application

Notes for reviewers

[Copilot]

Pull request overview

Refactors the standard bridge manager to reduce memory usage by storing a compact per-topic entry instead of full MqMsgBridge requests for both directions, and updates the loader/factory plumbing accordingly (including a delegation corner-case guard).

Changes:

• Replace stored per-topic BridgeInfo (two MqMsgBridges) with compact ManagedBridgeEntry + BridgeFactorySpec stored at request reception time.
• Update StandardBridgeLoader API and caching to resolve factories from the compact spec and create bridges using (node, topic_name, qos) factories.
• Add handling for delegation requests arriving after the owner manager has already dropped the topic from managed_bridges_.

Reviewed changes

Copilot reviewed 5 out of 5 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
src/agnocastlib/src/bridge/standard/agnocast_standard_bridge_manager.cpp	Decomposes incoming requests into compact entries, updates activation/delegation flow to use DirectedBridgeRef, and adds corner-case delegation handling.
src/agnocastlib/src/bridge/standard/agnocast_standard_bridge_loader.cpp	Refactors factory resolution to use BridgeFactorySpec (optional lib path + two offsets) and instantiates bridges from topic name + direction.
src/agnocastlib/include/agnocast/bridge/standard/agnocast_standard_bridge_manager.hpp	Introduces ManagedBridgeEntry/DirectedBridgeRef and switches loader storage to std::unique_ptr.
src/agnocastlib/include/agnocast/bridge/standard/agnocast_standard_bridge_loader.hpp	Changes public loader/factory types (BridgeFn, BridgeFactorySpec) and loader constructor/create API.
src/agnocastlib/include/agnocast/bridge/agnocast_bridge_node.hpp	Updates exported factory templates to match the new BridgeFn signature (topic name string instead of BridgeTargetInfo).

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

[Copilot]

Changing BridgeFn (and the corresponding factory functions) signature from (Node, BridgeTargetInfo, QoS) to (Node, std::string, QoS) is a public API/ABI break for any out-of-tree bridge factory libraries compiled against the old headers. If external factories/plugins are supported, consider providing a compatibility adapter (e.g., keep the old signature and forward to the new one) or explicitly documenting this as a breaking change and bumping the appropriate version.