build(gateway): HTTP layer in the ROS-free core

scripts/check_cores_without_ros/CMakeLists.txt

@@ -20,6 +20,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 include(${CMAKE_CURRENT_LIST_DIR}/../../src/ros2_medkit_fault_reporter/cmake/fault_reporter_core.cmake)
 include(${CMAKE_CURRENT_LIST_DIR}/../../src/ros2_medkit_fault_manager/cmake/fault_manager_core.cmake)
+include(${CMAKE_CURRENT_LIST_DIR}/../../src/ros2_medkit_gateway/cmake/gateway_core.cmake)
 
 add_executable(check_cores_without_ros main.cpp)
-target_link_libraries(check_cores_without_ros PRIVATE fault_reporter_core fault_manager_core)
+target_link_libraries(check_cores_without_ros PRIVATE fault_reporter_core fault_manager_core gateway_core)

scripts/check_cores_without_ros/Dockerfile

@@ -5,6 +5,7 @@ WORKDIR /src
 COPY src/ros2_medkit_fault_detection src/ros2_medkit_fault_detection
 COPY src/ros2_medkit_fault_reporter src/ros2_medkit_fault_reporter
 COPY src/ros2_medkit_fault_manager src/ros2_medkit_fault_manager
+COPY src/ros2_medkit_gateway src/ros2_medkit_gateway
 COPY scripts/check_cores_without_ros scripts/check_cores_without_ros
 RUN CXX=g++-9 cmake -S scripts/check_cores_without_ros -B /tmp/b && cmake --build /tmp/b
 RUN ldd /tmp/b/check_cores_without_ros | tee /tmp/ldd.txt && ! grep -q rclcpp /tmp/ldd.txt

scripts/check_cores_without_ros/README.md

@@ -1,19 +1,24 @@
 # check_cores_without_ros
 
-Checks that the ROS-free cores (fault reporter core, fault manager core) build and run
-without ROS. It builds them with plain CMake and gcc 9 on Ubuntu 20.04, the oldest compiler
-the cores are checked with, then runs a small program that links them. The check fails if
-the binary links `rclcpp`.
+Checks that the ROS-free cores (fault reporter core, fault manager core, gateway core) build and
+run without ROS. It builds them with plain CMake and gcc 9 on Ubuntu 20.04, the oldest compiler
+the cores are checked with, then runs a small program that links them. The program also starts
+the gateway REST server over minimal `GatewayServices` and reads `/api/v1/health`, `/api/v1/` and `/api/v1/version-info`. The check
+fails if the binary links `rclcpp`.
 
 ```bash
 scripts/check_cores_without_ros/run.sh
 ```
 
-The CMake file includes `cmake/fault_reporter_core.cmake` and `cmake/fault_manager_core.cmake` by path, as the ament builds do. The image installs only g++-9, cmake, make and the dev packages of SQLite3, OpenSSL, nlohmann_json and
-yaml-cpp. libpqxx is not installed, so the PostgreSQL backend is not built.
+The CMake file includes `cmake/fault_reporter_core.cmake`, `cmake/fault_manager_core.cmake` and
+`cmake/gateway_core.cmake` by path, as the ament builds do. The image installs only g++-9,
+cmake, make and the dev packages of SQLite3, OpenSSL, nlohmann_json and yaml-cpp. libpqxx is
+not installed, so the PostgreSQL backend is not built.
 
 ## What `main.cpp` checks
 
+- Gateway: with `server_name`, `vendor_name` and `server_version` set in `RestConfig`, `GET /api/v1/` returns the name and version, and `GET /api/v1/version-info` returns the vendor name and version.
+
 - Reporter core: a report below the local filter threshold is filtered, the next one reaches the sink, a PASSED report is
   filtered by the same threshold, an empty fault code is not forwarded.
 - Fault manager storage: a FAILED report creates a CONFIRMED fault, and `list_faults` returns it with its nanosecond time.