feat: implement milestones 19–43 (security, topology, tooling, bridges, RTOS, certification)

[SoundMatt]

Summary

Phase 6 — Security

• M19 authz.hpp: AuthController + AccessPolicy; ErrForbidden; IEC 62443 SL-2 access control (REQ-AUTH-001..008)
• M20 firmware.hpp: FirmwareSession; chunked OTA transfer; verify+rollback; CommandType::Update (REQ-FW-001..008)

Phase 7 — Topology

• M21 zonegroup.hpp: ZoneGroup typed sets; concurrent send_group() via std::async; GroupResponse (REQ-ZG-001..006)
• M22 proxy.hpp: ProxyController latency budget; ProxyRegistry full relay (REQ-PROXY-001..006)
• M23 redundancy.hpp: RedundantController hot-standby; auto_promote on fault (REQ-RED-001..008)
• M24 federation.hpp: FederatedRegistry; lease-based cross-HPC ownership (REQ-FED-001..008)

Phase 8 — Tooling

• M25 observe.hpp: ObservingController; InMemorySink; OTel-style span recording (REQ-OBS-001..008)
• M26 admin.hpp: AdminServer; SSE event bus; Prometheus metrics_text() (REQ-ADMIN-001..008)
• M27 record.hpp: RecordingController; binary log; Playback::run_all() with speed factor (REQ-REC-001..008)
• M28 config.hpp: hand-rolled JSON parser; config::load() into Registry (REQ-CFG-001..006)
• M29 tooling/zone_manifest_schema.json: JSON Schema draft-07 for zone manifests
• M30 dyndata.hpp: SchemaRegistry; DynamicPayload encode/decode with 4-byte BE schema_id prefix (REQ-DYN-001..006)

Phase 9–10 — Protocol Bridges

• M31–M39: grpcbridge, restbridge, someipbr, canbr, ddsbr, mqttbr, linbr, udsbr, doipbr — all stub Controller impls returning errc::function_not_supported

Phase 11 — RTOS / C API

• M40 capi.h + capi_impl.hpp: pure-C flat API with opaque handles; placement-new into caller-supplied aligned buffers; rcp_send, rcp_subscribe, rcp_registry_*, rcp_ctrl_*

Phase 12 — Formal Verification

• M41 tla/: HealthStateMachine.tla, AntiReplayGuard.tla, WatchdogProtocol.tla — TLC-checkable safety properties
• FORMAL_VERIFICATION.md: property descriptions, C++ mapping, TLC instructions

Phase 13–14 — ISO 21434 / Certification

• M42 TARA.md, CYBERSECURITY.md: 10 threats (T-01..T-10), risk matrix, IEC 62443 SL-2 gap analysis
• M43 AUDIT_PACK.md: ASIL-D gap analysis, structural coverage table, CI gate table, change impact procedure
• .fusa-reqs.json: expanded to 324 requirements across 38 groups (up from 198)

All 26 CTest cases pass ✅

Test plan

• CI gate passes on this branch
• All 26 tests green (14 original + 12 new: rcp_authz, rcp_firmware, rcp_zonegroup, rcp_proxy, rcp_redundancy, rcp_federation, rcp_observe, rcp_admin, rcp_record, rcp_config, rcp_dyndata, rcp_capi)
• No regressions in rcp_core, rcp_mock, rcp_wire, rcp_e2e