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Pull request overview
This pull request removes reliable delivery functionality from the Cyphal/UDP transport layer, moving reliability concerns one layer higher in the protocol stack. The changes simplify the library significantly by eliminating ACK handling, feedback callbacks, and TX/RX linkage.
Changes:
- Removed reliable delivery mechanism including ACKs, retransmissions, and feedback callbacks
- Reduced header size from 40 to 32 bytes by removing frame_index and frame_kind fields
- Changed transfer-ID from 64-bit to 48-bit representation
- Simplified TX/RX pipeline by removing TX reference from RX instance
- Unified eject callback interface (removed separate subject/P2P callbacks)
Reviewed changes
Copilot reviewed 13 out of 14 changed files in this pull request and generated 3 comments.
Show a summary per file
| File | Description |
|---|---|
| libudpard/udpard.h | Removed feedback callback types, ACK-related fields, user context union; simplified vtable; changed transfer-ID to 48-bit |
| libudpard/udpard.c | Removed all ACK transmission/reception logic, staged transfer index, feedback handling; simplified header format |
| cyphal_udp_header.dsdl | Updated protocol spec removing frame_kind and frame_index fields; reduced header to 32 bytes |
| tests/src/test_*.c | Simplified tests removing reliability-specific scenarios; focused on basic roundtrip and deduplication |
| tests/src/helpers.h | Removed make_user_context helper no longer needed |
| README.md | Updated feature list removing reliable delivery references |
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Reliability has been moved one layer higher.