Checking a different approach

[pavel-kirienko]

We might be able to simplify things quite a bit by separating the responsibilities differently between the layers.

[Copilot]

Pull request overview

This PR significantly refactors the Cyphal/UDP protocol implementation by simplifying the transfer identification scheme and removing the ordered reassembly mode. The changes consolidate responsibility separation between layers and streamline the codebase.

Changes:

• Removed topic hash from transfer identification, replacing it with a unique transfer-ID per subject
• Eliminated the ordered reassembly mode, keeping only unordered and stateless modes
• Reduced the Cyphal/UDP header size from 48 to 40 bytes by removing the topic hash field

Reviewed changes

Copilot reviewed 16 out of 17 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
tests/src/test_intrusive_tx.c	Updated tests to reflect removal of topic hash, new transfer indexing by ID+seq_no, and simplified ACK handling
tests/src/test_intrusive_rx.c	Removed ordered mode tests, updated port initialization to remove topic hash and mode parameters
tests/src/test_intrusive_header.c	Updated header serialization tests for new 40-byte format with frame_kind replacing flags
tests/src/test_intrusive_guards.c	Added guard tests for new P2P push validation and updated existing guards for API changes
tests/src/test_integration_sockets.cpp	Removed topic hash and collision tracking from integration tests
tests/src/test_fragment.cpp	Added test for seeking before first fragment boundary
tests/src/test_e2e_responses.cpp	Updated header size constant and removed topic hash from response flow tests
tests/src/test_e2e_reliable_ordered.cpp	Entire file deleted - removed ordered mode test suite
tests/src/test_e2e_random.cpp	Simplified transfer key to use only transfer-ID, removed collision tracking
tests/src/test_e2e_edge.cpp	Removed ordered mode tests and topic hash collision detection tests
tests/src/test_e2e_api.cpp	Updated port initialization and removed collision callbacks from API tests
tests/CMakeLists.txt	Removed test_e2e_reliable_ordered from build
libudpard/udpard.h	Updated API to remove topic hash, ordered mode, and reordering window parameters
libudpard/udpard.c	Implemented new transfer indexing scheme, removed ordered mode logic, reduced header to 40 bytes
cyphal_udp_header.dsdl	Added new header specification documenting 40-byte format with kind field
README.md	Updated feature list to remove ordered mode mentions

Files not reviewed (1)

• .idea/dictionaries/project.xml: Language not supported

---

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

[sonarqubecloud]

Quality Gate passed

Issues
12 New issues
0 Accepted issues

Measures
0 Security Hotspots
99.5% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud