I apologize for the clickbait title as there’s actually no proposal here. I just want to share these two files here per @scottdixon’s suggestion:
can.hpp (27.5 KB)
generic.hpp (15.4 KB)
generic.hpp contains the transport-agnostic part and can.hpp contains the Cyphal/CAN specific part. The macros are legacy cruft for compatibility with Nunavut C; ignore them. The key idea is to use type erasure with factory methods to create publishers/subscribers/etc and to decouple the application from the transport specifics via static polymorphism — assume that a hypothetical udp.hpp would implement the same methods.
If we can tolerate dynamic memory allocation during initialization, implementing this interface should not be a problem. I think we should embrace type erasure because it allows the construction of concise API that is easy to understand and hard to misuse. In general, I would like libcyphal to somewhat approximate the API of PyCyphal: Architecture — PyCyphal 1.13.1 documentation