Thanks for the explanation. I’m still a bit unclear though. Are you saying that the subject IDs will need to be assigned dynamically? If so, is there a well known fixed subject ID that can be used to assign system specific subject IDs? Almost like how TCP port 80 is used to distribute out random unused ports to actually serve data during a transfer.
It would be really helpful to have an example of recommended device provisioning in a system. For example, if the device has no UI, it must have a method to configure it via the comms interface it has available right? Like is there a way to send a message from the central node in the system, like the flight controller, that pairs the textual subject name with a subject ID number? The device can then store this to it’s own NVM, but that at least needs to happen once. It seems like that process is so critical to the system that it should be part of UAVCAN?