OpenCyphal-Garage / cy

100%

push

github

Forward libcanard TX deadlines through the CAN driver vtable (#60)

`cy_can_vtable_t::tx_classic` and `tx_fd` were dropping the libcanard
transmission deadline even though the CAN transport already receives it.
This updates the public CAN driver API so platform backends can observe
the deadline directly, matching the FluxGrip-facing integration model.

- **Public CAN vtable API**
  - Extend `tx_classic` and `tx_fd` to accept a `canard_us_t deadline`.
- Update the callback contract in `cy_can.h` to make deadline-aware
transmission explicit.

- **Deadline propagation**
- Pass the libcanard deadline through `cy_can.c` instead of discarding
it before dispatching to the backend vtable.

- **Backend and test support**
  - Update the SocketCAN backend to the new callback signature.
- Update CAN test doubles to capture the last deadline seen on classic
and FD TX paths.
- Add focused assertions covering both classic and FD publication paths.

- **Example**
  ```c
  typedef struct
  {
      bool (*tx_classic)(void* user,
                         canard_us_t deadline,
                         uint_least8_t iface_index,
                         uint32_t can_id,
                         const void* data,
                         uint_least8_t len);

      bool (*tx_fd)(void* user,
                    canard_us_t deadline,
                    uint_least8_t iface_index,
                    uint32_t can_id,
                    const void* data,
                    uint_least8_t len);
  } cy_can_vtable_t;
  ```

---------

Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com>
Co-authored-by: Maksim Drachov <maksim.drachov@outlook.com>

521 of 521 branches covered (100.0%)

Branch coverage included in aggregate %.

2236 of 2249 relevant lines covered (99.42%)

331937.4 hits per line