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Cy v0.2 proposal (#39)

This PR introduces the next design iteration. There will be a forum post covering it. The fundamental changes are:

- Reliability and reordering moved to the session layer from the
transport layer.
- Broadcast gossips amended with faster unicast gossips that scale
better. This addresses the high arrival load issue of the initial
design. See `cy/README.md` for rationale.
- Dependency on DSDL types removed completely -- no more piggybacking on
heartbeat.
- Session layer introduces a fixed 24-byte header; the backward
compatibility with Cyphal/CAN v1.0 will be addressed in a follow-up PR
(easy).

This PR also introduces an extensive test suite.

CC @laktoosivaba

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Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

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