CAN frame transport (classical + FD)

The on-wire form of CAN traffic crossing the plugin↔gateway boundary. This cluster :satisfies: CAN (SocketCAN) reference c... (FEAT_0046).

Feature: CAN frame transport (classical + FD) FEAT_0047

status: open satisfies: FEAT_0046 is satisfied by: REQ_0610, REQ_0611, REQ_0612, REQ_0613, REQ_0614, REQ_0615

The on-wire form of CAN traffic crossing the plugin↔gateway boundary. CanRouting declares per-channel CAN ID, mask, and frame kind (Classical or FD); the iceoryx2 service payload carries the raw CAN data bytes (codec-encoded plugin-side per Codec is a generic paramete... (REQ_0211)), with the gateway acting as a byte-only mover (symmetric with Inbound payload read from P... (REQ_0327) and Zenoh gateway is byte-only ... (REQ_0408)).

Requirement: Classical CAN frames supported REQ_0610

status: approved satisfies: FEAT_0047 is refined by: IMPL_0080 is verified by: TEST_0502

For channels declared with CanFrameKind::Classical, the connector shall transport up to 8 bytes of payload per frame, with 11-bit standard or 29-bit extended identifiers (per CanRouting carries iface, c... (REQ_0601)’s extended flag). The corresponding iceoryx2 service payload capacity shall be 8 bytes plus the ConnectorEnvelope header.

Requirement: CAN-FD frames supported REQ_0611

status: approved satisfies: FEAT_0047 is refined by: IMPL_0080 is verified by: TEST_0503

For channels declared with CanFrameKind::Fd, the connector shall transport up to 64 bytes of payload per frame with the FD-specific bit-rate-switch (BRS) and error-state-indicator (ESI) flags carried in CanFdFlags. The corresponding iceoryx2 service payload capacity shall be 64 bytes plus the ConnectorEnvelope header.

Requirement: Channel payload sizing keyed on frame kind REQ_0612

status: open satisfies: FEAT_0047 is refined by: IMPL_0080 is implemented by: BB_0071 is verified by: TEST_0502

ChannelDescriptor<CanRouting>::max_payload_size shall be derived deterministically from CanRouting::kind: 8 bytes for Classical, 64 bytes for Fd. The framework shall reject any plugin-provided override that violates this mapping with ConnectorError::Configuration.

Requirement: Outbound payload serialised to socketcan frame REQ_0613

status: approved satisfies: FEAT_0047 is refined by: IMPL_0080, ARCH_0060 is implemented by: BB_0072 is verified by: TEST_0502, TEST_0503, TEST_0512

When a plugin publishes a value through ChannelWriter::send, the gateway shall, before the next RX/TX iteration on the target interface, construct a socketcan::CanFrame (for Classical) or socketcan::CanFdFrame (for Fd) whose identifier is the channel’s CanRouting::can_id (with the extended flag honoured), whose data bytes are the codec-encoded envelope payload, whose DLC is the payload length, and — for FD — whose BRS / ESI flags are copied from CanRouting::fd_flags. The gateway shall not re-encode the payload.

Requirement: Inbound gateway is byte-only on the publish path REQ_0614

status: approved satisfies: FEAT_0047 is refined by: IMPL_0080, ARCH_0061 is implemented by: BB_0072 is verified by: TEST_0502, TEST_0512

On the inbound leg (CAN bus → plugin), the gateway shall publish the raw frame data bytes received from the SocketCAN read onto the matching channel’s inbound iceoryx2 service as a ConnectorEnvelope without invoking the channel’s codec — codec decoding is the responsibility of the plugin-side ChannelReader::try_recv (symmetric with Inbound payload read from P... (REQ_0327) and Zenoh gateway is byte-only ... (REQ_0408)).

Requirement: CAN ID extended flag preserved end-to-end REQ_0615

status: approved satisfies: FEAT_0047 is refined by: IMPL_0080 is implemented by: BB_0071 is verified by: TEST_0501

The CanRouting::can_id.extended boolean shall be preserved end-to-end between plugin and gateway: outbound, the gateway shall set the CAN_EFF_FLAG bit on the kernel-side frame iff extended is true; inbound, the gateway shall match against can_id and mask honouring the same flag distinction so that 11-bit and 29-bit IDs occupying the same numeric value are delivered to separate readers.

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