Update the port introspection service per discussion on the forum #93
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… (it is inserted automatically)
The new service is stateless and compliant with the interface design guidelines. The Statistics service is removed and not yet replaced because it had a design issue (did not distinguish between servers and clients) and because YAGNI. Later we may address this using the Register API. The GetInfo service is removed because for fixed ports the data type information is deducible from the port-ID, and non-fixed ports are addressed by #92
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Fixes #84
The new port introspection service follows the push model, simplifying its support in hard real-time systems with strict scheduling constraints (the amount of time required to manage the service is known which is normally not the case for service servers). See https://forum.uavcan.org/t/alternative-transport-protocols-in-uavcan/324/34?u=pavel.kirienko
Contrary to the discussion on the forum:
Notice:
Which is why I also included the publisher configuration into this service.
The service GetInfo is removed because for fixed-ID ports the data type is obviously deducible from the port-ID, and for non-fixed-ID ports this is addressed in #92.
The statistics service had an issue with request/response handling; instead of fixing I removed it. We may revisit it later and consider using standard register names instead of a dedicated service to lower the implementation barriers.