Feat/i can backend extraction#12
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Adds socketcan_adapter/include/socketcan_adapter/i_can_backend.hpp — the cross-cutting CAN transport contract: open/close, send, receive, reception thread lifecycle, and on-receive/on-error callback hooks. Linux-specific knobs (filter vector, error mask, JOIN flag) stay concrete-only on SocketcanAdapter since they have no analog on non-SocketCAN backends. SocketcanAdapter now inherits from ICanBackend, with `override` annotations on the matching methods. The interface signatures were chosen to match SocketcanAdapter's existing public surface byte-for-byte, so this is a zero-behavior-change refactor: every existing call site continues to work, all 19 existing tests still pass, all three packages in the workspace (socketcan_adapter, socketcan_adapter_ros, axiomatic_adapter) build without modification. Why this is needed: enables a forthcoming AxiomaticFdBackend (Axiomatic AX140970 Dual CAN FD over Ethernet converter) to plug into SocketcanBridgeNode and other consumers via ICanBackend* without forking the runtime path. The legacy AxiomaticAdapter will be retrofitted in a follow-up patch (its API needs minor unification — currently uses chrono::milliseconds vs the interface's chrono::duration<float>, and lacks runtime setOnReceiveCallback / setOnErrorCallback).
Companion to the prior commit that extracted the ICanBackend interface and
made SocketcanAdapter implement it. With this change, both transport
adapters share a polymorphic base, so consumers can hold a non-owning
ICanBackend* and select the transport (kernel SocketCAN, Axiomatic
ETH-CAN bridge) at construction time without forking the runtime path.
Purely additive — every existing call site keeps working:
* TCPSocketState becomes an alias of polymath::socketcan::SocketState.
The two enums had identical numeric values; aliasing is source-compat
for any caller spelling out the legacy name.
* Existing methods get `override` annotations where they match the
interface byte-for-byte: openSocket, closeSocket, receive(CanFrame&),
startReceptionThread, send(const CanFrame&), is_thread_running,
get_socket_state.
* Four new methods added to satisfy the interface:
- joinReceptionThread(const std::chrono::duration<float>&) — converts
to the existing milliseconds-based overload.
- send(std::shared_ptr<const CanFrame>) — delegates to send(CanFrame&).
- setOnReceiveCallback(...) — runtime setter; mirrors SocketcanAdapter's
plain-assignment semantics. Set BEFORE startReceptionThread() to
avoid racing the rx thread (same convention as SocketcanAdapter).
- setOnErrorCallback(...) — same pattern.
* The existing constructor that takes receive + error callbacks remains
the canonical setup path. The new setters are additive — useful when
constructing through an ICanBackend* factory but not required.
Build: all 3 packages build clean (socketcan_adapter, socketcan_adapter_ros,
axiomatic_adapter). Tests: 19/19 existing tests pass — same as baseline.
Pure formatter output from running the new pre-commit hook (polymathrobotics/polymath_code_standard@v2.1.2 introduced upstream in polymathrobotics#9) over the four files touched by the prior two commits: socketcan_adapter/include/socketcan_adapter/i_can_backend.hpp socketcan_adapter/include/socketcan_adapter/socketcan_adapter.hpp axiomatic_adapter/include/axiomatic_adapter/axiomatic_adapter.hpp axiomatic_adapter/src/axiomatic_adapter.cpp Plus one cpplint suggestion: add #include <memory> in axiomatic_adapter.cpp for the std::shared_ptr usage in the new send(shared_ptr<const CanFrame>) overload. No logic changes; build remains clean and 19/19 existing tests still pass.
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