SITL: support both multicast and socketcan in CAN SITL

.github/workflows/test_coverage.yml

@@ -56,14 +56,6 @@ jobs:
       - name: setup ccache
         run: |
           . .github/workflows/ccache.env
-      - name: Configure CAN
-        if: ${{ matrix.config == 'sitltest-can'}}
-        run: |
-          sudo apt-get update
-          sudo apt-get -y install can-utils iproute2 linux-modules-extra-$(uname -r)
-          sudo modprobe vcan
-          sudo ip link add dev vcan0 type vcan
-          sudo ip link set up vcan0
       - name: test ${{matrix.config}} ${{ matrix.toolchain }}
         env:
           CI_BUILD_TARGET: ${{matrix.config}}

.github/workflows/test_sitl_periph.yml

@@ -230,15 +230,6 @@ jobs:
       - name: setup ccache
         run: |
           . .github/workflows/ccache.env
-      - name: setup can-utils
-        run: |
-          kernel_ver=`uname -r`
-          if [ "$kernel_ver" = "5.4.0-1032-azure" ] || [ "$kernel_ver" = "5.11.4-051104-generic" ]; then echo "Unsupported Kernel $kernel_ver" && exit 0; fi;
-          sudo apt-get update
-          sudo apt-get -y install can-utils iproute2 linux-modules-extra-$(uname -r)
-          sudo modprobe vcan
-          sudo ip link add dev vcan0 type vcan
-          sudo ip link set up vcan0
       - name: test ${{matrix.config}}
         env:
           CI_BUILD_TARGET: ${{matrix.config}}

Tools/AP_Periph/rc_out.cpp

@@ -132,7 +132,8 @@ void AP_Periph_FW::rcout_update()
     const bool has_esc_rawcommand_timed_out = esc_timeout_ms != 0 && ((now_ms - last_esc_raw_command_ms) >= esc_timeout_ms);
     if (last_esc_num_channels > 0 && has_esc_rawcommand_timed_out) {
         // If we've seen ESCs previously, and a timeout has occurred, then zero the outputs
-        int16_t esc_output[last_esc_num_channels] {};
+        int16_t esc_output[last_esc_num_channels];
+        memset(esc_output, 0, sizeof(esc_output));
         rcout_esc(esc_output, last_esc_num_channels);
 
         // register that the output has been changed

Tools/ardupilotwaf/boards.py

@@ -626,10 +626,7 @@ def get_board(ctx):
 class sitl(Board):
 
     def __init__(self):
-        if Utils.unversioned_sys_platform().startswith("linux"):
-            self.with_can = True
-        else:
-            self.with_can = False
+        self.with_can = True
 
     def configure_env(self, cfg, env):
         super(sitl, self).configure_env(cfg, env)
@@ -654,8 +651,16 @@ def configure_env(self, cfg, env):
             cfg.define('HAL_NUM_CAN_IFACES', 2)
             env.DEFINES.update(CANARD_MULTI_IFACE=1,
                                CANARD_IFACE_ALL = 0x3,
-                                CANARD_ENABLE_CANFD = 1,
-                                CANARD_ENABLE_ASSERTS = 1)
+                               CANARD_ENABLE_CANFD = 1,
+                               CANARD_ENABLE_ASSERTS = 1)
+            if not cfg.options.force_32bit:
+                # needed for cygwin
+                env.CXXFLAGS += [ '-DCANARD_64_BIT=1' ]
+                env.CFLAGS += [ '-DCANARD_64_BIT=1' ]
+            if Utils.unversioned_sys_platform().startswith("linux"):
+                cfg.define('HAL_CAN_WITH_SOCKETCAN', 1)
+            else:
+                cfg.define('HAL_CAN_WITH_SOCKETCAN', 0)
 
         env.CXXFLAGS += [
             '-Werror=float-equal',

Tools/autotest/sim_vehicle.py

@@ -1148,7 +1148,7 @@ def generate_frame_help():
 group_sim.add_option("", "--can-peripherals",
                      action='store_true',
                      default=False,
-                     help="start a DroneCAN peripheral instance (use Tools/scripts/CAN/can_sitl_nodev.sh first)")
+                     help="start a DroneCAN peripheral instance")
 group_sim.add_option("-A", "--sitl-instance-args",
                      type='string',
                      default=None,

libraries/AP_AHRS/AP_AHRS.cpp

@@ -1215,22 +1215,24 @@ bool AP_AHRS::_get_secondary_position(Location &loc) const
 // EKF has a better ground speed vector estimate
 Vector2f AP_AHRS::_groundspeed_vector(void)
 {
-    Vector3f vec;
-
     switch (active_EKF_type()) {
     case EKFType::NONE:
         break;
 
 #if HAL_NAVEKF2_AVAILABLE
-    case EKFType::TWO:
+    case EKFType::TWO: {
+        Vector3f vec;
         EKF2.getVelNED(vec);
         return vec.xy();
+    }
 #endif
 
 #if HAL_NAVEKF3_AVAILABLE
-    case EKFType::THREE:
+    case EKFType::THREE: {
+        Vector3f vec;
         EKF3.getVelNED(vec);
         return vec.xy();
+    }
 #endif
 
 #if AP_AHRS_SIM_ENABLED

libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp

@@ -33,8 +33,7 @@ const AP_Param::GroupInfo AP_BattMonitor_DroneCAN::var_info[] = {
 
 /// Constructor
 AP_BattMonitor_DroneCAN::AP_BattMonitor_DroneCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_DroneCAN_Type type, AP_BattMonitor_Params &params) :
-    AP_BattMonitor_Backend(mon, mon_state, params),
-    _type(type)
+    AP_BattMonitor_Backend(mon, mon_state, params)
 {
     AP_Param::setup_object_defaults(this,var_info);
     _state.var_info = var_info;

libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.h

@@ -87,7 +87,6 @@ class AP_BattMonitor_DroneCAN : public AP_BattMonitor_Backend
     bool use_CAN_SoC() const;
 
     AP_BattMonitor::BattMonitor_State _interim_state;
-    BattMonitor_DroneCAN_Type _type;
 
     HAL_Semaphore _sem_battmon;
 

libraries/AP_CANManager/AP_CANManager.h

@@ -141,7 +141,6 @@ class AP_CANManager
 
     private:
         AP_Int8 _driver_type;
-        AP_CANDriver* _testcan;
         AP_CANDriver* _uavcan;
         AP_CANDriver* _piccolocan;
     };

libraries/AP_Compass/AP_Compass_DroneCAN.cpp

@@ -31,11 +31,8 @@ extern const AP_HAL::HAL& hal;
 AP_Compass_DroneCAN::DetectedModules AP_Compass_DroneCAN::_detected_modules[];
 HAL_Semaphore AP_Compass_DroneCAN::_sem_registry;
 
-AP_Compass_DroneCAN::AP_Compass_DroneCAN(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t sensor_id, uint32_t devid)
-    : _ap_dronecan(ap_dronecan)
-    , _node_id(node_id)
-    , _sensor_id(sensor_id)
-    , _devid(devid)
+AP_Compass_DroneCAN::AP_Compass_DroneCAN(AP_DroneCAN* ap_dronecan, uint32_t devid) :
+    _devid(devid)
 {
 }
 
@@ -59,7 +56,7 @@ AP_Compass_Backend* AP_Compass_DroneCAN::probe(uint8_t index)
     if (!_detected_modules[index].driver && _detected_modules[index].ap_dronecan) {
         WITH_SEMAPHORE(_sem_registry);
         // Register new Compass mode to a backend
-        driver = new AP_Compass_DroneCAN(_detected_modules[index].ap_dronecan, _detected_modules[index].node_id, _detected_modules[index].sensor_id, _detected_modules[index].devid);
+        driver = new AP_Compass_DroneCAN(_detected_modules[index].ap_dronecan, _detected_modules[index].devid);
         if (driver) {
             if (!driver->init()) {
                 delete driver;

libraries/AP_Compass/AP_Compass_DroneCAN.h

@@ -10,7 +10,7 @@
 
 class AP_Compass_DroneCAN : public AP_Compass_Backend {
 public:
-    AP_Compass_DroneCAN(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t sensor_id, uint32_t devid);
+    AP_Compass_DroneCAN(AP_DroneCAN* ap_dronecan, uint32_t devid);
 
     void        read(void) override;
 
@@ -30,9 +30,6 @@ class AP_Compass_DroneCAN : public AP_Compass_Backend {
 
     uint8_t  _instance;
 
-    AP_DroneCAN* _ap_dronecan;
-    uint8_t _node_id;
-    uint8_t _sensor_id;
     uint32_t _devid;
 
     // Module Detection Registry

libraries/AP_GPS/AP_GPS_DroneCAN.cpp

@@ -321,7 +321,7 @@ AP_GPS_DroneCAN* AP_GPS_DroneCAN::get_dronecan_backend(AP_DroneCAN* ap_dronecan,
  */
 void AP_GPS_DroneCAN::handle_velocity(const float vx, const float vy, const float vz)
 {
-    if (!isnanf(vx)) {
+    if (!isnan(vx)) {
         const Vector3f vel(vx, vy, vz);
         interim_state.velocity = vel;
         velocity_to_speed_course(interim_state);
@@ -391,21 +391,21 @@ void AP_GPS_DroneCAN::handle_fix2_msg(const uavcan_equipment_gnss_Fix2& msg, uin
         handle_velocity(msg.ned_velocity[0], msg.ned_velocity[1], msg.ned_velocity[2]);
 
         if (msg.covariance.len == 6) {
-            if (!isnanf(msg.covariance.data[0])) {
+            if (!isnan(msg.covariance.data[0])) {
                 interim_state.horizontal_accuracy = sqrtf(msg.covariance.data[0]);
                 interim_state.have_horizontal_accuracy = true;
             } else {
                 interim_state.have_horizontal_accuracy = false;
             }
-            if (!isnanf(msg.covariance.data[2])) {
+            if (!isnan(msg.covariance.data[2])) {
                 interim_state.vertical_accuracy = sqrtf(msg.covariance.data[2]);
                 interim_state.have_vertical_accuracy = true;
             } else {
                 interim_state.have_vertical_accuracy = false;
             }
-            if (!isnanf(msg.covariance.data[3]) &&
-                !isnanf(msg.covariance.data[4]) &&
-                !isnanf(msg.covariance.data[5])) {
+            if (!isnan(msg.covariance.data[3]) &&
+                !isnan(msg.covariance.data[4]) &&
+                !isnan(msg.covariance.data[5])) {
                 interim_state.speed_accuracy = sqrtf((msg.covariance.data[3] + msg.covariance.data[4] + msg.covariance.data[5])/3);
                 interim_state.have_speed_accuracy = true;
             } else {
@@ -479,12 +479,12 @@ void AP_GPS_DroneCAN::handle_aux_msg(const uavcan_equipment_gnss_Auxiliary& msg)
 {
     WITH_SEMAPHORE(sem);
 
-    if (!isnanf(msg.hdop)) {
+    if (!isnan(msg.hdop)) {
         seen_aux = true;
         interim_state.hdop = msg.hdop * 100.0;
     }
 
-    if (!isnanf(msg.vdop)) {
+    if (!isnan(msg.vdop)) {
         seen_aux = true;
         interim_state.vdop = msg.vdop * 100.0;
     }