From 919814231e2f7b3588f6316c89a96b04a74405cc Mon Sep 17 00:00:00 2001
From: JacobCrabill <jacob@flyvoly.com>
Date: Tue, 24 May 2022 09:17:46 -0700
Subject: [PATCH] mavlink: Replace CONFIG_NET with CONFIG_NET_UDP

Allows use of SocketCAN w/o also enabling UDP support in NuttX
---
 src/modules/mavlink/mavlink_main.cpp | 20 ++++++++++----------
 src/modules/mavlink/mavlink_main.h   |  4 ++--
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 6a84072445..646edbdd33 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -42,7 +42,7 @@
 
 #include <termios.h>
 
-#ifdef CONFIG_NET
+#ifdef CONFIG_NET_UDP
 #include <arpa/inet.h>
 #include <netinet/in.h>
 #include <netutils/netlib.h>
@@ -70,7 +70,7 @@
 #error The non-standard CRTSCTS define is incorrect. Fix this in the OS or replace with (CRTS_IFLOW | CCTS_OFLOW)
 #endif
 
-#ifdef CONFIG_NET
+#ifdef CONFIG_NET_UDP
 #define MAVLINK_NET_ADDED_STACK PX4_STACK_ADJUSTED(350)
 #else
 #define MAVLINK_NET_ADDED_STACK 0
@@ -765,15 +765,15 @@ void Mavlink::send_finish()
 
 	else if (get_protocol() == Protocol::UDP) {
 
-# if defined(CONFIG_NET)
+# if defined(CONFIG_NET_UDP)
 
 		if (_src_addr_initialized) {
-# endif // CONFIG_NET
+# endif // CONFIG_NET_UDP
 			ret = sendto(_socket_fd, _buf, _buf_fill, 0, (struct sockaddr *)&_src_addr, sizeof(_src_addr));
-# if defined(CONFIG_NET)
+# if defined(CONFIG_NET_UDP)
 		}
 
-# endif // CONFIG_NET
+# endif // CONFIG_NET_UDP
 
 		if ((_mode != MAVLINK_MODE_ONBOARD) && broadcast_enabled() &&
 		    (!get_client_source_initialized() || !is_gcs_connected())) {
@@ -1857,7 +1857,7 @@ Mavlink::task_main(int argc, char *argv[])
 	bool err_flag = false;
 	int myoptind = 1;
 	const char *myoptarg = nullptr;
-#if defined(CONFIG_NET) || defined(__PX4_POSIX)
+#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX)
 	int temp_int_arg;
 #endif
 
@@ -3289,7 +3289,7 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 	PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS1", "<file:dev>", "Select Serial Device", true);
 	PRINT_MODULE_USAGE_PARAM_INT('b', 57600, 9600, 3000000, "Baudrate (can also be p:<param_name>)", true);
 	PRINT_MODULE_USAGE_PARAM_INT('r', 0, 10, 10000000, "Maximum sending data rate in B/s (if 0, use baudrate / 20)", true);
-#if defined(CONFIG_NET) || defined(__PX4_POSIX)
+#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX)
 	PRINT_MODULE_USAGE_PARAM_FLAG('p', "Enable Broadcast", true);
 	PRINT_MODULE_USAGE_PARAM_INT('u', 14556, 0, 65536, "Select UDP Network Port (local)", true);
 	PRINT_MODULE_USAGE_PARAM_INT('o', 14550, 0, 65536, "Select UDP Network Port (remote)", true);
@@ -3310,7 +3310,7 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 	PRINT_MODULE_USAGE_COMMAND_DESCR("stop-all", "Stop all instances");
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop a running instance");
-#if defined(CONFIG_NET) || defined(__PX4_POSIX)
+#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX)
 	PRINT_MODULE_USAGE_PARAM_INT('u', -1, 0, 65536, "Select Mavlink instance via local Network Port", true);
 #endif
 	PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "Select Mavlink instance via Serial Device", true);
@@ -3320,7 +3320,7 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 	PRINT_MODULE_USAGE_ARG("streams", "Print all enabled streams", true);
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("stream", "Configure the sending rate of a stream for a running instance");
-#if defined(CONFIG_NET) || defined(__PX4_POSIX)
+#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX)
 	PRINT_MODULE_USAGE_PARAM_INT('u', -1, 0, 65536, "Select Mavlink instance via local Network Port", true);
 #endif
 	PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "Select Mavlink instance via Serial Device", true);
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 23c2fd5e4b..2a28121b44 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -53,7 +53,7 @@
 #include <sys/socket.h>
 #endif
 
-#if defined(CONFIG_NET) || !defined(__PX4_NUTTX)
+#if defined(CONFIG_NET_UDP) || !defined(__PX4_NUTTX)
 #include <net/if.h>
 #include <netinet/in.h>
 #endif
@@ -90,7 +90,7 @@
 
 #define HASH_PARAM              "_HASH_CHECK"
 
-#if defined(CONFIG_NET) || defined(__PX4_POSIX)
+#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX)
 # define MAVLINK_UDP
 # define DEFAULT_REMOTE_PORT_UDP 14550 ///< GCS port per MAVLink spec
 #endif // CONFIG_NET || __PX4_POSIX