Upgrade libcanard to 3.0 and rename uavcan_v1 to cyphal

Did some prep work for redundant interfaces by introducing CanardHandle class to decouple physical interfaces from cyphal.cpp

src/drivers/cyphal/CanardSocketCAN.hpp

@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+#include <unistd.h>
+
+#include <sys/time.h>
+#include <sys/socket.h>
+
+#include <nuttx/can.h>
+#include <netpacket/can.h>
+
+#include <canard.h>
+
+#include "CanardInterface.hpp"
+
+class CanardSocketCAN : public CanardInterface
+{
+public:
+	CanardSocketCAN() = default;
+	~CanardSocketCAN() override = default;
+
+	/// Creates a SocketCAN socket for corresponding iface can_iface_name
+	/// Also sets up the message structures required for socketcanTransmit & socketcanReceive
+	/// can_fd determines to use CAN FD frame when is 1, and classical CAN frame when is 0
+	/// The return value is 0 on succes and -1 on error
+	int init();
+
+	/// Close socket connection
+	int close()
+	{
+		return ::close(_fd);
+	}
+
+	/// Send a CanardFrame to the CanardSocketInstance socket
+	/// This function is blocking
+	/// The return value is number of bytes transferred, negative value on error.
+	int16_t transmit(const CanardTxQueueItem &txframe, int timeout_ms = 0);
+
+	/// Receive a CanardFrame from the CanardSocketInstance socket
+	/// This function is blocking
+	/// The return value is number of bytes received, negative value on error.
+	int16_t receive(CanardRxFrame *rxf);
+
+	// TODO implement ioctl for CAN filter
+	//int16_t socketcanConfigureFilter(const fd_t fd, const size_t num_filters, const struct can_filter *filters);
+
+private:
+
+	int               _fd{-1};
+	bool              _can_fd{false};
+
+	//// Send msg structure
+	struct iovec       _send_iov {};
+	struct canfd_frame _send_frame {};
+	struct msghdr      _send_msg {};
+	struct cmsghdr     *_send_cmsg {};
+	struct timeval     *_send_tv {};  /* TX deadline timestamp */
+	uint8_t            _send_control[sizeof(struct cmsghdr) + sizeof(struct timeval)] {};
+
+	//// Receive msg structure
+	struct iovec       _recv_iov {};
+	struct canfd_frame _recv_frame {};
+	struct msghdr      _recv_msg {};
+	struct cmsghdr     *_recv_cmsg {};
+	uint8_t            _recv_control[sizeof(struct cmsghdr) + sizeof(struct timeval)] {};
+};