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/SubscriptionManager.cpp

@@ -0,0 +1,157 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file SubscriptionManager.cpp
+ *
+ * Manages the UAVCAN subscriptions
+ *
+ * @author Peter van der Perk <peter.vanderperk@nxp.com>
+ */
+
+
+#include "SubscriptionManager.hpp"
+
+#include "ParamManager.hpp"
+
+SubscriptionManager::~SubscriptionManager()
+{
+	UavcanDynamicPortSubscriber *dynsub;
+
+	while (_dynsubscribers != nullptr) {
+		dynsub = _dynsubscribers;
+		_dynsubscribers = dynsub->next();
+		delete dynsub;
+	}
+}
+
+void SubscriptionManager::subscribe()
+{
+	_heartbeat_sub.subscribe();
+
+#if CONFIG_CYPHAL_GETINFO_RESPONDER
+	_getinfo_rsp.subscribe();
+#endif
+
+	_access_rsp.subscribe();
+	_list_rsp.subscribe();
+
+	updateDynamicSubscriptions();
+}
+
+void SubscriptionManager::updateDynamicSubscriptions()
+{
+	for (auto &sub : _uavcan_subs) {
+
+		bool found_subscriber = false;
+		UavcanDynamicPortSubscriber *dynsub = _dynsubscribers;
+
+		while (dynsub != nullptr) {
+			// Check if subscriber has already been created
+			const char *subj_name = dynsub->getSubjectName();
+			const uint8_t instance = dynsub->getInstance();
+
+			if (strcmp(subj_name, sub.subject_name) == 0 && instance == sub.instance) {
+				found_subscriber = true;
+				break;
+			}
+
+			dynsub = dynsub->next();
+		}
+
+		if (found_subscriber) {
+			continue;
+		}
+
+		char uavcan_param[90];
+		snprintf(uavcan_param, sizeof(uavcan_param), "uavcan.sub.%s.%d.id", sub.subject_name, sub.instance);
+		uavcan_register_Value_1_0 value;
+
+		if (_param_manager.GetParamByName(uavcan_param, value)) {
+			uint16_t port_id = value.natural16.value.elements[0];
+
+			if (port_id <= CANARD_PORT_ID_MAX) { // PortID is set, create a subscriber
+				dynsub = sub.create_sub(_canard_handle, _param_manager);
+
+				if (dynsub == nullptr) {
+					PX4_ERR("Out of memory");
+					return;
+				}
+
+				if (_dynsubscribers == nullptr) {
+					// Set the head of our linked list
+					_dynsubscribers = dynsub;
+
+				} else {
+					// Append the new subscriber to our linked list
+					UavcanDynamicPortSubscriber *tmp = _dynsubscribers;
+
+					while (tmp->next() != nullptr) {
+						tmp = tmp->next();
+					}
+
+					tmp->setNext(dynsub);
+				}
+
+				dynsub->updateParam();
+			}
+
+		} else {
+			PX4_ERR("Port ID param for subscriber %s.%u not found", sub.subject_name, sub.instance);
+			return;
+		}
+	}
+}
+
+void SubscriptionManager::printInfo()
+{
+	UavcanDynamicPortSubscriber *dynsub = _dynsubscribers;
+
+	while (dynsub != nullptr) {
+		dynsub->printInfo();
+		dynsub = dynsub->next();
+	}
+}
+
+void SubscriptionManager::updateParams()
+{
+	UavcanDynamicPortSubscriber *dynsub = _dynsubscribers;
+
+	while (dynsub != nullptr) {
+		dynsub->updateParam();
+		dynsub = dynsub->next();
+	}
+
+	// Check for any newly-enabled subscriptions
+	updateDynamicSubscriptions();
+}