AP_HAL_PX4: remove CAN thread management

libraries/AP_HAL_PX4/CAN.cpp

@@ -35,8 +35,6 @@
 
 extern const AP_HAL::HAL& hal;
 
-#include <AP_UAVCAN/AP_UAVCAN.h>
-
 extern "C" {
     static int can1_irq(const int irq, void*);
 #if CAN_STM32_NUM_IFACES > 1
@@ -826,7 +824,7 @@ int32_t PX4CAN::tx_pending()
 
 PX4CANManager::PX4CANManager() :
     AP_HAL::CANManager(this), update_event_(*this), if0_(bxcan::Can[0], nullptr, 0, CAN_STM32_RX_QUEUE_SIZE), if1_(
-    bxcan::Can[1], nullptr, 1, CAN_STM32_RX_QUEUE_SIZE), initialized_(false), p_uavcan(nullptr)
+    bxcan::Can[1], nullptr, 1, CAN_STM32_RX_QUEUE_SIZE), initialized_(false)
 {
     uavcan::StaticAssert<(CAN_STM32_RX_QUEUE_SIZE <= PX4CAN::MaxRxQueueCapacity)>::check();
 
@@ -1076,16 +1074,6 @@ void PX4CANManager::initialized(bool val)
     initialized_ = val;
 }
 
-AP_UAVCAN *PX4CANManager::get_UAVCAN(void)
-{
-    return p_uavcan;
-}
-
-void PX4CANManager::set_UAVCAN(AP_UAVCAN *uavcan)
-{
-    p_uavcan = uavcan;
-}
-
 /*
  * Interrupt handlers
  */

libraries/AP_HAL_PX4/CAN.h

@@ -271,8 +271,6 @@ class PX4CANManager: public AP_HAL::CANManager, public uavcan::ICanDriver {
     uint8_t _ifaces_num;
     uint8_t _ifaces_out_to_in[CAN_STM32_NUM_IFACES];
 
-    AP_UAVCAN *p_uavcan;
-
 public:
     PX4CANManager();
 
@@ -310,8 +308,5 @@ public:
 
     bool is_initialized() override;
     void initialized(bool val) override;
-
-    AP_UAVCAN *get_UAVCAN(void) override;
-    void set_UAVCAN(AP_UAVCAN *uavcan) override;
 };
 }

libraries/AP_HAL_PX4/Scheduler.cpp

@@ -24,11 +24,6 @@
 #include <AP_Scheduler/AP_Scheduler.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
 
-#if HAL_WITH_UAVCAN
-#include "CAN.h"
-#include <AP_UAVCAN/AP_UAVCAN.h>
-#endif
-
 using namespace PX4;
 
 extern const AP_HAL::HAL& hal;
@@ -90,33 +85,6 @@ void PX4Scheduler::init()
     pthread_create(&_storage_thread_ctx, &thread_attr, &PX4Scheduler::_storage_thread, this);
 }
 
-void PX4Scheduler::create_uavcan_thread()
-{
-#if HAL_WITH_UAVCAN
-    pthread_attr_t thread_attr;
-    struct sched_param param;
-
-     //the UAVCAN thread runs at medium priority
-    pthread_attr_init(&thread_attr);
-    pthread_attr_setstacksize(&thread_attr, 8192);
-
-    param.sched_priority = APM_CAN_PRIORITY;
-    (void) pthread_attr_setschedparam(&thread_attr, &param);
-    pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
-
-    for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
-        if (AP_UAVCAN::get_uavcan(i) == nullptr) {
-            continue;
-        }
-        _uavcan_thread_arg *arg = new _uavcan_thread_arg;
-        arg->sched = this;
-        arg->uavcan_number = i;
-
-        pthread_create(&_uavcan_thread_ctx, &thread_attr, &PX4Scheduler::_uavcan_thread, arg);
-    }
-#endif
-}
-
 /**
    delay for a specified number of microseconds using a semaphore wait
  */
@@ -379,36 +347,6 @@ void *PX4Scheduler::_storage_thread(void *arg)
     return nullptr;
 }
 
-#if HAL_WITH_UAVCAN
-void *PX4Scheduler::_uavcan_thread(void *arg)
-{
-    PX4Scheduler *sched = ((_uavcan_thread_arg *) arg)->sched;
-    uint8_t uavcan_number = ((_uavcan_thread_arg *) arg)->uavcan_number;
-
-    char name[15];
-    snprintf(name, sizeof(name), "apm_uavcan:%u", uavcan_number);
-    pthread_setname_np(pthread_self(), name);
-
-    while (!sched->_hal_initialized) {
-        poll(nullptr, 0, 1);
-    }
-
-    while (!_px4_thread_should_exit) {
-        if (((PX4CANManager *)hal.can_mgr[uavcan_number])->is_initialized()) {
-            if (((PX4CANManager *)hal.can_mgr[uavcan_number])->get_UAVCAN() != nullptr) {
-                (((PX4CANManager *)hal.can_mgr[uavcan_number])->get_UAVCAN())->do_cyclic();
-            } else {
-                sched->delay_microseconds_semaphore(10000);
-            }
-        } else {
-            sched->delay_microseconds_semaphore(10000);
-        }
-    }
-
-    return nullptr;
-}
-#endif
-
 bool PX4Scheduler::in_main_thread() const
 {
     return getpid() == _main_task_pid;

libraries/AP_HAL_PX4/Scheduler.h

@@ -60,8 +60,6 @@ public:
     void     system_initialized();
     void     hal_initialized() { _hal_initialized = true; }
 
-    void create_uavcan_thread() override;
-
     /*
       disable interrupts and return a context that can be used to
       restore the interrupt state. This can be used to protect
@@ -99,18 +97,11 @@ private:
     pthread_t _io_thread_ctx;
     pthread_t _storage_thread_ctx;
     pthread_t _uart_thread_ctx;
-    pthread_t _uavcan_thread_ctx;
-
-    struct _uavcan_thread_arg {
-        PX4Scheduler *sched;
-        uint8_t uavcan_number;
-    };
 
     static void *_timer_thread(void *arg);
     static void *_io_thread(void *arg);
     static void *_storage_thread(void *arg);
     static void *_uart_thread(void *arg);
-    static void *_uavcan_thread(void *arg);
 
     void _run_timers();
     void _run_io(void);