From 8f2306fd1987913250bb31456e43896870517ca9 Mon Sep 17 00:00:00 2001
From: Eugene Shamaev <Eugene.Shamaev@gmail.com>
Date: Sat, 6 May 2017 12:12:19 +0300
Subject: [PATCH] AP_HAL: support of several CAN managers (virtual drivers)

---
 libraries/AP_HAL/CAN.h |  4 ++++
 libraries/AP_HAL/HAL.h | 25 +++++++++++++++++++++----
 2 files changed, 25 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_HAL/CAN.h b/libraries/AP_HAL/CAN.h
index 693575f1c1..837a98b09b 100644
--- a/libraries/AP_HAL/CAN.h
+++ b/libraries/AP_HAL/CAN.h
@@ -29,6 +29,9 @@
 #include <uavcan/driver/can.hpp>
 #include <uavcan/time.hpp>
 
+#define MAX_NUMBER_OF_CAN_INTERFACES    2
+#define MAX_NUMBER_OF_CAN_DRIVERS       2
+
 class AP_UAVCAN;
 
 /**
@@ -108,6 +111,7 @@ public:
      true - CAN manager is initialized
      */
     virtual bool is_initialized() = 0;
+    virtual void initialized(bool val);
 
     virtual AP_UAVCAN *get_UAVCAN(void);
     virtual void set_UAVCAN(AP_UAVCAN *uavcan);
diff --git a/libraries/AP_HAL/HAL.h b/libraries/AP_HAL/HAL.h
index 789bd95dba..da8b8f8171 100644
--- a/libraries/AP_HAL/HAL.h
+++ b/libraries/AP_HAL/HAL.h
@@ -34,7 +34,11 @@ public:
         AP_HAL::Scheduler*  _scheduler,
         AP_HAL::Util*       _util,
         AP_HAL::OpticalFlow *_opticalflow,
-        AP_HAL::CANManager* _can_mgr)
+#if HAL_WITH_UAVCAN
+        AP_HAL::CANManager* _can_mgr[MAX_NUMBER_OF_CAN_DRIVERS])
+#else
+        AP_HAL::CANManager** _can_mgr)
+#endif
         :
         uartA(_uartA),
         uartB(_uartB),
@@ -52,9 +56,18 @@ public:
         rcout(_rcout),
         scheduler(_scheduler),
         util(_util),
-        opticalflow(_opticalflow),
-        can_mgr(_can_mgr)
+        opticalflow(_opticalflow)
     {
+#if HAL_WITH_UAVCAN
+        if (_can_mgr == nullptr) {
+            for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++)
+                can_mgr[i] = nullptr;
+        } else {
+            for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++)
+                can_mgr[i] = _can_mgr[i];
+        }
+#endif
+
         AP_HAL::init();
     }
 
@@ -93,5 +106,9 @@ public:
     AP_HAL::Scheduler*  scheduler;
     AP_HAL::Util        *util;
     AP_HAL::OpticalFlow *opticalflow;
-    AP_HAL::CANManager* can_mgr;
+#if HAL_WITH_UAVCAN
+    AP_HAL::CANManager* can_mgr[MAX_NUMBER_OF_CAN_DRIVERS];
+#else
+    AP_HAL::CANManager** can_mgr;
+#endif
 };