From 0645a5b11a4e6278fb18949af3de96b37fe32755 Mon Sep 17 00:00:00 2001
From: Francisco Ferreira <francisco-ferreira@mail.telepac.pt>
Date: Tue, 27 Feb 2018 23:53:37 +0000
Subject: [PATCH] AP_HAL: introduce a CANProtocol interface and remove HAL CAN
 thread management

---
 libraries/AP_HAL/AP_HAL_Namespace.h |  1 +
 libraries/AP_HAL/CAN.h              | 15 ++++++++++++---
 libraries/AP_HAL/Scheduler.h        |  2 --
 3 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_HAL/AP_HAL_Namespace.h b/libraries/AP_HAL/AP_HAL_Namespace.h
index 158e20c8da..464213b606 100644
--- a/libraries/AP_HAL/AP_HAL_Namespace.h
+++ b/libraries/AP_HAL/AP_HAL_Namespace.h
@@ -29,6 +29,7 @@ namespace AP_HAL {
     class Semaphore;
     class OpticalFlow;
 
+    class CANProtocol;
     class CANManager;
     class CAN;
 
diff --git a/libraries/AP_HAL/CAN.h b/libraries/AP_HAL/CAN.h
index 663bf15fd3..917d7ba46f 100644
--- a/libraries/AP_HAL/CAN.h
+++ b/libraries/AP_HAL/CAN.h
@@ -32,7 +32,18 @@
 #define MAX_NUMBER_OF_CAN_INTERFACES    2
 #define MAX_NUMBER_OF_CAN_DRIVERS       2
 
-class AP_UAVCAN;
+/**
+ * Interface that CAN protocols need to implement
+ */
+class AP_HAL::CANProtocol {
+public:
+    /* method called when initializing the CAN interfaces
+     *
+     * if initialization doesn't have errors, protocol class
+     * should create a thread to do send and receive operations
+     */
+    virtual void init(uint8_t driver_index) = 0;
+};
 
 /**
  * Single non-blocking CAN interface.
@@ -115,8 +126,6 @@ public:
     virtual bool is_initialized() = 0;
     virtual void initialized(bool val) = 0;
 
-    virtual AP_UAVCAN *get_UAVCAN(void) = 0;
-    virtual void set_UAVCAN(AP_UAVCAN *uavcan) = 0;
     uavcan::ICanDriver* get_driver() { return _driver; }
 private:
     uavcan::ICanDriver* _driver;
diff --git a/libraries/AP_HAL/Scheduler.h b/libraries/AP_HAL/Scheduler.h
index 77a47b0ef4..76c51d3660 100644
--- a/libraries/AP_HAL/Scheduler.h
+++ b/libraries/AP_HAL/Scheduler.h
@@ -63,8 +63,6 @@ public:
 
     virtual bool     in_main_thread() const = 0;
 
-    virtual void create_uavcan_thread() {};
-
     /*
       disable interrupts and return a context that can be used to
       restore the interrupt state. This can be used to protect