SITL: added SIM_CAN_TYPE0 and SIM_CAN_TYPE1

this selects the transport to use for CAN
tridge · Aug 26, 2023 · 696f5fe · 696f5fe
1 parent 803f909
commit 696f5fe
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diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp
@@ -105,6 +105,24 @@ const AP_Param::GroupInfo SIM::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("CAN_SRV_MSK",   29, SIM,  can_servo_mask, 0),
 
+#if HAL_NUM_CAN_IFACES > 0
+    // @Param: CAN_TYPE0
+    // @DisplayName: transport type for first interface
+    // @Description: transport type for first interface
+    // @Values: 0:MulticastUDP,1:SocketCAN
+    // @User: Advanced
+    AP_GROUPINFO("CAN_TYPE0", 30, SIM,  can_transport[0], uint8_t(CANTransport::MulticastUDP)),
+#endif
+
+#if HAL_NUM_CAN_IFACES > 1
+    // @Param: CAN_TYPE1
+    // @DisplayName: transport type for second interface
+    // @Description: transport type for second interface
+    // @Values: 0:MulticastUDP,1:SocketCAN
+    // @User: Advanced
+    AP_GROUPINFO("CAN_TYPE1", 31, SIM,  can_transport[1], uint8_t(CANTransport::MulticastUDP)),
+#endif
+
     AP_GROUPINFO("SONAR_SCALE",   32, SIM,  sonar_scale, 12.1212f),
     AP_GROUPINFO("FLOW_ENABLE",   33, SIM,  flow_enable, 0),
     AP_GROUPINFO("TERRAIN",       34, SIM,  terrain_enable, 1),

diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h
@@ -219,6 +219,15 @@ class SIM {
     AP_Int8  rc_chancount; // channel count
     AP_Int8  float_exception; // enable floating point exception checks
     AP_Int32 can_servo_mask; // mask of servos/escs coming from CAN
+
+#if HAL_NUM_CAN_IFACES
+    enum class CANTransport : uint8_t {
+      MulticastUDP = 0,
+      SocketCAN = 1
+    };
+    AP_Enum<CANTransport> can_transport[HAL_NUM_CAN_IFACES];
+#endif
+
     AP_Int8  flow_enable; // enable simulated optflow
     AP_Int16 flow_rate; // optflow data rate (Hz)
     AP_Int8  flow_delay; // optflow data delay