From 0fa6e2bbccb9fa36dc11a85229eaf029f2eab21e Mon Sep 17 00:00:00 2001
From: Siddharth Purohit <siddharthbharatpurohit@gmail.com>
Date: Sun, 31 May 2020 17:32:10 +0530
Subject: [PATCH] AP_Arming: move to using CANManager library

---
 libraries/AP_Arming/AP_Arming.cpp | 23 ++++++++++++++---------
 1 file changed, 14 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 1941003af6..2d749ee9bb 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -39,8 +39,8 @@
 #include <AP_RCMapper/AP_RCMapper.h>
 #include <AP_VisualOdom/AP_VisualOdom.h>
 
-#if HAL_WITH_UAVCAN
-  #include <AP_BoardConfig/AP_BoardConfig_CAN.h>
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+  #include <AP_CANManager/AP_CANManager.h>
   #include <AP_Common/AP_Common.h>
   #include <AP_Vehicle/AP_Vehicle.h>
 
@@ -836,14 +836,14 @@ bool AP_Arming::proximity_checks(bool report) const
 
 bool AP_Arming::can_checks(bool report)
 {
-#if HAL_WITH_UAVCAN
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS
     if (check_enabled(ARMING_CHECK_SYSTEM)) {
         char fail_msg[50] = {};
         uint8_t num_drivers = AP::can().get_num_drivers();
 
         for (uint8_t i = 0; i < num_drivers; i++) {
-            switch (AP::can().get_protocol_type(i)) {
-                case AP_BoardConfig_CAN::Protocol_Type_KDECAN: {
+            switch (AP::can().get_driver_type(i)) {
+                case AP_CANManager::Driver_Type_KDECAN: {
 // To be replaced with macro saying if KDECAN library is included
 #if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)
                     AP_KDECAN *ap_kdecan = AP_KDECAN::get_kdecan(i);
@@ -854,7 +854,7 @@ bool AP_Arming::can_checks(bool report)
 #endif
                     break;
                 }
-                case AP_BoardConfig_CAN::Protocol_Type_PiccoloCAN: {
+                case AP_CANManager::Driver_Type_PiccoloCAN: {
 #if HAL_PICCOLO_CAN_ENABLE
                     AP_PiccoloCAN *ap_pcan = AP_PiccoloCAN::get_pcan(i);
 
@@ -869,7 +869,7 @@ bool AP_Arming::can_checks(bool report)
 #endif
                     break;
                 }
-                case AP_BoardConfig_CAN::Protocol_Type_UAVCAN:
+                case AP_CANManager::Driver_Type_UAVCAN:
                 {
                     if (!AP::uavcan_dna_server().prearm_check(fail_msg, ARRAY_SIZE(fail_msg))) {
                         check_failed(ARMING_CHECK_SYSTEM, report, "UAVCAN: %s", fail_msg);
@@ -877,14 +877,19 @@ bool AP_Arming::can_checks(bool report)
                     }
                     break;
                 }
-                case AP_BoardConfig_CAN::Protocol_Type_ToshibaCAN:
+                case AP_CANManager::Driver_Type_ToshibaCAN:
                 {
                     // toshibacan doesn't currently have any prearm
                     // checks.  Theres scope for adding a "not
                     // initialised" prearm check.
                     break;
                 }
-                case AP_BoardConfig_CAN::Protocol_Type_None:
+                case AP_CANManager::Driver_Type_CANTester:
+                {
+                    check_failed(ARMING_CHECK_SYSTEM, report, "TestCAN: No Arming with TestCAN enabled");
+                    break;
+                }
+                case AP_CANManager::Driver_Type_None:
                     break;
             }
         }