AP_CANManager: remove KDECAN from CANTester

bstott · Apr 17, 2023 · 5ca3aa6 · 5ca3aa6
1 parent eed3cf3
commit 5ca3aa6
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Showing 5 changed files with 3 additions and 383 deletions.
diff --git a/libraries/AP_CANManager/AP_CANTester.cpp b/libraries/AP_CANManager/AP_CANTester.cpp
@@ -30,15 +30,14 @@
 #include <uavcan/equipment/esc/Status.hpp>
 #include <uavcan/equipment/esc/RawCommand.hpp>
 #include <AP_HAL/utility/sparse-endian.h>
-#include "AP_CANTester_KDECAN.h"
 extern const AP_HAL::HAL& hal;
 
 const AP_Param::GroupInfo CANTester::var_info[] = {
     // @Param: ID
     // @DisplayName: CAN Test Index
     // @Description: Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
     // @Range: 0 4
-    // @Values: 0:TEST_NONE, 1:TEST_LOOPBACK,2:TEST_BUSOFF_RECOVERY,3:TEST_UAVCAN_DNA,5:TEST_KDE_CAN, 6:TEST_UAVCAN_ESC,  7:TEST_UAVCAN_FD_ESC
+    // @Values: 0:TEST_NONE, 1:TEST_LOOPBACK,2:TEST_BUSOFF_RECOVERY,3:TEST_UAVCAN_DNA,6:TEST_UAVCAN_ESC,7:TEST_UAVCAN_FD_ESC
     // @User: Advanced
     AP_GROUPINFO("ID", 1, CANTester, _test_id, 0),
 
@@ -192,18 +191,6 @@ void CANTester::main_thread()
                 gcs().send_text(MAV_SEVERITY_ALERT, "Only one iface needs to be set for DroneCAN_DNA_TEST");
             }
             break;
-        case CANTester::TEST_KDE_CAN:
-            if (_can_ifaces[1] == nullptr) {
-                gcs().send_text(MAV_SEVERITY_ALERT, "********Running KDE CAN Test********");
-                if (test_kdecan()) {
-                    gcs().send_text(MAV_SEVERITY_ALERT, "********KDE CAN Test Pass********");
-                } else {
-                    gcs().send_text(MAV_SEVERITY_ALERT, "********KDE CAN Test Fail********");
-                }
-            } else {
-                gcs().send_text(MAV_SEVERITY_ALERT, "Only one iface needs to be set for TEST_KDE_CAN");
-            }
-            break;
         case CANTester::TEST_UAVCAN_ESC:
             if (_can_ifaces[1] == nullptr) {
                 gcs().send_text(MAV_SEVERITY_ALERT, "********Running DroneCAN ESC Test********");
@@ -500,47 +487,6 @@ bool CANTester::test_uavcan_dna()
     return true;
 }
 
-/*****************************************
- *              KDE CAN Test             *
- *****************************************/
-bool CANTester::test_kdecan()
-{
-    AP_CANTester_KDECAN* kdecan_test = new AP_CANTester_KDECAN;
-    if (kdecan_test == nullptr) {
-        gcs().send_text(MAV_SEVERITY_ERROR, "Failed to allocate KDECAN Tester");
-        return false;
-    }
-    kdecan_test->init(_can_ifaces[0]);
-
-    while (true) {
-        kdecan_test->loop();
-        static uint32_t last_print_ms;
-        static uint32_t last_enumsend_ms;
-        static uint8_t enum_count = 0;
-        uint32_t now = AP_HAL::millis();
-        if (now - last_print_ms >= 1000) {
-            last_print_ms = now;
-            kdecan_test->print_stats();
-        }
-        if (!_kdecan_enumeration) {
-            enum_count = 0;
-        }
-        if (now - last_enumsend_ms >= 2000 && enum_count < 4 && _kdecan_enumeration) {
-            last_enumsend_ms = now;
-            if (kdecan_test->send_enumeration(enum_count)) {
-                enum_count++;
-            }
-        }
-    }
-    return true;
-}
-
-bool CANTester::run_kdecan_enumeration(bool start_stop)
-{
-    _kdecan_enumeration = start_stop;
-    return true;
-}
-
 /***********************************************
  *                DroneCAN ESC                   *
  * *********************************************/

diff --git a/libraries/AP_CANManager/AP_CANTester.h b/libraries/AP_CANManager/AP_CANTester.h
@@ -40,7 +40,6 @@ class CANTester : public AP_CANDriver
 
     void init(uint8_t driver_index, bool enable_filters) override;
     bool add_interface(AP_HAL::CANIface* can_iface) override;
-    bool run_kdecan_enumeration(bool start_stop);
 
     static CANTester *get_cantester(uint8_t driver_index);
 
@@ -51,8 +50,8 @@ class CANTester : public AP_CANDriver
         TEST_LOOPBACK,
         TEST_BUSOFF_RECOVERY,
         TEST_UAVCAN_DNA,
-        TEST_KDE_CAN,
-        TEST_UAVCAN_ESC,
+
+        TEST_UAVCAN_ESC = 6,
         TEST_UAVCAN_FD_ESC,
         TEST_END,
     };
@@ -78,8 +77,6 @@ class CANTester : public AP_CANDriver
 
     bool test_uavcan_dna();
 
-    bool test_kdecan();
-
     bool test_uavcan_esc(bool enable_canfd);
 
     // write frame on CAN bus, returns true on success
@@ -104,7 +101,6 @@ class CANTester : public AP_CANDriver
     AP_Int32 _test_id;
     AP_Int32 _loop_rate;
     uint8_t _num_ifaces;
-    bool _kdecan_enumeration;
 };
 #endif //#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_MAX_CAN_PROTOCOL_DRIVERS
 
diff --git a/libraries/AP_CANManager/AP_CANTester_KDECAN.cpp b/libraries/AP_CANManager/AP_CANTester_KDECAN.cpp