uavcan_v1: Cleanup _uavcan_subs in SubMgr

Remove hard-coding of PX4 param names - use subject name and instance
instead

Also cleanup duplicates of CANARD_PORT_ID_UNSET/MAX vars

src/drivers/uavcan_v1/Publishers/Publisher.hpp

@@ -59,9 +59,6 @@
 class UavcanPublisher
 {
 public:
-	static constexpr uint16_t CANARD_PORT_ID_UNSET = 65535U;
-	static constexpr uint16_t CANARD_PORT_ID_MAX   = 32767U;
-
 	UavcanPublisher(CanardInstance &ins, UavcanParamManager &pmgr, const char *subject_name, uint8_t instance = 0) :
 		_canard_instance(ins), _param_manager(pmgr), _subject_name(subject_name), _instance(instance) { };
 

src/drivers/uavcan_v1/Subscribers/BaseSubscriber.hpp

@@ -46,13 +46,11 @@
 #include <lib/parameters/param.h>
 
 #include "../CanardInterface.hpp"
+#include "../ParamManager.hpp"
 
 class UavcanBaseSubscriber
 {
 public:
-	static constexpr uint16_t CANARD_PORT_ID_UNSET = 65535U;
-	static constexpr uint16_t CANARD_PORT_ID_MAX   = 32767U;
-
 	UavcanBaseSubscriber(CanardInstance &ins, const char *subject_name, uint8_t instance = 0) :
 		_canard_instance(ins), _instance(instance)
 	{

src/drivers/uavcan_v1/SubscriptionManager.cpp

@@ -42,6 +42,8 @@
 
 #include "SubscriptionManager.hpp"
 
+#include "ParamManager.hpp"
+
 SubscriptionManager::~SubscriptionManager()
 {
 	UavcanDynamicPortSubscriber *dynsub;
@@ -66,12 +68,6 @@ void SubscriptionManager::subscribe()
 void SubscriptionManager::updateDynamicSubscriptions()
 {
 	for (auto &sub : _uavcan_subs) {
-		param_t param_handle = param_find(sub.px4_name);
-
-		if (param_handle == PARAM_INVALID) {
-			PX4_ERR("Param %s not found", sub.px4_name);
-			break;
-		}
 
 		bool found_subscriber = false;
 		UavcanDynamicPortSubscriber *dynsub = _dynsubscribers;
@@ -93,11 +89,14 @@ void SubscriptionManager::updateDynamicSubscriptions()
 			continue;
 		}
 
-		if ((param_type(param_handle) == PARAM_TYPE_INT32)) {
+		char uavcan_param[90];
-			int32_t port_id {};
+		snprintf(uavcan_param, sizeof(uavcan_param), "uavcan.sub.%s.%d.id", sub.subject_name, sub.instance);
-			param_get(param_handle, &port_id);
+		uavcan_register_Value_1_0 value;
 
-			if (port_id >= 0) { // PortID is set create a subscriber
+		if (_param_manager.GetParamByName(uavcan_param, value)) {
+			uint16_t port_id = value.natural16.value.elements[0];
+
+			if (port_id <= CANARD_PORT_ID_MAX) { // PortID is set, create a subscriber
 				dynsub = sub.create_sub(_canard_instance, _param_manager);
 
 				if (dynsub == NULL) {
@@ -122,6 +121,10 @@ void SubscriptionManager::updateDynamicSubscriptions()
 
 				dynsub->updateParam();
 			}
+
+		} else {
+			PX4_ERR("Port ID param for subscriber %s.%u not found", sub.subject_name, sub.instance);
+			return;
 		}
 	}
 }

src/drivers/uavcan_v1/SubscriptionManager.hpp

@@ -58,7 +58,6 @@
 #include "Subscribers/uORB/sensor_gps.hpp"
 
 typedef struct {
-	const char *px4_name;
 	UavcanDynamicPortSubscriber *(*create_sub)(CanardInstance &ins, UavcanParamManager &pmgr) {};
 	const char *subject_name;
 	const uint8_t instance;
@@ -91,7 +90,6 @@ private:
 
 	const UavcanDynSubBinder _uavcan_subs[6] {
 		{
-			"UCAN1_ESC0_SUB",
 			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
 			{
 				return new UavcanEscSubscriber(ins, pmgr, 0);
@@ -100,7 +98,6 @@ private:
 			0
 		},
 		{
-			"UCAN1_GPS0_SUB",
 			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
 			{
 				return new UavcanGnssSubscriber(ins, pmgr, 0);
@@ -109,7 +106,6 @@ private:
 			0
 		},
 		{
-			"UCAN1_GPS1_SUB",
 			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
 			{
 				return new UavcanGnssSubscriber(ins, pmgr, 1);
@@ -118,7 +114,6 @@ private:
 			1
 		},
 		{
-			"UCAN1_BMS_ES_SUB",
 			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
 			{
 				return new UavcanBmsSubscriber(ins, pmgr, 0);
@@ -127,7 +122,6 @@ private:
 			0
 		},
 		{
-			"UCAN1_LG_BMS_SUB",
 			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
 			{
 				return new UavcanLegacyBatteryInfoSubscriber(ins, pmgr, 0);
@@ -136,7 +130,6 @@ private:
 			0
 		},
 		{
-			"UCAN1_UORB_GPS",
 			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
 			{
 				return new UORB_over_UAVCAN_sensor_gps_Subscriber(ins, pmgr, 0);

src/drivers/uavcan_v1/Uavcan.cpp

@@ -80,8 +80,6 @@ UavcanNode::UavcanNode(CanardInterface *interface, uint32_t node_id) :
 		_canard_instance.mtu_bytes = CANARD_MTU_CAN_CLASSIC;
 	}
 
-	PX4_INFO("main _canard_instance = %p", &_canard_instance);
-
 	_node_manager.subscribe();
 
 	for (auto &publisher : _publishers) {