Add SLCAN ACK/NACK auto-detection support #87
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There was a problem where CANable (canable.io) adaptors do not support ACK/NACK responses. This has been a known issue since 2019 (normaldotcom/canable-fw#8) and remains unresolved and unavailable in the prebuilt firmwares. This change: - Auto-detects if adapter supports ACK/NACK responses using invalid 'X' command on init. No response = not supported, NACK = supported. - Implements length-based message parsing for adapters without ACK/NACK. This probably should apply regardless as all messages have a known size, but let's not upset the applecart. - Maintains backward compatibility with existing adapters - Adds robust message framing that handles concatenated messages properly - Stores ACK/NACK support state in memory for device lifetime This resolves the issue of dronecan gui not working with off-the-shelf canable.io adapters, especially the combination of non-linux use where candlelight firmware (gs_usb) is not supported under macos and the only alternative is canable firmware, which...doesn't support ACK/NACK. tested with: - Single messages with/without data - Multiple concatenated messages - Partial messages (incomplete reads) - Messages with timestamps - Extended CAN frames - CAN-FD frames
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Hmm, let me test this more. I appear to be flooding the bus in dronecan_gui, so something has changed in a negative way. |
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Right, #88 is a pre-requisite to avoid flooding the bus. |
Bwooce
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- Remove artificial delays, rely on natural serial backpressure - Improve RetrySerial to preserve ACK/NACK detection state - Add cleaner debug logging controls - Compatible with adapters that don't support ACK/NACK confirmations
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Tested and working well for me on a DSDTECH SH-C30A on macOS using DroneCAN GUI. I've tried to avoid any AI slop appearing in here, and I've manually tested quite a bit against ArduPilot. |
The periodic scheduler was referencing callback_running but never defining it, causing NameError when GUI tries to spin the node. Added missing variable initialization to prevent callback overlap.
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