Add USBCANFD transport and visualize 0x391 door feedback

include/can_types.hpp

@@ -0,0 +1,34 @@
+#pragma once
+#include <array>
+#include <cstdint>
+#include <string>
+#include <vector>
+
+namespace cms {
+struct CanConfig {
+    bool enabled{true};
+    int device_index{0};
+    int timeout_ms{1000};
+    bool termination{true};
+};
+struct CanDoorSignals {
+    // Raw unsigned bytes: left front, right front, left rear, right rear.
+    // No scale/unit is specified in the reference protocol.
+    std::array<int,4> positions{{-1,-1,-1,-1}};
+    bool valid{},fd{},extended{};
+    std::uint64_t received{},received_monotonic_ns{};
+    std::uint32_t device_timestamp_us{};
+    double age_ms{-1};
+};
+struct CanSnapshot {
+    std::string source{"live"},status{"DISABLED"};
+    std::array<CanDoorSignals,2> channels;
+    std::uint64_t received{},transmitted{},transmit_errors{},receive_errors{};
+};
+struct CanFrame {
+    int channel{};
+    std::uint32_t id{};
+    bool fd{},extended{},bitrate_switch{};
+    std::vector<std::uint8_t> data;
+};
+}