feat(srr520): support classic can for CRC_LIST

[Ayrton2718]

Description

Some CAN packets from the SRR520 sensor (e.g., CRC_LIST) were being sent using classic CAN instead of CAN FD. The previous implementation only assumed CAN FD reception, causing these classic CAN packets to be missed.

Hexadecimal ID	Decimal ID	CAN FD
0x2bc	700	Yes
0x320	800	No
0x384	900	Yes
0x385	901	Yes
0x44c	1100	Yes
0x44d	1101	Yes
0x4b0	1200	Yes
0x4b1	1201	Yes

To resolve this issue, multi-threaded processing has been introduced to receive both classic CAN and CAN FD packets concurrently. Specifically, the architecture was changed to separate the threads for classic CAN and CAN FD reception, passing the received packets to a common processing thread via a thread-safe queue.

Tests performed

With this change, it has been confirmed that the classic CAN packet (ID: 0x320), which could not be received before, is now received correctly.

Effects on system behavior

The number of threads for packet reception processing has increased to three (one for classic CAN, one for CAN FD, and one for processing). A future reduction in the number of threads may need to be considered due to the potential impact on overall system performance.

Interface changes

Not applicable.

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[codecov]

Codecov Report

❌ Patch coverage is 0% with 55 lines in your changes missing coverage. Please review.
✅ Project coverage is 32.52%. Comparing base (998b685) to head (cfac068).
⚠️ Report is 4 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #358      +/-   ##
==========================================
- Coverage   34.06%   32.52%   -1.55%     
==========================================
  Files         126      126              
  Lines       10614    10549      -65     
  Branches     5481     4524     -957     
==========================================
- Hits         3616     3431     -185     
- Misses       6342     6519     +177     
+ Partials      656      599      -57     

Flag	Coverage Δ
differential	32.52% <0.00%> (?)
total	?

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Components	Coverage Δ
Common	46.02% <ø> (-7.89%)	⬇️
Hesai	29.80% <ø> (-1.78%)	⬇️
Velodyne	40.09% <ø> (-0.05%)	⬇️
Continental	31.50% <0.00%> (-0.60%)	⬇️
Robosense	5.64% <ø> (-0.10%)	⬇️

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[mojomex]

@Ayrton2718 Thank you for the contribution! I'll try and find a sensor to test with next week. If you have a CANdump that I can test with offline, that would be super helpful and speed up things 🙇

[Ayrton2718]

@Ayrton2718 Thank you for the contribution! I'll try and find a sensor to test with next week. If you have a CANdump that I can test with offline, that would be super helpful and speed up things 🙇

@mojomex Sorry, I forgot to record the candump.
I can test it on the hardware again next week. I'll get the dump then and will mention you!

[mojomex]

@Ayrton2718 Hi, thanks for taking the time to create this PR. Have you gotten the chance to record a Candump yet?