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/**
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#pragma once
#include "sensor_bridge.hpp"
#include <drivers/drv_baro.h>
#include <uavcan/equipment/air_data/StaticAirData.hpp>
class RingBuffer;
class UavcanBarometerBridge : public UavcanCDevSensorBridgeBase
{
public:
static const char *const NAME;
UavcanBarometerBridge(uavcan::INode &node);
const char *get_name() const override { return NAME; }
int init() override;
private:
ssize_t read(struct file *filp, char *buffer, size_t buflen);
int ioctl(struct file *filp, int cmd, unsigned long arg) override;
void air_data_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData> &msg);
typedef uavcan::MethodBinder < UavcanBarometerBridge *,
void (UavcanBarometerBridge::*)
(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData> &) >
AirDataCbBinder;
uavcan::Subscriber<uavcan::equipment::air_data::StaticAirData, AirDataCbBinder> _sub_air_data;
unsigned _msl_pressure = 101325;
RingBuffer *_reports;
};