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/**
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#pragma once
#include <containers/List.hpp>
#include <uavcan/uavcan.hpp>
#include <drivers/device/device.h>
#include <drivers/drv_orb_dev.h>
/**
* A sensor bridge class must implement this interface.
*/
class IUavcanSensorBridge : uavcan::Noncopyable, public ListNode<IUavcanSensorBridge*>
{
public:
static constexpr unsigned MAX_NAME_LEN = 20;
virtual ~IUavcanSensorBridge() { }
/**
* Returns ASCII name of the bridge.
*/
virtual const char *get_name() const = 0;
/**
* Starts the bridge.
* @return Non-negative value on success, negative on error.
*/
virtual int init() = 0;
/**
* Returns number of active redundancy channels.
*/
virtual unsigned get_num_redundant_channels() const = 0;
/**
* Sensor bridge factory.
* Creates a bridge object by its ASCII name, e.g. "gnss", "mag".
* @return nullptr if such bridge can't be created.
*/
static void make_all(uavcan::INode &node, List<IUavcanSensorBridge*> &list);
};
/**
* This is the base class for redundant sensors with an independent ORB topic per each redundancy channel.
* For example, sensor_mag0, sensor_mag1, etc.
*/
class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CDev
{
struct Channel
{
int redunancy_channel_id = -1;
orb_id_t orb_id = nullptr;
orb_advert_t orb_advert = -1;
int class_instance = -1;
};
const unsigned _max_channels;
const char *const _class_devname;
orb_id_t *const _orb_topics;
Channel *const _channels;
bool _out_of_channels = false;
protected:
template <unsigned MaxChannels>
UavcanCDevSensorBridgeBase(const char *name, const char *devname, const char *class_devname,
const orb_id_t (&orb_topics)[MaxChannels]) :
device::CDev(name, devname),
_max_channels(MaxChannels),
_class_devname(class_devname),
_orb_topics(new orb_id_t[MaxChannels]),
_channels(new Channel[MaxChannels])
{
memcpy(_orb_topics, orb_topics, sizeof(orb_id_t) * MaxChannels);
}
/**
* Sends one measurement into appropriate ORB topic.
* New redundancy channels will be registered automatically.
* @param redundancy_channel_id Redundant sensor identifier (e.g. UAVCAN Node ID)
* @param report ORB message object
*/
void publish(const int redundancy_channel_id, const void *report);
public:
virtual ~UavcanCDevSensorBridgeBase();
unsigned get_num_redundant_channels() const override;
};