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author | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-08-22 01:52:23 +0400 |
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committer | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-08-22 01:52:23 +0400 |
commit | 0d9f6b6e2ec86f7fa95bc2e7650256e1392544b2 (patch) | |
tree | bf90731a92fe45f271c046af1220a04fad89863c /src/modules/uavcan/sensors/sensor_bridge.hpp | |
parent | f87860bc96a61c538de50b5b74aba0452f9b5784 (diff) | |
download | px4-firmware-0d9f6b6e2ec86f7fa95bc2e7650256e1392544b2.tar.gz px4-firmware-0d9f6b6e2ec86f7fa95bc2e7650256e1392544b2.tar.bz2 px4-firmware-0d9f6b6e2ec86f7fa95bc2e7650256e1392544b2.zip |
UAVCAN: Refactored and generalized sensor bridge support
Diffstat (limited to 'src/modules/uavcan/sensors/sensor_bridge.hpp')
-rw-r--r-- | src/modules/uavcan/sensors/sensor_bridge.hpp | 70 |
1 files changed, 70 insertions, 0 deletions
diff --git a/src/modules/uavcan/sensors/sensor_bridge.hpp b/src/modules/uavcan/sensors/sensor_bridge.hpp new file mode 100644 index 000000000..1667c2b57 --- /dev/null +++ b/src/modules/uavcan/sensors/sensor_bridge.hpp @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @author Pavel Kirienko <pavel.kirienko@gmail.com> + */ + +#pragma once + +#include <containers/List.hpp> +#include <uavcan/uavcan.hpp> + +/** + * A sensor bridge class must implement this interface. + */ +class IUavcanSensorBridge : uavcan::Noncopyable, public ListNode<IUavcanSensorBridge*> +{ +public: + static constexpr unsigned MaxNameLen = 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; + + /** + * 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 IUavcanSensorBridge* make(uavcan::INode &node, const char *bridge_name); +}; |