diff options
Diffstat (limited to 'src/modules/uavcan/sensors/sensor_bridge.hpp')
| -rw-r--r-- | src/modules/uavcan/sensors/sensor_bridge.hpp | 15 |
1 files changed, 11 insertions, 4 deletions
diff --git a/src/modules/uavcan/sensors/sensor_bridge.hpp b/src/modules/uavcan/sensors/sensor_bridge.hpp index a13d0ab35..1316f7ecc 100644 --- a/src/modules/uavcan/sensors/sensor_bridge.hpp +++ b/src/modules/uavcan/sensors/sensor_bridge.hpp @@ -69,6 +69,11 @@ public: virtual unsigned get_num_redundant_channels() const = 0; /** + * Prints current status in a human readable format to stdout. + */ + virtual void print_status() 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. @@ -84,7 +89,7 @@ class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CD { struct Channel { - int redunancy_channel_id = -1; + int node_id = -1; orb_id_t orb_id = nullptr; orb_advert_t orb_advert = -1; int class_instance = -1; @@ -112,13 +117,15 @@ protected: /** * 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 + * @param node_id Sensor's Node ID + * @param report Pointer to ORB message object */ - void publish(const int redundancy_channel_id, const void *report); + void publish(const int node_id, const void *report); public: virtual ~UavcanCDevSensorBridgeBase(); unsigned get_num_redundant_channels() const override; + + void print_status() const override; }; |