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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 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:
	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;
};