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/**
 * @file gnss.hpp
 *
 * UAVCAN --> ORB bridge for GNSS messages:
 *     uavcan.equipment.gnss.Fix
 *
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 * @author Andrew Chambers <achamber@gmail.com>
 */

#pragma once

#include <drivers/drv_hrt.h>

#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>

#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/gnss/Fix.hpp>

#include "sensor_bridge.hpp"

class UavcanGnssBridge : public IUavcanSensorBridge
{
public:
	static const char *const NAME;

	UavcanGnssBridge(uavcan::INode& node);

	const char *get_name() const override { return NAME; }

	int init() override;

	unsigned get_num_redundant_channels() const override;

	void print_status() const override;

private:
	/**
	 * GNSS fix message will be reported via this callback.
	 */
	void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg);

	typedef uavcan::MethodBinder<UavcanGnssBridge*,
		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>&)>
		FixCbBinder;

	uavcan::INode &_node;
	uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _sub_fix;
	int _receiver_node_id = -1;

	orb_advert_t _report_pub;                ///< uORB pub for gnss position

};