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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#include "sensor_bridge.hpp"
#include <systemlib/err.h>

#include "gnss.hpp"
#include "mag.hpp"
#include "baro.hpp"

IUavcanSensorBridge* IUavcanSensorBridge::make(uavcan::INode &node, const char *bridge_name)
{
	/*
	 * TODO: make a linked list of known implementations at startup?
	 */
	if (!std::strncmp(UavcanGnssBridge::NAME, bridge_name, MAX_NAME_LEN)) {
		return new UavcanGnssBridge(node);
	} else if (!std::strncmp(UavcanMagnetometerBridge::NAME, bridge_name, MAX_NAME_LEN)) {
		return new UavcanMagnetometerBridge(node);
	} else if (!std::strncmp(UavcanBarometerBridge::NAME, bridge_name, MAX_NAME_LEN)) {
		return new UavcanBarometerBridge(node);
	} else {
		return nullptr;
	}
}

void IUavcanSensorBridge::print_known_names(const char *prefix)
{
	printf("%s%s\n", prefix, UavcanGnssBridge::NAME);
	printf("%s%s\n", prefix, UavcanMagnetometerBridge::NAME);
	printf("%s%s\n", prefix, UavcanBarometerBridge::NAME);
}