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 * 1. Redistributions of source code must retain the above copyright
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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>
 */

#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 MAX_NAME_LEN = 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);

	/**
	 * Prints all valid bridge names into stdout via printf(), one name per line with prefix.
	 */
	static void print_known_names(const char *prefix);
};