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/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @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;
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
};
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