baro.hpp

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#pragma once

#include "sensor_bridge.hpp"
#include <drivers/drv_baro.h>
#include <drivers/device/ringbuffer.h>

#include <uavcan/equipment/air_data/StaticPressure.hpp>
#include <uavcan/equipment/air_data/StaticTemperature.hpp>

class RingBuffer;

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:
    ssize_t read(struct file *filp, char *buffer, size_t buflen);
    int ioctl(struct file *filp, int cmd, unsigned long arg) override;

    void air_pressure_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticPressure> &msg);
    void air_temperature_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticTemperature> &msg);

    typedef uavcan::MethodBinder < UavcanBarometerBridge *,
        void (UavcanBarometerBridge::*)
        (const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticPressure> &) >
        AirPressureCbBinder;

    typedef uavcan::MethodBinder < UavcanBarometerBridge *,
        void (UavcanBarometerBridge::*)
        (const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticTemperature> &) >
        AirTemperatureCbBinder;

    uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure, AirPressureCbBinder> _sub_air_pressure_data;
    uavcan::Subscriber<uavcan::equipment::air_data::StaticTemperature, AirTemperatureCbBinder> _sub_air_temperature_data;

    ringbuffer::RingBuffer _reports;

    float last_temperature_kelvin = 0.0f;

};