sensor_bridge.hpp

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#pragma once

#include <containers/List.hpp>
#include <uavcan/uavcan.hpp>
#include <drivers/device/device.h>
#include <drivers/drv_orb_dev.h>
#include <uORB/uORB.h>

class IUavcanSensorBridge : uavcan::Noncopyable, public ListNode<IUavcanSensorBridge *>
{
public:
    static constexpr unsigned MAX_NAME_LEN = 20;

    virtual ~IUavcanSensorBridge() { }

    virtual const char *get_name() const = 0;

    virtual int init() = 0;

    virtual unsigned get_num_redundant_channels() const = 0;

    virtual void print_status() const = 0;

    static void make_all(uavcan::INode &node, List<IUavcanSensorBridge *> &list);
};

class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CDev
{
    struct Channel {
        int node_id              = -1;
        orb_advert_t orb_advert  = nullptr;
        int class_instance       = -1;
        int orb_instance     = -1;
    };

    const unsigned _max_channels;
    const char *const _class_devname;
    const orb_id_t _orb_topic;
    Channel *const _channels;
    bool _out_of_channels = false;

protected:
    static constexpr unsigned DEFAULT_MAX_CHANNELS = 5; // 640 KB ought to be enough for anybody

    UavcanCDevSensorBridgeBase(const char *name, const char *devname, const char *class_devname,
                   const orb_id_t orb_topic_sensor,
                   const unsigned max_channels = DEFAULT_MAX_CHANNELS) :
        device::CDev(name, devname),
        _max_channels(max_channels),
        _class_devname(class_devname),
        _orb_topic(orb_topic_sensor),
        _channels(new Channel[max_channels])
    {
        _device_id.devid_s.bus_type = DeviceBusType_UAVCAN;
        _device_id.devid_s.bus = 0;
    }

    void publish(const int node_id, const void *report);

public:
    virtual ~UavcanCDevSensorBridgeBase();

    unsigned get_num_redundant_channels() const override;

    void print_status() const override;
};