ardupilot/libraries/AP_TemperatureSensor/AP_TemperatureSensor_DroneC...

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_TemperatureSensor_config.h"
#if AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED
#include "AP_TemperatureSensor_DroneCAN.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_Math/AP_Math.h>
AP_TemperatureSensor_DroneCAN* AP_TemperatureSensor_DroneCAN::_drivers[];
uint8_t AP_TemperatureSensor_DroneCAN::_driver_instance;
HAL_Semaphore AP_TemperatureSensor_DroneCAN::_driver_sem;
extern const AP_HAL::HAL &hal;
const AP_Param::GroupInfo AP_TemperatureSensor_DroneCAN::var_info[] = {
// @Param: MSG_ID
// @DisplayName: Temperature sensor DroneCAN message ID
// @Description: Sets the message device ID this backend listens for
// @Range: 0 65535
AP_GROUPINFO("MSG_ID", 1, AP_TemperatureSensor_DroneCAN, _ID, 0),
AP_GROUPEND
};
AP_TemperatureSensor_DroneCAN::AP_TemperatureSensor_DroneCAN(AP_TemperatureSensor &front,
AP_TemperatureSensor::TemperatureSensor_State &state,
AP_TemperatureSensor_Params &params) :
AP_TemperatureSensor_Backend(front, state, params)
{
AP_Param::setup_object_defaults(this, var_info);
_state.var_info = var_info;
// Register self in static driver list
WITH_SEMAPHORE(_driver_sem);
_drivers[_driver_instance] = this;
_driver_instance++;
}
// Subscript to incoming temperature messages
bool AP_TemperatureSensor_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
{
const auto driver_index = ap_dronecan->get_driver_index();
return (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_temperature, driver_index) != nullptr);
}
void AP_TemperatureSensor_DroneCAN::handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_device_Temperature &msg)
{
WITH_SEMAPHORE(_driver_sem);
for (uint8_t i = 0; i < _driver_instance; i++) {
if ((_drivers[i] != nullptr) && (_drivers[i]->_ID.get() == msg.device_id)) {
// Driver loaded and looking for this ID, set temp
_drivers[i]->set_temperature(KELVIN_TO_C(msg.temperature));
}
}
}
#endif // AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED