/* 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 . */ #include "AP_TemperatureSensor_config.h" #if AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED #include "AP_TemperatureSensor_DroneCAN.h" #include #include 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 ¶ms) : 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