ardupilot/libraries/AP_Baro/AP_Baro_UAVCAN.h

52 lines
1.2 KiB
C++

#pragma once
#include "AP_Baro_Backend.h"
#include <AP_UAVCAN/AP_UAVCAN.h>
class PressureCb;
class TemperatureCb;
class AP_Baro_UAVCAN : public AP_Baro_Backend {
public:
AP_Baro_UAVCAN(AP_Baro &baro);
void update() override;
inline void register_sensor() {
_instance = _frontend.register_sensor();
}
static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
static AP_Baro_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, bool create_new);
static AP_Baro_Backend* probe(AP_Baro &baro);
static void handle_pressure(AP_UAVCAN* ap_uavcan, uint8_t node_id, const PressureCb &cb);
static void handle_temperature(AP_UAVCAN* ap_uavcan, uint8_t node_id, const TemperatureCb &cb);
private:
static bool take_registry();
static void give_registry();
uint8_t _instance;
bool new_pressure;
float _pressure;
float _temperature;
uint64_t _last_timestamp;
HAL_Semaphore _sem_baro;
AP_UAVCAN* _ap_uavcan;
uint8_t _node_id;
// Module Detection Registry
static struct DetectedModules {
AP_UAVCAN* ap_uavcan;
uint8_t node_id;
AP_Baro_UAVCAN* driver;
} _detected_modules[BARO_MAX_DRIVERS];
static HAL_Semaphore _sem_registry;
};