baro.hpp

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/**
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#pragma once

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

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

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:

    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;

    float last_temperature_kelvin{0.0f};

};