sensor_bridge.hpp

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

#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>

/**
 * A sensor bridge class must implement this interface.
 */
class IUavcanSensorBridge : uavcan::Noncopyable, public ListNode<IUavcanSensorBridge *>
{
public:
    static constexpr unsigned MAX_NAME_LEN = 20;

    virtual ~IUavcanSensorBridge() = default;

    /**
     * Returns ASCII name of the bridge.
     */
    virtual const char *get_name() const = 0;

    /**
     * Starts the bridge.
     * @return Non-negative value on success, negative on error.
     */
    virtual int init() = 0;

    /**
     * Returns number of active redundancy channels.
     */
    virtual unsigned get_num_redundant_channels() const = 0;

    /**
     * Prints current status in a human readable format to stdout.
     */
    virtual void print_status() const = 0;

    /**
     * Sensor bridge factory.
     * Creates all known sensor bridges and puts them in the linked list.
     */
    static void make_all(uavcan::INode &node, List<IUavcanSensorBridge *> &list);
};

/**
 * This is the base class for redundant sensors with an independent ORB topic per each redundancy channel.
 * For example, sensor_mag0, sensor_mag1, etc.
 */
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;

    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;
    }

    /**
     * Sends one measurement into appropriate ORB topic.
     * New redundancy channels will be registered automatically.
     * @param node_id Sensor's Node ID
     * @param report  Pointer to ORB message object
     */
    void publish(const int node_id, const void *report);

public:
    virtual ~UavcanCDevSensorBridgeBase();

    unsigned get_num_redundant_channels() const override;

    void print_status() const override;
};