battery.hpp

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/**
 * @author Jacob Dahl <dahl.jakejacob@gmail.com>
 */

#pragma once

#include "sensor_bridge.hpp"

#include <uORB/topics/battery_status.h>

#include <uavcan/equipment/power/BatteryInfo.hpp>

class UavcanBatteryBridge : public UavcanCDevSensorBridgeBase
{
public:
    static const char *const NAME;

    UavcanBatteryBridge(uavcan::INode &node);

    const char *get_name() const override { return NAME; }

    int init() override;

private:

    void battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &msg);

    typedef uavcan::MethodBinder < UavcanBatteryBridge *,
        void (UavcanBatteryBridge::*)
        (const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &) >
        BatteryInfoCbBinder;

    uavcan::Subscriber<uavcan::equipment::power::BatteryInfo, BatteryInfoCbBinder> _sub_battery;
};