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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Baro/AP_Baro_DroneCAN.h
Views: 1798
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#pragma once

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#include "AP_Baro_Backend.h"

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#if AP_BARO_DRONECAN_ENABLED

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#include <AP_DroneCAN/AP_DroneCAN.h>

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#if AP_TEST_DRONECAN_DRIVERS

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#include <SITL/SITL.h>

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#endif

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class AP_Baro_DroneCAN : public AP_Baro_Backend {

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public:

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    AP_Baro_DroneCAN(AP_Baro &baro);

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    void update() override;

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    static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);

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    static AP_Baro_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, bool create_new);

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    static AP_Baro_Backend* probe(AP_Baro &baro);

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    static void handle_pressure(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticPressure &msg);

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    static void handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticTemperature &msg);

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#if AP_TEST_DRONECAN_DRIVERS

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    void update_healthy_flag(uint8_t instance) override { _frontend.sensors[instance].healthy = !AP::sitl()->baro[instance].disable; };

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#endif

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private:

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    static void _update_and_wrap_accumulator(float *accum, float val, uint8_t *count, const uint8_t max_count);

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    uint8_t _instance;

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    bool new_pressure;

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    float _pressure;

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    float _temperature;

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    uint8_t  _pressure_count;

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    HAL_Semaphore _sem_baro;

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    AP_DroneCAN* _ap_dronecan;

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    uint8_t _node_id;

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    // Module Detection Registry

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    static struct DetectedModules {

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        AP_DroneCAN* ap_dronecan;

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        uint8_t node_id;

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        AP_Baro_DroneCAN* driver;

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    } _detected_modules[BARO_MAX_DRIVERS];

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    static HAL_Semaphore _sem_registry;

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};

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#endif  // AP_BARO_DRONECAN_ENABLED

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