Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : #pragma once
      17             : 
      18             : #include "AP_TemperatureSensor_config.h"
      19             : 
      20             : #if AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED
      21             : 
      22             : #include "AP_TemperatureSensor_Backend.h"
      23             : #include <AP_Param/AP_Param.h>
      24             : 
      25             : #include <AP_DroneCAN/AP_DroneCAN.h>
      26             : 
      27             : class AP_TemperatureSensor_DroneCAN : public AP_TemperatureSensor_Backend {
      28             : public:
      29             :     AP_TemperatureSensor_DroneCAN(AP_TemperatureSensor &front, AP_TemperatureSensor::TemperatureSensor_State &state, AP_TemperatureSensor_Params &params);
      30             : 
      31             :     static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);
      32             : 
      33             :     // Don't do anything in update, but still need to override the pure virtual method.
      34           0 :     void update(void) override {};
      35             : 
      36             :     static const struct AP_Param::GroupInfo var_info[];
      37             : 
      38             : private:
      39             : 
      40             :     static void handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_device_Temperature &msg);
      41             : 
      42             :     // Static list of drivers
      43             :     static AP_TemperatureSensor_DroneCAN *_drivers[AP_TEMPERATURE_SENSOR_MAX_INSTANCES];
      44             :     static uint8_t _driver_instance;
      45             :     static HAL_Semaphore _driver_sem;
      46             : 
      47             :     // DroneCAN temperature ID to listen for
      48             :     AP_Int32 _ID; 
      49             : 
      50             : };
      51             : 
      52             : #endif // AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED