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Improved UAVCAN status reporting

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Pavel Kirienko
2014-08-26 00:52:33 +04:00
parent c786f3ce07
commit eab701b896
5 changed files with 55 additions and 18 deletions
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src/modules/uavcan/sensors/sensor_bridge.hpp
+11 -4
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@@ -68,6 +68,11 @@ public:
*/
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 a bridge object by its ASCII name, e.g. "gnss", "mag".
@@ -84,7 +89,7 @@ class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CD
{
struct Channel
{
int redunancy_channel_id = -1;
int node_id = -1;
orb_id_t orb_id = nullptr;
orb_advert_t orb_advert = -1;
int class_instance = -1;
@@ -112,13 +117,15 @@ protected:
/**
* Sends one measurement into appropriate ORB topic.
* New redundancy channels will be registered automatically.
* @param redundancy_channel_id Redundant sensor identifier (e.g. UAVCAN Node ID)
* @param report ORB message object
* @param node_id Sensor's Node ID
* @param report Pointer to ORB message object
*/
void publish(const int redundancy_channel_id, const void *report);
void publish(const int node_id, const void *report);
public:
virtual ~UavcanCDevSensorBridgeBase();
unsigned get_num_redundant_channels() const override;
void print_status() const override;
};