hygrometer.cpp

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#include "hygrometer.hpp"

#include <uORB/topics/sensor_hygrometer.h>
#include <lib/atmosphere/atmosphere.h>

const char *const UavcanHygrometerBridge::NAME = "hygrometer_sensor";

UavcanHygrometerBridge::UavcanHygrometerBridge(uavcan::INode &node, NodeInfoPublisher *node_info_publisher) :
	UavcanSensorBridgeBase("uavcan_hygrometer_sensor", ORB_ID(sensor_hygrometer), node_info_publisher),
	_sub_hygro(node)
{
	set_device_type(DRV_HYGRO_DEVTYPE_UAVCAN);
}

int UavcanHygrometerBridge::init()
{
	int res = _sub_hygro.start(HygroCbBinder(this, &UavcanHygrometerBridge::hygro_sub_cb));

	if (res < 0) {
		DEVICE_LOG("failed to start uavcan sub: %d", res);
		return res;
	}

	return 0;
}

void UavcanHygrometerBridge::hygro_sub_cb(const uavcan::ReceivedDataStructure<dronecan::sensors::hygrometer::Hygrometer>
		&msg)
{
	const hrt_abstime timestamp_sample = hrt_absolute_time();


	sensor_hygrometer_s report{};
	report.timestamp_sample = timestamp_sample;
	report.device_id = make_uavcan_device_id(msg);
	report.temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius;
	report.humidity = msg.humidity;
	report.timestamp = hrt_absolute_time();

	publish(msg.getSrcNodeID().get(), &report);

	// Register device capability if not already done
	if (_node_info_publisher != nullptr) {
		_node_info_publisher->registerDeviceCapability(msg.getSrcNodeID().get(),
				report.device_id, NodeInfoPublisher::DeviceCapability::HYGROMETER);
	}
}