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 * modification, are permitted provided that the following conditions
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 *    used to endorse or promote products derived from this software
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#pragma once

#include <containers/List.hpp>
#include <uavcan/uavcan.hpp>
#include <drivers/drv_orb_dev.h>
#include <lib/drivers/device/Device.hpp>
#include <uORB/uORB.h>

/**
 * A sensor bridge class must implement this interface.
 */
class IUavcanSensorBridge : uavcan::Noncopyable, public ListNode<IUavcanSensorBridge *>
{
public:
	static constexpr unsigned MAX_NAME_LEN = 20;

	virtual ~IUavcanSensorBridge() = default;

	/**
	 * Returns ASCII name of the bridge.
	 */
	virtual const char *get_name() const = 0;

	/**
	 * Starts the bridge.
	 * @return Non-negative value on success, negative on error.
	 */
	virtual int init() = 0;

	/**
	 * Returns number of active redundancy channels.
	 */
	virtual unsigned get_num_redundant_channels() const = 0;

	/**
	 * Prints current status in a human readable format to stdout.
	 */
	virtual void print_status() const = 0;

	virtual void update() {};

	/**
	 * Sensor bridge factory.
	 * Creates all known sensor bridges and puts them in the linked list.
	 */
	static void make_all(uavcan::INode &node, List<IUavcanSensorBridge *> &list);
};

namespace uavcan_bridge
{
struct Channel {
	int node_id{-1};
	orb_advert_t orb_advert{nullptr};
	int instance{-1};
	void *h_driver{nullptr};
};
} // namespace uavcan_bridge

/**
 * This is the base class for redundant sensors with an independent ORB topic per each redundancy channel.
 * For example, sensor_mag0, sensor_mag1, etc.
 */
class UavcanSensorBridgeBase : public IUavcanSensorBridge, public device::Device
{
	const orb_id_t _orb_topic;
	uavcan_bridge::Channel *const _channels;
	bool _out_of_channels = false;

protected:
	static constexpr unsigned DEFAULT_MAX_CHANNELS = 4;
	const unsigned _max_channels;

	UavcanSensorBridgeBase(const char *name, const orb_id_t orb_topic_sensor,
			       const unsigned max_channels = DEFAULT_MAX_CHANNELS) :
		Device(name),
		_orb_topic(orb_topic_sensor),
		_channels(new uavcan_bridge::Channel[max_channels]),
		_max_channels(max_channels)
	{
		set_device_bus_type(DeviceBusType_UAVCAN);
		set_device_bus(0);
	}

	/**
	 * Sends one measurement into appropriate ORB topic.
	 * New redundancy channels will be registered automatically.
	 * @param node_id Sensor's Node ID
	 * @param report  Pointer to ORB message object
	 */
	void publish(const int node_id, const void *report);

	/**
	 * Init the sensor driver for this channel.
	 * Implementation depends on sensor type being constructed.
	 * @param channel Channel pointer for which h_driver should be initialized.
	 */
	virtual int init_driver(uavcan_bridge::Channel *channel) { return PX4_OK; };

	uavcan_bridge::Channel *get_channel_for_node(int node_id);

public:
	virtual ~UavcanSensorBridgeBase();

	unsigned get_num_redundant_channels() const override;

	int8_t get_channel_index_for_node(int node_id);

	void print_status() const override;
};