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/**
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#pragma once

#include "sensor_bridge.hpp"
#include <drivers/drv_baro.h>
#include <drivers/device/ringbuffer.h>

#include <uavcan/equipment/air_data/StaticPressure.hpp>
#include <uavcan/equipment/air_data/StaticTemperature.hpp>

class RingBuffer;

class UavcanBarometerBridge : public UavcanCDevSensorBridgeBase
{
public:
	static const char *const NAME;

	UavcanBarometerBridge(uavcan::INode &node);

	const char *get_name() const override { return NAME; }

	int init() override;

private:
	ssize_t read(struct file *filp, char *buffer, size_t buflen);
	int ioctl(struct file *filp, int cmd, unsigned long arg) override;

	void air_pressure_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticPressure> &msg);
	void air_temperature_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticTemperature> &msg);

	typedef uavcan::MethodBinder < UavcanBarometerBridge *,
		void (UavcanBarometerBridge::*)
		(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticPressure> &) >
		AirPressureCbBinder;

	typedef uavcan::MethodBinder < UavcanBarometerBridge *,
		void (UavcanBarometerBridge::*)
		(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticTemperature> &) >
		AirTemperatureCbBinder;

	uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure, AirPressureCbBinder> _sub_air_pressure_data;
	uavcan::Subscriber<uavcan::equipment::air_data::StaticTemperature, AirTemperatureCbBinder> _sub_air_temperature_data;

	ringbuffer::RingBuffer _reports;

	unsigned _msl_pressure = 101325;
	float last_temperature_kelvin = 0.0f;

};
