AP_Baro_Backend *AP_Baro_UAVCAN::probe(AP_Baro &baro)
{
if (AP_BoardConfig_CAN::get_can_num_ifaces() == 0) {
return nullptr;
}
AP_Baro_UAVCAN *sensor;
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(i);
if (ap_uavcan == nullptr) {
continue;
}
uint8_t freebaro = ap_uavcan->find_smallest_free_baro_node();
if (freebaro == UINT8_MAX) {
continue;
}
sensor = new AP_Baro_UAVCAN(baro);
if (sensor->register_uavcan_baro(i, freebaro)) {
debug_baro_uavcan(2, "AP_Baro_UAVCAN probed, drv: %d, node: %d\n\r", i, freebaro);
return sensor;
} else {
delete sensor;
}
}
return nullptr;
}
AP_Baro_Backend *AP_Baro_UAVCAN::probe(AP_Baro &baro)
{
AP_Baro_UAVCAN *sensor = nullptr;
if (AP_BoardConfig_CAN::get_can_num_ifaces() != 0) {
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
if (hal.can_mgr[i] != nullptr) {
AP_UAVCAN *uavcan = hal.can_mgr[i]->get_UAVCAN();
if (uavcan != nullptr) {
uint8_t freebaro = uavcan->find_smallest_free_baro_node();
if (freebaro != UINT8_MAX) {
sensor = new AP_Baro_UAVCAN(baro);
if (sensor->register_uavcan_baro(i, freebaro)) {
debug_baro_uavcan(2, "AP_Baro_UAVCAN probed, drv: %d, node: %d\n\r", i, freebaro);
return sensor;
} else {
delete sensor;
sensor = nullptr;
}
}
}
}
}
}
return sensor;
}
AP_Baro_UAVCAN::~AP_Baro_UAVCAN()
{
if (_initialized) {
if (hal.can_mgr[_manager] != nullptr) {
AP_UAVCAN *ap_uavcan = hal.can_mgr[_manager]->get_UAVCAN();
if (ap_uavcan != nullptr) {
ap_uavcan->remove_baro_listener(this);
debug_baro_uavcan(2, "AP_Baro_UAVCAN destructed\n\r");
}
}
}
}
AP_Baro_UAVCAN::~AP_Baro_UAVCAN()
{
if (!_initialized) {
return;
}
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(_manager);
if (ap_uavcan == nullptr) {
return;
}
ap_uavcan->remove_baro_listener(this);
delete _sem_baro;
debug_baro_uavcan(2, "AP_Baro_UAVCAN destructed\n\r");
}
bool AP_Baro_UAVCAN::register_uavcan_baro(uint8_t mgr, uint8_t node)
{
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(mgr);
if (ap_uavcan == nullptr) {
return false;
}
_manager = mgr;
if (ap_uavcan->register_baro_listener_to_node(this, node)) {
_instance = _frontend.register_sensor();
debug_baro_uavcan(2, "AP_Baro_UAVCAN loaded\n\r");
_initialized = true;
return true;
}
return false;
}
