ardupilot/libraries/AP_Scripting/examples/mission-edit-demo.lua

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-- mission editing demo lua script.
-- by Buzz 2020
-- luacheck: only 0
current_pos = nil
home = 0
a = {}
demostage = 0
eventcounter = 0
function update () -- periodic function that will be called
current_pos = ahrs:get_location()
-- adds new/extra mission item at the end by copying the last one and modifying it
-- get number of last mission item
wp_num = mission:num_commands()-1
--get last item from mission
m = mission:get_item(wp_num)
-- get first item from mission
m1 = mission:get_item(1)
if wp_num > 0 then
gcs:send_text(0, string.format("LUA - Please clear misn to continue demo. size:%d",wp_num+1))
return update, 1000
end
-- no mission, just home at [0] means user has cleared any mission in the system, and this demo is clear to write something new.
-- it's not required that the mission be empty before we do things, but this script is multi-stage demo so its conveneient
if ( mission:num_commands() == 1) then
if demostage == 0 then
demostage = 1
gcs:send_text(0, string.format("LUA demo stage 1 starting"))
return stage1, 1000
end
if demostage == 2 then
demostage = 3
gcs:send_text(0, string.format("LUA demo stage 3 starting"))
return stage3, 1000
end
if demostage == 4 then
demostage = 5
gcs:send_text(0, string.format("LUA demo stage 5 starting"))
return stage5, 1000
end
if demostage == 6 then
demostage = 7
gcs:send_text(0, string.format("LUA demo stage 7 starting"))
return stage7, 1000
end
if demostage == 8 then
demostage = 9
gcs:send_text(0, string.format("LUA MISSION demo all COMPLETED."))
--return update, 1000
end
end
return update, 1000
end
function read_table_from_sd()
-- Opens a file in read mode
file = io.open("miss.txt", "r")
-- sets the default input file as xxxx.txt
io.input(file)
-- read whole file, or get empty string
content = io.read("*all")
if (content == nil) then
gcs:send_text(0, string.format("file not found, skipping read of miss.txt from sd"))
return update(), 1000
end
local pat = "wp:(%S+)%s+lat:(%S+)%s+lon:(%S+)%s+alt:(%S+)"
for s1, s2 ,s3,s4 in string.gmatch(content, pat) do
--s = string.format("wp:%s lat:%s lon:%s alt:%s",s1,s2,s3,s4)
--gcs:send_text(0, s)
n1 = tonumber(s1)
n2 = math.floor(tonumber(s2*10000000))
n3 = math.floor(tonumber(s3*10000000))
n4 = tonumber(s4)
-- use previous item as template...
m = mission:get_item(mission:num_commands()-1)
m:command(16) -- 16 = normal WAYPOINT
m:x(n2)
m:y(n3)
m:z(n4)
-- write as a new item to the end of the list.
mission:set_item(mission:num_commands(),m)
end
gcs:send_text(0, '...loaded file from SD')
-- closes the open file
io.close(file)
return update(), 1000
end
function stage1 ()
-- demo stage 1 implementation.
if (demostage == 1 ) and ( mission:num_commands() == 1 ) then
demostage = 2
return read_table_from_sd(), 1000
end
end
function stage3 ()
-- demo stage 3 implementation.
--get number of 'last' mission item
wp_num = mission:num_commands()-1
-- get HOME item from mission as the 'reference' for future items
m1 = mission:get_item(0)
--get last item from mission
m = mission:get_item(wp_num)
if (demostage == 3 ) then
-- demo stage 3 starts by writing 10 do-JUMPS over 10 seconds, just for fun
if mission:num_commands() < 10 then
m:command(177) -- 177 = DO_JUMP
m:param1(m:param1()+1) -- some increments for fun/demo
m:param2(m:param2()+1)
gcs:send_text(0, string.format("LUA new miss-item DO_JUMP %d ", wp_num+1))
mission:set_item(mission:num_commands(),m)
return stage3, 100 -- stay in stage 3 for now
end
-- change copy of last item slightly, for giggles and demo.
-- This is reading a copy of whatever is currently the last item in the mission, do_jump
-- and changing/ensuring its type is a 'normal' waypoint, and setting its lat/long/alt
-- to data we earlier took from HOME, adding an offset and then writing it
-- as a NEW mission item at the end
if mission:num_commands() == 10 then
m:command(16) -- 16 = normal WAYPOINT
m:x(m1:x()+200)
m:y(m1:y()+200)
m:z(m1:z()+1)
gcs:send_text(0, string.format("LUA new miss-item WAYPOINT a %d ", wp_num+1))
mission:set_item(mission:num_commands(),m)
return stage3, 100 -- stay in stage 3 for now
end
-- change copy of last item slightly, for giggles, and append as a new item
if (mission:num_commands() > 10) and (mission:num_commands() < 20) then
m:command(16) -- 16 = normal WAYPOINT
m:x(m:x()+200)
m:y(m:y()+200)
m:z(m:z()+1)
gcs:send_text(0, string.format("LUA new miss-item WAYPOINT b %d ", wp_num+1))
mission:set_item(mission:num_commands(),m)
return stage3, 100 -- stay in stage 3 for now
end
-- change copy of last item slightly, for giggles.
if (mission:num_commands() >= 20) and (mission:num_commands() < 30) then
m:command(16) -- 16 = normal WAYPOINT
m:x(m:x()+200)
m:y(m:y()+200)
m:z(m:z()+1)
gcs:send_text(0, string.format("LUA new miss-item WAYPOINT c %d ", wp_num+1))
mission:set_item(mission:num_commands(),m)
return stage3, 100 -- stay in stage 3 for now
end
-- move on at end of this dempo stage
if (mission:num_commands() >= 30) then
gcs:send_text(0, string.format("LUA DEMO stage 3 done. ", wp_num+1))
demostage = 4
return update, 100 -- drop to next stage via an update() call
end
end
end
function stage5 ()
-- demo stage 5 implementation for when there's only one wp , HOME, in th system
if (demostage == 5 ) then
-- when no mission, uses home as reference point, otherwise its the 'last item'
m = mission:get_item(mission:num_commands()-1)
m:x(m:x())
m:y(m:y()-400)
m:z(m:z())
mission:set_item(1,m)
gcs:send_text(0, string.format("LUA mode 5 single wp nudge %d",eventcounter))
eventcounter = eventcounter+1
if eventcounter > 50 then
demostage = 6
eventcounter = 0
gcs:send_text(0, string.format("LUA DEMO stage 5 done. "))
return update, 100 -- drop to next stage via an update() call
end
return stage5, 100 -- stay in stage 3 for now
end
end
function stage7 ()
-- demo stage 5 implementation for when there's more than wp in the system
if (demostage == 7 ) then --and (mission:num_commands() >= 3) and (mission:num_commands() < 50) then
-- fiurst time in , there's no mission, lets throw a few wps in to play with later..
-- change copy of last item slightly, for giggles, and append as a new item
if (mission:num_commands() == 1) then
for x = 1, 10 do
m:command(16) -- 16 = normal WAYPOINT
m:x(m:x()+math.random(-10000,10000)) -- add something random
m:y(m:y()+math.random(-10000,10000))
m:z(m:z()+1)
gcs:send_text(0, string.format("LUA stage 7 making 10 new nearby random wp's %d ", wp_num+1))
mission:set_item(mission:num_commands(),m)
end
gcs:send_text(0, string.format("LUA scattering complete. %d ", wp_num+1))
return stage7, 100 -- stay in stage 3 for now
end
-- things that are further away from this one than distance X..
m1 = mission:get_item(1)
-- leave item 0 alone, always
for x = 1, mission:num_commands()-1 do
mitem = mission:get_item(x)
-- look at each mission item above 1, and get the distance from it to the copter.
local target = Location()
target:lat(mitem:x())
target:lng(mitem:y())
local cur_d = current_pos:get_distance(target)
if cur_d > 100 then
if mitem:x() > m1:x() then
mitem:x(mitem:x()+400)
end
if mitem:x() < m1:x() then
mitem:x(mitem:x()-400)
end
if mitem:y() > m1:y() then
mitem:y(mitem:y()+400)
end
if mitem:y() < m1:y() then
mitem:y(mitem:y()-400)
end
end
-- write as a new item to the end of the list.
mission:set_item(x,mitem)
end
gcs:send_text(0, string.format("LUA mode 7 scattering existing wp's.. %d",eventcounter))
end
-- do it 50 times then consider it done
eventcounter = eventcounter+1
if eventcounter > 50 then
demostage = 8
eventcounter = 0
gcs:send_text(0, string.format("LUA DEMO stage 7 done. "))
return update, 100 -- drop to next stage via an update() call
end
return stage7, 500
end
function wait_for_home()
current_pos = ahrs:get_location()
if current_pos == nil then
return wait_for_home, 1000
end
home = ahrs:get_home()
if home == nil then
return wait_for_home, 1000
end
if home:lat() == 0 then
return wait_for_home, 1000
end
gcs:send_text(0, string.format("LUA MISSION Waiting for Home."))
return update, 1000
end
function delayed_boot()
gcs:send_text(0, string.format("LUA MISSION DEMO START"))
return wait_for_home, 1000
end
return delayed_boot, 5000