ardupilot/libraries/AP_Scripting/AP_Scripting.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#if AP_SCRIPTING_ENABLED
#include <GCS_MAVLink/GCS_config.h>
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#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Mission/AP_Mission.h>
#include <AP_Filesystem/AP_Filesystem.h>
#include <AP_HAL/I2CDevice.h>
#include "AP_Scripting_CANSensor.h"
#include <AP_Networking/AP_Networking_Config.h>
#ifndef SCRIPTING_MAX_NUM_I2C_DEVICE
#define SCRIPTING_MAX_NUM_I2C_DEVICE 4
#endif
#define SCRIPTING_MAX_NUM_PWM_SOURCE 4
#if AP_NETWORKING_ENABLED
#ifndef SCRIPTING_MAX_NUM_NET_SOCKET
#define SCRIPTING_MAX_NUM_NET_SOCKET 50
#endif
class SocketAPM;
#endif
#ifndef AP_SCRIPTING_SERIALDEVICE_ENABLED
#define AP_SCRIPTING_SERIALDEVICE_ENABLED AP_SERIALMANAGER_REGISTER_ENABLED && (BOARD_FLASH_SIZE>1024)
#endif
#if AP_SCRIPTING_SERIALDEVICE_ENABLED
#include "AP_Scripting_SerialDevice.h"
#endif
class AP_Scripting
{
public:
AP_Scripting();
/* Do not allow copies */
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CLASS_NO_COPY(AP_Scripting);
void init(void);
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#if AP_SCRIPTING_SERIALDEVICE_ENABLED
void init_serialdevice_ports(void);
#endif
void update();
bool enabled(void) const { return _enable != 0; };
bool should_run(void) const { return enabled() && !_stop; }
#if HAL_GCS_ENABLED
void handle_message(const mavlink_message_t &msg, const mavlink_channel_t chan);
// Check if command ID is blocked
bool is_handling_command(uint16_t cmd_id);
#endif
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static AP_Scripting * get_singleton(void) { return _singleton; }
static const struct AP_Param::GroupInfo var_info[];
#if HAL_GCS_ENABLED
MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet);
#endif
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void handle_mission_command(const class AP_Mission::Mission_Command& cmd);
bool arming_checks(size_t buflen, char *buffer) const;
void restart_all(void);
// User parameters for inputs into scripts
AP_Float _user[6];
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enum class SCR_DIR {
ROMFS = 1 << 0,
SCRIPTS = 1 << 1,
};
uint16_t get_disabled_dir() { return uint16_t(_dir_disable.get());}
// the number of and storage for i2c devices
uint8_t num_i2c_devices;
AP_HAL::OwnPtr<AP_HAL::I2CDevice> *_i2c_dev[SCRIPTING_MAX_NUM_I2C_DEVICE];
#if AP_SCRIPTING_CAN_SENSOR_ENABLED
// Scripting CAN sensor
ScriptingCANSensor *_CAN_dev;
ScriptingCANSensor *_CAN_dev2;
#endif
#if AP_MISSION_ENABLED
// mission item buffer
static const int mission_cmd_queue_size = 5;
struct scripting_mission_cmd {
uint16_t p1;
float content_p1;
float content_p2;
float content_p3;
uint32_t time_ms;
};
ObjectBuffer<struct scripting_mission_cmd> * mission_data;
#endif
// PWMSource storage
uint8_t num_pwm_source;
AP_HAL::PWMSource *_pwm_source[SCRIPTING_MAX_NUM_PWM_SOURCE];
int get_current_env_ref() { return current_env_ref; }
void set_current_env_ref(int ref) { current_env_ref = ref; }
#if AP_NETWORKING_ENABLED
// SocketAPM storage
SocketAPM *_net_sockets[SCRIPTING_MAX_NUM_NET_SOCKET];
#endif
struct mavlink_msg {
mavlink_message_t msg;
mavlink_channel_t chan;
uint32_t timestamp_ms;
};
struct mavlink {
ObjectBuffer<struct mavlink_msg> *rx_buffer;
uint32_t *accept_msg_ids;
uint16_t accept_msg_ids_size;
HAL_Semaphore sem;
} mavlink_data;
struct command_block_list {
uint16_t id;
command_block_list *next;
};
command_block_list *mavlink_command_block_list;
HAL_Semaphore mavlink_command_block_list_sem;
#if AP_SCRIPTING_SERIALDEVICE_ENABLED
AP_Scripting_SerialDevice _serialdevice;
#endif
private:
void thread(void); // main script execution thread
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// Check if DEBUG_OPTS bit has been set to save current checksum values to params
void save_checksum();
// Mask down to 23 bits for comparison with parameters, this the length of the a float mantissa, to deal with the float transport of parameters over MAVLink
// The full range of uint32 integers cannot be represented by a float.
const uint32_t checksum_param_mask = 0x007FFFFF;
enum class ThreadPriority : uint8_t {
NORMAL = 0,
IO = 1,
STORAGE = 2,
UART = 3,
I2C = 4,
SPI = 5,
TIMER = 6,
MAIN = 7,
BOOST = 8
};
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AP_Int8 _enable;
AP_Int32 _script_vm_exec_count;
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AP_Int32 _script_heap_size;
AP_Int8 _debug_options;
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AP_Int16 _dir_disable;
AP_Int32 _required_loaded_checksum;
AP_Int32 _required_running_checksum;
AP_Enum<ThreadPriority> _thd_priority;
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bool _thread_failed; // thread allocation failed
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bool _init_failed; // true if memory allocation failed
bool _restart; // true if scripts should be restarted
bool _stop; // true if scripts should be stopped
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static AP_Scripting *_singleton;
int current_env_ref;
};
namespace AP {
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AP_Scripting * scripting(void);
};
#endif // AP_SCRIPTING_ENABLED