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Sub: move scripting up to AP_Vehicle

This commit is contained in:
Peter Barker 2024-01-30 15:06:21 +11:00 committed by Andrew Tridgell
parent b315192dcf
commit 00bca3499f
3 changed files with 15 additions and 16 deletions
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20
ArduSub/Parameters.cpp
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@ -713,11 +713,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h // @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels), AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels),
#if AP_SCRIPTING_ENABLED // 18 was scripting
// @Group: SCR_
// @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
AP_SUBGROUPINFO(scripting, "SCR_", 18, ParametersG2, AP_Scripting),
#endif
// 19 was airspeed // 19 was airspeed
@ -803,6 +799,20 @@ void Sub::load_parameters()
const uint16_t stats_old_top_element = 4033; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP) const uint16_t stats_old_top_element = 4033; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
AP_Param::convert_class(stats_info.old_key, &stats, stats.var_info, stats_old_index, stats_old_top_element, false); AP_Param::convert_class(stats_info.old_key, &stats, stats.var_info, stats_old_index, stats_old_top_element, false);
} }
#endif
// PARAMETER_CONVERSION - Added: Jan-2024
#if AP_SCRIPTING_ENABLED
{
// Find G2's Top Level Key
AP_Param::ConversionInfo scripting_info;
if (!AP_Param::find_top_level_key_by_pointer(&g2, scripting_info.old_key)) {
return;
}
const uint16_t scripting_old_index = 18; // Old parameter index in g2
const uint16_t scripting_old_top_element = 82; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
AP_Param::convert_class(scripting_info.old_key, &scripting, scripting.var_info, scripting_old_index, scripting_old_top_element, false);
}
#endif #endif
} }

7
ArduSub/Parameters.h
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@ -7,10 +7,6 @@
#include <AP_Gripper/AP_Gripper.h> #include <AP_Gripper/AP_Gripper.h>
#include <AP_Arming/AP_Arming.h> #include <AP_Arming/AP_Arming.h>
#if AP_SCRIPTING_ENABLED
#include <AP_Scripting/AP_Scripting.h>
#endif
// Global parameter class. // Global parameter class.
// //
class Parameters { class Parameters {
@ -372,9 +368,6 @@ public:
// control over servo output ranges // control over servo output ranges
SRV_Channels servo_channels; SRV_Channels servo_channels;
#if AP_SCRIPTING_ENABLED
AP_Scripting scripting;
#endif // AP_SCRIPTING_ENABLED
}; };
extern const AP_Param::Info var_info[]; extern const AP_Param::Info var_info[];

4
ArduSub/system.cpp
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@ -157,10 +157,6 @@ void Sub::init_ardupilot()
startup_INS_ground(); startup_INS_ground();
#if AP_SCRIPTING_ENABLED
g2.scripting.init();
#endif // AP_SCRIPTING_ENABLED
// enable CPU failsafe // enable CPU failsafe
mainloop_failsafe_enable(); mainloop_failsafe_enable();