From 24448d6adf8fe86f4f6e2b56aab6efdf2796e636 Mon Sep 17 00:00:00 2001
From: Siddharth Purohit <siddharthbharatpurohit@gmail.com>
Date: Wed, 23 Sep 2020 01:51:04 +0530
Subject: [PATCH] AP_Scripting: add rgb control for independent LEDs

---
 .../examples/rgb_notify_patterns.lua          | 58 +++++++++++++++++++
 .../generator/description/bindings.desc       |  1 +
 2 files changed, 59 insertions(+)
 create mode 100644 libraries/AP_Scripting/examples/rgb_notify_patterns.lua

diff --git a/libraries/AP_Scripting/examples/rgb_notify_patterns.lua b/libraries/AP_Scripting/examples/rgb_notify_patterns.lua
new file mode 100644
index 0000000000..02864fa378
--- /dev/null
+++ b/libraries/AP_Scripting/examples/rgb_notify_patterns.lua
@@ -0,0 +1,58 @@
+-- This script is a test of led override
+
+local count = 0
+local num_leds = 16
+
+-- constrain a value between limits
+function constrain(v, vmin, vmax)
+  if v < vmin then
+     v = vmin
+  end
+  if v > vmax then
+     v = vmax
+  end
+  return v
+end
+
+--[[
+Table of colors on a rainbow, red first
+--]]
+local rainbow = {
+  { 255, 0, 0 },
+  { 255, 127, 0 },
+  { 255, 255, 0 },
+  { 0,   255, 0 },
+  { 0,   0,   255 },
+  { 75,  0,   130 },
+  { 143, 0,   255 },
+}
+
+--[[
+Function to set a LED to a color on a classic rainbow spectrum, with v=0 giving red
+--]]
+function set_Rainbow(led, v)
+  local num_rows = #rainbow
+  local row = math.floor(constrain(v * (num_rows-1)+1, 1, num_rows-1))
+  local v0 = (row-1) / (num_rows-1)
+  local v1 = row / (num_rows-1)
+  local p = (v - v0) / (v1 - v0)
+  r = math.floor(rainbow[row][1] + p * (rainbow[row+1][1] - rainbow[row][1]))
+  g = math.floor(rainbow[row][2] + p * (rainbow[row+1][2] - rainbow[row][2]))
+  b = math.floor(rainbow[row][3] + p * (rainbow[row+1][3] - rainbow[row][3]))
+  notify:handle_rgb_id(r, g, b, led)
+end
+
+function update() -- this is the loop which periodically runs
+  count = count + 1
+  if count > 16 then
+    count = 0
+  end
+  for led = 0, num_leds-1 do
+    local v  = ((count+led)%16)/16
+    set_Rainbow(led, v)
+  end
+  return update, 20 -- reschedules the loop in 15 seconds
+
+end
+
+return update() -- run immediately before starting to reschedule
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index dddbd2a4bd..b72dc365d6 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -135,6 +135,7 @@ include AP_Notify/AP_Notify.h
 singleton AP_Notify alias notify
 singleton AP_Notify method play_tune void string
 singleton AP_Notify method handle_rgb void uint8_t 0 UINT8_MAX uint8_t 0 UINT8_MAX uint8_t 0 UINT8_MAX uint8_t 0 UINT8_MAX
+singleton AP_Notify method handle_rgb_id void uint8_t 0 UINT8_MAX uint8_t 0 UINT8_MAX uint8_t 0 UINT8_MAX uint8_t 0 UINT8_MAX
 
 include AP_Proximity/AP_Proximity.h