From 2bdcadd785eeddfb21afe42591c53a8c745c40aa Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 4 Sep 2020 23:13:41 +0100
Subject: [PATCH] AP_Scripting: examples to load and save missions to the SD
 card

---
 .../AP_Scripting/examples/mission-load.lua    | 59 +++++++++++++++++++
 .../AP_Scripting/examples/mission-save.lua    | 58 ++++++++++++++++++
 .../generator/description/bindings.desc       |  1 +
 3 files changed, 118 insertions(+)
 create mode 100644 libraries/AP_Scripting/examples/mission-load.lua
 create mode 100644 libraries/AP_Scripting/examples/mission-save.lua

diff --git a/libraries/AP_Scripting/examples/mission-load.lua b/libraries/AP_Scripting/examples/mission-load.lua
new file mode 100644
index 0000000000..ea5c17928a
--- /dev/null
+++ b/libraries/AP_Scripting/examples/mission-load.lua
@@ -0,0 +1,59 @@
+-- Example of loading a mission from the SD card using Scripting
+-- Would be trivial to select a mission based on scripting params or RC switch
+
+local function read_mission(file_name)
+
+  -- Open file
+  file = assert(io.open(file_name), 'Could open :' .. file_name)
+
+  -- check header
+  assert(string.find(file:read('l'),'QGC WPL 110') == 1, file_name .. ': incorrect format')
+
+  -- clear any existing mission
+  assert(mission:clear(), 'Could not clear current mission')
+
+  -- read each line and write to mission
+  local item = mavlink_mission_item_int_t()
+  local index = 0
+  while true do
+
+    local data = {}
+    for i = 1, 12 do
+      data[i] = file:read('n')
+      if data[i] == nil then
+        if i == 1 then
+          gcs:send_text(6, 'loaded mission: ' .. file_name)
+          return -- got to the end of the file
+        else
+          mission:clear() -- clear part loaded mission
+          error('failed to read file')
+        end
+      end
+    end
+
+    item:seq(data[1])
+    item:frame(data[3])
+    item:command(data[4])
+    item:param1(data[5])
+    item:param2(data[6])
+    item:param3(data[7])
+    item:param4(data[8])
+    item:x(data[9]*10^7)
+    item:y(data[10]*10^7)
+    item:z(data[11])
+
+    if not mission:set_item(index,item) then
+      mission:clear() -- clear part loaded mission
+      error(string.format('failed to set mission item %i',index))
+    end
+    index = index + 1
+  end
+
+end
+
+function update()
+  read_mission('Tools/autotest/Generic_Missions/CMAC-bigloop.txt')
+  return
+end
+
+return update, 5000
diff --git a/libraries/AP_Scripting/examples/mission-save.lua b/libraries/AP_Scripting/examples/mission-save.lua
new file mode 100644
index 0000000000..559d919992
--- /dev/null
+++ b/libraries/AP_Scripting/examples/mission-save.lua
@@ -0,0 +1,58 @@
+-- Example of saving the current mission to a file on the SD card on arming
+
+local function save_to_SD()
+
+  -- check if there is a mission to save
+  local num_wp = mission:num_commands()
+  if num_wp <= 1 then
+    return
+  end
+
+  local index = 0
+  local file_name
+  -- search for a index without a file
+  while true do
+    file_name = string.format('%i.waypoints',index)
+    local file = io.open(file_name)
+    local first_line = file:read(1) -- try and read the first character
+    io.close(file)
+    if first_line == nil then
+      break
+    end
+    index = index + 1
+  end
+
+  -- create new file
+  file = assert(io.open(file_name, 'w'), 'Could not make file :' .. file_name)
+
+  -- header
+  file:write('QGC WPL 110\n')
+
+  -- read each item and write to file
+  for i = 0, num_wp - 1 do
+    local item = mission:get_item(i)
+    file:write(string.format('%i\t0\t%i\t%i\t%0.8f\t%.8f\t%.8f\t%.8f\t%.8f\t%.8f\t%.6f\t1\n',item:seq(),item:frame(),item:command(),item:param1(),item:param2(),item:param3(),item:param4(),item:x()*10^-7,item:y()*10^-7,item:z()))
+  end
+
+  file:close()
+
+  gcs:send_text(6,'saved mission to: ' .. file_name)
+
+end
+
+function idle_disarmed()
+  if arming:is_armed() then
+    save_to_SD()
+    return idle_armed, 1000
+  end
+  return idle_disarmed, 1000
+end
+
+function idle_armed()
+  if not arming:is_armed() then
+    return idle_disarmed, 1000
+  end
+  return idle_armed, 1000
+end
+
+return idle_disarmed, 1000
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index b81f3ad0a2..bf43dc299b 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -255,6 +255,7 @@ singleton AP_Mission method get_current_do_cmd_id uint16_t
 singleton AP_Mission method num_commands uint16_t
 singleton AP_Mission method get_item boolean uint16_t 0 UINT16_MAX mavlink_mission_item_int_t'Null
 singleton AP_Mission method set_item boolean uint16_t 0 UINT16_MAX mavlink_mission_item_int_t
+singleton AP_Mission method clear boolean
 
 userdata mavlink_mission_item_int_t field param1 float read write -FLT_MAX FLT_MAX
 userdata mavlink_mission_item_int_t field param2 float read write -FLT_MAX FLT_MAX