AP_Scripting: added support for FlexDebug message

allows lua to retrieve vendor specific data from CAN nodes

libraries/AP_Scripting/docs/docs.lua

@@ -414,6 +414,16 @@ function CAN:get_device(buffer_len) end
 ---@return ScriptingCANBuffer_ud|nil
 function CAN:get_device2(buffer_len) end
 
+
+-- get latest FlexDebug message from a CAN node
+---@param bus number -- CAN bus number, 0 for first bus, 1 for 2nd
+---@param node number -- CAN node
+---@param id number -- FlexDebug message ID
+---@param last_us uint32_t_ud|integer|number -- timestamp of last received message, new message will be returned if timestamp is different
+---@return uint32_t_ud|nil -- timestamp of message (first frame arrival time)
+---@return string|nil -- up to 255 byte buffer
+function DroneCAN_get_FlexDebug(bus,node,id,last_us) end
+
 -- Auto generated binding
 
 -- desc

libraries/AP_Scripting/generator/description/bindings.desc

@@ -698,6 +698,9 @@ ap_object ScriptingCANBuffer method write_frame boolean AP_HAL::CANFrame uint32_
 ap_object ScriptingCANBuffer method read_frame boolean AP_HAL::CANFrame'Null
 ap_object ScriptingCANBuffer method add_filter boolean uint32_t'skip_check uint32_t'skip_check
 
+include AP_DroneCAN/AP_DroneCAN.h
+global manual DroneCAN_get_FlexDebug lua_DroneCAN_get_FlexDebug 4 2 depends (HAL_ENABLE_DRONECAN_DRIVERS==1)
+
 include ../Tools/AP_Periph/AP_Periph.h depends defined(HAL_BUILD_AP_PERIPH)
 singleton AP_Periph_FW depends defined(HAL_BUILD_AP_PERIPH)
 singleton AP_Periph_FW rename periph

libraries/AP_Scripting/lua_bindings.cpp

@@ -1237,4 +1237,34 @@ int lua_GCS_command_int(lua_State *L)
 }
 #endif
 
+#if HAL_ENABLE_DRONECAN_DRIVERS
+/*
+  get FlexDebug from a DroneCAN node
+ */
+int lua_DroneCAN_get_FlexDebug(lua_State *L)
+{
+    binding_argcheck(L, 4);
+
+    const uint8_t bus = get_uint8_t(L, 1);
+    const uint8_t node_id = get_uint8_t(L, 2);
+    const uint16_t msg_id = get_uint16_t(L, 3);
+    uint32_t tstamp_us = get_uint32(L, 4, 0, UINT32_MAX);
+
+    const auto *dc = AP_DroneCAN::get_dronecan(bus);
+    if (dc == nullptr) {
+        return 0;
+    }
+    dronecan_protocol_FlexDebug msg;
+
+    if (!dc->get_FlexDebug(node_id, msg_id, tstamp_us, msg)) {
+        return 0;
+    }
+
+    *new_uint32_t(L) = tstamp_us;
+    lua_pushlstring(L, (const char *)msg.u8.data, msg.u8.len);
+
+    return 2;
+}
+#endif // HAL_ENABLE_DRONECAN_DRIVERS
+
 #endif  // AP_SCRIPTING_ENABLED

libraries/AP_Scripting/lua_bindings.h

@@ -34,3 +34,4 @@ int lua_mavlink_block_command(lua_State *L);
 int lua_print(lua_State *L);
 int lua_range_finder_handle_script_msg(lua_State *L);
 int lua_GCS_command_int(lua_State *L);
+int lua_DroneCAN_get_FlexDebug(lua_State *L);