AP_Scripting: added gcs:run_command_int() binding

libraries/AP_Scripting/docs/docs.lua

@@ -2605,6 +2605,12 @@ function gcs:send_text(severity, text) end
 ---@return uint32_t_ud -- system time in milliseconds
 function gcs:last_seen() end
 
+-- call a MAVLink MAV_CMD_xxx command via command_int interface
+---@param command integer -- MAV_CMD_xxx
+---@param params table -- parameters of p1, p2, p3, p4, x, y and z and frame. Any not specified taken as zero
+---@return boolean
+function gcs:run_command_int(command, params) end
+
 -- The relay library provides access to controlling relay outputs.
 relay = {}
 

libraries/AP_Scripting/examples/command_int.lua

@@ -0,0 +1,56 @@
+--[[
+   demonstrate using the gcs:command_int() interface to send commands from MAVLink MAV_CMD_xxx set
+--]]
+
+local MAV_FRAME_GLOBAL_RELATIVE_ALT = 3
+
+local MAV_CMD_DO_SET_MODE = 176
+local MAV_CMD_DO_REPOSITION = 192
+
+-- some plane flight modes for testing
+local MODE_LOITER = 12
+local MODE_GUIDED = 15
+
+local MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
+
+--[[
+create a NaN value
+--]]
+local function NaN()
+   return 0/0
+end
+
+--[[
+   test API calls. When in LOITER mode change to GUIDED and force flying to a location NE of home
+--]]
+local function test_command_int()
+   if vehicle:get_mode() ~= MODE_LOITER then
+      return
+   end
+   local home = ahrs:get_home()
+   if not home then
+      return
+   end
+
+   -- force mode GUIDED
+   gcs:run_command_int(MAV_CMD_DO_SET_MODE, { p1 = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, p2 = MODE_GUIDED })
+
+   -- and fly to 200m NE of home and 100m above home
+   local dest = home:copy()
+   dest:offset_bearing(45, 200)
+
+   gcs:run_command_int(MAV_CMD_DO_REPOSITION, { frame = MAV_FRAME_GLOBAL_RELATIVE_ALT,
+                                                p1 = -1,
+                                                p4 = NaN(),
+                                                x = dest:lat(),
+                                                y = dest:lng(),
+                                                z = 100 })
+end
+
+local function update()
+   test_command_int()
+   return update, 1000
+end
+
+return update, 1000
+

libraries/AP_Scripting/generator/description/bindings.desc

@@ -296,6 +296,7 @@ singleton GCS method get_high_latency_status depends HAL_HIGH_LATENCY2_ENABLED =
 
 singleton GCS method enable_high_latency_connections void boolean
 singleton GCS method enable_high_latency_connections depends HAL_HIGH_LATENCY2_ENABLED == 1
+singleton GCS manual run_command_int lua_GCS_command_int 2 1
 
 include AP_ONVIF/AP_ONVIF.h depends ENABLE_ONVIF == 1
 singleton AP_ONVIF depends ENABLE_ONVIF == 1

libraries/AP_Scripting/lua_bindings.cpp

@@ -1112,4 +1112,78 @@ void lua_abort()
 #endif
 }
 
+#if HAL_GCS_ENABLED
+/*
+  implement gcs:command_int() access to MAV_CMD_xxx commands
+ */
+int lua_GCS_command_int(lua_State *L)
+{
+    GCS *_gcs = check_GCS(L);
+    binding_argcheck(L, 3);
+
+    const uint16_t command = get_uint16_t(L, 2);
+    if (!lua_istable(L, 3)) {
+        // must have parameter table
+        return 0;
+    }
+
+    mavlink_command_int_t pkt {};
+
+    pkt.command = command;
+
+    float *params = &pkt.param1;
+    int32_t *xy = &pkt.x;
+
+    // extract the first 4 parameters as floats
+    for (uint8_t i=0; i<4; i++) {
+        char pname[3] { 'p' , char('1' + i), 0 };
+        lua_pushstring(L, pname);
+        lua_gettable(L, 3);
+        if (lua_isnumber(L, -1)) {
+            params[i] = lua_tonumber(L, -1);
+        }
+        lua_pop(L, 1);
+    }
+
+    // extract the xy values
+    for (uint8_t i=0; i<2; i++) {
+        const char *names[] = { "x", "y" };
+        lua_pushstring(L, names[i]);
+        lua_gettable(L, 3);
+        if (lua_isinteger(L, -1)) {
+            xy[i] = lua_tointeger(L, -1);
+        }
+        lua_pop(L, 1);
+    }
+
+    // and z
+    lua_pushstring(L, "z");
+    lua_gettable(L, 3);
+    if (lua_isnumber(L, -1)) {
+        pkt.z = lua_tonumber(L, -1);
+    }
+    lua_pop(L, 1);
+
+    // optional frame
+    lua_pushstring(L, "frame");
+    lua_gettable(L, 3);
+    if (lua_isinteger(L, -1)) {
+        pkt.frame = lua_tointeger(L, -1);
+    }
+    lua_pop(L, 1);
+    
+    // call the interface with scheduler lock
+    WITH_SEMAPHORE(AP::scheduler().get_semaphore());
+
+    auto result = _gcs->lua_command_int_packet(pkt);
+
+    // map MAV_RESULT to a boolean
+    bool ok = result == MAV_RESULT_ACCEPTED;
+
+    lua_pushboolean(L, ok);
+
+    return 1;
+}
+#endif
+
 #endif  // AP_SCRIPTING_ENABLED

libraries/AP_Scripting/lua_bindings.h

@@ -30,3 +30,4 @@ int lua_mavlink_send_chan(lua_State *L);
 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);