Sub: provide script access to joystick buttons

ArduSub/Sub.cpp

@@ -43,7 +43,13 @@ Sub::Sub()
 #if CONFIG_HAL_BOARD != HAL_BOARD_SITL
     failsafe.pilot_input = true;
 #endif
+    if (_singleton != nullptr) {
+        AP_HAL::panic("Can only be one Sub");
+    }
+    _singleton = this;
 }
 
+Sub *Sub::_singleton = nullptr;
+
 Sub sub;
 AP_Vehicle& vehicle = sub;

ArduSub/Sub.h

@@ -72,6 +72,7 @@
 #include "AP_Arming_Sub.h"
 #include "GCS_Sub.h"
 #include "mode.h"
+#include "script_button.h"
 
 #include <AP_OpticalFlow/AP_OpticalFlow.h>     // Optical Flow library
 
@@ -580,8 +581,26 @@ private:
     AutoSubMode auto_mode;   // controls which auto controller is run
     GuidedSubMode guided_mode;
 
+#if AP_SCRIPTING_ENABLED
+    ScriptButton script_buttons[4];
+#endif // AP_SCRIPTING_ENABLED
+
 public:
     void mainloop_failsafe_check();
+
+    static Sub *_singleton;
+
+    static Sub *get_singleton() {
+        return _singleton;
+    }
+
+#if AP_SCRIPTING_ENABLED
+    // For Lua scripting, so index is 1..4, not 0..3
+    bool is_button_pressed(uint8_t index);
+
+    // For Lua scripting, so index is 1..4, not 0..3
+    uint8_t get_and_clear_button_count(uint8_t index);
+#endif // AP_SCRIPTING_ENABLED
 };
 
 extern const AP_HAL::HAL& hal;

ArduSub/joystick.cpp

@@ -593,6 +593,21 @@ void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held)
     case JSButton::button_function_t::k_custom_6:
         // Not implemented
         break;
+
+#if AP_SCRIPTING_ENABLED
+    case JSButton::button_function_t::k_script_1:
+        sub.script_buttons[0].press();
+        break;
+    case JSButton::button_function_t::k_script_2:
+        sub.script_buttons[1].press();
+        break;
+    case JSButton::button_function_t::k_script_3:
+        sub.script_buttons[2].press();
+        break;
+    case JSButton::button_function_t::k_script_4:
+        sub.script_buttons[3].press();
+        break;
+#endif // AP_SCRIPTING_ENABLED
     }
 }
 
@@ -637,6 +652,21 @@ void Sub::handle_jsbutton_release(uint8_t _button, bool shift) {
     }
         break;
 #endif
+
+#if AP_SCRIPTING_ENABLED
+    case JSButton::button_function_t::k_script_1:
+        sub.script_buttons[0].release();
+        break;
+    case JSButton::button_function_t::k_script_2:
+        sub.script_buttons[1].release();
+        break;
+    case JSButton::button_function_t::k_script_3:
+        sub.script_buttons[2].release();
+        break;
+    case JSButton::button_function_t::k_script_4:
+        sub.script_buttons[3].release();
+        break;
+#endif // AP_SCRIPTING_ENABLED
     }
 }
 
@@ -730,3 +760,15 @@ void Sub::clear_input_hold()
     zTrim = 0;
     input_hold_engaged = false;
 }
+
+#if AP_SCRIPTING_ENABLED
+bool Sub::is_button_pressed(uint8_t index)
+{
+    return script_buttons[index - 1].is_pressed();
+}
+
+uint8_t Sub::get_and_clear_button_count(uint8_t index)
+{
+    return script_buttons[index - 1].get_and_clear_count();
+}
+#endif // AP_SCRIPTING_ENABLED

ArduSub/script_button.cpp

@@ -0,0 +1,47 @@
+#include "AP_Scripting/AP_Scripting_config.h"
+
+#if AP_SCRIPTING_ENABLED
+
+#include <limits>
+#include "script_button.h"
+
+void ScriptButton::press()
+{
+    if (!pressed) {
+        pressed = true;
+
+        // The count will max out at 255, but it won't roll over to 0.
+        if (count < std::numeric_limits<uint8_t>::max()) {
+            count++;
+        }
+    }
+}
+
+void ScriptButton::release()
+{
+    pressed = false;
+}
+
+bool ScriptButton::is_pressed() const
+{
+    return pressed;
+}
+
+uint8_t ScriptButton::get_count() const
+{
+    return count;
+}
+
+void ScriptButton::clear_count()
+{
+    count = 0;
+}
+
+uint8_t ScriptButton::get_and_clear_count()
+{
+    auto result = get_count();
+    clear_count();
+    return result;
+}
+
+#endif // AP_SCRIPTING_ENABLED

ArduSub/script_button.h

@@ -0,0 +1,34 @@
+#pragma once
+
+#if AP_SCRIPTING_ENABLED
+
+#include <AP_Common/AP_Common.h>
+
+// Joystick button object for use in Lua scripts.
+//
+// Provide 2 ways to use a joystick button:
+//      is_pressed() returns true if the button is currently (as of the most recent MANUAL_CONTROL msg) pressed
+//      get_and_clear_count() returns the number of times the button was pressed since the last call
+//
+class ScriptButton {
+public:
+    ScriptButton(): pressed(false), count(0) {}
+
+    void press();
+
+    void release();
+
+    bool is_pressed() const WARN_IF_UNUSED;
+
+    uint8_t get_count() const WARN_IF_UNUSED;
+
+    void clear_count();
+
+    uint8_t get_and_clear_count();
+
+private:
+    bool pressed;
+    uint8_t count;
+};
+
+#endif // AP_SCRIPTING_ENABLED