AP_Scripting: add support for scripting2 protocol

libraries/AP_Scripting/AP_Scripting.h

@@ -73,6 +73,7 @@ public:
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
     // Scripting CAN sensor
     ScriptingCANSensor *_CAN_dev;
+    ScriptingCANSensor *_CAN_dev2;
 #endif
 
     // mission item buffer

libraries/AP_Scripting/AP_Scripting_CANSensor.h

@@ -25,8 +25,9 @@ class ScriptingCANBuffer;
 class ScriptingCANSensor : public CANSensor {
 public:
 
-    ScriptingCANSensor():CANSensor("Script") {
-        register_driver(AP_CANManager::Driver_Type::Driver_Type_Scripting);
+    ScriptingCANSensor(AP_CANManager::Driver_Type dtype)
+        : CANSensor("Script") {
+        register_driver(dtype);
     }
 
     // handler for outgoing frames, using uint32

libraries/AP_Scripting/examples/CAN_read.lua

@@ -1,19 +1,36 @@
 -- This script is an example of reading from the CAN bus
 
--- Load CAN driver, using the scripting protocol and with a buffer size of 5
-local driver = CAN.get_device(5)
+-- Load CAN driver1. The first will attach to a protocol of 10, the 2nd to a protocol of 12
+-- this allows the script to distinguish packets on two CAN interfaces
+local driver1 = CAN.get_device(5)
+local driver2 = CAN.get_device2(5)
+
+if not driver1 and not driver2 then
+   gcs:send_text(0,"No scripting CAN interfaces found")
+   return
+end
+
+function show_frame(dnum, frame)
+    gcs:send_text(0,string.format("CAN[%u] msg from " .. tostring(frame:id()) .. ": %i, %i, %i, %i, %i, %i, %i, %i", dnum, frame:data(0), frame:data(1), frame:data(2), frame:data(3), frame:data(4), frame:data(5), frame:data(6), frame:data(7)))
+end
 
 function update()
 
-  -- Read a message from the buffer
-  frame = driver:read_frame()
-
+   -- see if we got any frames
+   if driver1 then
+      frame = driver1:read_frame()
       if frame then
-    -- note that we have to be careful to keep the ID as a uint32_t userdata to retain precision
-    gcs:send_text(0,string.format("CAN msg from " .. tostring(frame:id()) .. ": %i, %i, %i, %i, %i, %i, %i, %i", frame:data(0), frame:data(1), frame:data(2), frame:data(3), frame:data(4), frame:data(5), frame:data(6), frame:data(7)))
+         show_frame(1, frame)
+      end
+   end
+   if driver2 then
+      frame = driver2:read_frame()
+      if frame then
+         show_frame(2, frame)
+      end
    end
 
-  return update, 100
+  return update, 10
 
 end
 

libraries/AP_Scripting/generator/description/bindings.desc

@@ -455,6 +455,7 @@ singleton AP_InertialSensor rename ins
 singleton AP_InertialSensor method get_temperature float uint8_t 0 INS_MAX_INSTANCES
 
 singleton CAN manual get_device lua_get_CAN_device
+singleton CAN manual get_device2 lua_get_CAN_device2
 singleton CAN depends HAL_MAX_CAN_PROTOCOL_DRIVERS
 
 include AP_Scripting/AP_Scripting_CANSensor.h depends HAL_MAX_CAN_PROTOCOL_DRIVERS

libraries/AP_Scripting/lua_bindings.cpp

@@ -338,7 +338,7 @@ int lua_get_CAN_device(lua_State *L) {
     const uint32_t buffer_len = static_cast<uint32_t>(raw_buffer_len);
 
     if (AP::scripting()->_CAN_dev == nullptr) {
-        AP::scripting()->_CAN_dev = new ScriptingCANSensor();
+        AP::scripting()->_CAN_dev = new ScriptingCANSensor(AP_CANManager::Driver_Type::Driver_Type_Scripting);
         if (AP::scripting()->_CAN_dev == nullptr) {
             return luaL_argerror(L, 1, "CAN device nullptr");
         }
@@ -349,4 +349,25 @@ int lua_get_CAN_device(lua_State *L) {
 
     return 1;
 }
+
+int lua_get_CAN_device2(lua_State *L) {
+
+    check_arguments(L, 1, "CAN:get_device2");
+
+    const uint32_t raw_buffer_len = coerce_to_uint32_t(L, 1);
+    luaL_argcheck(L, ((raw_buffer_len >= 1U) && (raw_buffer_len <= 25U)), 1, "argument out of range");
+    const uint32_t buffer_len = static_cast<uint32_t>(raw_buffer_len);
+
+    if (AP::scripting()->_CAN_dev2 == nullptr) {
+        AP::scripting()->_CAN_dev2 = new ScriptingCANSensor(AP_CANManager::Driver_Type::Driver_Type_Scripting2);
+        if (AP::scripting()->_CAN_dev2 == nullptr) {
+            return luaL_argerror(L, 1, "CAN device nullptr");
+        }
+    }
+
+    new_ScriptingCANBuffer(L);
+    *check_ScriptingCANBuffer(L, -1) = AP::scripting()->_CAN_dev2->add_buffer(buffer_len);
+
+    return 1;
+}
 #endif // HAL_MAX_CAN_PROTOCOL_DRIVERS

libraries/AP_Scripting/lua_bindings.h

@@ -8,4 +8,4 @@ int lua_mission_receive(lua_State *L);
 int AP_Logger_Write(lua_State *L);
 int lua_get_i2c_device(lua_State *L);
 int lua_get_CAN_device(lua_State *L);
-
+int lua_get_CAN_device2(lua_State *L);