AP_Notify: Add send_text for scripting use

Added a send_test_src method to override the text on the display and display custom text on a given row

libraries/AP_Notify/AP_Notify.cpp

@@ -535,6 +535,27 @@ void AP_Notify::send_text(const char *str)
     _send_text_updated_millis = AP_HAL::millis();
 }
 
+#if AP_SCRIPTING_ENABLED
+void AP_Notify::send_text_scripting(const char *str, uint8_t r)
+{
+    for (uint8_t i = 0; i < _num_devices; i++) {
+        if (_devices[i] != nullptr) {
+            _devices[i]->send_text_blocking(str, r);
+        }
+    }
+}
+
+void AP_Notify::release_text_scripting(uint8_t r)
+{
+    for (uint8_t i = 0; i < _num_devices; i++) {
+        if (_devices[i] != nullptr) {
+            _devices[i]->release_text(r);
+        }
+    }
+}
+#endif
+
+
 // convert 0-3 to 0-100
 int8_t AP_Notify::get_rgb_led_brightness_percent() const
 {

libraries/AP_Notify/AP_Notify.h

@@ -211,6 +211,12 @@ public:
     const char* get_text() const { return _send_text; }
     uint32_t get_text_updated_millis() const {return _send_text_updated_millis; }
  
+#if AP_SCRIPTING_ENABLED
+    // send text to the display using scripting
+    void send_text_scripting(const char *str, uint8_t r);
+    void release_text_scripting(uint8_t r);
+#endif
+
     static const struct AP_Param::GroupInfo var_info[];
     int8_t get_buzz_pin() const  { return _buzzer_pin; }
     uint8_t get_buzz_level() const  { return _buzzer_level; }

libraries/AP_Notify/Display.cpp

@@ -404,17 +404,53 @@ void Display::update()
 
 void Display::update_all()
 {
-    update_text(0);
-    update_mode(1);
+    if(!BIT_IS_SET(_send_text_scr_override, 0)) {
+        update_text(0);
+    }
+
+    if(!BIT_IS_SET(_send_text_scr_override, 1)) {
+       update_mode(1);
+    }
+
 #if AP_BATTERY_ENABLED
-    update_battery(2);
+    if(!BIT_IS_SET(_send_text_scr_override, 2)) {
+        update_battery(2);
+    }
 #endif
 #if AP_GPS_ENABLED
-    update_gps(3);
+    if(!BIT_IS_SET(_send_text_scr_override, 3)) {
+        update_gps(3);
+    }
 #endif
-    //update_gps_sats(4);
-    update_prearm(4);
-    update_ekf(5);
+
+    if(!BIT_IS_SET(_send_text_scr_override, 4)) {
+        //update_gps_sats(4);
+        update_prearm(4);
+    }
+
+    if(!BIT_IS_SET(_send_text_scr_override, 5)) {
+        update_ekf(5);
+    }
+}
+
+void Display::send_text_blocking(const char *text, uint8_t r)
+{
+    if (text == nullptr) {
+        return;
+    }
+    if (r >= DISPLAY_TEXT_NUM_ROWS) {
+        return;
+    }
+    BIT_SET(_send_text_scr_override, r);
+    char txt [DISPLAY_MESSAGE_SIZE] = {};
+    memset(txt, ' ', DISPLAY_MESSAGE_SIZE);
+    memcpy(txt, text, strnlen(text, DISPLAY_MESSAGE_SIZE));
+    draw_text(COLUMN(0), ROW(r), txt);
+}
+
+void Display::release_text(uint8_t r)
+{
+    BIT_CLEAR(_send_text_scr_override, r);
 }
 
 void Display::draw_text(uint16_t x, uint16_t y, const char* c)

libraries/AP_Notify/Display.h

@@ -9,6 +9,7 @@
 #define ROW(Y)    ((Y * 10) + 6)
 #define COLUMN(X) ((X *  7) + 0)
 
+#define DISPLAY_TEXT_NUM_ROWS 6
 #define DISPLAY_MESSAGE_SIZE 19
 
 class Display_Backend;
@@ -19,7 +20,8 @@ public:
 
     bool init(void) override;
     void update() override;
-
+    void send_text_blocking(const char *text, uint8_t line) override;
+    void release_text(uint8_t line) override;
 private:
     void draw_char(uint16_t x, uint16_t y, const char c);
     void draw_text(uint16_t x, uint16_t y, const char *c);
@@ -42,6 +44,9 @@ private:
 
     // stop showing text in display after this many millis:
     const uint16_t _send_text_valid_millis = 20000;
+
+    //Bitmask of what lines send_text_scripting should override
+    uint8_t _send_text_scr_override;
 };
 
 #endif  // HAL_DISPLAY_ENABLED

libraries/AP_Notify/NotifyDevice.h

@@ -30,6 +30,10 @@ public:
     // give RGB value for single led
     virtual void rgb_set_id(uint8_t r, uint8_t g, uint8_t b, uint8_t id) {}
 
+    // Allow text to be sent or removed from a display
+    virtual void send_text_blocking(const char *text, uint8_t line) {}
+    virtual void release_text(uint8_t line) {}
+
     // this pointer is used to read the parameters relative to devices
     const AP_Notify *pNotify;
 };