From f74ad276a930fd10a59a42aa91302d342e42f90b Mon Sep 17 00:00:00 2001
From: Joshua Henderson <hendjoshsr71@gmail.com>
Date: Sun, 4 Sep 2022 03:15:49 -0400
Subject: [PATCH] AP_EFI: add EFI scripting driver

---
 libraries/AP_EFI/AP_EFI.cpp           | 22 +++++++++++++++++++++-
 libraries/AP_EFI/AP_EFI.h             | 10 ++++++++--
 libraries/AP_EFI/AP_EFI_Backend.h     |  4 ++++
 libraries/AP_EFI/AP_EFI_Scripting.cpp | 18 ++++++++++++++++++
 libraries/AP_EFI/AP_EFI_Scripting.h   | 20 ++++++++++++++++++++
 5 files changed, 71 insertions(+), 3 deletions(-)
 create mode 100644 libraries/AP_EFI/AP_EFI_Scripting.cpp
 create mode 100644 libraries/AP_EFI/AP_EFI_Scripting.h

diff --git a/libraries/AP_EFI/AP_EFI.cpp b/libraries/AP_EFI/AP_EFI.cpp
index 7a8a05e6b5..c94dc871c2 100644
--- a/libraries/AP_EFI/AP_EFI.cpp
+++ b/libraries/AP_EFI/AP_EFI.cpp
@@ -22,6 +22,8 @@
 #include "AP_EFI_NWPMU.h"
 #include "AP_EFI_DroneCAN.h"
 #include "AP_EFI_Currawong_ECU.h"
+#include "AP_EFI_Scripting.h"
+
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS.h>
 
@@ -36,7 +38,7 @@ const AP_Param::GroupInfo AP_EFI::var_info[] = {
     // @Param: _TYPE
     // @DisplayName: EFI communication type
     // @Description: What method of communication is used for EFI #1
-    // @Values: 0:None,1:Serial-MS,2:NWPMU,3:Serial-Lutan,5:DroneCAN,6:Currawong-ECU
+    // @Values: 0:None,1:Serial-MS,2:NWPMU,3:Serial-Lutan,5:DroneCAN,6:Currawong-ECU,7:Scripting
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO_FLAGS("_TYPE", 1, AP_EFI, type, 0, AP_PARAM_FLAG_ENABLE),
@@ -104,6 +106,11 @@ void AP_EFI::init(void)
     case Type::CurrawongECU:
 #if HAL_EFI_CURRAWONG_ECU_ENABLED
         backend = new AP_EFI_Currawong_ECU(*this);
+#endif
+        break;
+    case Type::SCRIPTING:
+#if AP_EFI_SCRIPTING_ENABLED
+        backend = new AP_EFI_Scripting(*this);
 #endif
         break;
     default:
@@ -272,6 +279,19 @@ void AP_EFI::get_state(EFI_State &_state)
     _state = state;
 }
 
+#if AP_EFI_SCRIPTING_ENABLED && AP_SCRIPTING_ENABLED
+
+void AP_EFI::handle_scripting(const EFI_State &efi_state)
+{
+    if (!backend || (Type(type.get()) != Type::SCRIPTING)) {
+        return;
+    }
+
+    backend->handle_scripting(efi_state);
+}
+
+#endif
+
 namespace AP {
 AP_EFI *EFI()
 {
diff --git a/libraries/AP_EFI/AP_EFI.h b/libraries/AP_EFI/AP_EFI.h
index cce0566e73..b4e4ac5050 100644
--- a/libraries/AP_EFI/AP_EFI.h
+++ b/libraries/AP_EFI/AP_EFI.h
@@ -78,11 +78,12 @@ public:
     enum class Type : uint8_t {
         NONE       = 0,
         MegaSquirt = 1,
-        NWPMU     = 2,
-        Lutan     = 3,
+        NWPMU      = 2,
+        Lutan      = 3,
         // LOWEHEISER = 4,
         DroneCAN = 5,
         CurrawongECU = 6,
+        SCRIPTING  = 7,
     };
 
     static AP_EFI *get_singleton(void) {
@@ -92,6 +93,11 @@ public:
     // send EFI_STATUS
     void send_mavlink_status(mavlink_channel_t chan);
 
+#if AP_SCRIPTING_ENABLED
+    // Ingest EFI_State from scripting driver
+    void handle_scripting(const EFI_State &efi_state);
+#endif
+
 protected:
 
     // Back end Parameters
diff --git a/libraries/AP_EFI/AP_EFI_Backend.h b/libraries/AP_EFI/AP_EFI_Backend.h
index 2e6b7e48c0..3b3e631691 100644
--- a/libraries/AP_EFI/AP_EFI_Backend.h
+++ b/libraries/AP_EFI/AP_EFI_Backend.h
@@ -31,6 +31,10 @@ public:
     // Update the state structure
     virtual void update() = 0;
 
+#if AP_SCRIPTING_ENABLED
+    virtual void handle_scripting(const EFI_State &efi_state) { return; }
+#endif
+
 protected:
     // Copies internal state to the frontend state
     void copy_to_frontend();
diff --git a/libraries/AP_EFI/AP_EFI_Scripting.cpp b/libraries/AP_EFI/AP_EFI_Scripting.cpp
new file mode 100644
index 0000000000..2467a3002b
--- /dev/null
+++ b/libraries/AP_EFI/AP_EFI_Scripting.cpp
@@ -0,0 +1,18 @@
+#include "AP_EFI_Scripting.h"
+
+#if AP_EFI_SCRIPTING_ENABLED
+
+// Called from frontend to update with the readings received by handler
+void AP_EFI_Scripting::update()
+{
+    // Nothing to do here
+}
+
+// handle EFI message from scripting
+void AP_EFI_Scripting::handle_scripting(const EFI_State &efi_state)
+{
+    internal_state = efi_state;
+    copy_to_frontend();
+}
+
+#endif // AP_EFI_SCRIPTING_ENABLED
diff --git a/libraries/AP_EFI/AP_EFI_Scripting.h b/libraries/AP_EFI/AP_EFI_Scripting.h
new file mode 100644
index 0000000000..78a542ed1b
--- /dev/null
+++ b/libraries/AP_EFI/AP_EFI_Scripting.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "AP_EFI.h"
+#include "AP_EFI_Backend.h"
+
+#ifndef AP_EFI_SCRIPTING_ENABLED
+#define AP_EFI_SCRIPTING_ENABLED (HAL_EFI_ENABLED && AP_SCRIPTING_ENABLED)
+#endif
+
+#if AP_EFI_SCRIPTING_ENABLED
+
+class AP_EFI_Scripting : public AP_EFI_Backend {
+public:
+    using AP_EFI_Backend::AP_EFI_Backend;
+
+    void update() override;
+
+    void handle_scripting(const EFI_State &efi_state) override;
+};
+#endif // AP_EFI_SCRIPTING_ENABLED