RC_Channel: added cache of aux functions for scripting

allows for scripting to act on aux functions
This commit is contained in:
Andrew Tridgell 2022-10-10 11:34:19 +11:00
parent 9d42f49ac8
commit ff4478a4d9
3 changed files with 60 additions and 0 deletions

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@ -1017,6 +1017,9 @@ void RC_Channel::do_aux_function_fft_notch_tune(const AuxSwitchPos ch_flag)
bool RC_Channel::run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source) bool RC_Channel::run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source)
{ {
#if AP_SCRIPTING_ENABLED
rc().set_aux_cached(ch_option, pos);
#endif
const bool ret = do_aux_function(ch_option, pos); const bool ret = do_aux_function(ch_option, pos);
// @LoggerMessage: AUXF // @LoggerMessage: AUXF

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@ -5,6 +5,7 @@
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AP_Common/Bitmask.h>
#ifndef AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED #ifndef AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED
#define AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED 1 #define AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED 1
@ -268,6 +269,9 @@ public:
SCRIPTING_6 = 305, SCRIPTING_6 = 305,
SCRIPTING_7 = 306, SCRIPTING_7 = 306,
SCRIPTING_8 = 307, SCRIPTING_8 = 307,
// this must be higher than any aux function above
AUX_FUNCTION_MAX = 308,
}; };
typedef enum AUX_FUNC aux_func_t; typedef enum AUX_FUNC aux_func_t;
@ -592,6 +596,11 @@ public:
void calibrating(bool b) { gcs_is_calibrating = b; } void calibrating(bool b) { gcs_is_calibrating = b; }
bool calibrating() { return gcs_is_calibrating; } bool calibrating() { return gcs_is_calibrating; }
#if AP_SCRIPTING_ENABLED
// get last aux cached value for scripting. Returns false if never set, otherwise 0,1,2
bool get_aux_cached(RC_Channel::aux_func_t aux_fn, uint8_t &pos);
#endif
protected: protected:
enum class Option { enum class Option {
@ -635,6 +644,15 @@ private:
// true if GCS is performing a RC calibration // true if GCS is performing a RC calibration
bool gcs_is_calibrating; bool gcs_is_calibrating;
#if AP_SCRIPTING_ENABLED
// bitmask of last aux function value, 2 bits per function
// value 0 means never set, otherwise level+1
HAL_Semaphore aux_cache_sem;
Bitmask<unsigned(RC_Channel::AUX_FUNC::AUX_FUNCTION_MAX)*2> aux_cached;
void set_aux_cached(RC_Channel::aux_func_t aux_fn, RC_Channel::AuxSwitchPos pos);
#endif
}; };
RC_Channels &rc(); RC_Channels &rc();

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@ -260,6 +260,45 @@ uint32_t RC_Channels::enabled_protocols() const
return uint32_t(_protocols.get()); return uint32_t(_protocols.get());
} }
#if AP_SCRIPTING_ENABLED
/*
implement aux function cache for scripting
*/
/*
get last aux cached value for scripting. Returns false if never set, otherwise 0,1,2
*/
bool RC_Channels::get_aux_cached(RC_Channel::aux_func_t aux_fn, uint8_t &pos)
{
const uint16_t aux_idx = uint16_t(aux_fn);
if (aux_idx >= unsigned(RC_Channel::AUX_FUNC::AUX_FUNCTION_MAX)) {
return false;
}
WITH_SEMAPHORE(aux_cache_sem);
uint8_t v = aux_cached.get(aux_idx*2) | (aux_cached.get(aux_idx*2+1)<<1);
if (v == 0) {
// never been set
return false;
}
pos = v-1;
return true;
}
/*
set cached value of an aux function
*/
void RC_Channels::set_aux_cached(RC_Channel::aux_func_t aux_fn, RC_Channel::AuxSwitchPos pos)
{
const uint16_t aux_idx = uint16_t(aux_fn);
if (aux_idx < unsigned(RC_Channel::AUX_FUNC::AUX_FUNCTION_MAX)) {
WITH_SEMAPHORE(aux_cache_sem);
uint8_t v = unsigned(pos)+1;
aux_cached.setonoff(aux_idx*2, v&1);
aux_cached.setonoff(aux_idx*2+1, v>>1);
}
}
#endif // AP_SCRIPTING_ENABLED
// singleton instance // singleton instance
RC_Channels *RC_Channels::_singleton; RC_Channels *RC_Channels::_singleton;