/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see .
*/
/*
Scripting CANSensor class, for easy scripting CAN support
*/
#pragma once
#include
#if defined(HAL_BUILD_AP_PERIPH)
// Must have at least two CAN ports on Periph
#define AP_SCRIPTING_CAN_SENSOR_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS > 1)
#else
#define AP_SCRIPTING_CAN_SENSOR_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS
#endif
#if AP_SCRIPTING_CAN_SENSOR_ENABLED
#include
class ScriptingCANBuffer;
class ScriptingCANSensor : public CANSensor {
public:
ScriptingCANSensor(AP_CAN::Protocol dtype)
: CANSensor("Script") {
register_driver(dtype);
}
// handler for outgoing frames, using uint32
bool write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us);
// handler for incoming frames, add to buffers
void handle_frame(AP_HAL::CANFrame &frame) override;
// add a new buffer to this sensor
ScriptingCANBuffer* add_buffer(uint32_t buffer_len);
private:
HAL_Semaphore sem;
ScriptingCANBuffer *buffer_list;
};
class ScriptingCANBuffer {
public:
ScriptingCANBuffer(ScriptingCANSensor &_sensor, uint32_t buffer_size):sensor(_sensor), buffer(buffer_size) {};
// Call main sensor write method
bool write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us);
// read a frame from the buffer
bool read_frame(AP_HAL::CANFrame &frame);
// recursively add frame to buffer
void handle_frame(AP_HAL::CANFrame &frame);
// recursively add new buffer
void add_buffer(ScriptingCANBuffer* new_buff);
private:
ObjectBuffer buffer;
ScriptingCANSensor &sensor;
ScriptingCANBuffer *next;
HAL_Semaphore sem;
};
#endif // AP_SCRIPTING_CAN_SENSOR_ENABLED