/*
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 .
*/
#pragma once
#if AP_SCRIPTING_ENABLED
#include
#include
#include
#include
#include
#include
#include
#include "AP_Scripting_CANSensor.h"
#ifndef SCRIPTING_MAX_NUM_I2C_DEVICE
#define SCRIPTING_MAX_NUM_I2C_DEVICE 4
#endif
#define SCRIPTING_MAX_NUM_PWM_SOURCE 4
class AP_Scripting
{
public:
AP_Scripting();
/* Do not allow copies */
CLASS_NO_COPY(AP_Scripting);
void init(void);
bool enabled(void) const { return _enable != 0; };
bool should_run(void) const { return enabled() && !_stop; }
#if HAL_GCS_ENABLED
void handle_message(const mavlink_message_t &msg, const mavlink_channel_t chan);
// Check if command ID is blocked
bool is_handling_command(uint16_t cmd_id);
#endif
static AP_Scripting * get_singleton(void) { return _singleton; }
static const struct AP_Param::GroupInfo var_info[];
#if HAL_GCS_ENABLED
MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet);
#endif
void handle_mission_command(const class AP_Mission::Mission_Command& cmd);
bool arming_checks(size_t buflen, char *buffer) const;
void restart_all(void);
// User parameters for inputs into scripts
AP_Float _user[6];
struct terminal_s {
int output_fd;
off_t input_offset;
bool session;
} terminal;
enum class SCR_DIR {
ROMFS = 1 << 0,
SCRIPTS = 1 << 1,
};
uint16_t get_disabled_dir() { return uint16_t(_dir_disable.get());}
// the number of and storage for i2c devices
uint8_t num_i2c_devices;
AP_HAL::OwnPtr *_i2c_dev[SCRIPTING_MAX_NUM_I2C_DEVICE];
#if AP_SCRIPTING_CAN_SENSOR_ENABLED
// Scripting CAN sensor
ScriptingCANSensor *_CAN_dev;
ScriptingCANSensor *_CAN_dev2;
#endif
// mission item buffer
static const int mission_cmd_queue_size = 5;
struct scripting_mission_cmd {
uint16_t p1;
float content_p1;
float content_p2;
float content_p3;
uint32_t time_ms;
};
ObjectBuffer * mission_data;
// PWMSource storage
uint8_t num_pwm_source;
AP_HAL::PWMSource *_pwm_source[SCRIPTING_MAX_NUM_PWM_SOURCE];
int get_current_ref() { return current_ref; }
void set_current_ref(int ref) { current_ref = ref; }
struct mavlink_msg {
mavlink_message_t msg;
mavlink_channel_t chan;
uint32_t timestamp_ms;
};
struct mavlink {
ObjectBuffer *rx_buffer;
uint32_t *accept_msg_ids;
uint16_t accept_msg_ids_size;
HAL_Semaphore sem;
} mavlink_data;
struct command_block_list {
uint16_t id;
command_block_list *next;
};
command_block_list *mavlink_command_block_list;
HAL_Semaphore mavlink_command_block_list_sem;
private:
bool repl_start(void);
void repl_stop(void);
void load_script(const char *filename); // load a script from a file
void thread(void); // main script execution thread
AP_Int8 _enable;
AP_Int32 _script_vm_exec_count;
AP_Int32 _script_heap_size;
AP_Int8 _debug_options;
AP_Int16 _dir_disable;
bool _thread_failed; // thread allocation failed
bool _init_failed; // true if memory allocation failed
bool _restart; // true if scripts should be restarted
bool _stop; // true if scripts should be stopped
static AP_Scripting *_singleton;
int current_ref;
};
namespace AP {
AP_Scripting * scripting(void);
};
#endif // AP_SCRIPTING_ENABLED