mirror of https://github.com/ArduPilot/ardupilot
83 lines
2.3 KiB
C++
83 lines
2.3 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Scripting CANSensor class, for easy scripting CAN support
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*/
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#include "AP_Scripting_CANSensor.h"
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS
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// handler for outgoing frames, using uint32
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bool ScriptingCANSensor::write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us)
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{
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return CANSensor::write_frame(out_frame, timeout_us);
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};
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// handler for incoming frames, add to buffers
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void ScriptingCANSensor::handle_frame(AP_HAL::CANFrame &frame)
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{
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WITH_SEMAPHORE(sem);
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if (buffer_list != nullptr) {
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buffer_list->handle_frame(frame);
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}
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}
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// add a new buffer to this sensor
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ScriptingCANBuffer* ScriptingCANSensor::add_buffer(uint32_t buffer_len)
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{
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WITH_SEMAPHORE(sem);
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ScriptingCANBuffer *new_buff = new ScriptingCANBuffer(*this, buffer_len);
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if (buffer_list == nullptr) {
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buffer_list = new_buff;
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} else {
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buffer_list->add_buffer(new_buff);
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}
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return new_buff;
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}
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// Call main sensor write method
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bool ScriptingCANBuffer::write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us)
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{
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return sensor.write_frame(out_frame, timeout_us);
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};
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// read a frame from the buffer
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bool ScriptingCANBuffer::read_frame(AP_HAL::CANFrame &frame)
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{
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return buffer.pop(frame);
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}
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// recursively add frame to buffer
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void ScriptingCANBuffer::handle_frame(AP_HAL::CANFrame &frame)
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{
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WITH_SEMAPHORE(sem);
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buffer.push(frame);
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if (next != nullptr) {
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next->handle_frame(frame);
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}
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}
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// recursively add new buffer
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void ScriptingCANBuffer::add_buffer(ScriptingCANBuffer* new_buff) {
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WITH_SEMAPHORE(sem);
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if (next == nullptr) {
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next = new_buff;
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return;
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}
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next->add_buffer(new_buff);
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}
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#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
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