mirror of https://github.com/ArduPilot/ardupilot
115 lines
3.0 KiB
Lua
115 lines
3.0 KiB
Lua
-- Reads data in from UART and logs to dataflash
|
|
|
|
-- find the serial first (0) scripting serial port instance
|
|
local port = serial:find_serial(0)
|
|
|
|
if not port or baud == 0 then
|
|
gcs:send_text(0, "No Scripting Serial Port")
|
|
return
|
|
end
|
|
|
|
-- begin the serial port
|
|
port:begin(9600)
|
|
port:set_flow_control(0)
|
|
|
|
-- table for strings used in decoding
|
|
local log_data = {}
|
|
local term_number = 1
|
|
local valid = true
|
|
local term
|
|
|
|
-- number of terms we expect in the message
|
|
local num_terms = 3
|
|
-- maximum length of terms each term we expect
|
|
local max_length = 20
|
|
|
|
-- decode a basic string
|
|
local function decode(byte)
|
|
local char = string.char(byte)
|
|
if char == '\r' or char == '\n' or char == ',' then
|
|
|
|
-- decode the term, note this assumes it is a number
|
|
log_data[term_number] = tonumber(term)
|
|
if not log_data[term_number] then
|
|
-- could not convert to a number, discard this message
|
|
valid = false
|
|
end
|
|
term = nil
|
|
|
|
-- not got to the end yet
|
|
if char == ',' then
|
|
-- move onto next term
|
|
if term_number < num_terms then
|
|
term_number = term_number + 1
|
|
end
|
|
return false
|
|
end
|
|
|
|
-- make sure we have the correct number of terms
|
|
if #log_data ~= num_terms then
|
|
valid = false
|
|
end
|
|
|
|
if not valid then
|
|
log_data = {}
|
|
end
|
|
|
|
-- reset for the next message
|
|
local is_valid = valid
|
|
term_number = 1
|
|
valid = true
|
|
|
|
return is_valid
|
|
end
|
|
|
|
-- ordinary characters are added to term
|
|
-- if we have too many terms or they are too long then don't add to them
|
|
if term_number <= num_terms then
|
|
if term then
|
|
if string.len(term) < max_length then
|
|
term = term .. char
|
|
else
|
|
valid = false
|
|
end
|
|
else
|
|
term = char
|
|
end
|
|
else
|
|
valid = false
|
|
end
|
|
|
|
return false
|
|
end
|
|
|
|
-- the main update function that is used to read in data from serial port
|
|
function update()
|
|
|
|
if not port then
|
|
gcs:send_text(0, "no Scripting Serial Port")
|
|
return update, 100
|
|
end
|
|
|
|
local n_bytes = port:available()
|
|
while n_bytes > 0 do
|
|
local byte = port:read()
|
|
if decode(byte) then
|
|
-- we have got a full line
|
|
-- save to data flash
|
|
|
|
-- care must be taken when selecting a name, must be less than four characters and not clash with an existing log type
|
|
-- format characters specify the type of variable to be logged, see AP_Logger/README.md
|
|
-- not all format types are supported by scripting only: i, L, e, f, n, M, B, I, E, and N
|
|
-- Note that Lua automatically adds a timestamp in micro seconds
|
|
logger.write('SCR','Sensor1, Sensor2, Sensor3','fff',table.unpack(log_data))
|
|
|
|
-- reset for the next message
|
|
log_data = {}
|
|
end
|
|
n_bytes = n_bytes - 1
|
|
end
|
|
|
|
return update, 100
|
|
end
|
|
|
|
return update, 100
|