mirror of https://github.com/ArduPilot/ardupilot
159 lines
4.3 KiB
C++
159 lines
4.3 KiB
C++
/*
|
|
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 <http://www.gnu.org/licenses/>.
|
|
*/
|
|
#pragma once
|
|
|
|
#if AP_SCRIPTING_ENABLED
|
|
|
|
#include <GCS_MAVLink/GCS_config.h>
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_Param/AP_Param.h>
|
|
#include <GCS_MAVLink/GCS_MAVLink.h>
|
|
#include <AP_Mission/AP_Mission.h>
|
|
#include <AP_Filesystem/AP_Filesystem.h>
|
|
#include <AP_HAL/I2CDevice.h>
|
|
#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<AP_HAL::I2CDevice> *_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<struct scripting_mission_cmd> * 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<struct mavlink_msg> *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
|