mirror of https://github.com/ArduPilot/ardupilot
75 lines
1.9 KiB
C++
75 lines
1.9 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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#pragma once
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#ifdef ENABLE_SCRIPTING
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <GCS_MAVLink/GCS.h>
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#include <AP_Filesystem/AP_Filesystem.h>
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class AP_Scripting
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{
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public:
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AP_Scripting();
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/* Do not allow copies */
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AP_Scripting(const AP_Scripting &other) = delete;
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AP_Scripting &operator=(const AP_Scripting&) = delete;
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void init(void);
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bool init_failed(void) const { return _init_failed; }
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bool enabled(void) const { return _enable != 0; };
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static AP_Scripting * get_singleton(void) { return _singleton; }
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static const struct AP_Param::GroupInfo var_info[];
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MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet);
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struct terminal_s {
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int output_fd;
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off_t input_offset;
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bool session;
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} terminal;
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private:
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bool repl_start(void);
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void repl_stop(void);
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void load_script(const char *filename); // load a script from a file
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void thread(void); // main script execution thread
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AP_Int8 _enable;
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AP_Int32 _script_vm_exec_count;
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AP_Int32 _script_heap_size;
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AP_Int8 _debug_level;
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bool _init_failed; // true if memory allocation failed
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static AP_Scripting *_singleton;
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};
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namespace AP {
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AP_Scripting * scripting(void);
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};
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#endif // ENABLE_SCRIPTING
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