ardupilot/libraries/AP_Scripting/examples/UART_log.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