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