mirror of https://github.com/ArduPilot/ardupilot
79 lines
2.1 KiB
C++
79 lines
2.1 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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/*
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Scripting CANSensor class, for easy scripting CAN support
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*/
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#pragma once
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#include <AP_CANManager/AP_CANSensor.h>
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS
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class ScriptingCANBuffer;
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class ScriptingCANSensor : public CANSensor {
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public:
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ScriptingCANSensor():CANSensor("Script") {
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register_driver(AP_CANManager::Driver_Type::Driver_Type_Scripting);
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}
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// handler for outgoing frames, using uint32
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bool write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us);
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// handler for incoming frames, add to buffers
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void handle_frame(AP_HAL::CANFrame &frame) override;
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// add a new buffer to this sensor
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ScriptingCANBuffer* add_buffer(uint32_t buffer_len);
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private:
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HAL_Semaphore sem;
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ScriptingCANBuffer *buffer_list;
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};
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class ScriptingCANBuffer {
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public:
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ScriptingCANBuffer(ScriptingCANSensor &_sensor, uint32_t buffer_size):sensor(_sensor), buffer(buffer_size) {};
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// Call main sensor write method
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bool write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us);
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// read a frame from the buffer
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bool read_frame(AP_HAL::CANFrame &frame);
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// recursively add frame to buffer
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void handle_frame(AP_HAL::CANFrame &frame);
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// recursively add new buffer
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void add_buffer(ScriptingCANBuffer* new_buff);
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private:
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ObjectBuffer<AP_HAL::CANFrame> buffer;
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ScriptingCANSensor &sensor;
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ScriptingCANBuffer *next;
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HAL_Semaphore sem;
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};
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#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
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