mirror of https://github.com/ArduPilot/ardupilot
127 lines
3.4 KiB
C++
127 lines
3.4 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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#if AP_SCRIPTING_ENABLED
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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_MAVLink.h>
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#include <AP_Mission/AP_Mission.h>
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#include <AP_Filesystem/AP_Filesystem.h>
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#include <AP_HAL/I2CDevice.h>
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#include "AP_Scripting_CANSensor.h"
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#ifndef SCRIPTING_MAX_NUM_I2C_DEVICE
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#define SCRIPTING_MAX_NUM_I2C_DEVICE 4
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#endif
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#define SCRIPTING_MAX_NUM_PWM_SOURCE 4
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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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CLASS_NO_COPY(AP_Scripting);
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void init(void);
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bool enabled(void) const { return _enable != 0; };
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bool should_run(void) const { return enabled() && !_stop; }
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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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void handle_mission_command(const class AP_Mission::Mission_Command& cmd);
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bool arming_checks(size_t buflen, char *buffer) const;
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void restart_all(void);
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// User parameters for inputs into scripts
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AP_Float _user[6];
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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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enum class SCR_DIR {
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ROMFS = 1 << 0,
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SCRIPTS = 1 << 1,
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};
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uint16_t get_disabled_dir() { return uint16_t(_dir_disable.get());}
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// the number of and storage for i2c devices
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uint8_t num_i2c_devices;
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> *_i2c_dev[SCRIPTING_MAX_NUM_I2C_DEVICE];
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS
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// Scripting CAN sensor
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ScriptingCANSensor *_CAN_dev;
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ScriptingCANSensor *_CAN_dev2;
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#endif
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// mission item buffer
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static const int mission_cmd_queue_size = 5;
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struct scripting_mission_cmd {
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uint16_t p1;
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float content_p1;
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float content_p2;
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float content_p3;
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uint32_t time_ms;
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};
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ObjectBuffer<struct scripting_mission_cmd> * mission_data;
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// PWMSource storage
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uint8_t num_pwm_source;
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AP_HAL::PWMSource *_pwm_source[SCRIPTING_MAX_NUM_PWM_SOURCE];
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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_options;
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AP_Int16 _dir_disable;
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bool _thread_failed; // thread allocation failed
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bool _init_failed; // true if memory allocation failed
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bool _restart; // true if scripts should be restarted
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bool _stop; // true if scripts should be stopped
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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 // AP_SCRIPTING_ENABLED
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