ardupilot/libraries/AP_Scripting/AP_Scripting_CANSensor.cpp

116 lines
3.2 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Scripting CANSensor class, for easy scripting CAN support
*/
#include "AP_Scripting_CANSensor.h"
#include <AP_Math/AP_Math.h>
#if AP_SCRIPTING_CAN_SENSOR_ENABLED
// handler for outgoing frames, using uint32
bool ScriptingCANSensor::write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us)
{
return CANSensor::write_frame(out_frame, timeout_us);
};
// handler for incoming frames, add to buffers
void ScriptingCANSensor::handle_frame(AP_HAL::CANFrame &frame)
{
WITH_SEMAPHORE(sem);
if (buffer_list != nullptr) {
buffer_list->handle_frame(frame);
}
}
// add a new buffer to this sensor
ScriptingCANBuffer* ScriptingCANSensor::add_buffer(uint32_t buffer_len)
{
WITH_SEMAPHORE(sem);
ScriptingCANBuffer *new_buff = NEW_NOTHROW ScriptingCANBuffer(*this, buffer_len);
if (buffer_list == nullptr) {
buffer_list = new_buff;
} else {
buffer_list->add_buffer(new_buff);
}
return new_buff;
}
// Call main sensor write method
bool ScriptingCANBuffer::write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us)
{
return sensor.write_frame(out_frame, timeout_us);
};
// read a frame from the buffer
bool ScriptingCANBuffer::read_frame(AP_HAL::CANFrame &frame)
{
return buffer.pop(frame);
}
// recursively add frame to buffer
void ScriptingCANBuffer::handle_frame(AP_HAL::CANFrame &frame)
{
// accept everything if no filters are setup
bool accept = num_filters == 0;
// Check if frame matches any filters
for (uint8_t i = 0; i < MIN(num_filters, ARRAY_SIZE(filter)); i++) {
if ((frame.id & filter[i].mask) == filter[i].value) {
accept = true;
break;
}
}
WITH_SEMAPHORE(sem);
// Add to buffer for scripting to read
if (accept) {
buffer.push(frame);
}
// filtering is not applied to other buffers
if (next != nullptr) {
next->handle_frame(frame);
}
}
// recursively add new buffer
void ScriptingCANBuffer::add_buffer(ScriptingCANBuffer* new_buff) {
WITH_SEMAPHORE(sem);
if (next == nullptr) {
next = new_buff;
return;
}
next->add_buffer(new_buff);
}
// Add a filter, will pass ID's that match value given the mask
bool ScriptingCANBuffer::add_filter(uint32_t mask, uint32_t value) {
// Run out of filters
if (num_filters >= ARRAY_SIZE(filter)) {
return false;
}
// Add to list and increment
filter[num_filters].mask = mask;
filter[num_filters].value = value & mask;
num_filters++;
return true;
}
#endif // AP_SCRIPTING_CAN_SENSOR_ENABLED