AP_RangeFinder: Add Lua Script based backend

libraries/AP_RangeFinder/AP_RangeFinder.cpp

@@ -51,6 +51,7 @@
 #include "AP_RangeFinder_MSP.h"
 #include "AP_RangeFinder_USD1_CAN.h"
 #include "AP_RangeFinder_Benewake_CAN.h"
+#include "AP_RangeFinder_Lua.h"
 
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_Logger/AP_Logger.h>
@@ -524,8 +525,15 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
     case Type::Benewake_CAN:
 #if AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
         _add_backend(new AP_RangeFinder_Benewake_CAN(state[instance], params[instance]), instance);
-        break;
 #endif
+        break;
+
+    case Type::Lua_Scripting:
+#if AP_SCRIPTING_ENABLED
+        _add_backend(new AP_RangeFinder_Lua(state[instance], params[instance]), instance);
+#endif
+        break;
+
     case Type::NONE:
         break;
     }

libraries/AP_RangeFinder/AP_RangeFinder.h

@@ -102,6 +102,7 @@ public:
         USD1_CAN = 33,
         Benewake_CAN = 34,
         TeraRanger_Serial = 35,
+        Lua_Scripting = 36,
         SIM = 100,
     };
 

libraries/AP_RangeFinder/AP_RangeFinder_Backend.h

@@ -34,6 +34,13 @@ public:
     virtual void init_serial(uint8_t serial_instance) {};
 
     virtual void handle_msg(const mavlink_message_t &msg) { return; }
+
+#if AP_SCRIPTING_ENABLED
+    // Returns false if scripting backing hasn't been setup
+    // Get distance from lua script
+    virtual bool handle_script_msg(float dist_m) { return false; }
+#endif
+
 #if HAL_MSP_RANGEFINDER_ENABLED
     virtual void handle_msp(const MSP::msp_rangefinder_data_message_t &pkt) { return; }
 #endif

libraries/AP_RangeFinder/AP_RangeFinder_Lua.cpp

@@ -0,0 +1,52 @@
+/*
+   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/>.
+ */
+
+#include "AP_RangeFinder_Lua.h"
+#include <AP_HAL/AP_HAL.h>
+
+#if AP_SCRIPTING_ENABLED
+
+// constructor
+AP_RangeFinder_Lua::AP_RangeFinder_Lua(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
+    AP_RangeFinder_Backend(_state, _params)
+{
+    set_status(RangeFinder::Status::NoData);
+}
+
+
+// Set the distance based on a Lua Script
+bool AP_RangeFinder_Lua::handle_script_msg(float dist_m)
+{
+    state.last_reading_ms = AP_HAL::millis();
+    _distance_m = dist_m;
+    return true;
+}
+
+
+// update the state of the sensor
+void AP_RangeFinder_Lua::update(void)
+{
+    //Time out on incoming data; if we don't get new
+    //data in 500ms, dump it
+    if (AP_HAL::millis() - state.last_reading_ms > AP_RANGEFINDER_LUA_TIMEOUT_MS) {
+        set_status(RangeFinder::Status::NoData);
+        state.distance_m = 0.0f;
+    } else {
+        state.distance_m = _distance_m;
+        update_status();
+    }
+}
+
+#endif

libraries/AP_RangeFinder/AP_RangeFinder_Lua.h

@@ -0,0 +1,33 @@
+#pragma once
+
+#include "AP_RangeFinder.h"
+#include "AP_RangeFinder_Backend.h"
+
+#if AP_SCRIPTING_ENABLED
+
+// Data timeout
+#define AP_RANGEFINDER_LUA_TIMEOUT_MS 500
+
+class AP_RangeFinder_Lua : public AP_RangeFinder_Backend
+{
+public:
+
+    // constructor
+    AP_RangeFinder_Lua(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
+
+    // update state
+    void update(void) override;
+
+    // Get update from Lua script
+    bool handle_script_msg(float dist_m) override;
+
+    MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
+        return MAV_DISTANCE_SENSOR_UNKNOWN;
+    }
+
+private:
+
+    float _distance_m;   // stored data from lua script:
+};
+
+#endif

libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp

@@ -15,7 +15,7 @@ const AP_Param::GroupInfo AP_RangeFinder_Params::var_info[] = {
     // @Param: TYPE
     // @DisplayName: Rangefinder type
     // @Description: Type of connected rangefinder
-    // @Values: 0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:USD1_Serial,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:DroneCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,34:Benewake_CAN,35:TeraRangerSerial,100:SITL
+    // @Values: 0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:USD1_Serial,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:DroneCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,34:Benewake_CAN,35:TeraRangerSerial,36:Lua_Scripting,100:SITL
     // @User: Standard
     AP_GROUPINFO_FLAGS("TYPE", 1, AP_RangeFinder_Params, type, 0, AP_PARAM_FLAG_ENABLE),