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AP_RangeFinder: Add Lua Script based backend

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This commit is contained in:
rishabsingh3003 2023-02-15 12:42:26 +05:30 committed by Peter Barker
parent 2f1fcc8914
commit 52bdca950b
6 changed files with 104 additions and 3 deletions
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12
libraries/AP_RangeFinder/AP_RangeFinder.cpp
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@ -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>
@ -159,7 +160,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp
AP_SUBGROUPVARPTR(drivers[9], "A_", 44, RangeFinder, backend_var_info[9]),
#endif
AP_GROUPEND
};
@ -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;
}

1
libraries/AP_RangeFinder/AP_RangeFinder.h
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@ -102,6 +102,7 @@ public:
USD1_CAN = 33,
Benewake_CAN = 34,
TeraRanger_Serial = 35,
Lua_Scripting = 36,
SIM = 100,
};

7
libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
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@ -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

52
libraries/AP_RangeFinder/AP_RangeFinder_Lua.cpp Normal file
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@ -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

33
libraries/AP_RangeFinder/AP_RangeFinder_Lua.h Normal file
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@ -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

2
libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp
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@ -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),