AP_Scripting: use _chan to mark the methods that are mavlink channel based

libraries/AP_Scripting/AP_Scripting.h

@@ -102,6 +102,7 @@ public:
     struct mavlink_msg {
         mavlink_message_t msg;
         mavlink_channel_t chan;
+        uint32_t timestamp_ms;
     };
 
     static const int mavlink_input_queue_size = 5;

libraries/AP_Scripting/docs/docs.lua

@@ -2863,21 +2863,23 @@ function remove(filename) end
 mavlink = {}
 
 -- initializes mavlink
---@param num_rx_msgid number of mavlink message types to receive
---@param msg_queue_length length of mavlink message queue
+--@param num_rx_msgid number
+--@param msg_queue_length
 function mavlink:init(num_rx_msgid, msg_queue_length) end
 
 -- marks mavlink message for receive, message id can be get using mavlink_msgs.get_msgid("MSG_NAME")
---@param msg_id mavlink message id
+--@param msg_id number
 function mavlink:receive_msgid(msg_id) end
 
 -- receives mavlink message marked for receive using mavlink:receive_msgid
---@return mavlink message
-function mavlink:receive() end
+--@return mavlink_message bytes
+--@return mavlink_channel number
+--@return receive_timestamp number
+function mavlink:receive_chan() end
 
 -- sends mavlink message, to use this function the call should be like this:
 -- mavlink:send(chan, mavlink_msgs.encode("MSG_NAME", {param1 = value1, param2 = value2, ...}})
---@param chan mavlink channel
---@param msgid mavlink message id
---@param message encoded message packet
-function mavlink:send(chan, msgid, message) end
+--@param mavlink_channel integer
+--@param mavlink_message_id integer
+--@param encoded_message_packet bytes
+function mavlink:send_chan(chan, msgid, message) end

libraries/AP_Scripting/generator/description/bindings.desc

@@ -722,6 +722,6 @@ global manual dirlist lua_dirlist 1
 global manual remove lua_removefile 1
 
 singleton mavlink manual init lua_mavlink_init 2
-singleton mavlink manual receive_msgid lua_mavlink_receive_msgid 1
-singleton mavlink manual send lua_mavlink_send 3
-singleton mavlink manual receive lua_mavlink_receive 0
+singleton mavlink manual receive_msgid lua_mavlink_register_rx_msgid 1
+singleton mavlink manual send_chan lua_mavlink_send_chan 3
+singleton mavlink manual receive_chan lua_mavlink_receive_chan 0

libraries/AP_Scripting/lua_bindings.cpp

@@ -65,7 +65,7 @@ int lua_mavlink_init(lua_State *L) {
     return 0;
 }
 
-int lua_mavlink_receive(lua_State *L) {
+int lua_mavlink_receive_chan(lua_State *L) {
     binding_argcheck(L, 0);
 
     struct AP_Scripting::mavlink_msg msg;
@@ -81,14 +81,15 @@ int lua_mavlink_receive(lua_State *L) {
         luaL_addlstring(&b, (char *)&msg.msg, sizeof(msg.msg));
         luaL_pushresult(&b);
         lua_pushinteger(L, msg.chan);
-        return 2;
+        lua_pushinteger(L, msg.timestamp_ms);
+        return 3;
     } else {
         // no MAVLink to handle, just return no results
         return 0;
     }
 }
 
-int lua_mavlink_receive_msgid(lua_State *L) {
+int lua_mavlink_register_rx_msgid(lua_State *L) {
     binding_argcheck(L, 1);
     
     const int msgid = luaL_checkinteger(L, -1);
@@ -124,7 +125,7 @@ int lua_mavlink_receive_msgid(lua_State *L) {
     return 1;
 }
 
-int lua_mavlink_send(lua_State *L) {
+int lua_mavlink_send_chan(lua_State *L) {
     binding_argcheck(L, 3);
     
     const mavlink_channel_t chan = (mavlink_channel_t)luaL_checkinteger(L, 1);

libraries/AP_Scripting/lua_bindings.h

@@ -15,6 +15,6 @@ int lua_removefile(lua_State *L);
 int SRV_Channels_get_safety_state(lua_State *L);
 int lua_get_PWMSource(lua_State *L);
 int lua_mavlink_init(lua_State *L);
-int lua_mavlink_receive(lua_State *L);
-int lua_mavlink_receive_msgid(lua_State *L);
-int lua_mavlink_send(lua_State *L);
+int lua_mavlink_receive_chan(lua_State *L);
+int lua_mavlink_register_rx_msgid(lua_State *L);
+int lua_mavlink_send_chan(lua_State *L);

libraries/AP_Scripting/tests/mavlink_test.lua

@@ -19,8 +19,9 @@ function str_to_bytes(str)
     return bytes
 end
 function update()
-    local msg = mavlink.receive()
+    local msg,chan,timestamp_ms = mavlink.receive_chan()
     if msg then
+        gcs:send_text(6, string.format("Received message on channel %d at %d", chan, timestamp_ms))
         local parsed_msg = mavlink_msgs.decode(msg, msg_map)
         if parsed_msg.msgid == heartbeat_msgid then
             gcs:send_text(6, string.format("Received heartbeat from %d", parsed_msg.sysid))
@@ -30,7 +31,7 @@ function update()
     end
     test_named_value = test_named_value + 1.0
     -- send named value float
-    mavlink.send(0, mavlink_msgs.encode("NAMED_VALUE_FLOAT", {time_boot_ms = millis():toint(), name = str_to_bytes("test"), value = test_named_value}))
+    mavlink.send_chan(0, mavlink_msgs.encode("NAMED_VALUE_FLOAT", {time_boot_ms = millis():toint(), name = str_to_bytes("test"), value = test_named_value}))
     return update, 1000
 end