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AP_Scripting: introduce serial device simulation support

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Allows a script to simulate a device attached via any serial protocol.
The script can read and write data and have it handled according to the
protocol as if exchanged over a serial port. The script can then do
protocol translation, data filtering and validation,
hardware-in-the-loop simulation, experimentation, etc., especially in
combination with the scripting protocol which lets the script itself
handle an attached device and so interpose any communication.
This commit is contained in:
Thomas Watson authored and Peter Barker committed 2024-06-27 12:00:18 +10:00
1 parent 4df2a1bce7
commit a077e4a3ed
10 files changed
+358 -9
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libraries/AP_Scripting/AP_Scripting.cpp
+47
View File
@@ -160,6 +160,43 @@ const AP_Param::GroupInfo AP_Scripting::var_info[] = {
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("THD_PRIORITY", 14, AP_Scripting, _thd_priority, uint8_t(ThreadPriority::NORMAL)),
#if AP_SCRIPTING_SERIALDEVICE_ENABLED
// @Param: SDEV_EN
// @DisplayName: Scripting serial device enable
// @Description: Enable scripting serial devices
// @Values: 0:Disabled, 1:Enabled
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO_FLAGS("SDEV_EN", 15, AP_Scripting, _serialdevice.enable, 0, AP_PARAM_FLAG_ENABLE),
// @Param: SDEV1_PROTO
// @DisplayName: Serial protocol of scripting serial device
// @Description: Serial protocol of scripting serial device
// @CopyFieldsFrom: SERIAL1_PROTOCOL
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("SDEV1_PROTO", 16, AP_Scripting, _serialdevice.ports[0].state.protocol, -1),
#if AP_SCRIPTING_SERIALDEVICE_NUM_PORTS > 1
// @Param: SDEV2_PROTO
// @DisplayName: Serial protocol of scripting serial device
// @Description: Serial protocol of scripting serial device
// @CopyFieldsFrom: SCR_SDEV1_PROTO
AP_GROUPINFO("SDEV2_PROTO", 17, AP_Scripting, _serialdevice.ports[1].state.protocol, -1),
#endif
#if AP_SCRIPTING_SERIALDEVICE_NUM_PORTS > 2
// @Param: SDEV3_PROTO
// @DisplayName: Serial protocol of scripting serial device
// @Description: Serial protocol of scripting serial device
// @CopyFieldsFrom: SCR_SDEV1_PROTO
AP_GROUPINFO("SDEV3_PROTO", 18, AP_Scripting, _serialdevice.ports[2].state.protocol, -1),
#endif
#endif // AP_SCRIPTING_SERIALDEVICE_ENABLED
// WARNING: additional parameters must be listed before SDEV_EN (but have an
// index after SDEV3_PROTO) so they are not disabled by it!
AP_GROUPEND
};
@@ -220,6 +257,16 @@ void AP_Scripting::init(void) {
}
}
#if AP_SCRIPTING_SERIALDEVICE_ENABLED
void AP_Scripting::init_serialdevice_ports(void) {
if (!_enable) {
return;
}
_serialdevice.init();
}
#endif
#if HAL_GCS_ENABLED
MAV_RESULT AP_Scripting::handle_command_int_packet(const mavlink_command_int_t &packet) {
switch ((SCRIPTING_CMD)packet.param1) {