Mirrors_Framework/ardupilot
1
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot.git synced 2026-02-08 02:53:20 +08:00
Code Issues Actions 1 Packages Projects Releases Wiki Activity

AP_Scripting: introduce serial device simulation support

Browse Source 
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
2024-06-01 23:02:31 -05:00
committed by Peter Barker
parent 4df2a1bce7
commit a077e4a3ed
10 changed files with 358 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

42
libraries/AP_Scripting/lua_bindings.cpp
View File

@@ -737,12 +737,52 @@ int lua_serial_find_serial(lua_State *L) {
}
new_AP_Scripting_SerialAccess(L);
check_AP_Scripting_SerialAccess(L, -1)->stream = driver_stream;
AP_Scripting_SerialAccess *port = check_AP_Scripting_SerialAccess(L, -1);
port->stream = driver_stream;
#if AP_SCRIPTING_SERIALDEVICE_ENABLED
port->is_device_port = false;
#endif
return 1;
}
#endif // HAL_GCS_ENABLED
#if AP_SCRIPTING_SERIALDEVICE_ENABLED
int lua_serial_find_simulated_device(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "serial") != NULL) ? 1 : 0;
binding_argcheck(L, 2 + arg_offset);
const int8_t protocol = (int8_t)get_uint32(L, 1 + arg_offset, 0, 127);
uint32_t instance = get_uint16_t(L, 2 + arg_offset);
auto *scripting = AP::scripting();
AP_Scripting_SerialDevice::Port *device_stream = nullptr;
for (auto &port : scripting->_serialdevice.ports) {
if (port.state.protocol == protocol) {
if (instance-- == 0) {
device_stream = &port;
break;
}
}
}
if (!scripting->_serialdevice.enable || device_stream == nullptr) {
// serial devices as a whole are disabled, or port not found
return 0;
}
new_AP_Scripting_SerialAccess(L);
AP_Scripting_SerialAccess *port = check_AP_Scripting_SerialAccess(L, -1);
port->stream = device_stream;
port->is_device_port = true;
return 1;
}
#endif // AP_SCRIPTING_SERIALDEVICE_ENABLED
int lua_serial_writestring(lua_State *L)
{
binding_argcheck(L, 2);