AP_Mission: support MAV_CMD_DO_SEND_SCRIPT_MESSAGE

libraries/AP_Mission/AP_Mission.cpp

@@ -299,6 +299,7 @@ bool AP_Mission::verify_command(const Mission_Command& cmd)
     case MAV_CMD_DO_DIGICAM_CONTROL:
     case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
     case MAV_CMD_DO_PARACHUTE:
+    case MAV_CMD_DO_SEND_SCRIPT_MESSAGE:
     case MAV_CMD_DO_SPRAYER:
     case MAV_CMD_DO_AUX_FUNCTION:
     case MAV_CMD_DO_SET_RESUME_REPEAT_DIST:
@@ -333,6 +334,8 @@ bool AP_Mission::start_command(const Mission_Command& cmd)
         return start_command_camera(cmd);
     case MAV_CMD_DO_PARACHUTE:
         return start_command_parachute(cmd);
+    case MAV_CMD_DO_SEND_SCRIPT_MESSAGE:
+        return start_command_do_scripting(cmd);
     case MAV_CMD_DO_SPRAYER:
         return start_command_do_sprayer(cmd);
     case MAV_CMD_DO_SET_RESUME_REPEAT_DIST:
@@ -1110,6 +1113,13 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
         cmd.p1 = packet.param1;                        // action 0=disable, 1=enable
         break;
 
+    case MAV_CMD_DO_SEND_SCRIPT_MESSAGE:
+        cmd.p1 = packet.param1;
+        cmd.content.scripting.p1 = packet.param2;
+        cmd.content.scripting.p2 = packet.param3;
+        cmd.content.scripting.p3 = packet.param4;
+        break;
+
     default:
         // unrecognised command
         return MAV_MISSION_UNSUPPORTED;
@@ -1559,6 +1569,13 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
         packet.param1 = cmd.p1; // Resume repeat distance (m)
         break;
 
+    case MAV_CMD_DO_SEND_SCRIPT_MESSAGE:
+        packet.param1 = cmd.p1;
+        packet.param2 = cmd.content.scripting.p1;
+        packet.param3 = cmd.content.scripting.p2;
+        packet.param4 = cmd.content.scripting.p3;
+        break;
+
     default:
         // unrecognised command
         return false;
@@ -2266,6 +2283,8 @@ const char *AP_Mission::Mission_Command::type() const
         return "MountControl";
     case MAV_CMD_DO_WINCH:
         return "Winch";
+    case MAV_CMD_DO_SEND_SCRIPT_MESSAGE:
+        return "Scripting";
 
     default:
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL

libraries/AP_Mission/AP_Mission.h

@@ -204,6 +204,13 @@ public:
         float release_rate;     // release rate in meters/second
     };
 
+    // Scripting command structure
+    struct PACKED scripting_Command {
+        float p1;
+        float p2;
+        float p3;
+    };
+
     union Content {
         // jump structure
         Jump_Command jump;
@@ -271,6 +278,9 @@ public:
         // do-winch
         Winch_Command winch;
 
+        // do scripting
+        scripting_Command scripting;
+
         // location
         Location location{};      // Waypoint location
     };
@@ -708,6 +718,8 @@ private:
     bool command_do_set_repeat_dist(const AP_Mission::Mission_Command& cmd);
 
     bool start_command_do_sprayer(const AP_Mission::Mission_Command& cmd);
+    bool start_command_do_scripting(const AP_Mission::Mission_Command& cmd);
+
 };
 
 namespace AP

libraries/AP_Mission/AP_Mission_Commands.cpp

@@ -6,6 +6,7 @@
 #include <AP_Parachute/AP_Parachute.h>
 #include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
 #include <AC_Sprayer/AC_Sprayer.h>
+#include <AP_Scripting/AP_Scripting.h>
 
 bool AP_Mission::start_command_do_aux_function(const AP_Mission::Mission_Command& cmd)
 {
@@ -186,3 +187,19 @@ bool AP_Mission::start_command_do_sprayer(const AP_Mission::Mission_Command& cmd
     return false;
 #endif // HAL_SPRAYER_ENABLED
 }
+
+bool AP_Mission::start_command_do_scripting(const AP_Mission::Mission_Command& cmd)
+{
+#ifdef ENABLE_SCRIPTING
+    AP_Scripting *scripting = AP_Scripting::get_singleton();
+    if (scripting == nullptr) {
+        return false;
+    }
+
+    scripting->handle_mission_command(cmd);
+
+    return true;
+#else
+    return false;
+#endif // ENABLE_SCRIPTING
+}