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82 lines
2.3 KiB
82 lines
2.3 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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Scripting CANSensor class, for easy scripting CAN support |
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*/ |
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#include "AP_Scripting_CANSensor.h" |
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS |
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// handler for outgoing frames, using uint32 |
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bool ScriptingCANSensor::write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us) |
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{ |
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return CANSensor::write_frame(out_frame, timeout_us); |
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}; |
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// handler for incoming frames, add to buffers |
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void ScriptingCANSensor::handle_frame(AP_HAL::CANFrame &frame) |
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{ |
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WITH_SEMAPHORE(sem); |
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if (buffer_list != nullptr) { |
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buffer_list->handle_frame(frame); |
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} |
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} |
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// add a new buffer to this sensor |
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ScriptingCANBuffer* ScriptingCANSensor::add_buffer(uint32_t buffer_len) |
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{ |
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WITH_SEMAPHORE(sem); |
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ScriptingCANBuffer *new_buff = new ScriptingCANBuffer(*this, buffer_len); |
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if (buffer_list == nullptr) { |
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buffer_list = new_buff; |
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} else { |
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buffer_list->add_buffer(new_buff); |
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} |
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return new_buff; |
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} |
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// Call main sensor write method |
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bool ScriptingCANBuffer::write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us) |
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{ |
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return sensor.write_frame(out_frame, timeout_us); |
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}; |
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// read a frame from the buffer |
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bool ScriptingCANBuffer::read_frame(AP_HAL::CANFrame &frame) |
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{ |
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return buffer.pop(frame); |
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} |
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// recursively add frame to buffer |
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void ScriptingCANBuffer::handle_frame(AP_HAL::CANFrame &frame) |
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{ |
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WITH_SEMAPHORE(sem); |
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buffer.push(frame); |
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if (next != nullptr) { |
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next->handle_frame(frame); |
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} |
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} |
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// recursively add new buffer |
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void ScriptingCANBuffer::add_buffer(ScriptingCANBuffer* new_buff) { |
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WITH_SEMAPHORE(sem); |
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if (next == nullptr) { |
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next = new_buff; |
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return; |
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} |
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next->add_buffer(new_buff); |
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} |
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#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
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