You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
79 lines
2.1 KiB
79 lines
2.1 KiB
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
/* |
|
Scripting CANSensor class, for easy scripting CAN support |
|
*/ |
|
|
|
#pragma once |
|
|
|
#include <AP_CANManager/AP_CANSensor.h> |
|
|
|
#if HAL_MAX_CAN_PROTOCOL_DRIVERS |
|
class ScriptingCANBuffer; |
|
class ScriptingCANSensor : public CANSensor { |
|
public: |
|
|
|
ScriptingCANSensor(AP_CANManager::Driver_Type dtype) |
|
: CANSensor("Script") { |
|
register_driver(dtype); |
|
} |
|
|
|
// handler for outgoing frames, using uint32 |
|
bool write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us); |
|
|
|
// handler for incoming frames, add to buffers |
|
void handle_frame(AP_HAL::CANFrame &frame) override; |
|
|
|
// add a new buffer to this sensor |
|
ScriptingCANBuffer* add_buffer(uint32_t buffer_len); |
|
|
|
private: |
|
|
|
HAL_Semaphore sem; |
|
|
|
ScriptingCANBuffer *buffer_list; |
|
|
|
}; |
|
|
|
class ScriptingCANBuffer { |
|
public: |
|
|
|
ScriptingCANBuffer(ScriptingCANSensor &_sensor, uint32_t buffer_size):sensor(_sensor), buffer(buffer_size) {}; |
|
|
|
// Call main sensor write method |
|
bool write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us); |
|
|
|
// read a frame from the buffer |
|
bool read_frame(AP_HAL::CANFrame &frame); |
|
|
|
// recursively add frame to buffer |
|
void handle_frame(AP_HAL::CANFrame &frame); |
|
|
|
// recursively add new buffer |
|
void add_buffer(ScriptingCANBuffer* new_buff); |
|
|
|
private: |
|
|
|
ObjectBuffer<AP_HAL::CANFrame> buffer; |
|
|
|
ScriptingCANSensor &sensor; |
|
|
|
ScriptingCANBuffer *next; |
|
|
|
HAL_Semaphore sem; |
|
|
|
}; |
|
|
|
#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
|
|
|