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106 lines
2.8 KiB
106 lines
2.8 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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#pragma once |
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#ifdef ENABLE_SCRIPTING |
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#include <AP_Common/AP_Common.h> |
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#include <AP_Param/AP_Param.h> |
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#include <GCS_MAVLink/GCS.h> |
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#include <AP_Filesystem/AP_Filesystem.h> |
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#include <AP_HAL/I2CDevice.h> |
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#ifndef SCRIPTING_MAX_NUM_I2C_DEVICE |
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#define SCRIPTING_MAX_NUM_I2C_DEVICE 4 |
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#endif |
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class AP_Scripting |
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{ |
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public: |
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AP_Scripting(); |
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/* Do not allow copies */ |
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AP_Scripting(const AP_Scripting &other) = delete; |
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AP_Scripting &operator=(const AP_Scripting&) = delete; |
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void init(void); |
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bool init_failed(void) const { return _init_failed; } |
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bool enabled(void) const { return _enable != 0; }; |
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static AP_Scripting * get_singleton(void) { return _singleton; } |
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static const struct AP_Param::GroupInfo var_info[]; |
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MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet); |
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void handle_mission_command(const AP_Mission::Mission_Command& cmd); |
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// User parameters for inputs into scripts |
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AP_Float _user[4]; |
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struct terminal_s { |
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int output_fd; |
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off_t input_offset; |
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bool session; |
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} terminal; |
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enum class SCR_DIR { |
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ROMFS = 1 << 0, |
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SCRIPTS = 1 << 1, |
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}; |
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uint16_t get_disabled_dir() { return uint16_t(_dir_disable.get());} |
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// the number of and storage for i2c devices |
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uint8_t num_i2c_devices; |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> *_i2c_dev[SCRIPTING_MAX_NUM_I2C_DEVICE]; |
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// mission item buffer |
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static const int mission_cmd_queue_size = 5; |
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struct scripting_mission_cmd { |
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uint16_t p1; |
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float content_p1; |
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float content_p2; |
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float content_p3; |
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uint32_t time_ms; |
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}; |
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ObjectBuffer<struct scripting_mission_cmd> * mission_data; |
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private: |
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bool repl_start(void); |
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void repl_stop(void); |
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void load_script(const char *filename); // load a script from a file |
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void thread(void); // main script execution thread |
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AP_Int8 _enable; |
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AP_Int32 _script_vm_exec_count; |
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AP_Int32 _script_heap_size; |
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AP_Int8 _debug_level; |
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AP_Int16 _dir_disable; |
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bool _init_failed; // true if memory allocation failed |
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static AP_Scripting *_singleton; |
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}; |
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namespace AP { |
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AP_Scripting * scripting(void); |
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}; |
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#endif // ENABLE_SCRIPTING
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