AP_Scripting: Support enum types, add millis() remove manual GCS wrapper

This introduces enum types for range checking/returns, adds a millis(() call
(this returns a uint32_t), and moves over to an auto generated version of the GCS binding

libraries/AP_Scripting/README.md

@@ -28,14 +28,18 @@ An example script is given below:
 
 ```lua
 function update () -- periodic function that will be called
-  current_pos = Location()
-  ahrs:get_position(current_pos)
+  current_pos = ahrs:get_position()
+  home = ahrs:get_home()
+  if current_pos and home then
     distance = current_pos:get_distance(ahrs:get_home()) -- calculate the distance from home
     if distance > 1000 then -- if more then 1000 meters away
       distance = 1000;      -- clamp the distance to 1000 meters
     end
     servo.set_output_pwm(96, 1000 + distance) -- set the servo assigned function 96 (scripting3) to a proportional value
+  end
 
   return update, 1000 -- request to be rerun again 1000 milliseconds (1 second) from now
 end
+
+return update, 1000 -- request to be rerun again 1000 milliseconds (1 second) from now
 ```

libraries/AP_Scripting/generator/description/bindings.desc

@@ -120,3 +120,7 @@ singleton AP_Relay method on void uint8_t 0 AP_RELAY_NUM_RELAYS
 singleton AP_Relay method off void uint8_t 0 AP_RELAY_NUM_RELAYS
 singleton AP_Relay method enabled boolean uint8_t 0 AP_RELAY_NUM_RELAYS
 singleton AP_Relay method toggle void uint8_t 0 AP_RELAY_NUM_RELAYS
+
+include GCS_MAVLink/GCS.h
+singleton GCS alias gcs
+singleton GCS method send_text void MAV_SEVERITY'enum MAV_SEVERITY_EMERGENCY MAV_SEVERITY_DEBUG string

libraries/AP_Scripting/generator/src/main.c

@@ -20,6 +20,7 @@ char keyword_userdata[]  = "userdata";
 char keyword_write[]     = "write";
 
 // attributes (should include the leading ' )
+char keyword_attr_enum[] = "'enum";
 char keyword_attr_null[] = "'Null";
 
 // type keywords
@@ -87,6 +88,7 @@ enum field_type {
   TYPE_UINT32_T,
   TYPE_NONE,
   TYPE_STRING,
+  TYPE_ENUM,
   TYPE_USERDATA,
 };
 
@@ -99,6 +101,7 @@ const char * type_labels[TYPE_USERDATA + 1] = { "bool",
                                                 "uint16_t",
                                                 "void",
                                                 "string",
+                                                "enum",
                                                 "userdata",
                                               };
 
@@ -124,6 +127,7 @@ struct range_check {
 
 enum type_flags {
   TYPE_FLAGS_NULLABLE = (1U << 1),
+  TYPE_FLAGS_ENUM     = (1U << 2),
 };
 
 struct type {
@@ -133,6 +137,7 @@ struct type {
   uint32_t flags;
   union {
     char *userdata_name;
+    char *enum_name;
   } data;
 };
 
@@ -302,10 +307,10 @@ void string_copy(char **dest, const char * src) {
   strcpy(*dest, src);
 }
 
-struct range_check *parse_range_check(void) {
+struct range_check *parse_range_check(enum field_type type) {
   char * low = next_token();
   if (low == NULL) {
-    error(ERROR_USERDATA, "Missing low value for a range check");
+    error(ERROR_USERDATA, "Missing low value for a range check (type: %s)", type_labels[type]);
   }
 
   trace(TRACE_TOKENS, "Range check: Low: %s", low);
@@ -346,7 +351,8 @@ unsigned int parse_access_flags(struct type * type) {
         case TYPE_UINT8_T:
         case TYPE_UINT16_T:
         case TYPE_UINT32_T:
-          type->range = parse_range_check();
+        case TYPE_ENUM:
+          type->range = parse_range_check(type->type);
           break;
         case TYPE_USERDATA:
         case TYPE_BOOLEAN:
@@ -405,7 +411,9 @@ int parse_type(struct type *type, const uint32_t restrictions, enum range_check_
 
   char *attribute = strchr(data_type, '\'');
   if (attribute != NULL) {
-    if (strcmp(attribute, keyword_attr_null) == 0) {
+    if (strcmp(attribute, keyword_attr_enum) == 0) {
+      type->flags |= TYPE_FLAGS_ENUM;
+    } else if (strcmp(attribute, keyword_attr_null) == 0) {
       if (restrictions & TYPE_RESTRICTION_NOT_NULLABLE) {
         error(ERROR_USERDATA, "%s is not nullable in this context", data_type);
       }
@@ -436,6 +444,9 @@ int parse_type(struct type *type, const uint32_t restrictions, enum range_check_
     type->type = TYPE_STRING;
   } else if (strcmp(data_type, keyword_void) == 0) {
     type->type = TYPE_NONE;
+  } else if (type->flags & TYPE_FLAGS_ENUM) {
+    type->type = TYPE_ENUM;
+    string_copy(&(type->data.enum_name), data_type);
   } else {
     // assume that this is a user data, we can't validate this until later though
     type->type = TYPE_USERDATA;
@@ -455,6 +466,7 @@ int parse_type(struct type *type, const uint32_t restrictions, enum range_check_
       case TYPE_UINT32_T:
       case TYPE_BOOLEAN:
       case TYPE_STRING:
+      case TYPE_ENUM:
       case TYPE_USERDATA:
         break;
       case TYPE_NONE:
@@ -473,7 +485,8 @@ int parse_type(struct type *type, const uint32_t restrictions, enum range_check_
       case TYPE_UINT8_T:
       case TYPE_UINT16_T:
       case TYPE_UINT32_T:
-        type->range = parse_range_check();
+      case TYPE_ENUM:
+        type->range = parse_range_check(type->type);
         break;
       case TYPE_BOOLEAN:
       case TYPE_NONE:
@@ -802,6 +815,9 @@ void emit_checker(const struct type t, int arg_number, const char *indentation,
       case TYPE_STRING:
         fprintf(source, "%schar * data_%d = {};\n", indentation, arg_number);
         break;
+      case TYPE_ENUM:
+        fprintf(source, "%suint32_t data_%d = {};\n", indentation, arg_number);
+        break;
       case TYPE_USERDATA:
         fprintf(source, "%s%s data_%d = {};\n", indentation, t.data.userdata_name, arg_number);
         break;
@@ -829,6 +845,7 @@ void emit_checker(const struct type t, int arg_number, const char *indentation,
         forced_min = "INT16_MIN";
         forced_max = "INT16_MAX";
         break;
+      case TYPE_ENUM: // enums are assumed to only ever be within the int32_t space
       case TYPE_INT32_T:
         forced_min = "INT32_MIN";
         forced_max = "INT32_MAX";
@@ -865,6 +882,7 @@ void emit_checker(const struct type t, int arg_number, const char *indentation,
       case TYPE_INT32_T:
       case TYPE_UINT8_T:
       case TYPE_UINT16_T:
+      case TYPE_ENUM:
         fprintf(source, "%sconst lua_Integer raw_data_%d = luaL_checkinteger(L, %d);\n", indentation, arg_number, arg_number);
         break;
       case TYPE_UINT32_T:
@@ -918,6 +936,9 @@ void emit_checker(const struct type t, int arg_number, const char *indentation,
       case TYPE_STRING:
         fprintf(source, "%sconst char * data_%d = luaL_checkstring(L, %d);\n", indentation, arg_number, arg_number);
         break;
+      case TYPE_ENUM:
+        fprintf(source, "%sconst %s data_%d = static_cast<%s>(raw_data_%d);\n", indentation, t.data.enum_name, arg_number, t.data.enum_name, arg_number);
+        break;
       case TYPE_USERDATA:
         fprintf(source, "%s%s & data_%d = *check_%s(L, %d);\n", indentation, t.data.userdata_name, arg_number, t.data.userdata_name, arg_number);
         break;
@@ -947,6 +968,7 @@ void emit_userdata_field(const struct userdata *data, const struct userdata_fiel
       case TYPE_INT32_T:
       case TYPE_UINT8_T:
       case TYPE_UINT16_T:
+      case TYPE_ENUM:
         fprintf(source, "            lua_pushinteger(L, ud->%s);\n", field->name);
         break;
       case TYPE_UINT32_T:
@@ -1001,7 +1023,8 @@ void emit_userdata_method(const struct userdata *data, const struct method *meth
   // emit comments on expected arg/type
   struct argument *arg = method->arguments;
   while (arg != NULL) {
-    fprintf(source, "    // %d %s %d : %d\n", arg_count++, arg->type.type == TYPE_USERDATA ? arg->type.data.userdata_name : type_labels[arg->type.type],
+    fprintf(source, "    // %d %s %d : %d\n", arg_count++, arg->type.type == TYPE_USERDATA ? arg->type.data.userdata_name :
+                                                                                             arg->type.type == TYPE_ENUM ? arg->type.data.enum_name : type_labels[arg->type.type],
                                       arg->line_num, arg->token_num);
     arg = arg->next;
   }
@@ -1077,6 +1100,9 @@ void emit_userdata_method(const struct userdata *data, const struct method *meth
     case TYPE_UINT32_T:
       fprintf(source, "    const uint32_t data = ud->%s(\n", method->name);
       break;
+    case TYPE_ENUM:
+      fprintf(source, "    const %s &data = ud->%s(\n", method->return_type.data.enum_name, method->name);
+      break;
     case TYPE_USERDATA:
       fprintf(source, "    const %s &data = ud->%s(\n", method->return_type.data.userdata_name, method->name);
       break;
@@ -1125,6 +1151,7 @@ void emit_userdata_method(const struct userdata *data, const struct method *meth
               case TYPE_INT32_T:
               case TYPE_UINT8_T:
               case TYPE_UINT16_T:
+              case TYPE_ENUM:
                 fprintf(source, "        lua_pushinteger(L, data_%d);\n", arg_index);
                 break;
               case TYPE_UINT32_T:
@@ -1163,6 +1190,7 @@ void emit_userdata_method(const struct userdata *data, const struct method *meth
     case TYPE_INT32_T:
     case TYPE_UINT8_T:
     case TYPE_UINT16_T:
+    case TYPE_ENUM:
       fprintf(source, "    lua_pushinteger(L, data);\n");
       break;
     case TYPE_UINT32_T:

libraries/AP_Scripting/lua_bindings.cpp

@@ -1,12 +1,14 @@
 #include <AP_Common/AP_Common.h>
-#include <GCS_MAVLink/GCS.h>
 #include <SRV_Channel/SRV_Channel.h>
-#include <AP_Common/Location.h>
+#include <AP_HAL/HAL.h>
 
 #include "lua_bindings.h"
 
+#include "lua_boxed_numerics.h"
 #include "lua_generated_bindings.h"
 
+extern const AP_HAL::HAL& hal;
+
 int check_arguments(lua_State *L, int expected_arguments, const char *fn_name);
 int check_arguments(lua_State *L, int expected_arguments, const char *fn_name) {
 #if defined(AP_SCRIPTING_CHECKS) && AP_SCRIPTING_CHECKS >= 1
@@ -22,24 +24,6 @@ int check_arguments(lua_State *L, int expected_arguments, const char *fn_name) {
     return 0;
 }
 
-// GCS binding
-
-int lua_gcs_send_text(lua_State *L);
-int lua_gcs_send_text(lua_State *L) {
-    check_arguments(L, 1, "send_text");
-
-    const char* str = luaL_checkstring(L, -1);
-
-    gcs().send_text(MAV_SEVERITY_INFO, str);
-    return 0;
-}
-
-static const luaL_Reg gcs_functions[] =
-{
-    {"send_text", lua_gcs_send_text},
-    {NULL, NULL}
-};
-
 // servo binding
 
 int lua_servo_set_output_pwm(lua_State *L);
@@ -59,6 +43,16 @@ int lua_servo_set_output_pwm(lua_State *L) {
     return 0;
 }
 
+// millis
+int lua_millis(lua_State *L) {
+    check_arguments(L, 0, "millis");
+
+    new_uint32_t(L);
+    *check_uint32_t(L, -1) = AP_HAL::millis();
+
+    return 1;
+}
+
 static const luaL_Reg servo_functions[] =
 {
     {"set_output_pwm", lua_servo_set_output_pwm},
@@ -66,12 +60,12 @@ static const luaL_Reg servo_functions[] =
 };
 
 void load_lua_bindings(lua_State *L) {
-    luaL_newlib(L, gcs_functions);
-    lua_setglobal(L, "gcs");
-
     luaL_newlib(L, servo_functions);
     lua_setglobal(L, "servo");
 
     load_generated_bindings(L);
+
+    lua_pushcfunction(L, lua_millis);
+    lua_setglobal(L, "millis");
 }
 

libraries/AP_Scripting/lua_boxed_numerics.cpp

@@ -11,6 +11,11 @@ int new_uint32_t(lua_State *L) {
     return 1;
 }
 
+uint32_t * check_uint32_t(lua_State *L, int arg) {
+    void *data = luaL_checkudata(L, arg, "uint32_t");
+    return static_cast<uint32_t *>(data);
+}
+
 uint32_t coerce_to_uint32_t(lua_State *L, int arg) {
     { // userdata
         const uint32_t * ud = static_cast<uint32_t *>(luaL_testudata(L, arg, "uint32_t"));

libraries/AP_Scripting/lua_boxed_numerics.h

@@ -3,6 +3,7 @@
 #include "lua/src/lua.hpp"
 
 int new_uint32_t(lua_State *L);
+uint32_t *check_uint32_t(lua_State *L, int arg);
 
 void load_boxed_numerics(lua_State *L);
 void load_boxed_numerics_sandbox(lua_State *L);

libraries/AP_Scripting/lua_generated_bindings.cpp

@@ -1,6 +1,7 @@
 // auto generated bindings, don't manually edit
 #include "lua_generated_bindings.h"
 #include "lua_boxed_numerics.h"
+#include <GCS_MAVLink/GCS.h>
 #include <AP_Relay/AP_Relay.h>
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
@@ -559,6 +560,32 @@ const luaL_Reg Location_meta[] = {
     {NULL, NULL}
 };
 
+static int GCS_send_text(lua_State *L) {
+    // 1 MAV_SEVERITY 126 : 8
+    // 2 enum 126 : 9
+    const int args = lua_gettop(L);
+    if (args > 3) {
+        return luaL_argerror(L, args, "too many arguments");
+    } else if (args < 3) {
+        return luaL_argerror(L, args, "too few arguments");
+    }
+
+    GCS * ud = GCS::get_singleton();
+    if (ud == nullptr) {
+        return luaL_argerror(L, args, "gcs not supported on this firmware");
+    }
+
+    const lua_Integer raw_data_2 = luaL_checkinteger(L, 2);
+    luaL_argcheck(L, ((raw_data_2 >= MAX(MAV_SEVERITY_EMERGENCY, INT32_MIN)) && (raw_data_2 <= MIN(MAV_SEVERITY_DEBUG, INT32_MAX))), 2, "argument out of range");
+    const MAV_SEVERITY data_2 = static_cast<MAV_SEVERITY>(raw_data_2);
+    const char * data_3 = luaL_checkstring(L, 3);
+    ud->send_text(
+            data_2,
+            data_3);
+
+    return 0;
+}
+
 static int AP_Relay_toggle(lua_State *L) {
     // 1 uint8_t 122 : 8
     const int args = lua_gettop(L);
@@ -837,7 +864,7 @@ static int RangeFinder_num_sensors(lua_State *L) {
 }
 
 static int AP_Notify_play_tune(lua_State *L) {
-    // 1 userdata 99 : 6
+    // 1 enum 99 : 6
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1958,6 +1985,11 @@ static int AP_AHRS_get_position(lua_State *L) {
     return 1;
 }
 
+const luaL_Reg GCS_meta[] = {
+    {"send_text", GCS_send_text},
+    {NULL, NULL}
+};
+
 const luaL_Reg AP_Relay_meta[] = {
     {"toggle", AP_Relay_toggle},
     {"enabled", AP_Relay_enabled},
@@ -2060,6 +2092,7 @@ const struct singleton_fun {
     const char *name;
     const luaL_Reg *reg;
 } singleton_fun[] = {
+    {"gcs", GCS_meta},
     {"relay", AP_Relay_meta},
     {"terrain", AP_Terrain_meta},
     {"rangefinder", RangeFinder_meta},
@@ -2100,6 +2133,7 @@ void load_generated_bindings(lua_State *L) {
 }
 
 const char *singletons[] = {
+    "gcs",
     "relay",
     "terrain",
     "rangefinder",

libraries/AP_Scripting/lua_generated_bindings.h

@@ -1,5 +1,6 @@
 #pragma once
 // auto generated bindings, don't manually edit
+#include <GCS_MAVLink/GCS.h>
 #include <AP_Relay/AP_Relay.h>
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>

libraries/AP_Scripting/scripts/sandbox.lua

@@ -30,7 +30,7 @@ function get_sandbox_env ()
                    codepoint = utf8.codepoint, len = utf8.len, offsets = utf8.offsets},
 
           -- ArduPilot specific
-          gcs = { send_text = gcs.send_text},
+          millis = millis,
           servo = { set_output_pwm = servo.set_output_pwm},
         }
 end