Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : /*
      16             :   Scripting CANSensor class, for easy scripting CAN support
      17             :  */
      18             : #include "AP_Scripting_CANSensor.h"
      19             : #include <AP_Math/AP_Math.h>
      20             : 
      21             : #if AP_SCRIPTING_CAN_SENSOR_ENABLED
      22             : 
      23             : // handler for outgoing frames, using uint32
      24           0 : bool ScriptingCANSensor::write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us)
      25             : {
      26           0 :     return CANSensor::write_frame(out_frame, timeout_us);
      27             : };
      28             : 
      29             : // handler for incoming frames, add to buffers
      30           0 : void ScriptingCANSensor::handle_frame(AP_HAL::CANFrame &frame)
      31             : {
      32           0 :     WITH_SEMAPHORE(sem);
      33           0 :     if (buffer_list != nullptr) {
      34           0 :         buffer_list->handle_frame(frame);
      35             :     }
      36           0 : }
      37             : 
      38             : // add a new buffer to this sensor
      39           0 : ScriptingCANBuffer* ScriptingCANSensor::add_buffer(uint32_t buffer_len)
      40             : {
      41           0 :     WITH_SEMAPHORE(sem);
      42           0 :     ScriptingCANBuffer *new_buff = NEW_NOTHROW ScriptingCANBuffer(*this, buffer_len);
      43           0 :     if (buffer_list == nullptr) {
      44           0 :         buffer_list = new_buff;
      45             :     } else {
      46           0 :         buffer_list->add_buffer(new_buff);
      47             :     }
      48           0 :     return new_buff;
      49           0 : }
      50             : 
      51             : // Call main sensor write method
      52           0 : bool ScriptingCANBuffer::write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us)
      53             : {
      54           0 :     return sensor.write_frame(out_frame, timeout_us);
      55             : };
      56             : 
      57             : // read a frame from the buffer
      58           0 : bool ScriptingCANBuffer::read_frame(AP_HAL::CANFrame &frame)
      59             : {
      60           0 :     return buffer.pop(frame);
      61             : }
      62             : 
      63             : // recursively add frame to buffer
      64           0 : void ScriptingCANBuffer::handle_frame(AP_HAL::CANFrame &frame)
      65             : {
      66             :     // accept everything if no filters are setup
      67           0 :     bool accept = num_filters == 0;
      68             : 
      69             :     // Check if frame matches any filters
      70           0 :     for (uint8_t i = 0; i < MIN(num_filters, ARRAY_SIZE(filter)); i++) {
      71           0 :         if ((frame.id & filter[i].mask) == filter[i].value) {
      72           0 :             accept = true;
      73           0 :             break;
      74             :         }
      75             :     }
      76             : 
      77           0 :     WITH_SEMAPHORE(sem);
      78             : 
      79             :     // Add to buffer for scripting to read
      80           0 :     if (accept) {
      81           0 :         buffer.push(frame);
      82             :     }
      83             : 
      84             :     // filtering is not applied to other buffers
      85           0 :     if (next != nullptr) {
      86           0 :         next->handle_frame(frame);
      87             :     }
      88           0 : }
      89             : 
      90             : // recursively add new buffer
      91           0 : void ScriptingCANBuffer::add_buffer(ScriptingCANBuffer* new_buff) {
      92           0 :     WITH_SEMAPHORE(sem);
      93           0 :     if (next == nullptr) {
      94           0 :         next = new_buff;
      95           0 :         return;
      96             :     }
      97           0 :     next->add_buffer(new_buff);
      98           0 : }
      99             : 
     100             : // Add a filter, will pass ID's that match value given the mask
     101           0 : bool ScriptingCANBuffer::add_filter(uint32_t mask, uint32_t value) {
     102             : 
     103             :     // Run out of filters
     104           0 :     if (num_filters >= ARRAY_SIZE(filter)) {
     105           0 :         return false;
     106             :     }
     107             : 
     108             :     // Add to list and increment
     109           0 :     filter[num_filters].mask = mask;
     110           0 :     filter[num_filters].value = value & mask;
     111           0 :     num_filters++;
     112           0 :     return true;
     113             : }
     114             : 
     115             : #endif // AP_SCRIPTING_CAN_SENSOR_ENABLED