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             :  
      19             : #pragma once
      20             : 
      21             : #include <AP_HAL/AP_HAL.h>
      22             : 
      23             : #if defined(HAL_BUILD_AP_PERIPH)
      24             :     // Must have at least two CAN ports on Periph
      25             :     #define AP_SCRIPTING_CAN_SENSOR_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS > 1)
      26             : #else
      27             :     #define AP_SCRIPTING_CAN_SENSOR_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS
      28             : #endif
      29             : 
      30             : #if AP_SCRIPTING_CAN_SENSOR_ENABLED
      31             : 
      32             : #include <AP_CANManager/AP_CANSensor.h>
      33             : 
      34             : class ScriptingCANBuffer;
      35             : class ScriptingCANSensor : public CANSensor {
      36             : public:
      37             : 
      38           0 :     ScriptingCANSensor(AP_CAN::Protocol dtype)
      39           0 :         : CANSensor("Script") {
      40           0 :         register_driver(dtype);
      41           0 :     }
      42             : 
      43             :     // handler for outgoing frames, using uint32
      44             :     bool write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us);
      45             : 
      46             :     // handler for incoming frames, add to buffers
      47             :     void handle_frame(AP_HAL::CANFrame &frame) override;
      48             : 
      49             :     // add a new buffer to this sensor
      50             :     ScriptingCANBuffer* add_buffer(uint32_t buffer_len);
      51             : 
      52             : private:
      53             : 
      54             :     HAL_Semaphore sem;
      55             : 
      56             :     ScriptingCANBuffer *buffer_list;
      57             : 
      58             : };
      59             : 
      60             : class ScriptingCANBuffer {
      61             : public:
      62             : 
      63           0 :     ScriptingCANBuffer(ScriptingCANSensor &_sensor, uint32_t buffer_size):
      64           0 :         buffer(buffer_size),
      65           0 :         sensor(_sensor)
      66           0 :     {};
      67             : 
      68             :     // Call main sensor write method
      69             :     bool write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us);
      70             : 
      71             :     // read a frame from the buffer
      72             :     bool read_frame(AP_HAL::CANFrame &frame);
      73             : 
      74             :     // recursively add frame to buffer
      75             :     void handle_frame(AP_HAL::CANFrame &frame);
      76             : 
      77             :     // recursively add new buffer
      78             :     void add_buffer(ScriptingCANBuffer* new_buff);
      79             : 
      80             :     // Add a filter to this buffer
      81             :     bool add_filter(uint32_t mask, uint32_t value);
      82             : 
      83             : private:
      84             : 
      85             :     ObjectBuffer<AP_HAL::CANFrame> buffer;
      86             : 
      87             :     ScriptingCANSensor &sensor;
      88             : 
      89             :     ScriptingCANBuffer *next;
      90             : 
      91             :     HAL_Semaphore sem;
      92             : 
      93             :     struct {
      94             :         uint32_t mask;
      95             :         uint32_t value;
      96             :     } filter[8];
      97             :     uint8_t num_filters;
      98             : 
      99             : };
     100             : 
     101             : #endif // AP_SCRIPTING_CAN_SENSOR_ENABLED