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AP_Scripting: add bindings for servo telemetry #28857

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merged 10 commits into from
Jan 13, 2025
Merged

AP_Scripting: add bindings for servo telemetry #28857

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11f14a4
AP_Scripting: add bindings for servo telem
IamPete1 Dec 21, 2024
68d9c0e
AP_Servo_Telem: add getter for telem struct
IamPete1 Dec 21, 2024
35a7970
AP_Scripting: docs: remove incorrect camera creation function
IamPete1 Dec 21, 2024
42f1ac9
AP_Scripting: allow generation of fields that check or set a bitmask
IamPete1 Dec 21, 2024
1c9fe30
AP_Servo_Telem: TelemetryData: remove unused `stale` and `valid` methods
IamPete1 Jan 13, 2025
5fa17c0
AP_DroneCAN: servo telem rename `valid_types` to `present_types`
IamPete1 Jan 13, 2025
3fa55ac
AP_PiccoloCAN: servo telem rename `valid_types` to `present_types`
IamPete1 Jan 13, 2025
cdf1047
AP_Scripting: servo telem rename `valid_types` to `present_types`
IamPete1 Jan 13, 2025
9e04aca
AP_Servo_Telem: servo telem rename `valid_types` to `present_types`
IamPete1 Jan 13, 2025
b59d71b
AP_Volz_Protocol: servo telem rename `valid_types` to `present_types`
IamPete1 Jan 13, 2025
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32 changes: 16 additions & 16 deletions libraries/AP_DroneCAN/AP_DroneCAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1393,10 +1393,10 @@ void AP_DroneCAN::handle_actuator_status(const CanardRxTransfer& transfer, const
.force = msg.force,
.speed = msg.speed,
.duty_cycle = msg.power_rating_pct,
.valid_types = AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION |
AP_Servo_Telem::TelemetryData::Types::FORCE |
AP_Servo_Telem::TelemetryData::Types::SPEED |
AP_Servo_Telem::TelemetryData::Types::DUTY_CYCLE
.present_types = AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION |
AP_Servo_Telem::TelemetryData::Types::FORCE |
AP_Servo_Telem::TelemetryData::Types::SPEED |
AP_Servo_Telem::TelemetryData::Types::DUTY_CYCLE
};

servo_telem->update_telem_data(msg.actuator_id, telem_data);
Expand All @@ -1422,13 +1422,13 @@ void AP_DroneCAN::handle_himark_servoinfo(const CanardRxTransfer& transfer, cons
.motor_temperature_cdeg = int16_t(((msg.motor_temp * 0.2) - 40) * 100),
.pcb_temperature_cdeg = int16_t(((msg.pcb_temp * 0.2) - 40) * 100),
.status_flags = msg.error_status,
.valid_types = AP_Servo_Telem::TelemetryData::Types::COMMANDED_POSITION |
AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION |
AP_Servo_Telem::TelemetryData::Types::VOLTAGE |
AP_Servo_Telem::TelemetryData::Types::CURRENT |
AP_Servo_Telem::TelemetryData::Types::MOTOR_TEMP |
AP_Servo_Telem::TelemetryData::Types::PCB_TEMP |
AP_Servo_Telem::TelemetryData::Types::STATUS
.present_types = AP_Servo_Telem::TelemetryData::Types::COMMANDED_POSITION |
AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION |
AP_Servo_Telem::TelemetryData::Types::VOLTAGE |
AP_Servo_Telem::TelemetryData::Types::CURRENT |
AP_Servo_Telem::TelemetryData::Types::MOTOR_TEMP |
AP_Servo_Telem::TelemetryData::Types::PCB_TEMP |
AP_Servo_Telem::TelemetryData::Types::STATUS
};

servo_telem->update_telem_data(msg.servo_id, telem_data);
Expand All @@ -1449,11 +1449,11 @@ void AP_DroneCAN::handle_actuator_status_Volz(const CanardRxTransfer& transfer,
.current = msg.current * 0.025,
.duty_cycle = uint8_t(msg.motor_pwm * (100.0/255.0)),
.motor_temperature_cdeg = int16_t((msg.motor_temperature - 50) * 100),
.valid_types = AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION |
AP_Servo_Telem::TelemetryData::Types::VOLTAGE |
AP_Servo_Telem::TelemetryData::Types::CURRENT |
AP_Servo_Telem::TelemetryData::Types::DUTY_CYCLE |
AP_Servo_Telem::TelemetryData::Types::MOTOR_TEMP
.present_types = AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION |
AP_Servo_Telem::TelemetryData::Types::VOLTAGE |
AP_Servo_Telem::TelemetryData::Types::CURRENT |
AP_Servo_Telem::TelemetryData::Types::DUTY_CYCLE |
AP_Servo_Telem::TelemetryData::Types::MOTOR_TEMP
};

servo_telem->update_telem_data(msg.actuator_id, telem_data);
Expand Down
16 changes: 8 additions & 8 deletions libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -380,14 +380,14 @@ void AP_PiccoloCAN::update()
.duty_cycle = servo.dutyCycle(),
.motor_temperature_cdeg = int16_t(servo.temperature() * 100),
.status_flags = err.errors,
.valid_types = AP_Servo_Telem::TelemetryData::Types::COMMANDED_POSITION |
AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION |
AP_Servo_Telem::TelemetryData::Types::SPEED |
AP_Servo_Telem::TelemetryData::Types::VOLTAGE |
AP_Servo_Telem::TelemetryData::Types::CURRENT |
AP_Servo_Telem::TelemetryData::Types::DUTY_CYCLE |
AP_Servo_Telem::TelemetryData::Types::MOTOR_TEMP |
AP_Servo_Telem::TelemetryData::Types::STATUS
.present_types = AP_Servo_Telem::TelemetryData::Types::COMMANDED_POSITION |
AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION |
AP_Servo_Telem::TelemetryData::Types::SPEED |
AP_Servo_Telem::TelemetryData::Types::VOLTAGE |
AP_Servo_Telem::TelemetryData::Types::CURRENT |
AP_Servo_Telem::TelemetryData::Types::DUTY_CYCLE |
AP_Servo_Telem::TelemetryData::Types::MOTOR_TEMP |
AP_Servo_Telem::TelemetryData::Types::STATUS
};

servo_telem->update_telem_data(ii, telem_data);
Expand Down
60 changes: 56 additions & 4 deletions libraries/AP_Scripting/docs/docs.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -1395,9 +1395,6 @@ function camera:take_picture(instance) end
---@class (exact) AP_Camera__camera_state_t_ud
local AP_Camera__camera_state_t_ud = {}

---@return AP_Camera__camera_state_t_ud
function AP_Camera__camera_state_t() end

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-- get field
---@return Vector2f_ud
function AP_Camera__camera_state_t_ud:tracking_p1() end
Expand Down Expand Up @@ -4015,7 +4012,6 @@ function networking:get_netmask_active() end
function networking:get_ip_active() end

-- visual odometry object
--@class visual_odom
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visual_odom = {}

-- visual odometry health
Expand All @@ -4025,3 +4021,59 @@ function visual_odom:healthy() end
-- visual odometry quality as a percentage from 1 to 100 or 0 if unknown
---@return integer
function visual_odom:quality() end

-- servo telemetry class
servo_telem = {}

-- get servo telem for the given servo number
---@param servo_index integer -- 0 indexed servo number
---@return AP_Servo_Telem_Data_ud|nil
function servo_telem:get_telem(servo_index) end

-- Servo telemtry userdata object
---@class AP_Servo_Telem_Data_ud
local AP_Servo_Telem_Data_ud = {}

-- Get timestamp of last telem update
---@return uint32_t_ud -- milliseconds since boot
function AP_Servo_Telem_Data_ud:last_update_ms() end

-- Get type spesfic status flags
---@return integer|nil -- flags or nil if not available
function AP_Servo_Telem_Data_ud:status_flags() end

-- Get pcb temprature in centidegrees
---@return integer|nil -- temperature in centidegrees or nil if not available
function AP_Servo_Telem_Data_ud:pcb_temperature_cdeg() end

-- Get motor temprature in centidegrees
---@return integer|nil -- temperature in centidegrees or nil if not available
function AP_Servo_Telem_Data_ud:motor_temperature_cdeg() end

-- Get duty cycle
---@return integer|nil -- duty cycle 0% to 100% or nil if not available
function AP_Servo_Telem_Data_ud:duty_cycle() end

-- get current
---@return number|nil -- current in amps or nil if not available
function AP_Servo_Telem_Data_ud:current() end

-- get voltage
---@return number|nil -- voltage in volts or nil if not available
function AP_Servo_Telem_Data_ud:voltage() end

-- get speed
---@return number|nil -- speed in degrees per second or nil if not available
function AP_Servo_Telem_Data_ud:speed() end

-- get force
---@return number|nil -- force in newton meters or nil if not available
function AP_Servo_Telem_Data_ud:force() end

-- get measured position
---@return number|nil -- measured position in degrees or nil if not available
function AP_Servo_Telem_Data_ud:measured_position() end

-- get commanded position
---@return number|nil -- comanded position in degrees or nil if not available
function AP_Servo_Telem_Data_ud:command_position() end
20 changes: 20 additions & 0 deletions libraries/AP_Scripting/generator/description/bindings.desc
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Original file line number Diff line number Diff line change
Expand Up @@ -1042,3 +1042,23 @@ include AP_TemperatureSensor/AP_TemperatureSensor.h
singleton AP_TemperatureSensor depends AP_TEMPERATURE_SENSOR_ENABLED
singleton AP_TemperatureSensor rename temperature_sensor
singleton AP_TemperatureSensor method get_temperature boolean float'Null uint8_t'skip_check

include AP_Servo_Telem/AP_Servo_Telem.h depends AP_SERVO_TELEM_ENABLED
include AP_Servo_Telem/AP_Servo_Telem_config.h
singleton AP_Servo_Telem depends AP_SERVO_TELEM_ENABLED
singleton AP_Servo_Telem rename servo_telem
singleton AP_Servo_Telem method get_telem boolean uint8_t'skip_check AP_Servo_Telem::TelemetryData'Null

userdata AP_Servo_Telem::TelemetryData depends AP_SERVO_TELEM_ENABLED
userdata AP_Servo_Telem::TelemetryData rename AP_Servo_Telem_Data
userdata AP_Servo_Telem::TelemetryData field command_position float'skip_check read valid_mask present_types AP_Servo_Telem::TelemetryData::Types::COMMANDED_POSITION
userdata AP_Servo_Telem::TelemetryData field measured_position float'skip_check read valid_mask present_types AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION
userdata AP_Servo_Telem::TelemetryData field force float'skip_check read valid_mask present_types AP_Servo_Telem::TelemetryData::Types::FORCE
userdata AP_Servo_Telem::TelemetryData field speed float'skip_check read valid_mask present_types AP_Servo_Telem::TelemetryData::Types::SPEED
userdata AP_Servo_Telem::TelemetryData field voltage float'skip_check read valid_mask present_types AP_Servo_Telem::TelemetryData::Types::VOLTAGE
userdata AP_Servo_Telem::TelemetryData field current float'skip_check read valid_mask present_types AP_Servo_Telem::TelemetryData::Types::CURRENT
userdata AP_Servo_Telem::TelemetryData field duty_cycle uint8_t'skip_check read valid_mask present_types AP_Servo_Telem::TelemetryData::Types::DUTY_CYCLE
userdata AP_Servo_Telem::TelemetryData field motor_temperature_cdeg int16_t'skip_check read valid_mask present_types AP_Servo_Telem::TelemetryData::Types::MOTOR_TEMP
userdata AP_Servo_Telem::TelemetryData field pcb_temperature_cdeg int16_t'skip_check read valid_mask present_types AP_Servo_Telem::TelemetryData::Types::PCB_TEMP
userdata AP_Servo_Telem::TelemetryData field status_flags uint8_t'skip_check read valid_mask present_types AP_Servo_Telem::TelemetryData::Types::STATUS
userdata AP_Servo_Telem::TelemetryData field last_update_ms uint32_t'skip_check read
79 changes: 54 additions & 25 deletions libraries/AP_Scripting/generator/src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,8 @@ char keyword_global[] = "global";
char keyword_creation[] = "creation";
char keyword_manual_operator[] = "manual_operator";
char keyword_operator_getter[] = "operator_getter";
char keyword_field_valid_mask[] = "valid_mask";


// attributes (should include the leading ' )
char keyword_attr_enum[] = "'enum";
Expand Down Expand Up @@ -184,6 +186,10 @@ struct type {
char *enum_name;
char *literal;
} data;
struct {
char *name;
char *value;
} valid_mask;
};

int TRACE_LEVEL = 0;
Expand Down Expand Up @@ -510,6 +516,11 @@ unsigned int parse_access_flags(struct type * type) {
error(ERROR_INTERNAL, "Can't access a NONE type");
}
}
} else if (strcmp(state.token, keyword_field_valid_mask) == 0) {
char * name = next_token();
string_copy(&(type->valid_mask.name), name);
char * value = next_token();
string_copy(&(type->valid_mask.value), value);
} else {
error(ERROR_UNKNOWN_KEYWORD, "Unknown access provided: %s", state.token);
break;
Expand Down Expand Up @@ -1290,6 +1301,24 @@ void end_dependency(FILE *f, const char *dependency) {
}
}

int should_emit_creation(struct userdata * data) {
if (data->creation || data->methods) {
// Custom creation or methods, if not specifically disabled
return !(data->creation && data->creation_args == -1);
} else {
// Don't expose creation function for items with only read-only fields
struct userdata_field * field = data->fields;
while(field) {
if (field->access_flags & ACCESS_FLAG_WRITE) {
return TRUE;
break;
}
field = field->next;
}
return FALSE;
}
}

void emit_headers(FILE *f) {
struct header *node = headers;
while (node) {
Expand All @@ -1314,7 +1343,7 @@ void emit_userdata_allocators(void) {
fprintf(source, "}\n");

// New method used externally, includes argcheck, overridden by custom creation function if provided
if (node->creation == NULL) {
if (node->creation == NULL && should_emit_creation(node)) {
fprintf(source, "\n");
fprintf(source, "int lua_new_%s(lua_State *L) {\n", node->sanatized_name);

Expand Down Expand Up @@ -1399,7 +1428,7 @@ void emit_userdata_declarations(void) {
while (node) {
start_dependency(header, node->dependency);
fprintf(header, "%s * new_%s(lua_State *L);\n", node->name, node->sanatized_name);
if (node->creation == NULL) {
if (node->creation == NULL && should_emit_creation(node)) {
fprintf(header, "int lua_new_%s(lua_State *L);\n", node->sanatized_name);
}
fprintf(header, "%s * check_%s(lua_State *L, int arg);\n", node->name, node->sanatized_name);
Expand Down Expand Up @@ -1716,10 +1745,20 @@ void emit_field(const struct userdata_field *field, const char* object_name, con
fprintf(source, " binding_argcheck(L, %d);\n",args);
}

int valid_mask = (field->type.valid_mask.name != NULL) && (field->type.valid_mask.value != NULL);

if (field->access_flags & ACCESS_FLAG_READ) {
if (use_switch) {
fprintf(source, " case 1:\n");
}

// Check if field is valid
if (valid_mask) {
fprintf(source, "%sif ((%s%s%s & %s) == 0) {\n", indent, object_name, object_access, field->type.valid_mask.name, field->type.valid_mask.value);
fprintf(source, "%s return 0;\n", indent);
fprintf(source, "%s}\n", indent);
}

switch (field->type.type) {
case TYPE_BOOLEAN:
fprintf(source, "%slua_pushinteger(L, %s%s%s%s);\n", indent, object_name, object_access, field->name, index_string);
Expand Down Expand Up @@ -1764,6 +1803,12 @@ void emit_field(const struct userdata_field *field, const char* object_name, con
fprintf(source, " case 2: {\n");
}
emit_checker(field->type, write_arg_number, 0, indent);

// set field valid
if (valid_mask) {
fprintf(source, "%s%s%s%s |= %s;\n", indent, object_name, object_access, field->type.valid_mask.name, field->type.valid_mask.value);
}

fprintf(source, "%s%s%s%s%s = data_%i;\n", indent, object_name, object_access, field->name, index_string, write_arg_number);
fprintf(source, "%sreturn 0;\n", indent);
if (use_switch) {
Expand Down Expand Up @@ -2585,24 +2630,7 @@ void emit_userdata_new_funcs(void) {
fprintf(source, " const lua_CFunction fun;\n");
fprintf(source, "} new_userdata[] = {\n");
while (data) {
// Dont expose creation function for all read only items
int expose_creation = FALSE;
if (data->creation || data->methods) {
// Custom creation or methods, if not specifically disabled
expose_creation = !(data->creation && data->creation_args == -1);
} else {
// Feilds only
struct userdata_field * field = data->fields;
while(field) {
if (field->access_flags & ACCESS_FLAG_WRITE) {
expose_creation = TRUE;
break;
}
field = field->next;
}
}

if (expose_creation) {
if (should_emit_creation(data)) {
start_dependency(source, data->dependency);
if (data->creation) {
// expose custom creation function to user (not used internally)
Expand Down Expand Up @@ -2888,8 +2916,7 @@ void emit_docs(struct userdata *node, int is_userdata, int emit_creation) {
// local userdata
fprintf(docs, "local %s = {}\n\n", name);

int creation_disabled = (node->creation && node->creation_args == -1);
if (emit_creation && (!node->creation || !creation_disabled)) {
if (emit_creation && should_emit_creation(node)) {
// creation function
if (node->creation != NULL) {
for (int i = 0; i < node->creation_args; ++i) {
Expand All @@ -2910,7 +2937,6 @@ void emit_docs(struct userdata *node, int is_userdata, int emit_creation) {
}
fprintf(docs, ") end\n\n");
}

}
} else {
// global
Expand All @@ -2922,11 +2948,14 @@ void emit_docs(struct userdata *node, int is_userdata, int emit_creation) {
if (node->fields != NULL) {
struct userdata_field *field = node->fields;
while(field) {
int valid_mask = (field->type.valid_mask.name != NULL) && (field->type.valid_mask.value != NULL);
const char * return_postfix = valid_mask ? "|nil\n" : "\n";

if (field->array_len == NULL) {
// single value field
if (field->access_flags & ACCESS_FLAG_READ) {
fprintf(docs, "-- get field\n");
emit_docs_type(field->type, "---@return", "\n");
emit_docs_type(field->type, "---@return", return_postfix);
fprintf(docs, "function %s:%s() end\n\n", name, field->rename ? field->rename : field->name);
}
if (field->access_flags & ACCESS_FLAG_WRITE) {
Expand All @@ -2939,7 +2968,7 @@ void emit_docs(struct userdata *node, int is_userdata, int emit_creation) {
if (field->access_flags & ACCESS_FLAG_READ) {
fprintf(docs, "-- get array field\n");
fprintf(docs, "---@param index integer\n");
emit_docs_type(field->type, "---@return", "\n");
emit_docs_type(field->type, "---@return", return_postfix);
fprintf(docs, "function %s:%s(index) end\n\n", name, field->rename ? field->rename : field->name);
}
if (field->access_flags & ACCESS_FLAG_WRITE) {
Expand Down
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