AP_Scripting: add readstring and writestring to serial device

Enables more efficient scripts.
ArduPilot · Jun 2, 2024 · 2719533 · 2719533
1 parent a021952
commit 2719533
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Showing 5 changed files with 64 additions and 0 deletions.
diff --git a/libraries/AP_Scripting/AP_Scripting_SerialDevice.cpp b/libraries/AP_Scripting/AP_Scripting_SerialDevice.cpp
@@ -69,6 +69,15 @@ int16_t AP_Scripting_SerialDevice::Port::device_read(void)
     return -1;
 }
 
+int32_t AP_Scripting_SerialDevice::Port::device_read(uint8_t *data, uint32_t len)
+{
+    WITH_SEMAPHORE(sem);
+    if (writebuffer) {
+        return writebuffer->read(data, len);
+    }
+    return 0;
+}
+
 int32_t AP_Scripting_SerialDevice::Port::device_write(uint8_t c)
 {
     WITH_SEMAPHORE(sem);
@@ -78,6 +87,15 @@ int32_t AP_Scripting_SerialDevice::Port::device_write(uint8_t c)
     return 0;
 }
 
+int32_t AP_Scripting_SerialDevice::Port::device_write(const uint8_t *data, uint32_t len)
+{
+    WITH_SEMAPHORE(sem);
+    if (readbuffer) {
+        return readbuffer->write(data, len);
+    }
+    return 0;
+}
+
 int32_t AP_Scripting_SerialDevice::Port::device_available(void)
 {
     WITH_SEMAPHORE(sem);

diff --git a/libraries/AP_Scripting/AP_Scripting_SerialDevice.h b/libraries/AP_Scripting/AP_Scripting_SerialDevice.h
@@ -31,7 +31,9 @@ class AP_Scripting_SerialDevice
         uint8_t get_protocol_index(void) { return state.protocol; }
 
         int16_t device_read(void);
+        int32_t device_read(uint8_t *data, uint32_t len);
         int32_t device_write(uint8_t c);
+        int32_t device_write(const uint8_t *data, uint32_t len);
         int32_t device_available(void);
 
     private:

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -473,8 +473,10 @@ ap_object AP_Scripting_SerialDevice::Port depends AP_SCRIPTING_SERIALDEVICE_ENAB
 ap_object AP_Scripting_SerialDevice::Port method get_protocol_index uint8_t
 ap_object AP_Scripting_SerialDevice::Port method device_read int16_t
 ap_object AP_Scripting_SerialDevice::Port method device_read rename read
+ap_object AP_Scripting_SerialDevice::Port manual readstring AP_Scripting_SerialDevice__Port__readstring 1 1
 ap_object AP_Scripting_SerialDevice::Port method device_write int32_t uint8_t'skip_check
 ap_object AP_Scripting_SerialDevice::Port method device_write rename write
+ap_object AP_Scripting_SerialDevice::Port manual writestring AP_Scripting_SerialDevice__Port__writestring 1 1
 ap_object AP_Scripting_SerialDevice::Port method device_available int32_t
 ap_object AP_Scripting_SerialDevice::Port method device_available rename available
 

diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
@@ -748,6 +748,46 @@ int lua_get_serialdevice_port(lua_State *L) {
 
     return 1;
 }
+
+int AP_Scripting_SerialDevice__Port__readstring(lua_State *L)
+{
+    binding_argcheck(L, 2);
+
+    AP_Scripting_SerialDevice::Port * port = *check_AP_Scripting_SerialDevice__Port(L, 1);
+
+    // create a buffer sized to hold the number of bytes the user wants to read
+    luaL_Buffer b;
+    const uint16_t req_bytes = get_uint16_t(L, 2);
+    uint8_t *data = (uint8_t *)luaL_buffinitsize(L, &b, req_bytes);
+
+    // read up to that number of bytes
+    const uint32_t read_bytes = port->device_read(data, req_bytes);
+
+    // push the buffer as a string, truncated to the number of bytes that were actually read
+    luaL_pushresultsize(&b, read_bytes);
+
+    return 1;
+}
+
+int AP_Scripting_SerialDevice__Port__writestring(lua_State *L)
+{
+    binding_argcheck(L, 2);
+
+    AP_Scripting_SerialDevice::Port * port = *check_AP_Scripting_SerialDevice__Port(L, 1);
+
+    // get the bytes the user wants to write, along with their length
+    size_t req_bytes;
+    const char *data = lua_tolstring(L, 2, &req_bytes);
+
+    // write up to that number of bytes
+    const uint32_t written_bytes = port->device_write((const uint8_t*)data, req_bytes);
+
+    // return the number of bytes that were actually written
+    lua_pushinteger(L, written_bytes);
+
+    return 1;
+}
+
 #endif // AP_SCRIPTING_SERIALDEVICE_ENABLED
 
 /*

diff --git a/libraries/AP_Scripting/lua_bindings.h b/libraries/AP_Scripting/lua_bindings.h
@@ -12,6 +12,8 @@ int AP_HAL__UARTDriver_readstring(lua_State *L);
 int lua_get_CAN_device(lua_State *L);
 int lua_get_CAN_device2(lua_State *L);
 int lua_get_serialdevice_port(lua_State *L);
+int AP_Scripting_SerialDevice__Port__readstring(lua_State *L);
+int AP_Scripting_SerialDevice__Port__writestring(lua_State *L);
 int lua_dirlist(lua_State *L);
 int lua_removefile(lua_State *L);
 int SRV_Channels_get_safety_state(lua_State *L);