Add generator error code binding to LUA

ArduPilot · Jun 24, 2024 · df1e864 · df1e864
1 parent 5ab2aaf
commit df1e864
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Showing 7 changed files with 41 additions and 0 deletions.
diff --git a/ArduCopter/Generator_test/scripts/gentest.lua b/ArduCopter/Generator_test/scripts/gentest.lua
@@ -0,0 +1,10 @@
+
+function update()
+
+    local errorcode = generator:get_errorcode()
+    gcs:send_text(0, "LUA: Error code: " .. errorcode)  
+
+return update, 1000
+end
+
+return update()
diff --git a/libraries/AP_Generator/AP_Generator.cpp b/libraries/AP_Generator/AP_Generator.cpp
@@ -173,6 +173,15 @@ bool AP_Generator::run()
     return _driver_ptr->run();
 }
 
+int AP_Generator::get_errorcode()
+{
+    // Return 0 if no driver
+    if (_driver_ptr == nullptr) {
+        return 0;
+    }
+    return _driver_ptr->get_errorcode();
+}
+
 // Get the AP_Generator singleton
 AP_Generator *AP_Generator::get_singleton()
 {

diff --git a/libraries/AP_Generator/AP_Generator.h b/libraries/AP_Generator/AP_Generator.h
@@ -57,6 +57,9 @@ class AP_Generator
     bool idle(void);
     bool run(void);
 
+    // error code returns 0 if no error or the error code return function is not implemented
+    int get_errorcode(void);
+
     void send_generator_status(const class GCS_MAVLINK &channel);
 
     // Parameter block

diff --git a/libraries/AP_Generator/AP_Generator_Backend.h b/libraries/AP_Generator/AP_Generator_Backend.h
@@ -32,6 +32,9 @@ class AP_Generator_Backend
     virtual bool idle(void) { return false; }
     virtual bool run(void) { return false; }
 
+    // Error code returns 0 if no error or the error code return function is not implemented
+    virtual int get_errorcode(void) {return 0;}
+
     // Use generator mavlink message
     virtual void send_generator_status(const GCS_MAVLINK &channel) {}
 

diff --git a/libraries/AP_Generator/AP_Generator_IE_FuelCell.h b/libraries/AP_Generator/AP_Generator_IE_FuelCell.h
@@ -26,6 +26,9 @@ class AP_Generator_IE_FuelCell : public AP_Generator_Backend
     // Update fuel cell, expected to be called at 20hz
     void update(void) override;
 
+    // Allow generator error code to pass up to frontend and export to LUA
+    int get_errorcode(void) override {return _err_code;}
+
 protected:
 
     // Pointer to serial uart

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
@@ -3571,3 +3571,11 @@ 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
+
+--Gnerator object
+--@class generator
+generator = {}
+
+-- returns the generator error code
+--- @return integer
+function generator:get_errorcode() end
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -955,3 +955,8 @@ singleton AP_VisualOdom depends HAL_VISUALODOM_ENABLED
 singleton AP_VisualOdom rename visual_odom
 singleton AP_VisualOdom method healthy boolean
 singleton AP_VisualOdom method quality int8_t
+
+include AP_Generator/AP_Generator.h  
+singleton AP_Generator depends HAL_GENERATOR_ENABLED
+singleton AP_Generator rename generator
+singleton AP_Generator method get_errorcode int8_t