From df1e864d4c85d9aecfd7b857d23dbc1b0bd7bc94 Mon Sep 17 00:00:00 2001
From: EosBandi <eosbandi@gmail.com>
Date: Mon, 24 Jun 2024 18:55:28 +0200
Subject: [PATCH] Add generator error code binding to LUA

---
 ArduCopter/Generator_test/scripts/gentest.lua          | 10 ++++++++++
 libraries/AP_Generator/AP_Generator.cpp                |  9 +++++++++
 libraries/AP_Generator/AP_Generator.h                  |  3 +++
 libraries/AP_Generator/AP_Generator_Backend.h          |  3 +++
 libraries/AP_Generator/AP_Generator_IE_FuelCell.h      |  3 +++
 libraries/AP_Scripting/docs/docs.lua                   |  8 ++++++++
 .../AP_Scripting/generator/description/bindings.desc   |  5 +++++
 7 files changed, 41 insertions(+)
 create mode 100644 ArduCopter/Generator_test/scripts/gentest.lua

diff --git a/ArduCopter/Generator_test/scripts/gentest.lua b/ArduCopter/Generator_test/scripts/gentest.lua
new file mode 100644
index 0000000000000..c38f437d4d209
--- /dev/null
+++ 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
index f1906bdc8fb50..a6ff3f08f07dd 100644
--- 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
index be36d09e20091..d160077892cb7 100644
--- 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
index eb095977ac041..cb987a5371123 100644
--- 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
index 7d09d8e2080fd..a5e65350bf187 100644
--- 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
index 7171b241c5296..aa88fd91b4716 100644
--- 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
\ No newline at end of file
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 40910361296c5..337253d314047 100644
--- 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