AP_Scripting: add support for dependencty on manual methods, remove h…

…andling of mission commands without AP_Mission
ArduPilot · Oct 16, 2023 · 105801c · 105801c
1 parent 77e2d07
commit 105801c
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Showing 5 changed files with 24 additions and 1 deletion.
diff --git a/libraries/AP_Scripting/AP_Scripting.cpp b/libraries/AP_Scripting/AP_Scripting.cpp
@@ -304,6 +304,7 @@ void AP_Scripting::thread(void) {
 
 void AP_Scripting::handle_mission_command(const AP_Mission::Mission_Command& cmd_in)
 {
+#if AP_MISSION_ENABLED
     if (!_enable) {
         return;
     }
@@ -328,6 +329,7 @@ void AP_Scripting::handle_mission_command(const AP_Mission::Mission_Command& cmd
                                       AP_HAL::millis()};
 
     mission_data->push(cmd);
+#endif
 }
 
 bool AP_Scripting::arming_checks(size_t buflen, char *buffer) const

diff --git a/libraries/AP_Scripting/AP_Scripting.h b/libraries/AP_Scripting/AP_Scripting.h
@@ -90,6 +90,7 @@ class AP_Scripting
     ScriptingCANSensor *_CAN_dev2;
 #endif
 
+#if AP_MISSION_ENABLED
     // mission item buffer
     static const int mission_cmd_queue_size = 5;
     struct scripting_mission_cmd {
@@ -100,6 +101,7 @@ class AP_Scripting
         uint32_t time_ms;
     };
     ObjectBuffer<struct scripting_mission_cmd> * mission_data;
+#endif
 
     // PWMSource storage
     uint8_t num_pwm_source;

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -760,7 +760,7 @@ singleton i2c manual get_device lua_get_i2c_device 4
 
 global manual millis lua_millis 0
 global manual micros lua_micros 0
-global manual mission_receive lua_mission_receive 0
+global manual mission_receive lua_mission_receive 0 depends AP_MISSION_ENABLED
 
 userdata uint32_t creation lua_new_uint32_t 1
 userdata uint32_t manual_operator __add uint32_t___add

diff --git a/libraries/AP_Scripting/generator/src/main.c b/libraries/AP_Scripting/generator/src/main.c
@@ -368,6 +368,7 @@ struct method_alias {
   int line;
   int num_args;
   enum alias_type type;
+  char *dependency;
 };
 
 struct userdata_field {
@@ -887,6 +888,20 @@ void handle_manual(struct userdata *node, enum alias_type type) {
     }
     alias->num_args = atoi(num_args);
   }
+
+  char *depends_keyword = next_token();
+  if (depends_keyword != NULL) {
+    if (strcmp(depends_keyword, keyword_depends) != 0) {
+      error(ERROR_SINGLETON, "Expected depends keyword for manual method %s %s, got: %s", node->name, name, depends_keyword);
+    } else {
+      char *dependency = strtok(NULL, "");
+      if (dependency == NULL) {
+        error(ERROR_USERDATA, "Expected dependency string for global %s on line", name, state.line_num);
+      }
+      string_copy(&(alias->dependency), dependency);
+    }
+  }
+
   alias->next = node->method_aliases;
   node->method_aliases = alias;
 }
@@ -2414,7 +2429,9 @@ void emit_sandbox(void) {
       if (manual_aliases->type != ALIAS_TYPE_MANUAL) {
         error(ERROR_GLOBALS, "Globals only support manual methods");
       }
+      start_dependency(source, manual_aliases->dependency);
       fprintf(source, "    {\"%s\", %s},\n", manual_aliases->alias, manual_aliases->name);
+      end_dependency(source, manual_aliases->dependency);
       manual_aliases = manual_aliases->next;
     }
   }

diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
@@ -215,6 +215,7 @@ int lua_mavlink_block_command(lua_State *L) {
 }
 #endif // HAL_GCS_ENABLED
 
+#if AP_MISSION_ENABLED
 int lua_mission_receive(lua_State *L) {
     binding_argcheck(L, 0);
 
@@ -242,6 +243,7 @@ int lua_mission_receive(lua_State *L) {
 
     return 5;
 }
+#endif // AP_MISSION_ENABLED
 
 #if HAL_LOGGING_ENABLED
 int AP_Logger_Write(lua_State *L) {