AP_Scripting: add param set and get

libraries/AP_Param/AP_Param.cpp

@@ -38,6 +38,9 @@ extern const AP_HAL::HAL &hal;
 
 uint16_t AP_Param::sentinal_offset;
 
+// singleton instance
+AP_Param *AP_Param::_singleton;
+
 #define ENABLE_DEBUG 1
 
 #if ENABLE_DEBUG
@@ -379,6 +382,14 @@ bool AP_Param::get_base(const struct Info &info, ptrdiff_t &base)
     return true;
 }
 
+namespace AP {
+
+AP_Param *param()
+{
+    return AP_Param::get_singleton();
+}
+
+}
 
 // find the info structure given a header and a group_info table
 // return the Info structure and a pointer to the variables storage
@@ -2388,6 +2399,39 @@ bool AP_Param::set_by_name(const char *name, float value)
     return false;
 }
 
+/*
+  get a value by name
+ */
+bool AP_Param::get(const char *name, float &value)
+{
+    enum ap_var_type vtype;
+    AP_Param *vp = find(name, &vtype);
+    if (vp == nullptr) {
+        return false;
+    }
+    switch (vtype) {
+    case AP_PARAM_INT8:
+        value = ((AP_Int8 *)vp)->get();
+        break;
+    case AP_PARAM_INT16:
+        value = ((AP_Int16 *)vp)->get();
+        break;
+
+    case AP_PARAM_INT32:
+        value = ((AP_Int32 *)vp)->get();
+        break;
+
+    case AP_PARAM_FLOAT:
+        value = ((AP_Float *)vp)->get();
+        break;
+
+    default:
+        // not a supported type
+        return false;
+    }
+    return true;
+}
+
 /*
   set and save a value by name
  */

libraries/AP_Param/AP_Param.h

@@ -197,6 +197,11 @@ class AP_Param
         uint16_t i;
         for (i=0; info[i].type != AP_PARAM_NONE; i++) ;
         _num_vars = i;
+
+        if (_singleton != nullptr) {
+            AP_HAL::panic("AP_Param must be singleton");
+        }
+        _singleton = this;
     }
 
     // empty constructor
@@ -281,13 +286,24 @@ class AP_Param
     /// @param  value           The new value
     /// @return                 true if the variable is found
     static bool set_by_name(const char *name, float value);
+    // name helper for scripting
+    static bool set(const char *name, float value) { return set_by_name(name, value); };
+
+    /// gat a value by name, used by scripting
+    ///
+    /// @param  name            The full name of the variable to be found.
+    /// @param  value           A refernce to the variable
+    /// @return                 true if the variable is found
+    static bool get(const char *name, float &value);
 
     /// set and save a value by name
     ///
     /// @param  name            The full name of the variable to be found.
     /// @param  value           The new value
     /// @return                 true if the variable is found
     static bool set_and_save_by_name(const char *name, float value);
+    // name helper for scripting
+    static bool set_and_save(const char *name, float value) { return set_and_save_by_name(name, value); };
 
     /// Find a variable by index.
     ///
@@ -479,7 +495,11 @@ class AP_Param
                              AP_HAL::BetterStream *port);
 #endif // AP_PARAM_KEY_DUMP
 
+    static AP_Param *get_singleton() { return _singleton; }
+
 private:
+    static AP_Param *_singleton;
+
     /// EEPROM header
     ///
     /// This structure is placed at the head of the EEPROM to indicate
@@ -673,6 +693,10 @@ class AP_Param
     void save_io_handler(void);
 };
 
+namespace AP {
+    AP_Param *param();
+};
+
 /// Template class for scalar variables.
 ///
 /// Objects of this type have a value, and can be treated in many ways as though they

libraries/AP_Scripting/examples/param_get_set_test.lua

@@ -0,0 +1,54 @@
+-- This script is a test of param set and get
+local count = 0
+
+function update() -- this is the loop which periodically runs
+
+  -- get and print all the scripting parameters
+  local value = param:get('SCR_ENABLE')
+  if value then
+    gcs:send_text(6, string.format('LUA: SCR_ENABLE: %i',value))
+  else
+    gcs:send_text(6, 'LUA: get SCR_ENABLE failed')
+  end
+  value = param:get('SCR_VM_I_COUNT')
+  if value then
+    gcs:send_text(6, string.format('LUA: SCR_VM_I_COUNT: %i',value))
+  else
+    gcs:send_text(6, 'LUA: get SCR_VM_I_COUNT failed')
+  end
+  value = param:get('SCR_HEAP_SIZE')
+  if value then
+    gcs:send_text(6, string.format('LUA: SCR_HEAP_SIZE: %i',value))
+  else
+    gcs:send_text(6, 'LUA: get SCR_HEAP_SIZE failed')
+  end
+  value = param:get('SCR_DEBUG_LVL')
+  if value then
+    gcs:send_text(6, string.format('LUA: SCR_DEBUG_LVL: %i',value))
+  else
+    gcs:send_text(6, 'LUA: get SCR_DEBUG_LVL failed')
+  end
+
+  -- increment the script heap size by one
+  local heap_size = param:get('SCR_HEAP_SIZE')
+  if heap_size then
+    if not(param:set('SCR_HEAP_SIZE',heap_size + 1)) then
+      gcs:send_text(6, 'LUA: param set failed')
+    end
+  else
+    gcs:send_text(6, 'LUA: get SCR_HEAP_SIZE failed')
+  end
+
+
+  count = count + 1;
+
+  -- self terminate after 30 loops
+  if count > 30 then
+    gcs:send_text(0, 'LUA: goodbye, world')
+    param:set('SCR_ENABLE',0)
+  end
+
+  return update, 1000 -- reschedules the loop
+end
+
+return update() -- run immediately before starting to reschedule

libraries/AP_Scripting/generator/description/bindings.desc

@@ -183,3 +183,9 @@ singleton AP_Baro method get_external_temperature float
 include AP_ESC_Telem/AP_ESC_Telem.h
 singleton AP_ESC_Telem alias esc_telem
 singleton AP_ESC_Telem method get_usage_seconds boolean uint8_t 0 NUM_SERVO_CHANNELS uint32_t'Null
+
+include AP_Param/AP_Param.h
+singleton AP_Param alias param
+singleton AP_Param method get boolean string float'Null
+singleton AP_Param method set boolean string float -FLT_MAX FLT_MAX
+singleton AP_Param method set_and_save boolean string float -FLT_MAX FLT_MAX

libraries/AP_Scripting/lua_generated_bindings.cpp

@@ -1,6 +1,7 @@
 // auto generated bindings, don't manually edit.  See README.md for details.
 #include "lua_generated_bindings.h"
 #include "lua_boxed_numerics.h"
+#include <AP_Param/AP_Param.h>
 #include <AP_ESC_Telem/AP_ESC_Telem.h>
 #include <AP_Baro/AP_Baro.h>
 #include <AP_SerialManager/AP_SerialManager.h>
@@ -531,6 +532,65 @@ const luaL_Reg Location_meta[] = {
     {NULL, NULL}
 };
 
+static int AP_Param_set_and_save(lua_State *L) {
+    AP_Param * ud = AP_Param::get_singleton();
+    if (ud == nullptr) {
+        return luaL_argerror(L, 1, "param not supported on this firmware");
+    }
+
+    binding_argcheck(L, 3);
+    const char * data_2 = luaL_checkstring(L, 2);
+    const float raw_data_3 = luaL_checknumber(L, 3);
+    luaL_argcheck(L, ((raw_data_3 >= MAX(-FLT_MAX, -INFINITY)) && (raw_data_3 <= MIN(FLT_MAX, INFINITY))), 3, "argument out of range");
+    const float data_3 = raw_data_3;
+    const bool data = ud->set_and_save(
+            data_2,
+            data_3);
+
+    lua_pushboolean(L, data);
+    return 1;
+}
+
+static int AP_Param_set(lua_State *L) {
+    AP_Param * ud = AP_Param::get_singleton();
+    if (ud == nullptr) {
+        return luaL_argerror(L, 1, "param not supported on this firmware");
+    }
+
+    binding_argcheck(L, 3);
+    const char * data_2 = luaL_checkstring(L, 2);
+    const float raw_data_3 = luaL_checknumber(L, 3);
+    luaL_argcheck(L, ((raw_data_3 >= MAX(-FLT_MAX, -INFINITY)) && (raw_data_3 <= MIN(FLT_MAX, INFINITY))), 3, "argument out of range");
+    const float data_3 = raw_data_3;
+    const bool data = ud->set(
+            data_2,
+            data_3);
+
+    lua_pushboolean(L, data);
+    return 1;
+}
+
+static int AP_Param_get(lua_State *L) {
+    AP_Param * ud = AP_Param::get_singleton();
+    if (ud == nullptr) {
+        return luaL_argerror(L, 1, "param not supported on this firmware");
+    }
+
+    binding_argcheck(L, 2);
+    const char * data_2 = luaL_checkstring(L, 2);
+    float data_5003 = {};
+    const bool data = ud->get(
+            data_2,
+            data_5003);
+
+    if (data) {
+        lua_pushnumber(L, data_5003);
+    } else {
+        lua_pushnil(L);
+    }
+    return 1;
+}
+
 static int AP_ESC_Telem_get_usage_seconds(lua_State *L) {
     AP_ESC_Telem * ud = AP_ESC_Telem::get_singleton();
     if (ud == nullptr) {
@@ -1928,6 +1988,13 @@ static int AP_AHRS_get_roll(lua_State *L) {
     return 1;
 }
 
+const luaL_Reg AP_Param_meta[] = {
+    {"set_and_save", AP_Param_set_and_save},
+    {"set", AP_Param_set},
+    {"get", AP_Param_get},
+    {NULL, NULL}
+};
+
 const luaL_Reg AP_ESC_Telem_meta[] = {
     {"get_usage_seconds", AP_ESC_Telem_get_usage_seconds},
     {NULL, NULL}
@@ -2185,6 +2252,7 @@ const struct userdata_meta userdata_fun[] = {
 };
 
 const struct userdata_meta singleton_fun[] = {
+    {"param", AP_Param_meta, NULL},
     {"esc_telem", AP_ESC_Telem_meta, NULL},
     {"baro", AP_Baro_meta, NULL},
     {"serial", AP_SerialManager_meta, NULL},
@@ -2256,6 +2324,7 @@ void load_generated_bindings(lua_State *L) {
 }
 
 const char *singletons[] = {
+    "param",
     "esc_telem",
     "baro",
     "serial",

libraries/AP_Scripting/lua_generated_bindings.h

@@ -1,5 +1,6 @@
 #pragma once
 // auto generated bindings, don't manually edit.  See README.md for details.
+#include <AP_Param/AP_Param.h>
 #include <AP_ESC_Telem/AP_ESC_Telem.h>
 #include <AP_Baro/AP_Baro.h>
 #include <AP_SerialManager/AP_SerialManager.h>