Scripting/AP_RangeFinder: Add lua scripting based RangeFinder #20015

rishabsingh3003 · 2022-02-06T18:33:45Z

Thanks to @IamPete1 for teaching me how to add bindings for the slightly complicated backend methods!

This PR attempts to add the ability for a user to add a custom Lua script-based rangefinder backend.
An example script has been attached where this is useful:
All sensors attached in the same direction are checked against each other. If any of the sensors report a disparity greater than a particular margin, we ignore all the readings. Therefore, we can now also add such custom behaviour with this PR (instead of just using it to add new drivers for new sensors).

libraries/AP_RangeFinder/AP_RangeFinder.cpp

libraries/AP_RangeFinder/AP_RangeFinder_Lua.cpp

libraries/AP_RangeFinder/AP_RangeFinder.cpp

libraries/AP_Scripting/generator/description/bindings.desc

libraries/AP_RangeFinder/AP_RangeFinder.cpp

IamPete1 · 2022-02-13T17:47:52Z

libraries/AP_RangeFinder/AP_RangeFinder.cpp

+        AP_RangeFinder_Backend *backend = get_backend(i);
+        if (backend != nullptr &&
+            backend->orientation() == orientation &&
+            backend->primary_sensor()) {


We could also change to a "use" method. Like airspeed and compass. Rather than overriding with the scripting backend you would instead set to not use.

Yes I think that adds moe functionality too. Done that

muramura · 2022-04-22T20:35:02Z

I want to add a range finder for my TMF8821 with a LUA script.
What is the problem with this LUA driver?

TMF8821:.
https://www.sparkfun.com/products/19451

IamPete1 · 2022-10-31T02:12:11Z

libraries/AP_RangeFinder/AP_RangeFinder_Lua.cpp

+// Set the distance based on a Lua Script
+bool AP_RangeFinder_Lua::handle_script_msg(float dist_m)
+{
+    // only accept distances for the configured orentation


Comment is wrong.

IamPete1 · 2022-10-31T02:15:53Z

libraries/AP_RangeFinder/AP_RangeFinder_Lua.cpp

+{
+    //Time out on incoming data; if we don't get new
+    //data in 500ms, dump it
+    if (AP_HAL::millis() - state.last_reading_ms > AP_RANGEFINDER_LUA_TIMEOUT_MS) {


I quite like this sort of timeout, however we did not implement one for EFI, there the script sets last reading itself. That does mean the script can report that rangefinder is lost, eg it can still set the distance without updating the timeout. Here we cant tell the difference between the script stopping and the script loosing connection with the sensor. However it does require that the script fill that last time in correctly.

tridge · 2022-11-02T07:07:51Z

libraries/AP_RangeFinder/AP_RangeFinder.cpp

+#if AP_SCRIPTING_ENABLED
+        _add_backend(new AP_RangeFinder_Lua(state[instance], params[instance]), instance);
+        break;
+#endif


break after endif

tridge · 2022-11-02T07:11:50Z

libraries/AP_RangeFinder/AP_RangeFinder.cpp

    for (uint8_t i=0; i<num_instances; i++) {
        AP_RangeFinder_Backend *backend = get_backend(i);
        if (backend != nullptr &&
            backend->orientation() == orientation &&
-            backend->status() == Status::Good) {
+            backend->status() == Status::Good &&
+            backend->use_sensor()) {
            return backend;


need to check all uses of get_backend() to ensure they obey use setting
eg: NavEKF3_core::readRangeFinder()
also AP_Proximity_RangeFinder::update

tridge · 2022-11-02T07:18:36Z

libraries/AP_Scripting/examples/rangefinder_lua_driver.lua

+  return update, update_rate_ms -- check again in 25ms
+end
+
+return update(), 5000 -- first data may be  checked 5 seconds after start-up


add protected_wrapper()

tridge · 2023-01-25T07:30:13Z

libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp

@@ -39,7 +39,7 @@ void NavEKF3_core::readRangeFinder(void)
            if (sensor == nullptr) {
                continue;
            }
-            if ((sensor->orientation() == ROTATION_PITCH_270) && (sensor->status() == AP_DAL_RangeFinder::Status::Good)) {
+            if ((sensor->orientation() == ROTATION_PITCH_270) && (sensor->status() == AP_DAL_RangeFinder::Status::Good) && sensor->use_sensor()) {


this really is a mess, a function that does this would make it a lot cleaner:

get_backend_orient_use(ROTATION_PITCH_270);
that would return the first in-range rangefinder with the given orient that has USE=1

tridge · 2023-01-25T07:40:01Z

libraries/AP_Scripting/docs/docs.lua

+---@return number
+function AP_RangeFinder_Backend_ud:distance() end
+
+-- Returns true if backend has new data


don't need has_data(), use status()

tridge · 2023-01-25T07:44:30Z

libraries/AP_Scripting/generator/description/bindings.desc

@@ -191,6 +199,8 @@ singleton RangeFinder method status_orient uint8_t Rotation'enum ROTATION_NONE R
 singleton RangeFinder method has_data_orient boolean Rotation'enum ROTATION_NONE ROTATION_MAX-1
 singleton RangeFinder method get_pos_offset_orient Vector3f Rotation'enum ROTATION_NONE ROTATION_MAX-1

+singleton RangeFinder method get_backend AP_RangeFinder_Backend uint8_t 0 RANGEFINDER_MAX_INSTANCES-1


should be skip_check, and change the other rangefinder ones to skip_check, and use nil check in script

tridge · 2023-03-25T08:41:16Z

@rishabsingh3003 any progress?

rishabsingh3003 · 2023-03-25T14:40:31Z

@tridge #22933 Already got merged with the Scripting rangefinder backend. What hasn't gotten in is the Rangefinder enable parameter, which will allow us to do selectively turn off rangefinder backends. The reason is that I feel several EKF changes should be made (more than the one already present in this PR) because the rangefinder parts have lots of assumptions and bugs. I can probably push a PR tomorrow if you'd like but I would benefit from a 5 min discussion before on the things that require changing.

lvale · 2023-08-01T17:05:44Z

@rishabsingh3003 Hi again. Is this on hold or do you plan to finish it, after Tridge's requested changes ?

IamPete1 reviewed Feb 6, 2022

View reviewed changes

libraries/AP_RangeFinder/AP_RangeFinder.cpp Outdated Show resolved Hide resolved

rishabsingh3003 force-pushed the lua_rangefinder branch 3 times, most recently from 03f49ff to 5454a06 Compare February 8, 2022 16:30

rishabsingh3003 added the DevCallEU label Feb 9, 2022

tridge requested changes Feb 9, 2022

View reviewed changes

libraries/AP_RangeFinder/AP_RangeFinder_Lua.cpp Outdated Show resolved Hide resolved

libraries/AP_RangeFinder/AP_RangeFinder.cpp Outdated Show resolved Hide resolved

libraries/AP_Scripting/generator/description/bindings.desc Outdated Show resolved Hide resolved

tridge reviewed Feb 9, 2022

View reviewed changes

libraries/AP_RangeFinder/AP_RangeFinder.cpp Show resolved Hide resolved

tridge removed the DevCallEU label Feb 9, 2022

rishabsingh3003 force-pushed the lua_rangefinder branch from 5454a06 to ff85d45 Compare February 12, 2022 18:24

IamPete1 reviewed Feb 13, 2022

View reviewed changes

khancyr added the Scripting label Mar 7, 2022

IamPete1 mentioned this pull request Sep 5, 2022

EFI Scripting Driver Backend #21643

Merged

rishabsingh3003 force-pushed the lua_rangefinder branch 2 times, most recently from fb3e9e6 to 2069b65 Compare October 30, 2022 16:31

rishabsingh3003 added the Partner label Oct 30, 2022

rishabsingh3003 force-pushed the lua_rangefinder branch from 2069b65 to e652f83 Compare October 30, 2022 17:34

IamPete1 reviewed Oct 31, 2022

View reviewed changes

rishabsingh3003 added the DevCallEU label Nov 1, 2022

tridge requested changes Nov 2, 2022

View reviewed changes

tridge removed the DevCallEU label Nov 2, 2022

rishabsingh3003 and others added 8 commits January 10, 2023 05:14

AP_RangeFinder: Add Lua Script based backend

0d9bd1e

AP_Scripting: Add support for lua scripting based RangeFinder

621d7d5

AP_Scripting: Add example of RangeFinder based on lua script

bb6d9d0

AP_DAL: store which rangefinder is in use

4864873

AP_Proximity: only process rangefinder in use

02a8f0b

AP_NavEKF3: only process rangefinder in use

ded77bf

AP_NavEKF2: only process rangefinder in use

a46007b

AP_Scripting: Use protected wrapper

801cba0

rishabsingh3003 force-pushed the lua_rangefinder branch from e652f83 to 801cba0 Compare January 21, 2023 17:37

AP_Scripting: Add docs for rangefinder backend

08243e4

rishabsingh3003 added the DevCallEU label Jan 25, 2023

tridge requested changes Jan 25, 2023

View reviewed changes

tridge removed the DevCallEU label Jan 25, 2023

rishabsingh3003 mentioned this pull request Feb 15, 2023

Scripting/AP_RangeFinder: Add lua scripting based RangeFinder (Split) #22933

Merged

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Scripting/AP_RangeFinder: Add lua scripting based RangeFinder #20015

Scripting/AP_RangeFinder: Add lua scripting based RangeFinder #20015

rishabsingh3003 commented Feb 6, 2022

IamPete1 Feb 13, 2022

rishabsingh3003 Oct 30, 2022

muramura commented Apr 22, 2022

IamPete1 Oct 31, 2022

IamPete1 Oct 31, 2022

tridge Nov 2, 2022

tridge Nov 2, 2022

tridge Nov 2, 2022

tridge Jan 25, 2023

tridge Jan 25, 2023

tridge Jan 25, 2023

tridge commented Mar 25, 2023

rishabsingh3003 commented Mar 25, 2023

lvale commented Aug 1, 2023

Scripting/AP_RangeFinder: Add lua scripting based RangeFinder #20015

Are you sure you want to change the base?

Scripting/AP_RangeFinder: Add lua scripting based RangeFinder #20015

Conversation

rishabsingh3003 commented Feb 6, 2022

Choose a reason for hiding this comment

Choose a reason for hiding this comment

muramura commented Apr 22, 2022

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

tridge commented Mar 25, 2023

rishabsingh3003 commented Mar 25, 2023

lvale commented Aug 1, 2023