AP_Scripting: introduce serial device simulation support

Tools/autotest/rover.py

@@ -5428,6 +5428,28 @@ def test_scripting_set_home_to_vehicle_location(self):
         self.context_pop()
         self.reboot_sitl()
 
+    def test_scripting_serial_loopback(self):
+        self.start_subtest("Scripting serial loopback test")
+
+        self.context_push()
+        self.context_collect('STATUSTEXT')
+        self.set_parameters({
+            "SCR_ENABLE": 1,
+            "SCR_SDEV_EN": 1,
+            "SCR_SDEV1_PROTO": 28,
+        })
+        self.install_test_script_context("serial_loopback.lua")
+        self.reboot_sitl()
+
+        for success_text in [
+                "driver -> device good",
+                "device -> driver good",
+        ]:
+            self.wait_statustext(success_text, check_context=True)
+
+        self.context_pop()
+        self.reboot_sitl()
+
     def Scripting(self):
         '''Scripting test'''
         self.test_scripting_set_home_to_vehicle_location()
@@ -5436,6 +5458,7 @@ def Scripting(self):
         self.test_scripting_simple_loop()
         self.test_scripting_internal_test()
         self.test_scripting_auxfunc()
+        self.test_scripting_serial_loopback()
 
     def test_mission_frame(self, frame, target_system=1, target_component=1):
         self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_MISSION,

Tools/scripts/build_options.py

@@ -315,7 +315,8 @@ def __init__(self,
     Feature('Other', 'NMEA_OUTPUT', 'HAL_NMEA_OUTPUT_ENABLED', 'Enable NMEA Output', 0, None),
     Feature('Other', 'SDCARD_FORMATTING', 'AP_FILESYSTEM_FORMAT_ENABLED', 'Enable formatting of microSD cards', 0, None),
     Feature('Other', 'BOOTLOADER_FLASHING', 'AP_BOOTLOADER_FLASHING_ENABLED', 'Enable Bootloader flashing', 0, "FILESYSTEM_ROMFS"),  # noqa
-    Feature('Other', 'SCRIPTING', 'AP_SCRIPTING_ENABLED', 'Enable LUA Scripting', 0, None),
+    Feature('Other', 'SCRIPTING', 'AP_SCRIPTING_ENABLED', 'Enable Lua scripting', 0, None),
+    Feature('Other', 'SCRIPTING_SERIALDEVICE', 'AP_SCRIPTING_SERIALDEVICE_ENABLED', 'Enable Lua serial device simulation', 0, "SCRIPTING"), # noqa
     Feature('Other', 'SLCAN', 'AP_CAN_SLCAN_ENABLED', 'Enable SLCAN serial protocol', 0, None),
     Feature('Other', 'SDCARD_MISSION', 'AP_SDCARD_STORAGE_ENABLED', 'Enable storing mission on microSD cards', 0, None),
     Feature('Other', 'COMPASS_CAL', 'COMPASS_CAL_ENABLED', 'Enable "tumble" compass calibration', 0, None),

Tools/scripts/extract_features.py

@@ -207,6 +207,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
 
             ('AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED', r'RC_Channel::lookuptable',),
             ('AP_SCRIPTING_ENABLED', r'AP_Scripting::init',),
+            ('AP_SCRIPTING_SERIALDEVICE_ENABLED', r'AP_Scripting_SerialDevice::init',),
 
             ('AP_NOTIFY_TONEALARM_ENABLED', r'AP_ToneAlarm::init'),
             ('AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED', r'AP_Notify::handle_play_tune'),

libraries/AP_Scripting/AP_Scripting.cpp

@@ -160,6 +160,43 @@ const AP_Param::GroupInfo AP_Scripting::var_info[] = {
     // @RebootRequired: True
     // @User: Advanced
     AP_GROUPINFO("THD_PRIORITY", 14, AP_Scripting, _thd_priority, uint8_t(ThreadPriority::NORMAL)),
+
+#if AP_SCRIPTING_SERIALDEVICE_ENABLED
+    // @Param: SDEV_EN
+    // @DisplayName: Scripting serial device enable
+    // @Description: Enable scripting serial devices
+    // @Values: 0:Disabled, 1:Enabled
+    // @RebootRequired: True
+    // @User: Advanced
+    AP_GROUPINFO_FLAGS("SDEV_EN", 15,  AP_Scripting, _serialdevice.enable, 0, AP_PARAM_FLAG_ENABLE),
+
+    // @Param: SDEV1_PROTO
+    // @DisplayName: Serial protocol of scripting serial device
+    // @Description: Serial protocol of scripting serial device
+    // @CopyFieldsFrom: SERIAL1_PROTOCOL
+    // @RebootRequired: True
+    // @User: Advanced
+    AP_GROUPINFO("SDEV1_PROTO", 16,  AP_Scripting, _serialdevice.ports[0].state.protocol, -1),
+
+#if AP_SCRIPTING_SERIALDEVICE_NUM_PORTS > 1
+    // @Param: SDEV2_PROTO
+    // @DisplayName: Serial protocol of scripting serial device
+    // @Description: Serial protocol of scripting serial device
+    // @CopyFieldsFrom: SCR_SDEV1_PROTO
+    AP_GROUPINFO("SDEV2_PROTO", 17,  AP_Scripting, _serialdevice.ports[1].state.protocol, -1),
+#endif
+
+#if AP_SCRIPTING_SERIALDEVICE_NUM_PORTS > 2
+    // @Param: SDEV3_PROTO
+    // @DisplayName: Serial protocol of scripting serial device
+    // @Description: Serial protocol of scripting serial device
+    // @CopyFieldsFrom: SCR_SDEV1_PROTO
+    AP_GROUPINFO("SDEV3_PROTO", 18,  AP_Scripting, _serialdevice.ports[2].state.protocol, -1),
+#endif
+#endif // AP_SCRIPTING_SERIALDEVICE_ENABLED
+
+    // WARNING: additional parameters must be listed before SDEV_EN (but have an
+    // index after SDEV3_PROTO) so they are not disabled by it!
 
     AP_GROUPEND
 };
@@ -220,6 +257,16 @@ void AP_Scripting::init(void) {
     }
 }
 
+#if AP_SCRIPTING_SERIALDEVICE_ENABLED
+void AP_Scripting::init_serialdevice_ports(void) {
+    if (!_enable) {
+        return;
+    }
+
+    _serialdevice.init();
+}
+#endif
+
 #if HAL_GCS_ENABLED
 MAV_RESULT AP_Scripting::handle_command_int_packet(const mavlink_command_int_t &packet) {
     switch ((SCRIPTING_CMD)packet.param1) {
@@ -264,6 +311,11 @@ void AP_Scripting::thread(void) {
             GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Scripting: %s", "Unable to allocate memory");
             _init_failed = true;
         } else {
+#if AP_SCRIPTING_SERIALDEVICE_ENABLED
+            // clear data in serial buffers that the script wasn't ready to
+            // receive
+            _serialdevice.clear();
+#endif
             // run won't return while scripting is still active
             lua->run();
 
@@ -298,6 +350,11 @@ void AP_Scripting::thread(void) {
             }
         }
 #endif // AP_NETWORKING_ENABLED
+
+#if AP_SCRIPTING_SERIALDEVICE_ENABLED
+        // clear data in serial buffers that hasn't been transmitted
+        _serialdevice.clear();
+#endif
 
         // Clear blocked commands
         {

libraries/AP_Scripting/AP_Scripting.h

@@ -39,6 +39,14 @@
 class SocketAPM;
 #endif
 
+#ifndef AP_SCRIPTING_SERIALDEVICE_ENABLED
+#define AP_SCRIPTING_SERIALDEVICE_ENABLED AP_SERIALMANAGER_REGISTER_ENABLED && (BOARD_FLASH_SIZE>1024)
+#endif
+
+#if AP_SCRIPTING_SERIALDEVICE_ENABLED
+#include "AP_Scripting_SerialDevice.h"
+#endif
+
 class AP_Scripting
 {
 public:
@@ -49,6 +57,10 @@ class AP_Scripting
 
     void init(void);
 
+#if AP_SCRIPTING_SERIALDEVICE_ENABLED
+    void init_serialdevice_ports(void);
+#endif
+
     void update();
 
     bool enabled(void) const { return _enable != 0; };
@@ -138,6 +150,10 @@ class AP_Scripting
     command_block_list *mavlink_command_block_list;
     HAL_Semaphore mavlink_command_block_list_sem;
 
+    #if AP_SCRIPTING_SERIALDEVICE_ENABLED
+        AP_Scripting_SerialDevice _serialdevice;
+    #endif
+
 private:
 
     void thread(void); // main script execution thread

libraries/AP_Scripting/AP_Scripting_SerialAccess.cpp

@@ -0,0 +1,72 @@
+/*
+  generic object to allow a script to use a serial driver stream from both
+  driver and device perspectives
+ */
+
+#include "AP_Scripting_config.h"
+#include "AP_Scripting.h"
+#include "AP_Scripting_SerialAccess.h"
+
+#if AP_SCRIPTING_ENABLED
+
+#if AP_SCRIPTING_SERIALDEVICE_ENABLED
+#define check_is_device_port() (is_device_port)
+#define ON_DEVICE_PORT(func, ...) (((AP_Scripting_SerialDevice::Port*)stream)->device_##func (__VA_ARGS__))
+#else
+#define check_is_device_port() (false)
+#define ON_DEVICE_PORT(...) (0) // not executed
+#endif
+
+void AP_Scripting_SerialAccess::begin(uint32_t baud)
+{
+    if (!check_is_device_port()) {
+        stream->begin(baud);
+    }
+}
+
+size_t AP_Scripting_SerialAccess::write(uint8_t c)
+{
+    return write(&c, 1);
+}
+
+size_t AP_Scripting_SerialAccess::write(const uint8_t *buffer, size_t size)
+{
+    if (!check_is_device_port()) {
+        return stream->write(buffer, size);
+    }
+    return ON_DEVICE_PORT(write, buffer, size);
+}
+
+int16_t AP_Scripting_SerialAccess::read(void)
+{
+    uint8_t c;
+    if (read(&c, 1) != 1) {
+        return -1;
+    }
+    return c;
+}
+
+ssize_t AP_Scripting_SerialAccess::read(uint8_t* buffer, uint16_t count)
+{
+    if (!check_is_device_port()) {
+        return stream->read(buffer, count);
+    }
+    return ON_DEVICE_PORT(read, buffer, count);
+}
+
+uint32_t AP_Scripting_SerialAccess::available(void)
+{
+    if (!check_is_device_port()) {
+        return stream->available();
+    }
+    return ON_DEVICE_PORT(available);
+}
+
+void AP_Scripting_SerialAccess::set_flow_control(enum AP_HAL::UARTDriver::flow_control fcs)
+{
+    if (!check_is_device_port()) {
+        stream->set_flow_control(fcs);
+    }
+}
+
+#endif // AP_SCRIPTING_ENABLED

libraries/AP_Scripting/AP_Scripting_SerialAccess.h

@@ -0,0 +1,33 @@
+#pragma once
+
+#include "AP_Scripting_config.h"
+#include "AP_Scripting.h"
+
+#include <AP_HAL/UARTDriver.h>
+
+class AP_Scripting_SerialAccess {
+public:
+    /* Do not allow copies */
+    CLASS_NO_COPY(AP_Scripting_SerialAccess);
+
+    AP_Scripting_SerialAccess() {}
+
+    void begin(uint32_t baud);
+
+    size_t write(uint8_t c);
+    size_t write(const uint8_t *buffer, size_t size);
+
+    int16_t read(void);
+    ssize_t read(uint8_t *buffer, uint16_t count);
+
+    uint32_t available(void);
+
+    void set_flow_control(enum AP_HAL::UARTDriver::flow_control fcs);
+
+    AP_HAL::UARTDriver *stream;
+#if AP_SCRIPTING_ENABLED
+#if AP_SCRIPTING_SERIALDEVICE_ENABLED
+    bool is_device_port;
+#endif
+#endif
+};