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AP_Scripting: examples: FSO: update ShipOpsTargetSwitch.lua #14

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AP_Scripting: examples: FSO: update ShipOpsTargetSwitch.lua #14

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AP_Scripting: examples: FSO: update ShipOpsTargetSwitch.lua
IamPete1 Aug 9, 2024
24e68c3
AP_Scripting: examples: FSO: ShipOpsTargetSwitch.lua: move to using c…
IamPete1 Aug 9, 2024
5fe2e43
AP_Scripting: examples: FSO: ShipOpsTargetSwitch: add helper class al…
IamPete1 Aug 9, 2024
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242 changes: 118 additions & 124 deletions libraries/AP_Scripting/examples/FSO/ShipOpsTargetSwitch.lua
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Original file line number Diff line number Diff line change
@@ -1,146 +1,140 @@
-- add new param SHP1_
local ship_selected = 0
local PARAM_TABLE_KEY1 = 20
local PARAM_TABLE_PREFIX1 = "SHP1_"
local PARAM_TABLE_KEY2 = 21
local PARAM_TABLE_PREFIX2 = "SHP2_"

-- bind a parameter to a variable
function bind_param(name)
local p = Parameter()
assert(p:init(name), string.format('could not find %s parameter', name))
return p
end
-- A Lua script for switching between parameter banks with checking and runtime updates
-- Select bank with RCx_OPTION 300

local bank_target = {
{ name = "PCH_ANG", value = Parameter('SHIP_PCH_ANG'), bank_defualt = 180 },
{ name = "PCH_RAD", value = Parameter('SHIP_PCH_RAD'), bank_defualt = 25 },
{ name = "PCH_ALT", value = Parameter('SHIP_PCH_ALT'), bank_defualt = 25 },
{ name = "KOZ_CW", value = Parameter('SHIP_KOZ_CW'), bank_defualt = 90 },
{ name = "KOZ_CCW", value = Parameter('SHIP_KOZ_CCW'), bank_defualt = -90 },
{ name = "KOZ_RAD", value = Parameter('SHIP_KOZ_RAD'), bank_defualt = 250 },
{ name = "KOZ_DKR", value = Parameter('SHIP_KOZ_DKR'), bank_defualt = 10 },

{ name = "OFS_X", value = Parameter('FOLL_OFS_X'), bank_defualt = 0 },
{ name = "OFS_Y", value = Parameter('FOLL_OFS_Y'), bank_defualt = 0 },
{ name = "OFS_Z", value = Parameter('FOLL_OFS_Z'), bank_defualt = 0 },

{ name = "SYSID", value = Parameter('FOLL_SYSID'), bank_defualt = 200 }
}

-- add a parameter and bind it to a variable
function bind_add_param(name, idx, default_value, key, prefix)
local function bind_add_param(name, idx, default_value, key, prefix)
assert(param:add_param(key, idx, name, default_value), string.format('could not add param %s', name))
return bind_param(prefix .. name)
return Parameter(prefix .. name)
end

assert(param:add_table(PARAM_TABLE_KEY1, PARAM_TABLE_PREFIX1, 11), 'could not add param table')
assert(param:add_table(PARAM_TABLE_KEY2, PARAM_TABLE_PREFIX2, 11), 'could not add param table')

local shp1_pch_ang = bind_add_param('PCH_ANG', 1, 180, PARAM_TABLE_KEY1, PARAM_TABLE_PREFIX1)
local shp1_pch_rad = bind_add_param('PCH_RAD', 2, 25, PARAM_TABLE_KEY1, PARAM_TABLE_PREFIX1)
local shp1_pch_alt = bind_add_param('PCH_ALT', 3, 25, PARAM_TABLE_KEY1, PARAM_TABLE_PREFIX1)
local shp1_koz_cw = bind_add_param('KOZ_CW', 4, 90, PARAM_TABLE_KEY1, PARAM_TABLE_PREFIX1)
local shp1_koz_ccw = bind_add_param('KOZ_CCW', 5, -90, PARAM_TABLE_KEY1, PARAM_TABLE_PREFIX1)
local shp1_koz_rad = bind_add_param('KOZ_RAD', 6, 250, PARAM_TABLE_KEY1, PARAM_TABLE_PREFIX1)
local shp1_koz_dkr = bind_add_param('KOZ_DKR', 7, 10, PARAM_TABLE_KEY1, PARAM_TABLE_PREFIX1)
local shp1_ofs_x = bind_add_param('OFS_X', 8, 0, PARAM_TABLE_KEY1, PARAM_TABLE_PREFIX1)
local shp1_ofs_y = bind_add_param('OFS_Y', 9, 0, PARAM_TABLE_KEY1, PARAM_TABLE_PREFIX1)
local shp1_ofs_z = bind_add_param('OFS_Z', 10, 0, PARAM_TABLE_KEY1, PARAM_TABLE_PREFIX1)
local shp1_sysid = bind_add_param('SYSID', 11, 200, PARAM_TABLE_KEY1, PARAM_TABLE_PREFIX1)

local shp2_pch_ang = bind_add_param('PCH_ANG', 1, 180, PARAM_TABLE_KEY2, PARAM_TABLE_PREFIX2)
local shp2_pch_rad = bind_add_param('PCH_RAD', 2, 25, PARAM_TABLE_KEY2, PARAM_TABLE_PREFIX2)
local shp2_pch_alt = bind_add_param('PCH_ALT', 3, 25, PARAM_TABLE_KEY2, PARAM_TABLE_PREFIX2)
local shp2_koz_cw = bind_add_param('KOZ_CW', 4, 90, PARAM_TABLE_KEY2, PARAM_TABLE_PREFIX2)
local shp2_koz_ccw = bind_add_param('KOZ_CCW', 5, -90, PARAM_TABLE_KEY2, PARAM_TABLE_PREFIX2)
local shp2_koz_rad = bind_add_param('KOZ_RAD', 6, 250, PARAM_TABLE_KEY2, PARAM_TABLE_PREFIX2)
local shp2_koz_dkr = bind_add_param('KOZ_DKR', 7, 10, PARAM_TABLE_KEY2, PARAM_TABLE_PREFIX2)
local shp2_ofs_x = bind_add_param('OFS_X', 8, 0, PARAM_TABLE_KEY2, PARAM_TABLE_PREFIX2)
local shp2_ofs_y = bind_add_param('OFS_Y', 9, 0, PARAM_TABLE_KEY2, PARAM_TABLE_PREFIX2)
local shp2_ofs_z = bind_add_param('OFS_Z', 10, 0, PARAM_TABLE_KEY2, PARAM_TABLE_PREFIX2)
local shp2_sysid = bind_add_param('SYSID', 11, 201, PARAM_TABLE_KEY2, PARAM_TABLE_PREFIX2)

local SHIP_PCH_ANG = Parameter()
if not SHIP_PCH_ANG:init('SHIP_PCH_ANG') then
gcs:send_text(6, 'init SHIP_PCH_ANG failed')
end
local function add_param_bank(target_params, table_key, prefix, bank_name, extra_msg, defualt_override)

local SHIP_PCH_RAD = Parameter()
if not SHIP_PCH_RAD:init('SHIP_PCH_RAD') then
gcs:send_text(6, 'init SHIP_PCH_RAD failed')
end
if extra_msg == nil then
extra_msg = ""
end

local SHIP_PCH_ALT = Parameter()
if not SHIP_PCH_ALT:init('SHIP_PCH_ALT') then
gcs:send_text(6, 'init SHIP_PCH_ALT failed')
end
local self = {
params = {},
active = false,
checked = false,
}

local SHIP_KOZ_CW = Parameter()
if not SHIP_KOZ_CW:init('SHIP_KOZ_CW') then
gcs:send_text(6, 'init SHIP_KOZ_CW failed')
end
-- Add params table with the given key and prefix
assert(param:add_table(table_key, prefix, #target_params), 'could not add param \"' .. prefix .. '\" table for ' .. bank_name .. 'param bank')

local SHIP_KOZ_CCW = Parameter()
if not SHIP_KOZ_CCW:init('SHIP_KOZ_CCW') then
gcs:send_text(6, 'init SHIP_KOZ_CCW failed')
end
-- Add copy of each param
for i, param in pairs(target_params) do
local default_value = param.bank_defualt
if (defualt_override ~= nil) and (defualt_override[param.name] ~= nil) then
default_value = defualt_override[param.name]
end

local SHIP_KOZ_RAD = Parameter()
if not SHIP_KOZ_RAD:init('SHIP_KOZ_RAD') then
gcs:send_text(6, 'init SHIP_KOZ_RAD failed')
end
self.params[i] = {}
self.params[i].value = bind_add_param(param.name, i, default_value, table_key, prefix)
self.params[i].name = prefix .. param.name
self.params[i].last_set_value = self.params[i].value:get()
end

-- Set target param to bank value for given index
local function set(i)
local new_value = self.params[i].value:get()
target_params[i].value:set(new_value)
self.params[i].last_set_value = new_value
end

-- Bank update function, pass true if selected
function self.update(b)
if not b then
-- De-select
self.active = false
self.checked = false
return
end

local SHIP_KOZ_DKR = Parameter()
if not SHIP_KOZ_DKR:init('SHIP_KOZ_DKR') then
gcs:send_text(6, 'init SHIP_KOZ_DKR failed')
end
if not self.active then
-- Initial set
for i = 1,#target_params do
set(i)
end
gcs:send_text(0, bank_name .. " parameters selected" .. extra_msg)

local FOLL_OFS_X = Parameter()
if not FOLL_OFS_X:init('FOLL_OFS_X') then
gcs:send_text(6, 'init FOLL_OFS_X failed')
end
self.active = true
self.checked = false
return
end

local FOLL_OFS_Y = Parameter()
if not FOLL_OFS_Y:init('FOLL_OFS_Y') then
gcs:send_text(6, 'init FOLL_OFS_Y failed')
end
if not self.checked then
local all_checked = true
-- Check each param value is correct
for i = 1,#target_params do
if target_params[i].value:get() ~= self.params[i].value:get() then
-- Value not set, try again
all_checked = false
set(i)
end
end
if all_checked then
-- Everything set correctly
gcs:send_text(0, bank_name .. " parameters checked")
self.checked = true
end
return
end

local FOLL_OFS_Z = Parameter()
if not FOLL_OFS_Z:init('FOLL_OFS_Z') then
gcs:send_text(6, 'init FOLL_OFS_Z failed')
end
-- Update target param for runtime changes of bank
for i = 1,#target_params do
if self.params[i].last_set_value ~= self.params[i].value:get() then
set(i)
gcs:send_text(0, bank_name .. " parameters " .. self.params[i].name .. " updated")
end
end

end

local FOLL_SYSID = Parameter()
if not FOLL_SYSID:init('FOLL_SYSID') then
gcs:send_text(6, 'init FOLL_SYSID failed')
return self
end

local interval_ms = 1000 -- update at 1hz
local banks = {
add_param_bank(bank_target, 20, "SHP1_", "Ship 1", " for payload place"),
add_param_bank(bank_target, 21, "SHP2_", "Ship 2", " for approach", { SYSID = 201 })
}

-- Use RCx_OPTION 300: Scripting1
local AuxFunScripting1 = 300
local AuxSwitchPos = { LOW = 0, MIDDLE = 1, HIGH = 2 }

local interval_ms = 1000 -- update at 1hz
gcs:send_text(0, "Starting SHIP OPS LUA")
function update() -- this is the loop which periodically runs

pwm6 = rc:get_pwm(6)
if pwm6 and pwm6 < 1250 then -- check if RC6 input has moved low
if ship_selected ~= 2 then
gcs:send_text(0, "Ship 2 for payload place")
ship_selected = 2
SHIP_PCH_ANG:set(shp2_pch_ang:get())
SHIP_PCH_RAD:set(shp2_pch_rad:get())
SHIP_PCH_ALT:set(shp2_pch_alt:get())
SHIP_KOZ_CW:set(shp2_koz_cw:get())
SHIP_KOZ_CCW:set(shp2_koz_ccw:get())
SHIP_KOZ_RAD:set(shp2_koz_rad:get())
SHIP_KOZ_DKR:set(shp2_koz_dkr:get())
FOLL_OFS_X:set(shp2_ofs_x:get())
FOLL_OFS_Y:set(shp2_ofs_y:get())
FOLL_OFS_Z:set(shp2_ofs_z:get())
FOLL_SYSID:set(shp2_sysid:get())
end
else
if ship_selected ~= 1 then
gcs:send_text(0, "Ship 1 for approach")
ship_selected = 1
SHIP_PCH_ANG:set(shp1_pch_ang:get())
SHIP_PCH_RAD:set(shp1_pch_rad:get())
SHIP_PCH_ALT:set(shp1_pch_alt:get())
SHIP_KOZ_CW:set(shp1_koz_cw:get())
SHIP_KOZ_CCW:set(shp1_koz_ccw:get())
SHIP_KOZ_RAD:set(shp1_koz_rad:get())
SHIP_KOZ_DKR:set(shp1_koz_dkr:get())
FOLL_OFS_X:set(shp1_ofs_x:get())
FOLL_OFS_Y:set(shp1_ofs_y:get())
FOLL_OFS_Z:set(shp1_ofs_z:get())
FOLL_SYSID:set(shp1_sysid:get())
end
end
return update, interval_ms
local function update() -- this is the loop which periodically runs
local bank_selected = 1

local aux = rc:get_aux_cached(AuxFunScripting1)
if (aux == nil) or (aux == AuxSwitchPos.LOW) then
-- If aux has never been set, or aux is low then use bank 2
bank_selected = 2
end

for i = 1,#banks do
banks[i].update(i == bank_selected)
end

return update, interval_ms
end

return update() -- run immediately before starting to reschedule
return update() -- run immediately before starting to reschedule
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