feat: add send_named_int function and Lua binding

ArduPilot · Jan 3, 2025 · be84395 · be84395
1 parent 4360a7e
commit be84395
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Showing 5 changed files with 26 additions and 0 deletions.
diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
@@ -2892,6 +2892,11 @@ gcs = {}
 ---@param value number -- value to send
 function gcs:send_named_float(name, value) end
 
+-- send named integer value using NAMED_VALUE_INT message
+---@param name string -- up to 10 chars long
+---@param value integer -- value to send
+function gcs:send_named_int(name, value) end
+
 -- set message interval for a given serial port and message id
 ---@param port_num integer -- serial port number
 ---@param msg_id uint32_t_ud|integer|number -- MAVLink message id

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -289,6 +289,7 @@ singleton GCS rename gcs
 singleton GCS method send_text void MAV_SEVERITY'enum MAV_SEVERITY_EMERGENCY MAV_SEVERITY_DEBUG "%s"'literal string
 singleton GCS method set_message_interval MAV_RESULT'enum uint8_t 0 MAVLINK_COMM_NUM_BUFFERS uint32_t'skip_check int32_t -1 INT32_MAX
 singleton GCS method send_named_float void string float'skip_check
+singleton GCS method send_named_int void string int32_t'skip_check
 singleton GCS method frame_type MAV_TYPE'enum
 singleton GCS method get_hud_throttle int16_t
 singleton GCS method sysid_myggcs_last_seen_time_ms uint32_t

diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
@@ -121,6 +121,17 @@ void GCS::send_named_float(const char *name, float value) const
                                   (const char *)&packet);
 }
 
+void GCS::send_named_int(const char *name, int32_t value) const
+{
+    mavlink_named_value_int_t packet {};
+    packet.time_boot_ms = AP_HAL::millis();
+    packet.value = value;
+    memcpy(packet.name, name, MIN(strlen(name), (uint8_t)MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN));
+
+    gcs().send_to_active_channels(MAVLINK_MSG_ID_NAMED_VALUE_INT,
+                                  (const char *)&packet);
+}
+
 #if HAL_HIGH_LATENCY2_ENABLED
 void GCS::enable_high_latency_connections(bool enabled)
 {

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
@@ -388,6 +388,7 @@ class GCS_MAVLINK
     void send_gimbal_manager_information() const;
     void send_gimbal_manager_status() const;
     void send_named_float(const char *name, float value) const;
+    void send_named_int(const char *name, int32_t value) const;
     void send_home_position() const;
     void send_gps_global_origin() const;
     virtual void send_attitude_target() {};
@@ -1215,6 +1216,7 @@ class GCS
     void send_message(enum ap_message id);
     void send_mission_item_reached_message(uint16_t mission_index);
     void send_named_float(const char *name, float value) const;
+    void send_named_int(const char *name, int32_t value) const;
 
     void send_parameter_value(const char *param_name,
                               ap_var_type param_type,

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -3024,6 +3024,13 @@ void GCS_MAVLINK::send_named_float(const char *name, float value) const
     mavlink_msg_named_value_float_send(chan, AP_HAL::millis(), float_name, value);
 }
 
+void GCS_MAVLINK::send_named_int(const char *name, int32_t value) const
+{
+    char int_name[MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN+1] {};
+    strncpy(int_name, name, MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN);
+    mavlink_msg_named_value_int_send(chan, AP_HAL::millis(), int_name, value);
+}
+
 #if AP_AHRS_ENABLED
 void GCS_MAVLINK::send_home_position() const
 {