From 40046b1f71431ce70a32f6f3e7e8dddc8e40a359 Mon Sep 17 00:00:00 2001
From: Hayden Donald <haydendonald@gmail.com>
Date: Tue, 23 Jan 2024 16:44:46 +1100
Subject: [PATCH] AP_Scripting: Add send_text to display binding

Added a notify:send_text binding to override the text displayed on a display with custom text
---
 libraries/AP_Scripting/docs/docs.lua          |  4 ++
 .../examples/hello_world_display.lua          | 59 +++++++++++++++++++
 .../generator/description/bindings.desc       |  2 +
 3 files changed, 65 insertions(+)
 create mode 100644 libraries/AP_Scripting/examples/hello_world_display.lua

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 0d4ac3d3a7d1d7..4deb6bbc4f5189 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -2765,6 +2765,10 @@ function notify:handle_rgb(red, green, blue, rate_hz) end
 ---@param tune string
 function notify:play_tune(tune) end
 
+-- desc
+---@param text string
+---@param row integer
+function notify:send_text(text, row) end
 
 -- desc
 ---@class gps
diff --git a/libraries/AP_Scripting/examples/hello_world_display.lua b/libraries/AP_Scripting/examples/hello_world_display.lua
new file mode 100644
index 00000000000000..d3f75cd7ca5522
--- /dev/null
+++ b/libraries/AP_Scripting/examples/hello_world_display.lua
@@ -0,0 +1,59 @@
+-- This script is an example of printing to a display via scripting
+-- Connect a supported display to the autopilot, and configure the NTF_DISPLAY_TYPE parameter seen at https://ardupilot.org/copter/docs/common-display-onboard.html
+-- The notify:send_text(text, row) method will override default on the display, disabling the default messages
+
+local switchTime
+local displayWidth = 18
+local function update()
+    -- Just keep track of when we should switch to a smiley :)
+    if switchTime == nil then
+        switchTime = millis() + 10000
+    end
+
+    -- Example of overriding a line keeping some defaults, here we will replace the battery(1) and GPS(2) rows
+    if switchTime > millis() then
+        notify:send_text("Hello, World!", 1)
+        notify:send_text(tostring(millis()), 2)
+
+    -- Example of overriding all lines, a smiley, try moving the autopilot around to see it change
+    else
+        -- Generate the smiley
+        local width = (displayWidth / 2)
+        local roll = math.floor(width + (ahrs:get_roll() * width)) - 4
+        local pitch = math.floor(ahrs:get_pitch() * 6) + 2;
+        local sub = 5 - roll
+        if sub < 0 then
+            sub = 0
+        end
+        local rows = {}
+        if pitch - 2 >= 0 and pitch - 2 <= 5 then 
+            rows[pitch - 2] = (string.rep(" ", roll) .. "    ##"):sub(sub);
+        end
+        if pitch - 1 >= 0 and pitch - 1 <= 5 then 
+            rows[pitch - 1] = (string.rep(" ", roll) .. " #    #"):sub(sub);
+        end
+        if pitch >= 0 and pitch <= 5 then 
+            rows[pitch] = (string.rep(" ", roll) .. "      #"):sub(sub);
+        end
+        if pitch + 1 >= 0 and pitch + 1 <= 5 then 
+            rows[pitch + 1] = (string.rep(" ", roll) .. " #    #"):sub(sub);
+        end
+        if pitch + 2 >= 0 and pitch + 2 <= 5 then 
+            rows[pitch + 2] = (string.rep(" ", roll) .. "    ##"):sub(sub);
+        end
+        if pitch + 3 >= 0 and pitch + 3 <= 5 then 
+            rows[pitch + 3] = "";
+        end
+
+        -- Send it out to the display
+        for i = 0, 5 do
+            if rows[i] == nil then
+                rows[i] = ""
+            end
+            notify:send_text(rows[i], i)
+        end
+    end
+
+    return update, 10
+ end
+ return update, 1000 -- Wait a few seconds before starting
\ No newline at end of file
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 0f4194a9bc8ab6..9038c1f57151ad 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -191,6 +191,8 @@ singleton AP_Notify depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH
 singleton AP_Notify method play_tune void string
 singleton AP_Notify method handle_rgb void uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check
 singleton AP_Notify method handle_rgb_id void uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check
+singleton AP_Notify method send_text_scripting void string uint8_t'skip_check
+singleton AP_Notify method send_text_scripting rename send_text
 
 include AP_Proximity/AP_Proximity.h
 include AP_Proximity/AP_Proximity_Backend.h