Added send_text via scripting for onboard display

libraries/AP_Notify/AP_Notify.cpp

@@ -535,6 +535,27 @@ void AP_Notify::send_text(const char *str)
     _send_text_updated_millis = AP_HAL::millis();
 }
 
+#if AP_SCRIPTING_ENABLED
+void AP_Notify::send_text_scripting(const char *str, uint8_t r)
+{
+    for (uint8_t i = 0; i < _num_devices; i++) {
+        if (_devices[i] != nullptr) {
+            _devices[i]->send_text_blocking(str, r);
+        }
+    }
+}
+
+void AP_Notify::release_text_scripting(uint8_t r)
+{
+    for (uint8_t i = 0; i < _num_devices; i++) {
+        if (_devices[i] != nullptr) {
+            _devices[i]->release_text(r);
+        }
+    }
+}
+#endif
+
+
 // convert 0-3 to 0-100
 int8_t AP_Notify::get_rgb_led_brightness_percent() const
 {

libraries/AP_Notify/AP_Notify.h

@@ -210,6 +210,12 @@ class AP_Notify
     void send_text(const char *str);
     const char* get_text() const { return _send_text; }
     uint32_t get_text_updated_millis() const {return _send_text_updated_millis; }
+
+#if AP_SCRIPTING_ENABLED
+    // send text to the display using scripting
+    void send_text_scripting(const char *str, uint8_t r);
+    void release_text_scripting(uint8_t r);
+#endif
 
     static const struct AP_Param::GroupInfo var_info[];
     int8_t get_buzz_pin() const  { return _buzzer_pin; }

libraries/AP_Notify/Display.cpp

@@ -404,17 +404,53 @@ void Display::update()
 
 void Display::update_all()
 {
-    update_text(0);
-    update_mode(1);
+    if(!BIT_IS_SET(_send_text_scr_override, 0)) {
+        update_text(0);
+    }
+
+    if(!BIT_IS_SET(_send_text_scr_override, 1)) {
+       update_mode(1);
+    }
+
 #if AP_BATTERY_ENABLED
-    update_battery(2);
+    if(!BIT_IS_SET(_send_text_scr_override, 2)) {
+        update_battery(2);
+    }
 #endif
 #if AP_GPS_ENABLED
-    update_gps(3);
+    if(!BIT_IS_SET(_send_text_scr_override, 3)) {
+        update_gps(3);
+    }
 #endif
-    //update_gps_sats(4);
-    update_prearm(4);
-    update_ekf(5);
+
+    if(!BIT_IS_SET(_send_text_scr_override, 4)) {
+        //update_gps_sats(4);
+        update_prearm(4);
+    }
+
+    if(!BIT_IS_SET(_send_text_scr_override, 5)) {
+        update_ekf(5);
+    }
+}
+
+void Display::send_text_blocking(const char *text, uint8_t r)
+{
+    if (text == nullptr) {
+        return;
+    }
+    if (r >= DISPLAY_TEXT_NUM_ROWS) {
+        return;
+    }
+    BIT_SET(_send_text_scr_override, r);
+    char txt [DISPLAY_MESSAGE_SIZE] = {};
+    memset(txt, ' ', DISPLAY_MESSAGE_SIZE);
+    memcpy(txt, text, strnlen(text, DISPLAY_MESSAGE_SIZE));
+    draw_text(COLUMN(0), ROW(r), txt);
+}
+
+void Display::release_text(uint8_t r)
+{
+    BIT_CLEAR(_send_text_scr_override, r);
 }
 
 void Display::draw_text(uint16_t x, uint16_t y, const char* c)

libraries/AP_Notify/Display.h

@@ -9,6 +9,7 @@
 #define ROW(Y)    ((Y * 10) + 6)
 #define COLUMN(X) ((X *  7) + 0)
 
+#define DISPLAY_TEXT_NUM_ROWS 6
 #define DISPLAY_MESSAGE_SIZE 19
 
 class Display_Backend;
@@ -19,7 +20,8 @@ class Display: public NotifyDevice {
 
     bool init(void) override;
     void update() override;
-
+    void send_text_blocking(const char *text, uint8_t line) override;
+    void release_text(uint8_t line) override;
 private:
     void draw_char(uint16_t x, uint16_t y, const char c);
     void draw_text(uint16_t x, uint16_t y, const char *c);
@@ -42,6 +44,9 @@ class Display: public NotifyDevice {
 
     // stop showing text in display after this many millis:
     const uint16_t _send_text_valid_millis = 20000;
+
+    //Bitmask of what lines send_text_scripting should override
+    uint8_t _send_text_scr_override;
 };
 
 #endif  // HAL_DISPLAY_ENABLED

libraries/AP_Notify/NotifyDevice.h

@@ -30,6 +30,10 @@ class NotifyDevice {
     // give RGB value for single led
     virtual void rgb_set_id(uint8_t r, uint8_t g, uint8_t b, uint8_t id) {}
 
+    // Allow text to be sent or removed from a display
+    virtual void send_text_blocking(const char *text, uint8_t line) {}
+    virtual void release_text(uint8_t line) {}
+
     // this pointer is used to read the parameters relative to devices
     const AP_Notify *pNotify;
 };

libraries/AP_Scripting/docs/docs.lua

@@ -2765,6 +2765,14 @@ function notify:handle_rgb(red, green, blue, rate_hz) end
 ---@param tune string
 function notify:play_tune(tune) end
 
+-- Display text on a notify display, text too long to fit will automatically be scrolled.
+---@param text string -- upto 50 characters
+---@param row integer -- row number to display on, 0 is at the top.
+function notify:send_text(text, row) end
+
+-- desc
+---@param row integer
+function notify:release_text(row) end
 
 -- desc
 ---@class gps

libraries/AP_Scripting/examples/hello_world_display.lua

@@ -0,0 +1,66 @@
+-- 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 switchTimeA
+local switchTimeB
+local displayWidth = 18
+local function update()
+    -- Just keep track of when we should switch to a smiley :)
+    if switchTimeA == nil then
+        switchTimeA = millis() + 5000
+        switchTimeB = switchTimeA + 10000
+    end
+
+    -- Example of overriding a line keeping some defaults, here we will replace the battery(1) and GPS(2) rows
+    if switchTimeA > millis() then
+        notify:send_text("Hello, World!", 1)
+        notify:send_text(tostring(millis()), 2)
+
+    -- Next demonstrate we can release the text, and the default will be shown again
+    elseif switchTimeB > millis() then
+        notify:release_text(1)
+        notify:release_text(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

libraries/AP_Scripting/generator/description/bindings.desc

@@ -191,6 +191,10 @@ 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
+singleton AP_Notify method release_text_scripting void uint8_t'skip_check
+singleton AP_Notify method release_text_scripting rename release_text
 
 include AP_Proximity/AP_Proximity.h
 include AP_Proximity/AP_Proximity_Backend.h