Add groups to programming for ease of reading

docs/Programming Framework.md

@@ -28,6 +28,7 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 * `<operand B type>` - See `Operands` paragraph
 * `<operand B value>` - See `Operands` paragraph
 * `<flags>` - See `Flags` paragraph
+* `<code group>` - Allows the grouping of code lines, to ease readability
 
 ### Operations
 
@@ -196,13 +197,13 @@ All flags are reseted on ARM and DISARM event.
 
 ### Dynamic THROTTLE scale
 
-`logic 0 1 0 23 0 50 0 0 0`
+`logic 0 1 0 23 0 50 0 0 0 0`
 
 Limits the THROTTLE output to 50% when Logic Condition `0` evaluates as `true`
 
 ### Set VTX power level via Smart Audio
 
-`logic 0 1 0 25 0 3 0 0 0`
+`logic 0 1 0 25 0 3 0 0 0 0`
 
 Sets VTX power level to `3` when Logic Condition `0` evaluates as `true`
 
@@ -211,27 +212,27 @@ Sets VTX power level to `3` when Logic Condition `0` evaluates as `true`
 Solves the problem from [https://github.com/iNavFlight/inav/issues/4439](https://github.com/iNavFlight/inav/issues/4439)
 
 ```
-logic 0 1 0 26 0 0 0 0 0
-logic 1 1 0 27 0 0 0 0 0
+logic 0 1 0 26 0 0 0 0 0 0
+logic 1 1 0 27 0 0 0 0 0 0
 ```
 
 Inverts ROLL and PITCH input when Logic Condition `0` evaluates as `true`. Moving Pitch stick up will cause pitch down (up for rear facing camera). Moving Roll stick right will cause roll left of a quad (right in rear facing camera)
 
 ### Cut motors but keep other throttle bindings active
 
-`logic 0 1 0 29 0 1000 0 0 0`
+`logic 0 1 0 29 0 1000 0 0 0 0`
 
 Sets Thhrottle output to `0%` when Logic Condition `0` evaluates as `true`
 
 ### Set throttle to 50% and keep other throttle bindings active
 
-`logic 0 1 0 29 0 1500 0 0 0`
+`logic 0 1 0 29 0 1500 0 0 0 0`
 
 Sets Thhrottle output to about `50%` when Logic Condition `0` evaluates as `true`
 
 ### Set throttle control to different RC channel
 
-`logic 0 1 0 29 1 7 0 0 0`
+`logic 0 1 0 29 1 7 0 0 0 0`
 
 If Logic Condition `0` evaluates as `true`, motor throttle control is bound to RC channel 7 instead of throttle channel
 
@@ -240,10 +241,10 @@ If Logic Condition `0` evaluates as `true`, motor throttle control is bound to R
 Set VTX channel with a POT on the radio assigned to RC channel 6
 
 ```
-logic 0 1 -1 15 1 6 0 1000 0
-logic 1 1 -1 37 4 0 0 7 0
-logic 2 1 -1 14 4 1 0 1 0
-logic 3 1 -1 31 4 2 0 0 0
+logic 0 1 -1 15 1 6 0 1000 0 0
+logic 1 1 -1 37 4 0 0 7 0 0
+logic 2 1 -1 14 4 1 0 1 0 0
+logic 3 1 -1 31 4 2 0 0 0 0
 ```
 
 Steps:
@@ -257,10 +258,10 @@ Steps:
 Set VTX power with a POT on the radio assigned to RC channel 6. In this example we scale POT to 4 power level `[1:4]`
 
 ```
-logic 0 1 -1 15 1 6 0 1000 0
-logic 1 1 -1 37 4 0 0 3 0
-logic 2 1 -1 14 4 1 0 1 0
-logic 3 1 -1 25 4 2 0 0 0
+logic 0 1 -1 15 1 6 0 1000 0 0
+logic 1 1 -1 37 4 0 0 3 0 0
+logic 2 1 -1 14 4 1 0 1 0 0
+logic 3 1 -1 25 4 2 0 0 0 0
 ```
 
 Steps:

src/main/fc/cli.c

@@ -1874,7 +1874,7 @@ static void cliServoMix(char *cmdline)
 
 static void printLogic(uint8_t dumpMask, const logicCondition_t *logicConditions, const logicCondition_t *defaultLogicConditions)
 {
-    const char *format = "logic %d %d %d %d %d %d %d %d %d";
+    const char *format = "logic %d %d %d %d %d %d %d %d %d %d";
     for (uint32_t i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
         const logicCondition_t logic = logicConditions[i];
 
@@ -1889,7 +1889,8 @@ static void printLogic(uint8_t dumpMask, const logicCondition_t *logicConditions
                 logic.operandA.value == defaultValue.operandA.value &&
                 logic.operandB.type == defaultValue.operandB.type &&
                 logic.operandB.value == defaultValue.operandB.value &&
-                logic.flags == defaultValue.flags;
+                logic.flags == defaultValue.flags &&
+                logic.codeGroup == defaultValue.codeGroup;
 
             cliDefaultPrintLinef(dumpMask, equalsDefault, format,
                 i,
@@ -1900,7 +1901,8 @@ static void printLogic(uint8_t dumpMask, const logicCondition_t *logicConditions
                 logic.operandA.value,
                 logic.operandB.type,
                 logic.operandB.value,
-                logic.flags
+                logic.flags, 
+                logic.codeGroup
             );
         }
         cliDumpPrintLinef(dumpMask, equalsDefault, format,
@@ -1912,14 +1914,15 @@ static void printLogic(uint8_t dumpMask, const logicCondition_t *logicConditions
             logic.operandA.value,
             logic.operandB.type,
             logic.operandB.value,
-            logic.flags
+            logic.flags,
+            logic.codeGroup
         );
     }
 }
 
 static void cliLogic(char *cmdline) {
     char * saveptr;
-    int args[9], check = 0;
+    int args[10], check = 0;
     uint8_t len = strlen(cmdline);
 
     if (len == 0) {
@@ -1937,6 +1940,7 @@ static void cliLogic(char *cmdline) {
             OPERAND_B_TYPE,
             OPERAND_B_VALUE,
             FLAGS,
+            CODE_GROUP,
             ARGS_COUNT
             };
         char *ptr = strtok_r(cmdline, " ", &saveptr);
@@ -1960,7 +1964,8 @@ static void cliLogic(char *cmdline) {
             args[OPERAND_A_VALUE] >= -1000000 && args[OPERAND_A_VALUE] <= 1000000 &&
             args[OPERAND_B_TYPE] >= 0 && args[OPERAND_B_TYPE] < LOGIC_CONDITION_OPERAND_TYPE_LAST &&
             args[OPERAND_B_VALUE] >= -1000000 && args[OPERAND_B_VALUE] <= 1000000 &&
-            args[FLAGS] >= 0 && args[FLAGS] <= 255
+            args[FLAGS] >= 0 && args[FLAGS] <= 255 &&
+            args[CODE_GROUP] >= 0 && args[CODE_GROUP] <= 9
 
         ) {
             logicConditionsMutable(i)->enabled = args[ENABLED];
@@ -1971,6 +1976,7 @@ static void cliLogic(char *cmdline) {
             logicConditionsMutable(i)->operandB.type = args[OPERAND_B_TYPE];
             logicConditionsMutable(i)->operandB.value = args[OPERAND_B_VALUE];
             logicConditionsMutable(i)->flags = args[FLAGS];
+            logicConditionsMutable(i)->codeGroup = args[CODE_GROUP];
 
             cliLogic("");
         } else {

src/main/fc/fc_msp.c

@@ -548,6 +548,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             sbufWriteU8(dst, logicConditions(i)->operandB.type);
             sbufWriteU32(dst, logicConditions(i)->operandB.value);
             sbufWriteU8(dst, logicConditions(i)->flags);
+            sbufWriteU8(dst, logicConditions(i)->codeGroup);
         }
         break;
     case MSP2_INAV_LOGIC_CONDITIONS_STATUS:
@@ -2045,7 +2046,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 #ifdef USE_PROGRAMMING_FRAMEWORK
     case MSP2_INAV_SET_LOGIC_CONDITIONS:
         sbufReadU8Safe(&tmp_u8, src);
-        if ((dataSize == 15) && (tmp_u8 < MAX_LOGIC_CONDITIONS)) {
+        if ((dataSize == 16) && (tmp_u8 < MAX_LOGIC_CONDITIONS)) {
             logicConditionsMutable(tmp_u8)->enabled = sbufReadU8(src);
             logicConditionsMutable(tmp_u8)->activatorId = sbufReadU8(src);
             logicConditionsMutable(tmp_u8)->operation = sbufReadU8(src);
@@ -2054,6 +2055,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             logicConditionsMutable(tmp_u8)->operandB.type = sbufReadU8(src);
             logicConditionsMutable(tmp_u8)->operandB.value = sbufReadU32(src);
             logicConditionsMutable(tmp_u8)->flags = sbufReadU8(src);
+            logicConditionsMutable(tmp_u8)->codeGroup = sbufReadU8(src);
         } else
             return MSP_RESULT_ERROR;
         break;

src/main/programming/logic_condition.c

@@ -75,7 +75,8 @@ void pgResetFn_logicConditions(logicCondition_t *instance)
                 .type = LOGIC_CONDITION_OPERAND_TYPE_VALUE,
                 .value = 0
             },
-            .flags = 0
+            .flags = 0,
+            .codeGroup = 0
         );
     }
 }

src/main/programming/logic_condition.h

@@ -173,6 +173,7 @@ typedef struct logicCondition_s {
     logicOperand_t operandA;
     logicOperand_t operandB;
     uint8_t flags;
+    uint8_t codeGroup;
 } logicCondition_t;
 
 PG_DECLARE_ARRAY(logicCondition_t, MAX_LOGIC_CONDITIONS, logicConditions);