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AP_Scripting: Disable by default, fix a nullable type, update README

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Michael du Breuil 2019-06-17 15:24:06 -07:00 committed by WickedShell
parent ccbf3234f7
commit 0ed3c547fd
4 changed files with 19 additions and 10 deletions
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2
libraries/AP_Scripting/AP_Scripting.cpp
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@ -44,7 +44,7 @@ const AP_Param::GroupInfo AP_Scripting::var_info[] = {
// @Values: 0:None,1:Lua Scripts // @Values: 0:None,1:Lua Scripts
// @RebootRequired: True // @RebootRequired: True
// @User: Advanced // @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 1, AP_Scripting, _enable, 1, AP_PARAM_FLAG_ENABLE), AP_GROUPINFO_FLAGS("ENABLE", 1, AP_Scripting, _enable, 0, AP_PARAM_FLAG_ENABLE),
// @Param: VM_I_COUNT // @Param: VM_I_COUNT
// @DisplayName: Scripting Virtual Machine Instruction Count // @DisplayName: Scripting Virtual Machine Instruction Count

12
libraries/AP_Scripting/README.md
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@ -2,13 +2,15 @@
## Enabling Scripting Support in Builds ## Enabling Scripting Support in Builds
To enable scripting the `--enable-scripting` flag must be passed to waf. Scripting is automatically enabled on all boards with at least 1MB of flash space.
The following example enables scripting and builds the ArduPlane firmware for the Cube. The following example enables scripting, builds the ArduPlane firmware for the Cube, and uploads it.
``` ```
$ waf configure --enable-scripting --board=CubeBlack $ waf configure --board=CubeBlack
$ waf plane $ waf plane
$ waf plane --upload
``` ```
To run SITL you can simply use the `sim_vehicle.py` script which will wrap the configuration, compilation, To run SITL you can simply use the `sim_vehicle.py` script which will wrap the configuration, compilation,
@ -16,9 +18,11 @@ and launching of the simulation into one command for you.
``` ```
$ Tools/autotest/sim_vehicle.py --waf-configure-arg --enable-scripting -v ArduPlane $ Tools/autotest/sim_vehicle.py -v ArduPlane
``` ```
Once you have a vehicle flashed with scripting you need to set the `SCR_ENABLE` parameter to 1 to enable scripting and reboot.
## Adding Scripts ## Adding Scripts
The vehicle will automatically look for and launch any scripts that are contained in the `scripts` folder when it starts. The vehicle will automatically look for and launch any scripts that are contained in the `scripts` folder when it starts.

2
libraries/AP_Scripting/generator/description/bindings.desc
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@ -11,7 +11,7 @@ userdata Location field loiter_xtrack boolean read write
userdata Location method get_distance float Location userdata Location method get_distance float Location
userdata Location method offset void float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX userdata Location method offset void float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX
userdata Location method get_vector_from_origin_NEU boolean Vector3f userdata Location method get_vector_from_origin_NEU boolean Vector3f'Null
include AP_AHRS/AP_AHRS.h include AP_AHRS/AP_AHRS.h

13
libraries/AP_Scripting/lua_generated_bindings.cpp
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@ -388,13 +388,18 @@ static int Vector3f___sub(lua_State *L) {
static int Location_get_vector_from_origin_NEU(lua_State *L) { static int Location_get_vector_from_origin_NEU(lua_State *L) {
// 1 Vector3f 14 : 6 // 1 Vector3f 14 : 6
binding_argcheck(L, 2); binding_argcheck(L, 1);
Location * ud = check_Location(L, 1); Location * ud = check_Location(L, 1);
Vector3f & data_2 = *check_Vector3f(L, 2); Vector3f data_5002 = {};
const bool data = ud->get_vector_from_origin_NEU( const bool data = ud->get_vector_from_origin_NEU(
data_2); data_5002);
lua_pushboolean(L, data); if (data) {
new_Vector3f(L);
*check_Vector3f(L, -1) = data_5002;
} else {
lua_pushnil(L);
}
return 1; return 1;
} }