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AP_Scripting: Manual bindings: allow both : and . acsess

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Iampete1 2022-09-03 17:01:36 +01:00 committed by Andrew Tridgell
parent 2c8c037b93
commit 5b2236e88c
1 changed files with 42 additions and 29 deletions
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71
libraries/AP_Scripting/lua_bindings.cpp
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@ -66,15 +66,18 @@ int AP_Logger_Write(lua_State *L) {
return luaL_argerror(L, 1, "logger not supported on this firmware"); return luaL_argerror(L, 1, "logger not supported on this firmware");
} }
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "logger") != NULL) ? 1 : 0;
// check we have at least 4 arguments passed in // check we have at least 4 arguments passed in
const int args = lua_gettop(L); const int args = lua_gettop(L) - arg_offset;
if (args < 4) { if (args < 4) {
return luaL_argerror(L, args, "too few arguments"); return luaL_argerror(L, args, "too few arguments");
} }
const char * name = luaL_checkstring(L, 1); const char * name = luaL_checkstring(L, 1 + arg_offset);
const char * labels = luaL_checkstring(L, 2); const char * labels = luaL_checkstring(L, 2 + arg_offset);
const char * fmt = luaL_checkstring(L, 3); const char * fmt = luaL_checkstring(L, 3 + arg_offset);
// cheack the name, labels and format are not too long // cheack the name, labels and format are not too long
if (strlen(name) >= LS_NAME_SIZE) { if (strlen(name) >= LS_NAME_SIZE) {
@ -132,8 +135,8 @@ int AP_Logger_Write(lua_State *L) {
} else { } else {
// read in units and multiplers strings // read in units and multiplers strings
field_start += 2; field_start += 2;
const char * units = luaL_checkstring(L, 4); const char * units = luaL_checkstring(L, 4 + arg_offset);
const char * multipliers = luaL_checkstring(L, 5); const char * multipliers = luaL_checkstring(L, 5 + arg_offset);
if (length != strlen(units)) { if (length != strlen(units)) {
return luaL_error(L, "units must be same length as format"); return luaL_error(L, "units must be same length as format");
@ -180,6 +183,7 @@ int AP_Logger_Write(lua_State *L) {
for (uint8_t i=field_start; i<=args; i++) { for (uint8_t i=field_start; i<=args; i++) {
uint8_t charlen = 0; uint8_t charlen = 0;
uint8_t index = have_units ? i-5 : i-3; uint8_t index = have_units ? i-5 : i-3;
uint8_t arg_index = i + arg_offset;
switch(fmt_cat[index]) { switch(fmt_cat[index]) {
// logger varable types not available to scripting // logger varable types not available to scripting
// 'b': int8_t // 'b': int8_t
@ -194,15 +198,15 @@ int AP_Logger_Write(lua_State *L) {
case 'i': case 'i':
case 'L': case 'L':
case 'e': { case 'e': {
const lua_Integer tmp1 = luaL_checkinteger(L, i); const lua_Integer tmp1 = luaL_checkinteger(L, arg_index);
luaL_argcheck(L, ((tmp1 >= INT32_MIN) && (tmp1 <= INT32_MAX)), i, "argument out of range"); luaL_argcheck(L, ((tmp1 >= INT32_MIN) && (tmp1 <= INT32_MAX)), arg_index, "argument out of range");
int32_t tmp = tmp1; int32_t tmp = tmp1;
luaL_addlstring(&buffer, (char *)&tmp, sizeof(int32_t)); luaL_addlstring(&buffer, (char *)&tmp, sizeof(int32_t));
break; break;
} }
case 'f': { case 'f': {
float tmp = luaL_checknumber(L, i); float tmp = luaL_checknumber(L, arg_index);
luaL_argcheck(L, ((tmp >= -INFINITY) && (tmp <= INFINITY)), i, "argument out of range"); luaL_argcheck(L, ((tmp >= -INFINITY) && (tmp <= INFINITY)), arg_index, "argument out of range");
luaL_addlstring(&buffer, (char *)&tmp, sizeof(float)); luaL_addlstring(&buffer, (char *)&tmp, sizeof(float));
break; break;
} }
@ -212,15 +216,15 @@ int AP_Logger_Write(lua_State *L) {
} }
case 'M': case 'M':
case 'B': { case 'B': {
const lua_Integer tmp1 = luaL_checkinteger(L, i); const lua_Integer tmp1 = luaL_checkinteger(L, arg_index);
luaL_argcheck(L, ((tmp1 >= 0) && (tmp1 <= UINT8_MAX)), i, "argument out of range"); luaL_argcheck(L, ((tmp1 >= 0) && (tmp1 <= UINT8_MAX)), arg_index, "argument out of range");
uint8_t tmp = static_cast<uint8_t>(tmp1); uint8_t tmp = static_cast<uint8_t>(tmp1);
luaL_addlstring(&buffer, (char *)&tmp, sizeof(uint8_t)); luaL_addlstring(&buffer, (char *)&tmp, sizeof(uint8_t));
break; break;
} }
case 'I': case 'I':
case 'E': { case 'E': {
const uint32_t tmp = coerce_to_uint32_t(L, i); const uint32_t tmp = coerce_to_uint32_t(L, arg_index);
luaL_addlstring(&buffer, (char *)&tmp, sizeof(uint32_t)); luaL_addlstring(&buffer, (char *)&tmp, sizeof(uint32_t));
break; break;
} }
@ -233,14 +237,14 @@ int AP_Logger_Write(lua_State *L) {
break; break;
} }
default: { default: {
return luaL_error(L, "%c unsupported format",fmt_cat[i-3]); return luaL_error(L, "%c unsupported format",fmt_cat[arg_index-3]);
} }
} }
if (charlen != 0) { if (charlen != 0) {
const char *tmp = luaL_checkstring(L, i); const char *tmp = luaL_checkstring(L, arg_index);
const size_t slen = strlen(tmp); const size_t slen = strlen(tmp);
if (slen > charlen) { if (slen > charlen) {
return luaL_error(L, "arg %i too long for %c format",i,fmt_cat[i-3]); return luaL_error(L, "arg %i too long for %c format",arg_index,fmt_cat[arg_index-3]);
} }
char tstr[charlen]; char tstr[charlen];
memcpy(tstr, tmp, slen); memcpy(tstr, tmp, slen);
@ -261,7 +265,10 @@ int AP_Logger_Write(lua_State *L) {
int lua_get_i2c_device(lua_State *L) { int lua_get_i2c_device(lua_State *L) {
const int args = lua_gettop(L); // Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "i2c") != NULL) ? 1 : 0;
const int args = lua_gettop(L) - arg_offset;
if (args < 2) { if (args < 2) {
return luaL_argerror(L, args, "require i2c bus and address"); return luaL_argerror(L, args, "require i2c bus and address");
} }
@ -269,12 +276,12 @@ int lua_get_i2c_device(lua_State *L) {
return luaL_argerror(L, args, "too many arguments"); return luaL_argerror(L, args, "too many arguments");
} }
const lua_Integer bus_in = luaL_checkinteger(L, 1); const lua_Integer bus_in = luaL_checkinteger(L, 1 + arg_offset);
luaL_argcheck(L, ((bus_in >= 0) && (bus_in <= 4)), 1, "bus out of range"); luaL_argcheck(L, ((bus_in >= 0) && (bus_in <= 4)), 1 + arg_offset, "bus out of range");
const uint8_t bus = static_cast<uint8_t>(bus_in); const uint8_t bus = static_cast<uint8_t>(bus_in);
const lua_Integer address_in = luaL_checkinteger(L, 2); const lua_Integer address_in = luaL_checkinteger(L, 2 + arg_offset);
luaL_argcheck(L, ((address_in >= 0) && (address_in <= 128)), 2, "address out of range"); luaL_argcheck(L, ((address_in >= 0) && (address_in <= 128)), 2 + arg_offset, "address out of range");
const uint8_t address = static_cast<uint8_t>(address_in); const uint8_t address = static_cast<uint8_t>(address_in);
// optional arguments, use the same defaults as the hal get_device function // optional arguments, use the same defaults as the hal get_device function
@ -282,10 +289,10 @@ int lua_get_i2c_device(lua_State *L) {
bool use_smbus = false; bool use_smbus = false;
if (args > 2) { if (args > 2) {
bus_clock = coerce_to_uint32_t(L, 3); bus_clock = coerce_to_uint32_t(L, 3 + arg_offset);
if (args > 3) { if (args > 3) {
use_smbus = static_cast<bool>(lua_toboolean(L, 4)); use_smbus = static_cast<bool>(lua_toboolean(L, 4 + arg_offset));
} }
} }
@ -316,10 +323,13 @@ int lua_get_i2c_device(lua_State *L) {
#if HAL_MAX_CAN_PROTOCOL_DRIVERS #if HAL_MAX_CAN_PROTOCOL_DRIVERS
int lua_get_CAN_device(lua_State *L) { int lua_get_CAN_device(lua_State *L) {
binding_argcheck(L, 1); // Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "CAN") != NULL) ? 1 : 0;
const uint32_t raw_buffer_len = coerce_to_uint32_t(L, 1); binding_argcheck(L, 1 + arg_offset);
luaL_argcheck(L, ((raw_buffer_len >= 1U) && (raw_buffer_len <= 25U)), 1, "argument out of range");
const uint32_t raw_buffer_len = coerce_to_uint32_t(L, 1 + arg_offset);
luaL_argcheck(L, ((raw_buffer_len >= 1U) && (raw_buffer_len <= 25U)), 1 + arg_offset, "argument out of range");
const uint32_t buffer_len = static_cast<uint32_t>(raw_buffer_len); const uint32_t buffer_len = static_cast<uint32_t>(raw_buffer_len);
if (AP::scripting()->_CAN_dev == nullptr) { if (AP::scripting()->_CAN_dev == nullptr) {
@ -337,10 +347,13 @@ int lua_get_CAN_device(lua_State *L) {
int lua_get_CAN_device2(lua_State *L) { int lua_get_CAN_device2(lua_State *L) {
binding_argcheck(L, 1); // Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "CAN") != NULL) ? 1 : 0;
const uint32_t raw_buffer_len = coerce_to_uint32_t(L, 1); binding_argcheck(L, 1 + arg_offset);
luaL_argcheck(L, ((raw_buffer_len >= 1U) && (raw_buffer_len <= 25U)), 1, "argument out of range");
const uint32_t raw_buffer_len = coerce_to_uint32_t(L, 1 + arg_offset);
luaL_argcheck(L, ((raw_buffer_len >= 1U) && (raw_buffer_len <= 25U)), 1 + arg_offset, "argument out of range");
const uint32_t buffer_len = static_cast<uint32_t>(raw_buffer_len); const uint32_t buffer_len = static_cast<uint32_t>(raw_buffer_len);
if (AP::scripting()->_CAN_dev2 == nullptr) { if (AP::scripting()->_CAN_dev2 == nullptr) {