Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-26 01:33:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Scripting: load manual bindings via generator

Browse Source
This commit is contained in:
Iampete1 2022-04-30 17:17:40 +01:00 committed by Andrew Tridgell
parent 03476711f2
commit 9da80b45e9
5 changed files with 28 additions and 53 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/AP_Scripting/generator/description/bindings.desc
View File

@ -454,6 +454,8 @@ include AP_InertialSensor/AP_InertialSensor.h
singleton AP_InertialSensor rename ins
singleton AP_InertialSensor method get_temperature float uint8_t 0 INS_MAX_INSTANCES
singleton CAN manual get_device lua_get_CAN_device
singleton CAN depends HAL_MAX_CAN_PROTOCOL_DRIVERS
include AP_Scripting/AP_Scripting_CANSensor.h depends HAL_MAX_CAN_PROTOCOL_DRIVERS
include AP_HAL/AP_HAL.h
@ -511,3 +513,14 @@ singleton AP_Follow method get_target_heading_deg boolean float'Null
include AC_AttitudeControl/AC_AttitudeControl.h depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI
singleton AC_AttitudeControl depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI
singleton AC_AttitudeControl method get_rpy_srate void float'Ref float'Ref float'Ref
singleton AP_Logger rename logger
singleton AP_Logger manual write AP_Logger_Write
singleton i2c manual get_device lua_get_i2c_device
global manual millis lua_millis
global manual micros lua_micros
global manual mission_receive lua_mission_receive

55
libraries/AP_Scripting/lua_bindings.cpp
View File

@ -1,5 +1,4 @@
#include <AP_Common/AP_Common.h>
#include <SRV_Channel/SRV_Channel.h>
#include <AP_HAL/HAL.h>
#include <AP_Logger/AP_Logger.h>
@ -29,7 +28,7 @@ int check_arguments(lua_State *L, int expected_arguments, const char *fn_name) {
}
// millis
static int lua_millis(lua_State *L) {
int lua_millis(lua_State *L) {
check_arguments(L, 0, "millis");
new_uint32_t(L);
@ -39,7 +38,7 @@ static int lua_millis(lua_State *L) {
}
// micros
static int lua_micros(lua_State *L) {
int lua_micros(lua_State *L) {
check_arguments(L, 0, "micros");
new_uint32_t(L);
@ -48,7 +47,7 @@ static int lua_micros(lua_State *L) {
return 1;
}
static int lua_mission_receive(lua_State *L) {
int lua_mission_receive(lua_State *L) {
check_arguments(L, 0, "mission_receive");
ObjectBuffer<struct AP_Scripting::scripting_mission_cmd> *input = AP::scripting()->mission_data;
@ -76,15 +75,7 @@ static int lua_mission_receive(lua_State *L) {
return 5;
}
static const luaL_Reg global_functions[] =
{
{"millis", lua_millis},
{"micros", lua_micros},
{"mission_receive", lua_mission_receive},
{NULL, NULL}
};
static int AP_Logger_Write(lua_State *L) {
int AP_Logger_Write(lua_State *L) {
AP_Logger * AP_logger = AP_Logger::get_singleton();
if (AP_logger == nullptr) {
return luaL_argerror(L, 1, "logger not supported on this firmware");
@ -283,12 +274,7 @@ static int AP_Logger_Write(lua_State *L) {
return 0;
}
const luaL_Reg AP_Logger_functions[] = {
{"write", AP_Logger_Write},
{NULL, NULL}
};
static int lua_get_i2c_device(lua_State *L) {
int lua_get_i2c_device(lua_State *L) {
const int args = lua_gettop(L);
if (args < 2) {
@ -342,13 +328,8 @@ static int lua_get_i2c_device(lua_State *L) {
return 1;
}
const luaL_Reg i2c_functions[] = {
{"get_device", lua_get_i2c_device},
{NULL, NULL}
};
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
static int lua_get_CAN_device(lua_State *L) {
int lua_get_CAN_device(lua_State *L) {
check_arguments(L, 1, "CAN:get_device");
@ -368,28 +349,4 @@ static int lua_get_CAN_device(lua_State *L) {
return 1;
}
const luaL_Reg CAN_functions[] = {
{"get_device", lua_get_CAN_device},
{NULL, NULL}
};
#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
void load_lua_bindings(lua_State *L) {
lua_pushstring(L, "logger");
luaL_newlib(L, AP_Logger_functions);
lua_settable(L, -3);
lua_pushstring(L, "i2c");
luaL_newlib(L, i2c_functions);
lua_settable(L, -3);
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
lua_pushstring(L, "CAN");
luaL_newlib(L, CAN_functions);
lua_settable(L, -3);
#endif
luaL_setfuncs(L, global_functions, 0);
}

9
libraries/AP_Scripting/lua_bindings.h
View File

@ -2,5 +2,10 @@
#include "lua/src/lua.hpp"
// load all known lua bindings into the state
void load_lua_bindings(lua_State *state);
int lua_millis(lua_State *L);
int lua_micros(lua_State *L);
int lua_mission_receive(lua_State *L);
int AP_Logger_Write(lua_State *L);
int lua_get_i2c_device(lua_State *L);
int lua_get_CAN_device(lua_State *L);

1
libraries/AP_Scripting/lua_scripts.cpp
View File

@ -163,7 +163,6 @@ void lua_scripts::create_sandbox(lua_State *L) {
lua_pushstring(L, "utf8");
luaopen_utf8(L);
lua_settable(L, -3);
load_lua_bindings(L);
load_generated_sandbox(L);
}

3
libraries/AP_Scripting/lua_scripts.h
View File

@ -19,10 +19,11 @@
#include <setjmp.h>
#include <AP_Filesystem/posix_compat.h>
#include "lua_bindings.h"
#include <AP_Scripting/AP_Scripting.h>
#include <GCS_MAVLink/GCS.h>
#include "lua/src/lua.hpp"
#ifndef REPL_DIRECTORY
#if HAL_OS_FATFS_IO
#define REPL_DIRECTORY "/APM/repl"