AP_Scripting: load manual bindings via generator

libraries/AP_Scripting/generator/description/bindings.desc

@@ -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

libraries/AP_Scripting/lua_bindings.cpp

@@ -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[] =
+int AP_Logger_Write(lua_State *L) {
-{
-    {"millis", lua_millis},
-    {"micros", lua_micros},
-    {"mission_receive", lua_mission_receive},
-    {NULL, NULL}
-};
-
-static 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[] = {
+int lua_get_i2c_device(lua_State *L) {
-    {"write", AP_Logger_Write},
-    {NULL, NULL}
-};
-
-static 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);
-}
-

libraries/AP_Scripting/lua_bindings.h

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

libraries/AP_Scripting/lua_scripts.cpp

@@ -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);
 
 }

libraries/AP_Scripting/lua_scripts.h

@@ -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"