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AP_Scripting: allow loading moduels from ROMFS

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Iampete1 2024-02-23 01:22:03 +00:00 committed by Andrew Tridgell
parent ac769014c4
commit b7dd432409
4 changed files with 36 additions and 0 deletions
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4
libraries/AP_Scripting/lua/src/loadlib.c
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@ -798,7 +798,11 @@ LUAMOD_API int luaopen_package (lua_State *L) {
luaL_newlib(L, pk_funcs); /* create 'package' table */ luaL_newlib(L, pk_funcs); /* create 'package' table */
// createsearcherstable(L); // createsearcherstable(L);
/* set paths */ /* set paths */
#if defined(ARDUPILOT_BUILD)
setpath(L, "path", LUA_PATH_VAR, lua_get_modules_path());
#else
setpath(L, "path", LUA_PATH_VAR, LUA_PATH_DEFAULT); setpath(L, "path", LUA_PATH_VAR, LUA_PATH_DEFAULT);
#endif
// setpath(L, "cpath", LUA_CPATH_VAR, LUA_CPATH_DEFAULT); // setpath(L, "cpath", LUA_CPATH_VAR, LUA_CPATH_DEFAULT);
/* store config information */ /* store config information */
lua_pushliteral(L, LUA_DIRSEP "\n" LUA_PATH_SEP "\n" LUA_PATH_MARK "\n" lua_pushliteral(L, LUA_DIRSEP "\n" LUA_PATH_SEP "\n" LUA_PATH_MARK "\n"

4
libraries/AP_Scripting/lua/src/luaconf.h
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@ -195,11 +195,13 @@
#define LUA_LDIR "!\\lua\\" #define LUA_LDIR "!\\lua\\"
#define LUA_CDIR "!\\" #define LUA_CDIR "!\\"
#define LUA_SHRDIR "!\\..\\share\\lua\\" LUA_VDIR "\\" #define LUA_SHRDIR "!\\..\\share\\lua\\" LUA_VDIR "\\"
#if !defined(ARDUPILOT_BUILD)
#define LUA_PATH_DEFAULT \ #define LUA_PATH_DEFAULT \
LUA_LDIR"?.lua;" LUA_LDIR"?\\init.lua;" \ LUA_LDIR"?.lua;" LUA_LDIR"?\\init.lua;" \
LUA_CDIR"?.lua;" LUA_CDIR"?\\init.lua;" \ LUA_CDIR"?.lua;" LUA_CDIR"?\\init.lua;" \
LUA_SHRDIR"?.lua;" LUA_SHRDIR"?\\init.lua;" \ LUA_SHRDIR"?.lua;" LUA_SHRDIR"?\\init.lua;" \
".\\?.lua;" ".\\?\\init.lua" ".\\?.lua;" ".\\?\\init.lua"
#endif
#define LUA_CPATH_DEFAULT \ #define LUA_CPATH_DEFAULT \
LUA_CDIR"?.dll;" \ LUA_CDIR"?.dll;" \
LUA_CDIR"..\\lib\\lua\\" LUA_VDIR "\\?.dll;" \ LUA_CDIR"..\\lib\\lua\\" LUA_VDIR "\\?.dll;" \
@ -210,9 +212,11 @@
#define LUA_ROOT "/usr/local/" #define LUA_ROOT "/usr/local/"
#define LUA_LDIR SCRIPTING_DIRECTORY "/modules/" #define LUA_LDIR SCRIPTING_DIRECTORY "/modules/"
#define LUA_CDIR LUA_ROOT "lib/lua/" LUA_VDIR "/" #define LUA_CDIR LUA_ROOT "lib/lua/" LUA_VDIR "/"
#if !defined(ARDUPILOT_BUILD)
#define LUA_PATH_DEFAULT \ #define LUA_PATH_DEFAULT \
LUA_LDIR"?.lua;" LUA_LDIR"?/init.lua;" \ LUA_LDIR"?.lua;" LUA_LDIR"?/init.lua;" \
"./?.lua;" "./?/init.lua" "./?.lua;" "./?/init.lua"
#endif
#define LUA_CPATH_DEFAULT \ #define LUA_CPATH_DEFAULT \
LUA_CDIR"?.so;" LUA_CDIR"loadall.so;" "./?.so" LUA_CDIR"?.so;" LUA_CDIR"loadall.so;" "./?.so"
#endif /* } */ #endif /* } */

27
libraries/AP_Scripting/lua_bindings.cpp
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@ -920,6 +920,33 @@ int lua_get_current_ref()
return scripting->get_current_ref(); return scripting->get_current_ref();
} }
// This is used when loading modules with require, lua must only look in enabled directory's
const char* lua_get_modules_path()
{
#define LUA_PATH_ROMFS "@ROMFS/scripts/modules/?.lua;" "@ROMFS/scripts/modules/?/init.lua"
#define LUA_PATH_SCRIPTS LUA_LDIR"?.lua;" LUA_LDIR"?/init.lua"
uint16_t dir_disable = AP_Scripting::get_singleton()->get_disabled_dir();
dir_disable &= uint16_t(AP_Scripting::SCR_DIR::SCRIPTS) | uint16_t(AP_Scripting::SCR_DIR::ROMFS);
if (dir_disable == 0) {
// Both directory's are enabled, return both, ROMFS takes priority
return LUA_PATH_ROMFS ";" LUA_PATH_SCRIPTS;
}
if ((dir_disable & uint16_t(AP_Scripting::SCR_DIR::SCRIPTS)) == 0) {
// Only scripts enabled
return LUA_PATH_SCRIPTS;
}
if ((dir_disable & uint16_t(AP_Scripting::SCR_DIR::ROMFS)) == 0) {
// Only ROMFS enabled
return LUA_PATH_ROMFS;
}
// Nothing enabled?
return "";
}
// Simple print to GCS or over CAN // Simple print to GCS or over CAN
int lua_print(lua_State *L) { int lua_print(lua_State *L) {
// Only support a single argument // Only support a single argument

1
libraries/AP_Scripting/lua_common_defs.h
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@ -27,5 +27,6 @@
#endif // REPL_OUT #endif // REPL_OUT
int lua_get_current_ref(); int lua_get_current_ref();
const char* lua_get_modules_path();
void lua_abort(void) __attribute__((noreturn)); void lua_abort(void) __attribute__((noreturn));