mirror of https://github.com/ArduPilot/ardupilot
79 lines
2.6 KiB
C++
79 lines
2.6 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <setjmp.h>
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#include <AP_Filesystem/posix_compat.h>
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#include "lua_bindings.h"
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class lua_scripts
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{
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public:
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lua_scripts(const AP_Int32 &vm_steps, const AP_Int32 &heap_size, const AP_Int8 &debug_level);
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/* Do not allow copies */
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lua_scripts(const lua_scripts &other) = delete;
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lua_scripts &operator=(const lua_scripts&) = delete;
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// return true if initialisation failed
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bool heap_allocated() const { return _heap != nullptr; }
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// run scripts, does not return unless an error occured
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void run(void);
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static bool overtime; // script exceeded it's execution slot, and we are bailing out
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private:
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typedef struct script_info {
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int lua_ref; // reference to the loaded script object
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uint64_t next_run_ms; // time (in milliseconds) the script should next be run at
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char *name; // filename for the script // FIXME: This information should be available from Lua
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script_info *next;
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} script_info;
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script_info *load_script(lua_State *L, char *filename);
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void load_all_scripts_in_dir(lua_State *L, const char *dirname);
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void run_next_script(lua_State *L);
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void remove_script(lua_State *L, script_info *script);
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// reschedule the script for execution. It is assumed the script is not in the list already
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void reschedule_script(script_info *script);
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script_info *scripts; // linked list of scripts to be run, sorted by next run time (soonest first)
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// hook will be run when CPU time for a script is exceeded
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// it must be static to be passed to the C API
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static void hook(lua_State *L, lua_Debug *ar);
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// lua panic handler, will jump back to the start of run
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static int atpanic(lua_State *L);
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static jmp_buf panic_jmp;
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lua_State *lua_state;
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const AP_Int32 & _vm_steps;
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const AP_Int8 & _debug_level;
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static void *alloc(void *ud, void *ptr, size_t osize, size_t nsize);
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static void *_heap;
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};
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