mirror of https://github.com/ArduPilot/ardupilot
100 lines
3.0 KiB
Lua
100 lines
3.0 KiB
Lua
-- This script is a test of param set and get
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local count = 0
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-- for fast param acess it is better to get a param object,
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-- this saves the code searching for the param by name every time
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local VM_I_Count = Parameter()
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if not VM_I_Count:init('SCR_VM_I_COUNT') then
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gcs:send_text(6, 'get SCR_VM_I_COUNT failed')
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end
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-- returns null if param cant be found
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local fake_param = Parameter()
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if not fake_param:init('FAKE_PARAM') then
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gcs:send_text(6, 'get FAKE_PARAM failed')
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end
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-- Can also pass param string in constructor to remove the need to init manualy
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local user_param = Parameter('SCR_USER1')
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-- this will error out for a bad parameter
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-- Parameter('FAKE_PARAM')
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local success, err = pcall(Parameter,'FAKE_PARAM')
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gcs:send_text(0, "Lua Caught Error: " .. err)
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-- this allows this example to catch the otherwise fatal error
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-- not recommend if error is possible/expected, use separate construction and init
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-- local user_param = Parameter('SCR_USER1')
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-- is equivalent to:
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-- local user_param = Parameter()
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-- assert(user_param:init('SCR_USER1'), 'No parameter: SCR_USER1')
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function update() -- this is the loop which periodically runs
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-- get and print all the scripting parameters
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local value = param:get('SCR_ENABLE')
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if value then
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gcs:send_text(6, string.format('LUA: SCR_ENABLE: %i',value))
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else
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gcs:send_text(6, 'LUA: get SCR_ENABLE failed')
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end
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value = param:get('SCR_VM_I_COUNT')
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if value then
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gcs:send_text(6, string.format('LUA: SCR_VM_I_COUNT: %i',value))
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else
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gcs:send_text(6, 'LUA: get SCR_VM_I_COUNT failed')
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end
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value = param:get('SCR_HEAP_SIZE')
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if value then
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gcs:send_text(6, string.format('LUA: SCR_HEAP_SIZE: %i',value))
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else
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gcs:send_text(6, 'LUA: get SCR_HEAP_SIZE failed')
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end
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value = param:get('SCR_DEBUG_LVL')
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if value then
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gcs:send_text(6, string.format('LUA: SCR_DEBUG_LVL: %i',value))
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else
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gcs:send_text(6, 'LUA: get SCR_DEBUG_LVL failed')
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end
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-- increment the script heap size by one
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local heap_size = param:get('SCR_HEAP_SIZE')
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if heap_size then
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if not(param:set('SCR_HEAP_SIZE',heap_size + 1)) then
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gcs:send_text(6, 'LUA: param set failed')
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end
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else
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gcs:send_text(6, 'LUA: get SCR_HEAP_SIZE failed')
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end
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-- increment the VM I count by one using direct accsess method
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local VM_count = VM_I_Count:get()
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if VM_count then
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gcs:send_text(6, string.format('LUA: SCR_VM_I_COUNT: %i',VM_count))
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if not VM_I_Count:set( VM_count + 1) then
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gcs:send_text(6, string.format('LUA: failed to set SCR_VM_I_COUNT'))
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end
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else
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gcs:send_text(6, 'LUA: read SCR_VM_I_COUNT failed')
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end
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local user = user_param:get()
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if user then
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gcs:send_text(6, string.format('LUA: SCR_USER1: %i', user))
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else
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gcs:send_text(6, 'LUA: read SCR_USER1 failed')
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end
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count = count + 1;
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-- self terminate after 30 loops
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if count > 30 then
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gcs:send_text(0, 'LUA: goodbye, world')
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param:set('SCR_ENABLE',0)
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end
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return update, 1000 -- reschedules the loop
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end
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return update() -- run immediately before starting to reschedule
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