ardupilot/libraries/AP_Scripting/lua_bindings.cpp

75 lines
2.0 KiB
C++

#include <AP_Common/AP_Common.h>
#include <SRV_Channel/SRV_Channel.h>
#include <AP_HAL/HAL.h>
#include "lua_bindings.h"
#include "lua_boxed_numerics.h"
#include "lua_generated_bindings.h"
extern const AP_HAL::HAL& hal;
int check_arguments(lua_State *L, int expected_arguments, const char *fn_name);
int check_arguments(lua_State *L, int expected_arguments, const char *fn_name) {
#if defined(AP_SCRIPTING_CHECKS) && AP_SCRIPTING_CHECKS >= 1
if (expected_arguments < 0) {
AP_HAL::panic("Lua: Attempted to check for negative arguments");
}
#endif
const int args = lua_gettop(L);
if (args != expected_arguments) {
return luaL_error(L, "%s expected %d arguments got %d", fn_name, expected_arguments, args);
}
return 0;
}
// servo binding
static int lua_servo_set_output_pwm(lua_State *L) {
check_arguments(L, 2, "set_output_pwm");
const SRV_Channel::Aux_servo_function_t servo_function = (SRV_Channel::Aux_servo_function_t)luaL_checkinteger(L, -2);
luaL_argcheck(L, ((servo_function >= SRV_Channel::Aux_servo_function_t::k_scripting1) &&
(servo_function <= SRV_Channel::Aux_servo_function_t::k_scripting16)),
2, "function out of range");
const int output = luaL_checknumber(L, -1);
luaL_argcheck(L, ((output >= 0) && (output <= UINT16_MAX)), 2, "output out of range");
SRV_Channels::set_output_pwm((SRV_Channel::Aux_servo_function_t)servo_function, output);
return 0;
}
// millis
static int lua_millis(lua_State *L) {
check_arguments(L, 0, "millis");
new_uint32_t(L);
*check_uint32_t(L, -1) = AP_HAL::millis();
return 1;
}
static const luaL_Reg global_functions[] =
{
{"millis", lua_millis},
{NULL, NULL}
};
static const luaL_Reg servo_functions[] =
{
{"set_output_pwm", lua_servo_set_output_pwm},
{NULL, NULL}
};
void load_lua_bindings(lua_State *L) {
lua_pushstring(L, "servo");
luaL_newlib(L, servo_functions);
lua_settable(L, -3);
luaL_setfuncs(L, global_functions, 0);
}