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