mirror of https://github.com/ArduPilot/ardupilot
215 lines
6.1 KiB
C++
215 lines
6.1 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#include "lua_boxed_numerics.h"
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extern const AP_HAL::HAL& hal;
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uint32_t coerce_to_uint32_t(lua_State *L, int arg) {
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{ // userdata
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const uint32_t * ud = static_cast<uint32_t *>(luaL_testudata(L, arg, "uint32_t"));
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if (ud != nullptr) {
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return *ud;
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}
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}
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{ // integer
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// if this assert fails, you will need to add an upper bounds
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// check that ensures the value isn't greater then UINT32_MAX
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static_assert(sizeof(lua_Number) == sizeof(uint32_t), "32 bit integers are only supported");
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int success;
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const lua_Integer v = lua_tointegerx(L, arg, &success);
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if (success && v >= 0) {
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return static_cast<uint32_t>(v);
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}
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}
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{ // float
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int success;
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const lua_Number v = lua_tonumberx(L, arg, &success);
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if (success && v >= 0 && v <= UINT32_MAX) {
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return static_cast<uint32_t>(v);
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}
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}
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// failure
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return luaL_argerror(L, arg, "Unable to coerce to uint32_t");
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}
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// creates a new userdata for a uint32_t
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int new_uint32_t(lua_State *L) {
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luaL_checkstack(L, 2, "Out of stack");
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*static_cast<uint32_t *>(lua_newuserdata(L, sizeof(uint32_t))) = 0;
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luaL_getmetatable(L, "uint32_t");
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lua_setmetatable(L, -2);
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return 1;
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}
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// the exposed constructor to lua calls to create a uint32_t
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int lua_new_uint32_t(lua_State *L);
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int lua_new_uint32_t(lua_State *L) {
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const int args = lua_gettop(L);
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if (args > 1) {
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return luaL_argerror(L, args, "too many arguments");
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}
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*static_cast<uint32_t *>(lua_newuserdata(L, sizeof(uint32_t))) = (args == 1) ? coerce_to_uint32_t(L, 1) : 0;
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luaL_getmetatable(L, "uint32_t");
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lua_setmetatable(L, -2);
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return 1;
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}
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uint32_t * check_uint32_t(lua_State *L, int arg) {
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void *data = luaL_checkudata(L, arg, "uint32_t");
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return static_cast<uint32_t *>(data);
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}
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#define UINT32_T_BOX_OP(name, sym) \
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static int uint32_t___##name(lua_State *L) { \
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const int args = lua_gettop(L); \
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if (args > 2) { \
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return luaL_argerror(L, args, "too many arguments"); \
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} else if (args < 2) { \
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return luaL_argerror(L, args, "too few arguments"); \
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} \
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\
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uint32_t v1 = coerce_to_uint32_t(L, 1); \
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uint32_t v2 = coerce_to_uint32_t(L, 2); \
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\
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new_uint32_t(L); \
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*static_cast<uint32_t *>(luaL_checkudata(L, -1, "uint32_t")) = v1 sym v2; \
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return 1; \
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}
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UINT32_T_BOX_OP(add, +)
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UINT32_T_BOX_OP(sub, -)
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UINT32_T_BOX_OP(mul, *)
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UINT32_T_BOX_OP(div, /)
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UINT32_T_BOX_OP(mod, %)
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UINT32_T_BOX_OP(idiv, /)
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UINT32_T_BOX_OP(band, &)
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UINT32_T_BOX_OP(bor, |)
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UINT32_T_BOX_OP(bxor, ^)
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UINT32_T_BOX_OP(shl, <<)
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UINT32_T_BOX_OP(shr, >>)
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#define UINT32_T_BOX_OP_BOOL(name, sym) \
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static int uint32_t___##name(lua_State *L) { \
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const int args = lua_gettop(L); \
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luaL_checkstack(L, 1, "Out of stack"); \
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if (args > 2) { \
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return luaL_argerror(L, args, "too many arguments"); \
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} else if (args < 2) { \
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return luaL_argerror(L, args, "too few arguments"); \
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} \
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\
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uint32_t v1 = coerce_to_uint32_t(L, 1); \
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uint32_t v2 = coerce_to_uint32_t(L, 2); \
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\
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lua_pushboolean(L, v1 sym v2); \
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return 1; \
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}
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UINT32_T_BOX_OP_BOOL(eq, =)
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UINT32_T_BOX_OP_BOOL(lt, <)
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UINT32_T_BOX_OP_BOOL(le, <=)
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#define UINT32_T_BOX_OP_UNARY(name, sym) \
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static int uint32_t___##name(lua_State *L) { \
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const int args = lua_gettop(L); \
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luaL_checkstack(L, 1, "Out of stack"); \
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if (args != 1) { \
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return luaL_argerror(L, args, "Expected 1 argument"); \
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} \
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\
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uint32_t v1 = coerce_to_uint32_t(L, 1); \
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\
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new_uint32_t(L); \
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*static_cast<uint32_t *>(luaL_checkudata(L, -1, "uint32_t")) = sym v1; \
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return 1; \
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}
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// DO NOT SUPPORT UNARY NEGATION
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UINT32_T_BOX_OP_UNARY(bnot, ~)
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static int uint32_t_toint(lua_State *L) {
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const int args = lua_gettop(L);
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if (args != 1) {
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return luaL_argerror(L, args, "Expected 1 argument");
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}
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uint32_t v = *static_cast<uint32_t *>(luaL_checkudata(L, 1, "uint32_t"));
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lua_pushinteger(L, static_cast<lua_Integer>(v));
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return 1;
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}
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static int uint32_t_tofloat(lua_State *L) {
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const int args = lua_gettop(L);
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if (args != 1) {
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return luaL_argerror(L, args, "Expected 1 argument");
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}
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uint32_t v = *static_cast<uint32_t *>(luaL_checkudata(L, 1, "uint32_t"));
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lua_pushnumber(L, static_cast<lua_Number>(v));
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return 1;
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}
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static int uint32_t___tostring(lua_State *L) {
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const int args = lua_gettop(L);
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if (args != 1) {
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return luaL_argerror(L, args, "Expected 1 argument");
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}
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uint32_t v = *static_cast<uint32_t *>(luaL_checkudata(L, 1, "uint32_t"));
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char buf[32];
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hal.util->snprintf(buf, ARRAY_SIZE(buf), "%u", (unsigned)v);
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lua_pushstring(L, buf);
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return 1;
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}
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const luaL_Reg uint32_t_meta[] = {
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{"__add", uint32_t___add},
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{"__sub", uint32_t___sub},
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{"__mul", uint32_t___mul},
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{"__div", uint32_t___div},
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{"__mod", uint32_t___mod},
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{"__idiv", uint32_t___idiv},
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{"__band", uint32_t___band},
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{"__bor", uint32_t___bor},
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{"__bxor", uint32_t___bxor},
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{"__shl", uint32_t___shl},
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{"__shr", uint32_t___shr},
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{"__shr", uint32_t___shr},
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{"__eq", uint32_t___eq},
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{"__lt", uint32_t___lt},
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{"__le", uint32_t___le},
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{"__bnot", uint32_t___bnot},
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{"__tostring", uint32_t___tostring},
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{"toint", uint32_t_toint},
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{"tofloat", uint32_t_tofloat},
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{NULL, NULL}
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};
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void load_boxed_numerics(lua_State *L) {
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luaL_checkstack(L, 5, "Out of stack");
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luaL_newmetatable(L, "uint32_t");
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luaL_setfuncs(L, uint32_t_meta, 0);
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lua_pushstring(L, "__index");
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lua_pushvalue(L, -2);
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lua_settable(L, -3);
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lua_pop(L, 1);
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}
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void load_boxed_numerics_sandbox(lua_State *L) {
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// if there are ever more drivers then move to a table based solution
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lua_pushstring(L, "uint32_t");
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lua_pushcfunction(L, lua_new_uint32_t);
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lua_settable(L, -3);
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}
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