ardupilot/libraries/AP_Scripting/AP_Scripting_helpers.cpp

201 lines
4.2 KiB
C++

#include "AP_Scripting_config.h"
#if AP_SCRIPTING_ENABLED
#include "AP_Scripting_helpers.h"
#include <AP_Scripting/lua_generated_bindings.h>
/// Fast param access via pointer helper class
// Custom lua constructor with optional param name
int lua_new_Parameter(lua_State *L) {
const int args = lua_gettop(L);
if (args > 1) {
return luaL_argerror(L, args, "too many arguments");
}
const char * name = nullptr;
if (args == 1) {
name = luaL_checkstring(L, 1);
}
// This chunk is the same as the auto generated constructor
luaL_checkstack(L, 2, "Out of stack");
void *ud = lua_newuserdata(L, sizeof(Parameter));
memset(ud, 0, sizeof(Parameter));
new (ud) Parameter();
luaL_getmetatable(L, "Parameter");
lua_setmetatable(L, -2);
if (args == 0) {
// no arguments, nothing to do
return 1;
}
if (!static_cast<Parameter*>(ud)->init(name)) {
return luaL_error(L, "No parameter: %s", name);
}
return 1;
}
// init by name
bool Parameter::init(const char *name)
{
vp = AP_Param::find(name, &vtype);
if (vp == nullptr) {
return false;
}
return true;
}
// init by info, to get the value of old params
bool Parameter::init_by_info(uint16_t key, uint32_t group_element, enum ap_var_type type)
{
switch (type) {
case AP_PARAM_INT8:
vp = new AP_Int8;
break;
case AP_PARAM_INT16:
vp = new AP_Int16;
break;
case AP_PARAM_INT32:
vp = new AP_Int32;
break;
case AP_PARAM_FLOAT:
vp = new AP_Float;
break;
default:
return false;
}
if (vp == nullptr) {
return false;
}
vtype = type;
AP_Param::ConversionInfo info = {
key,
group_element,
type,
nullptr
};
return AP_Param::find_old_parameter(&info, vp);
}
// set a value
bool Parameter::set(float value)
{
if (vp == nullptr) {
return false;
}
switch (vtype) {
case AP_PARAM_INT8:
((AP_Int8 *)vp)->set(value);
return true;
case AP_PARAM_INT16:
((AP_Int16 *)vp)->set(value);
return true;
case AP_PARAM_INT32:
((AP_Int32 *)vp)->set(value);
return true;
case AP_PARAM_FLOAT:
((AP_Float *)vp)->set(value);
return true;
default:
break;
}
// not a supported type
return false;
}
// get value
bool Parameter::get(float &value)
{
if (vp == nullptr) {
return false;
}
switch (vtype) {
case AP_PARAM_INT8:
value = ((AP_Int8 *)vp)->get();
break;
case AP_PARAM_INT16:
value = ((AP_Int16 *)vp)->get();
break;
case AP_PARAM_INT32:
value = ((AP_Int32 *)vp)->get();
break;
case AP_PARAM_FLOAT:
value = ((AP_Float *)vp)->get();
break;
default:
// not a supported type
return false;
}
return true;
}
// set and save value
bool Parameter::set_and_save(float value)
{
if (vp == nullptr) {
return false;
}
switch (vtype) {
case AP_PARAM_INT8:
((AP_Int8 *)vp)->set_and_save(value);
return true;
case AP_PARAM_INT16:
((AP_Int16 *)vp)->set_and_save(value);
return true;
case AP_PARAM_INT32:
((AP_Int32 *)vp)->set_and_save(value);
return true;
case AP_PARAM_FLOAT:
((AP_Float *)vp)->set_and_save(value);
return true;
default:
break;
}
// not a supported type
return false;
}
// Check if param had been configured
bool Parameter::configured()
{
if (vp == nullptr) {
return false;
}
return vp->configured();
}
// set default value
bool Parameter::set_default(float value)
{
if (vp == nullptr) {
return false;
}
switch (vtype) {
case AP_PARAM_INT8:
((AP_Int8 *)vp)->set_default(value);
return true;
case AP_PARAM_INT16:
((AP_Int16 *)vp)->set_default(value);
return true;
case AP_PARAM_INT32:
((AP_Int32 *)vp)->set_default(value);
return true;
case AP_PARAM_FLOAT:
((AP_Float *)vp)->set_default(value);
return true;
default:
break;
}
// not a supported type
return false;
}
#endif // AP_SCRIPTING_ENABLED