ardupilot/libraries/AP_Scripting/lua_scripts.h

75 lines
2.5 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <setjmp.h>
#include "lua_bindings.h"
class lua_scripts
{
public:
lua_scripts(const AP_Int32 &vm_steps, const AP_Int32 &heap_size, const AP_Int8 &debug_level);
/* Do not allow copies */
lua_scripts(const lua_scripts &other) = delete;
lua_scripts &operator=(const lua_scripts&) = delete;
// run scripts, does not return unless an error occured
void run(void);
static bool overtime; // script exceeded it's execution slot, and we are bailing out
private:
typedef struct script_info {
int lua_ref; // reference to the loaded script object
uint64_t next_run_ms; // time (in milliseconds) the script should next be run at
char *name; // filename for the script // FIXME: This information should be available from Lua
script_info *next;
} script_info;
script_info *load_script(lua_State *L, char *filename);
void load_all_scripts_in_dir(lua_State *L, const char *dirname);
void run_next_script(lua_State *L);
void remove_script(lua_State *L, script_info *script);
// reschedule the script for execution. It is assumed the script is not in the list already
void reschedule_script(script_info *script);
script_info *scripts; // linked list of scripts to be run, sorted by next run time (soonest first)
// hook will be run when CPU time for a script is exceeded
// it must be static to be passed to the C API
static void hook(lua_State *L, lua_Debug *ar);
// lua panic handler, will jump back to the start of run
static int atpanic(lua_State *L);
static jmp_buf panic_jmp;
lua_State *lua_state;
const AP_Int32 & _vm_steps;
const AP_Int8 & _debug_level;
static void *alloc(void *ud, void *ptr, size_t osize, size_t nsize);
static void *_heap;
};