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AP_Scripting: change mavlink to : access to match everything else, return timestamp as uint32

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Iampete1 2023-06-18 13:56:28 +01:00 committed by Andrew Tridgell
parent 7a99fd7e3b
commit 529fb83ce3
1 changed files with 29 additions and 12 deletions
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41
libraries/AP_Scripting/lua_bindings.cpp
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@ -44,12 +44,16 @@ int lua_micros(lua_State *L) {
}
int lua_mavlink_init(lua_State *L) {
binding_argcheck(L, 2);
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, 2+arg_offset);
WITH_SEMAPHORE(AP::scripting()->mavlink_data.sem);
// get the depth of receive queue
const uint32_t queue_size = get_uint32(L, -1, 0, 25);
const uint32_t queue_size = get_uint32(L, 1+arg_offset, 0, 25);
// get number of msgs to accept
const uint32_t num_msgs = get_uint32(L, -2, 0, 25);
const uint32_t num_msgs = get_uint32(L, 2+arg_offset, 0, 25);
struct AP_Scripting::mavlink &data = AP::scripting()->mavlink_data;
if (data.rx_buffer == nullptr) {
@ -70,7 +74,11 @@ int lua_mavlink_init(lua_State *L) {
}
int lua_mavlink_receive_chan(lua_State *L) {
binding_argcheck(L, 0);
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, arg_offset);
struct AP_Scripting::mavlink_msg msg;
ObjectBuffer<struct AP_Scripting::mavlink_msg> *rx_buffer = AP::scripting()->mavlink_data.rx_buffer;
@ -85,7 +93,8 @@ int lua_mavlink_receive_chan(lua_State *L) {
luaL_addlstring(&b, (char *)&msg.msg, sizeof(msg.msg));
luaL_pushresult(&b);
lua_pushinteger(L, msg.chan);
lua_pushinteger(L, msg.timestamp_ms);
new_uint32_t(L);
*check_uint32_t(L, -1) = msg.timestamp_ms;
return 3;
} else {
// no MAVLink to handle, just return no results
@ -94,9 +103,13 @@ int lua_mavlink_receive_chan(lua_State *L) {
}
int lua_mavlink_register_rx_msgid(lua_State *L) {
binding_argcheck(L, 1);
const uint32_t msgid = get_uint32(L, -1, 0, (1 << 24) - 1);
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, 1+arg_offset);
const uint32_t msgid = get_uint32(L, 1+arg_offset, 0, (1 << 24) - 1);
struct AP_Scripting::mavlink &data = AP::scripting()->mavlink_data;
@ -129,13 +142,17 @@ int lua_mavlink_register_rx_msgid(lua_State *L) {
}
int lua_mavlink_send_chan(lua_State *L) {
binding_argcheck(L, 3);
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, 3+arg_offset);
const mavlink_channel_t chan = (mavlink_channel_t)get_uint32(L, 1, 0, MAVLINK_COMM_NUM_BUFFERS - 1);
const mavlink_channel_t chan = (mavlink_channel_t)get_uint32(L, 1+arg_offset, 0, MAVLINK_COMM_NUM_BUFFERS - 1);
const uint32_t msgid = get_uint32(L, 2, 0, (1 << 24) - 1);
const uint32_t msgid = get_uint32(L, 2+arg_offset, 0, (1 << 24) - 1);
const char *packet = luaL_checkstring(L, 3);
const char *packet = luaL_checkstring(L, 3+arg_offset);
// FIXME: The data that's in this mavlink_msg_entry_t should be provided from the script, which allows
// sending entirely new messages as outputs. At the moment we can only encode messages that