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AP_Scripting: lua_bindings: use local varable for AP_Scripting, don't get every time

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Iampete1 2023-03-03 09:45:19 +00:00 committed by Andrew Tridgell
parent 36498cb4a0
commit a021489580
1 changed files with 28 additions and 20 deletions
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48
libraries/AP_Scripting/lua_bindings.cpp
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@ -382,26 +382,28 @@ int lua_get_i2c_device(lua_State *L) {
}
}
auto *scripting = AP::scripting();
static_assert(SCRIPTING_MAX_NUM_I2C_DEVICE >= 0, "There cannot be a negative number of I2C devices");
if (AP::scripting()->num_i2c_devices >= SCRIPTING_MAX_NUM_I2C_DEVICE) {
if (scripting->num_i2c_devices >= SCRIPTING_MAX_NUM_I2C_DEVICE) {
return luaL_argerror(L, 1, "no i2c devices available");
}
AP::scripting()->_i2c_dev[AP::scripting()->num_i2c_devices] = new AP_HAL::OwnPtr<AP_HAL::I2CDevice>;
if (AP::scripting()->_i2c_dev[AP::scripting()->num_i2c_devices] == nullptr) {
scripting->_i2c_dev[scripting->num_i2c_devices] = new AP_HAL::OwnPtr<AP_HAL::I2CDevice>;
if (scripting->_i2c_dev[scripting->num_i2c_devices] == nullptr) {
return luaL_argerror(L, 1, "i2c device nullptr");
}
*AP::scripting()->_i2c_dev[AP::scripting()->num_i2c_devices] = std::move(hal.i2c_mgr->get_device(bus, address, bus_clock, use_smbus));
*scripting->_i2c_dev[scripting->num_i2c_devices] = std::move(hal.i2c_mgr->get_device(bus, address, bus_clock, use_smbus));
if (AP::scripting()->_i2c_dev[AP::scripting()->num_i2c_devices] == nullptr || AP::scripting()->_i2c_dev[AP::scripting()->num_i2c_devices]->get() == nullptr) {
if (scripting->_i2c_dev[scripting->num_i2c_devices] == nullptr || scripting->_i2c_dev[scripting->num_i2c_devices]->get() == nullptr) {
return luaL_argerror(L, 1, "i2c device nullptr");
}
new_AP_HAL__I2CDevice(L);
*((AP_HAL::I2CDevice**)luaL_checkudata(L, -1, "AP_HAL::I2CDevice")) = AP::scripting()->_i2c_dev[AP::scripting()->num_i2c_devices]->get();
*((AP_HAL::I2CDevice**)luaL_checkudata(L, -1, "AP_HAL::I2CDevice")) = scripting->_i2c_dev[scripting->num_i2c_devices]->get();
AP::scripting()->num_i2c_devices++;
scripting->num_i2c_devices++;
return 1;
}
@ -459,15 +461,17 @@ int lua_get_CAN_device(lua_State *L) {
const uint32_t raw_buffer_len = get_uint32(L, 1 + arg_offset, 1, 25);
const uint32_t buffer_len = static_cast<uint32_t>(raw_buffer_len);
if (AP::scripting()->_CAN_dev == nullptr) {
AP::scripting()->_CAN_dev = new ScriptingCANSensor(AP_CANManager::Driver_Type::Driver_Type_Scripting);
if (AP::scripting()->_CAN_dev == nullptr) {
auto *scripting = AP::scripting();
if (scripting->_CAN_dev == nullptr) {
scripting->_CAN_dev = new ScriptingCANSensor(AP_CANManager::Driver_Type::Driver_Type_Scripting);
if (scripting->_CAN_dev == nullptr) {
return luaL_argerror(L, 1, "CAN device nullptr");
}
}
new_ScriptingCANBuffer(L);
*((ScriptingCANBuffer**)luaL_checkudata(L, -1, "ScriptingCANBuffer")) = AP::scripting()->_CAN_dev->add_buffer(buffer_len);
*((ScriptingCANBuffer**)luaL_checkudata(L, -1, "ScriptingCANBuffer")) = scripting->_CAN_dev->add_buffer(buffer_len);
return 1;
}
@ -482,15 +486,17 @@ int lua_get_CAN_device2(lua_State *L) {
const uint32_t raw_buffer_len = get_uint32(L, 1 + arg_offset, 1, 25);
const uint32_t buffer_len = static_cast<uint32_t>(raw_buffer_len);
if (AP::scripting()->_CAN_dev2 == nullptr) {
AP::scripting()->_CAN_dev2 = new ScriptingCANSensor(AP_CANManager::Driver_Type::Driver_Type_Scripting2);
if (AP::scripting()->_CAN_dev2 == nullptr) {
auto *scripting = AP::scripting();
if (scripting->_CAN_dev2 == nullptr) {
scripting->_CAN_dev2 = new ScriptingCANSensor(AP_CANManager::Driver_Type::Driver_Type_Scripting2);
if (scripting->_CAN_dev2 == nullptr) {
return luaL_argerror(L, 1, "CAN device nullptr");
}
}
new_ScriptingCANBuffer(L);
*((ScriptingCANBuffer**)luaL_checkudata(L, -1, "ScriptingCANBuffer")) = AP::scripting()->_CAN_dev2->add_buffer(buffer_len);
*((ScriptingCANBuffer**)luaL_checkudata(L, -1, "ScriptingCANBuffer")) = scripting->_CAN_dev2->add_buffer(buffer_len);
return 1;
}
@ -547,20 +553,22 @@ int SRV_Channels_get_safety_state(lua_State *L) {
int lua_get_PWMSource(lua_State *L) {
binding_argcheck(L, 0);
auto *scripting = AP::scripting();
static_assert(SCRIPTING_MAX_NUM_PWM_SOURCE >= 0, "There cannot be a negative number of PWMSources");
if (AP::scripting()->num_pwm_source >= SCRIPTING_MAX_NUM_PWM_SOURCE) {
if (scripting->num_pwm_source >= SCRIPTING_MAX_NUM_PWM_SOURCE) {
return luaL_argerror(L, 1, "no PWMSources available");
}
AP::scripting()->_pwm_source[AP::scripting()->num_pwm_source] = new AP_HAL::PWMSource;
if (AP::scripting()->_pwm_source[AP::scripting()->num_pwm_source] == nullptr) {
scripting->_pwm_source[scripting->num_pwm_source] = new AP_HAL::PWMSource;
if (scripting->_pwm_source[scripting->num_pwm_source] == nullptr) {
return luaL_argerror(L, 1, "PWMSources device nullptr");
}
new_AP_HAL__PWMSource(L);
*((AP_HAL::PWMSource**)luaL_checkudata(L, -1, "AP_HAL::PWMSource")) = AP::scripting()->_pwm_source[AP::scripting()->num_pwm_source];
*((AP_HAL::PWMSource**)luaL_checkudata(L, -1, "AP_HAL::PWMSource")) = scripting->_pwm_source[scripting->num_pwm_source];
AP::scripting()->num_pwm_source++;
scripting->num_pwm_source++;
return 1;
}