From b577787f680db3858d802e709249a819a4098146 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 1 Aug 2019 20:55:03 +1000
Subject: [PATCH] AP_Scripting: use AP_Filesystem API

---
 libraries/AP_Scripting/lua/src/lprefix.h |  7 +++++++
 libraries/AP_Scripting/lua/src/lua.hpp   |  3 +++
 libraries/AP_Scripting/lua_scripts.cpp   | 14 +++-----------
 libraries/AP_Scripting/lua_scripts.h     |  1 +
 4 files changed, 14 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_Scripting/lua/src/lprefix.h b/libraries/AP_Scripting/lua/src/lprefix.h
index 9a749a3f30..7cfa8f3e2a 100644
--- a/libraries/AP_Scripting/lua/src/lprefix.h
+++ b/libraries/AP_Scripting/lua/src/lprefix.h
@@ -43,3 +43,10 @@
 
 #endif
 
+// load posix compatibility functions
+#include <AP_Filesystem/posix_compat.h>
+
+#define lua_writestring(s,l) printf("%s", s)
+#define lua_writestringerror(s,l) lua_writestring(s,l)
+
+
diff --git a/libraries/AP_Scripting/lua/src/lua.hpp b/libraries/AP_Scripting/lua/src/lua.hpp
index ec417f5946..0ab35aba54 100644
--- a/libraries/AP_Scripting/lua/src/lua.hpp
+++ b/libraries/AP_Scripting/lua/src/lua.hpp
@@ -2,6 +2,9 @@
 // Lua header files for C++
 // <<extern "C">> not supplied automatically because Lua also compiles as C++
 
+#include <AP_Filesystem/AP_Filesystem.h>
+#include <AP_Filesystem/posix_compat.h>
+
 extern "C" {
 #include "lua.h"
 #include "lualib.h"
diff --git a/libraries/AP_Scripting/lua_scripts.cpp b/libraries/AP_Scripting/lua_scripts.cpp
index 7ffda7766a..503567eca5 100644
--- a/libraries/AP_Scripting/lua_scripts.cpp
+++ b/libraries/AP_Scripting/lua_scripts.cpp
@@ -18,14 +18,6 @@
 #include <GCS_MAVLink/GCS.h>
 #include <AP_ROMFS/AP_ROMFS.h>
 
-#if HAL_OS_POSIX_IO
-#include <dirent.h>
-#endif
-
-#if HAL_OS_FATFS_IO
-#include <stdio.h>
-#endif
-
 #include "lua_generated_bindings.h"
 
 #ifndef SCRIPTING_DIRECTORY
@@ -121,14 +113,14 @@ void lua_scripts::load_all_scripts_in_dir(lua_State *L, const char *dirname) {
         return;
     }
 
-    DIR *d = opendir(dirname);
+    DIR *d = AP::FS().opendir(dirname);
     if (d == nullptr) {
         gcs().send_text(MAV_SEVERITY_INFO, "Lua: Could not find a scripts directory");
         return;
     }
 
     // load anything that ends in .lua
-    for (struct dirent *de=readdir(d); de; de=readdir(d)) {
+    for (struct dirent *de=AP::FS().readdir(d); de; de=AP::FS().readdir(d)) {
         uint8_t length = strlen(de->d_name);
         if (length < 5) {
             // not long enough
@@ -157,7 +149,7 @@ void lua_scripts::load_all_scripts_in_dir(lua_State *L, const char *dirname) {
         reschedule_script(script);
 
     }
-    closedir(d);
+    AP::FS().closedir(d);
 }
 
 void lua_scripts::run_next_script(lua_State *L) {
diff --git a/libraries/AP_Scripting/lua_scripts.h b/libraries/AP_Scripting/lua_scripts.h
index 278c10cb65..b3ac68eaac 100644
--- a/libraries/AP_Scripting/lua_scripts.h
+++ b/libraries/AP_Scripting/lua_scripts.h
@@ -18,6 +18,7 @@
 #include <AP_Param/AP_Param.h>
 #include <setjmp.h>
 
+#include <AP_Filesystem/posix_compat.h>
 #include "lua_bindings.h"
 
 class lua_scripts