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AP_Scripting: unify handling of legacy dot vs. colon calls

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Push a dummy element on a dot call to make the stack look like the
generated bindings, which always expect the colon call (that pushes self
as the first argument) and the intended usage pattern.

Folds in `arg_offset = 1`. Note that none of these routines care about
the first argument as they were fine being called without it.
This commit is contained in:
Thomas Watson
2025-12-07 16:05:49 -06:00
committed by Peter Hall
parent 9aaa60bdb5
commit 6dcd0889ca
1 changed files with 64 additions and 73 deletions
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137
libraries/AP_Scripting/lua_bindings.cpp
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@@ -29,7 +29,17 @@ extern "C" {
#include "lua/src/lmem.h"
}
extern const AP_HAL::HAL& hal;
// fix up . access to pretend it was : access by inserting a dummy element at
// the start of the stack. don't ever add another call, this is purely for
// legacy compatibility! (though many places semantically SHOULD use dots...)
static void fix_dot_access_never_add_another_call(lua_State *L, const char *tname) {
if (luaL_testudata(L, 1, tname) != NULL) {
return; // expected type is at start of stack, : was used, nothing to do
}
lua_pushnil(L); // put nil at start of stack, shifting other elements up
lua_insert(L, 1);
}
// millis
int lua_millis(lua_State *L) {
@@ -51,15 +61,13 @@ int lua_micros(lua_State *L) {
#if HAL_GCS_ENABLED
int lua_mavlink_init(lua_State *L) {
fix_dot_access_never_add_another_call(L, "mavlink");
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, 2+arg_offset);
binding_argcheck(L, 3);
// get the depth of receive queue
const uint32_t queue_size = get_uint32(L, 1+arg_offset, 0, 25);
const uint32_t queue_size = get_uint32(L, 2, 0, 25);
// get number of msgs to accept
const uint32_t num_msgs = get_uint32(L, 2+arg_offset, 0, 25);
const uint32_t num_msgs = get_uint32(L, 3, 0, 25);
struct AP_Scripting::mavlink &data = AP::scripting()->mavlink_data;
bool failed = false;
@@ -92,11 +100,9 @@ int lua_mavlink_init(lua_State *L) {
}
int lua_mavlink_receive_chan(lua_State *L) {
fix_dot_access_never_add_another_call(L, "mavlink");
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, arg_offset);
binding_argcheck(L, 1);
struct AP_Scripting::mavlink_msg msg;
ObjectBuffer<struct AP_Scripting::mavlink_msg> *rx_buffer = AP::scripting()->mavlink_data.rx_buffer;
@@ -117,13 +123,11 @@ int lua_mavlink_receive_chan(lua_State *L) {
}
int lua_mavlink_register_rx_msgid(lua_State *L) {
fix_dot_access_never_add_another_call(L, "mavlink");
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, 2);
binding_argcheck(L, 1+arg_offset);
const uint32_t msgid = get_uint32(L, 1+arg_offset, 0, (1 << 24) - 1);
const uint32_t msgid = get_uint32(L, 2, 0, (1 << 24) - 1);
struct AP_Scripting::mavlink &data = AP::scripting()->mavlink_data;
@@ -156,13 +160,11 @@ int lua_mavlink_register_rx_msgid(lua_State *L) {
}
int lua_mavlink_send_chan(lua_State *L) {
fix_dot_access_never_add_another_call(L, "mavlink");
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, 4);
binding_argcheck(L, 3+arg_offset);
const mavlink_channel_t chan = (mavlink_channel_t)get_uint32(L, 1+arg_offset, 0, MAVLINK_COMM_NUM_BUFFERS - 1);
const mavlink_channel_t chan = (mavlink_channel_t)get_uint32(L, 2, 0, MAVLINK_COMM_NUM_BUFFERS - 1);
// Check if the channel is valid
if (chan >= gcs().num_gcs()) {
@@ -170,9 +172,9 @@ int lua_mavlink_send_chan(lua_State *L) {
return 0;
}
const uint32_t msgid = get_uint32(L, 2+arg_offset, 0, (1 << 24) - 1);
const uint32_t msgid = get_uint32(L, 3, 0, (1 << 24) - 1);
const char *packet = luaL_checkstring(L, 3+arg_offset);
const char *packet = luaL_checkstring(L, 4);
// 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
@@ -201,13 +203,11 @@ int lua_mavlink_send_chan(lua_State *L) {
}
int lua_mavlink_block_command(lua_State *L) {
fix_dot_access_never_add_another_call(L, "mavlink");
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, 2);
binding_argcheck(L, 1+arg_offset);
const uint16_t id = get_uint16_t(L, 1+arg_offset);
const uint16_t id = get_uint16_t(L, 2);
// Check if ID is already registered
if (AP::scripting()->is_handling_command(id)) {
@@ -270,18 +270,17 @@ int AP_Logger_Write(lua_State *L) {
return luaL_argerror(L, 1, "logger not supported on this firmware");
}
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "logger") != NULL) ? 1 : 0;
fix_dot_access_never_add_another_call(L, "logger");
// check we have at least 4 arguments passed in
const int args = lua_gettop(L) - arg_offset;
if (args < 4) {
// check we have at least 5 arguments passed in
const int args = lua_gettop(L);
if (args < 5) {
return luaL_argerror(L, args, "too few arguments");
}
const char * name = luaL_checkstring(L, 1 + arg_offset);
const char * labels = luaL_checkstring(L, 2 + arg_offset);
const char * fmt = luaL_checkstring(L, 3 + arg_offset);
const char * name = luaL_checkstring(L, 2);
const char * labels = luaL_checkstring(L, 3);
const char * fmt = luaL_checkstring(L, 4);
// cheack the name, labels and format are not too long
if (strlen(name) >= LS_NAME_SIZE) {
@@ -310,10 +309,10 @@ int AP_Logger_Write(lua_State *L) {
}
bool have_units = false;
if (args - 5 == length) {
if (args - 6 == length) {
// check if there are enough arguments for units and multiplyers
have_units = true;
} else if (args - 3 != length) {
} else if (args - 4 != length) {
// check the number of arguments matches the length of the foramt string
return luaL_argerror(L, args, "format does not match No. of arguments");
}
@@ -339,8 +338,8 @@ int AP_Logger_Write(lua_State *L) {
} else {
// read in units and multiplers strings
field_start += 2;
const char * units = luaL_checkstring(L, 4 + arg_offset);
const char * multipliers = luaL_checkstring(L, 5 + arg_offset);
const char * units = luaL_checkstring(L, 5);
const char * multipliers = luaL_checkstring(L, 6);
if (length != strlen(units)) {
return luaL_error(L, "units must be same length as format");
@@ -386,10 +385,10 @@ int AP_Logger_Write(lua_State *L) {
memcpy(&buffer[offset], &now, sizeof(uint64_t));
offset += sizeof(uint64_t);
for (uint8_t i=field_start; i<=args; i++) {
for (uint8_t i=field_start; i<=args-1; i++) {
uint8_t charlen = 0;
uint8_t index = have_units ? i-5 : i-3;
uint8_t arg_index = i + arg_offset;
uint8_t arg_index = i + 1;
switch(fmt_cat[index]) {
// logger variable types not available to scripting
// 'd': double
@@ -569,33 +568,31 @@ int AP_Logger_Write(lua_State *L) {
#endif // HAL_LOGGING_ENABLED
int lua_get_i2c_device(lua_State *L) {
fix_dot_access_never_add_another_call(L, "i2c");
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "i2c") != NULL) ? 1 : 0;
const int args = lua_gettop(L) - arg_offset;
if (args < 2) {
const int args = lua_gettop(L);
if (args < 3) {
return luaL_argerror(L, args, "require i2c bus and address");
}
if (args > 4) {
if (args > 5) {
return luaL_argerror(L, args, "too many arguments");
}
const lua_Integer bus_in = get_integer(L, 1 + arg_offset, 0, 4);
const lua_Integer bus_in = get_integer(L, 2, 0, 4);
const uint8_t bus = static_cast<uint8_t>(bus_in);
const lua_Integer address_in = get_integer(L, 2 + arg_offset, 0, 128);
const lua_Integer address_in = get_integer(L, 3, 0, 128);
const uint8_t address = static_cast<uint8_t>(address_in);
// optional arguments, use the same defaults as the hal get_device function
uint32_t bus_clock = 400000;
bool use_smbus = false;
if (args > 2) {
bus_clock = coerce_to_uint32_t(L, 3 + arg_offset);
if (args > 3) {
bus_clock = coerce_to_uint32_t(L, 4);
if (args > 3) {
use_smbus = static_cast<bool>(lua_toboolean(L, 4 + arg_offset));
if (args > 4) {
use_smbus = static_cast<bool>(lua_toboolean(L, 5));
}
}
@@ -690,13 +687,11 @@ int AP_HAL__I2CDevice_transfer(lua_State *L) {
#if AP_SCRIPTING_CAN_SENSOR_ENABLED
int lua_get_CAN_device(lua_State *L) {
fix_dot_access_never_add_another_call(L, "CAN");
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "CAN") != NULL) ? 1 : 0;
binding_argcheck(L, 2);
binding_argcheck(L, 1 + arg_offset);
const uint32_t raw_buffer_len = get_uint32(L, 1 + arg_offset, 1, 25);
const uint32_t raw_buffer_len = get_uint32(L, 2, 1, 25);
const uint32_t buffer_len = static_cast<uint32_t>(raw_buffer_len);
auto *scripting = AP::scripting();
@@ -720,13 +715,11 @@ int lua_get_CAN_device(lua_State *L) {
}
int lua_get_CAN_device2(lua_State *L) {
fix_dot_access_never_add_another_call(L, "CAN");
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "CAN") != NULL) ? 1 : 0;
binding_argcheck(L, 2);
binding_argcheck(L, 1 + arg_offset);
const uint32_t raw_buffer_len = get_uint32(L, 1 + arg_offset, 1, 25);
const uint32_t raw_buffer_len = get_uint32(L, 2, 1, 25);
const uint32_t buffer_len = static_cast<uint32_t>(raw_buffer_len);
auto *scripting = AP::scripting();
@@ -752,12 +745,11 @@ int lua_get_CAN_device2(lua_State *L) {
#if AP_SERIALMANAGER_ENABLED
int lua_serial_find_serial(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "serial") != NULL) ? 1 : 0;
fix_dot_access_never_add_another_call(L, "serial");
binding_argcheck(L, 1 + arg_offset);
binding_argcheck(L, 2);
uint8_t instance = get_uint8_t(L, 1 + arg_offset);
uint8_t instance = get_uint8_t(L, 2);
AP_SerialManager *mgr = &AP::serialmanager();
AP_HAL::UARTDriver *driver_stream = mgr->find_serial(
@@ -779,13 +771,12 @@ int lua_serial_find_serial(lua_State *L) {
#if AP_SCRIPTING_SERIALDEVICE_ENABLED
int lua_serial_find_simulated_device(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "serial") != NULL) ? 1 : 0;
fix_dot_access_never_add_another_call(L, "serial");
binding_argcheck(L, 2 + arg_offset);
binding_argcheck(L, 3);
const int8_t protocol = (int8_t)get_uint32(L, 1 + arg_offset, 0, INT8_MAX);
uint32_t instance = get_uint16_t(L, 2 + arg_offset);
const int8_t protocol = (int8_t)get_uint32(L, 2, 0, INT8_MAX);
uint32_t instance = get_uint16_t(L, 3);
auto *scripting = AP::scripting();
AP_Scripting_SerialDevice::Port *device_stream = nullptr;