Scripting: use generator to load manual bindings

libraries/AP_Scripting/generator/description/bindings.desc

@@ -453,6 +453,8 @@ include AP_InertialSensor/AP_InertialSensor.h
 singleton AP_InertialSensor rename ins
 singleton AP_InertialSensor method get_temperature float uint8_t 0 INS_MAX_INSTANCES
 
+singleton CAN manual get_device lua_get_CAN_device
+singleton CAN depends HAL_MAX_CAN_PROTOCOL_DRIVERS
 
 include AP_Scripting/AP_Scripting_CANSensor.h depends HAL_MAX_CAN_PROTOCOL_DRIVERS
 include AP_HAL/AP_HAL.h
@@ -510,3 +512,14 @@ singleton AP_Follow method get_target_heading_deg boolean float'Null
 include AC_AttitudeControl/AC_AttitudeControl.h depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI
 singleton AC_AttitudeControl depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI
 singleton AC_AttitudeControl method get_rpy_srate void float'Ref float'Ref float'Ref
+
+
+
+singleton AP_Logger rename logger
+singleton AP_Logger manual write AP_Logger_Write
+
+singleton i2c manual get_device lua_get_i2c_device
+
+global manual millis lua_millis
+global manual micros lua_micros
+global manual mission_receive lua_mission_receive

libraries/AP_Scripting/generator/src/main.c

@@ -27,6 +27,8 @@ char keyword_write[]               = "write";
 char keyword_literal[]             = "literal";
 char keyword_reference[]           = "reference";
 char keyword_deprecate[]           = "deprecate";
+char keyword_manual[]              = "manual";
+char keyword_global[]              = "global";
 
 // attributes (should include the leading ' )
 char keyword_attr_enum[]    = "'enum";
@@ -58,6 +60,7 @@ enum error_codes {
   ERROR_SINGLETON       = 7, // singletons
   ERROR_DEPENDS         = 8, // dependencies
   ERROR_DOCS            = 9, // Documentation
+  ERROR_GLOBALS         = 10,
 };
 
 struct header {
@@ -326,6 +329,7 @@ enum userdata_type {
   UD_USERDATA,
   UD_SINGLETON,
   UD_AP_OBJECT,
+  UD_GLOBAL,
 };
 
 struct argument {
@@ -352,6 +356,7 @@ struct method_alias {
   char *name;
   char *alias;
   int line;
+  int is_manual;
 };
 
 struct userdata_field {
@@ -394,6 +399,7 @@ struct userdata {
 
 static struct userdata *parsed_userdata;
 static struct userdata *parsed_ap_objects;
+static struct userdata *parsed_globals;
 
 void sanitize_character(char **str, char character) {
   char *position = strchr(*str, character);
@@ -819,6 +825,24 @@ void handle_method(struct userdata *node) {
   }
 }
 
+void handle_manual(struct userdata *node) {
+  char *name = next_token();
+  if (name == NULL) {
+    error(ERROR_SINGLETON, "Expected a lua name for manual %s method",node->name);
+  }
+  char *cpp_function_name = next_token();
+  if (cpp_function_name == NULL) {
+    error(ERROR_SINGLETON, "Expected a cpp name for manual %s method",node->name);
+  }
+  struct method_alias *alias = allocate(sizeof(struct method_alias));
+  string_copy(&(alias->name), cpp_function_name);
+  string_copy(&(alias->alias), name);
+  alias->line = state.line_num;
+  alias->is_manual = 1;
+  alias->next = node->method_aliases;
+  node->method_aliases = alias;
+}
+
 void handle_operator(struct userdata *data) {
   trace(TRACE_USERDATA, "Adding a operator");
 
@@ -989,8 +1013,10 @@ void handle_singleton(void) {
     handle_userdata_field(node);
   } else if (strcmp(type, keyword_reference) == 0) {
     node->flags |= UD_FLAG_REFERENCE;
+  } else if (strcmp(type, keyword_manual) == 0) {
+    handle_manual(node);
   } else {
-    error(ERROR_SINGLETON, "Singletons only support renames, methods, semaphore, depends or literal keywords (got %s)", type);
+    error(ERROR_SINGLETON, "Singletons only support renames, methods, semaphore, depends, literal or manual keywords (got %s)", type);
   }
 
   // ensure no more tokens on the line
@@ -1076,6 +1102,31 @@ void handle_ap_object(void) {
   }
 }
 
+void handle_global(void) {
+
+  if (parsed_globals == NULL) {
+    parsed_globals = (struct userdata *)allocate(sizeof(struct userdata));
+    parsed_globals->ud_type = UD_GLOBAL;
+  }
+
+  // read type
+  char *type = next_token();
+  if (type == NULL) {
+    error(ERROR_GLOBALS, "Expected a access type for global");
+  }
+
+  if (strcmp(type, keyword_manual) == 0) {
+    handle_manual(parsed_globals);
+  } else {
+    error(ERROR_GLOBALS, "globals only support manual keyword (got %s)", type);
+  }
+
+  // ensure no more tokens on the line
+  if (next_token()) {
+    error(ERROR_GLOBALS, "global contained an unexpected extra token: %s", state.token);
+  }
+}
+
 void sanity_check_userdata(void) {
   struct userdata * node = parsed_userdata;
   while(node) {
@@ -1496,10 +1547,12 @@ void emit_userdata_fields() {
   struct userdata * node = parsed_userdata;
   while(node) {
     struct userdata_field *field = node->fields;
-    start_dependency(source, node->dependency);
-    while(field) {
-      emit_userdata_field(node, field);
-      field = field->next;
+    if (field) {
+      start_dependency(source, node->dependency);
+      while(field) {
+        emit_userdata_field(node, field);
+        field = field->next;
+      }
     }
     end_dependency(source, node->dependency);
     node = node->next;
@@ -1594,12 +1647,14 @@ void emit_singleton_fields() {
   struct userdata * node = parsed_singletons;
   while(node) {
     struct userdata_field *field = node->fields;
-    start_dependency(source, node->dependency);
-    while(field) {
-      emit_singleton_field(node, field);
-      field = field->next;
+    if (field) {
+      start_dependency(source, node->dependency);
+      while(field) {
+        emit_singleton_field(node, field);
+        field = field->next;
+      }
+      end_dependency(source, node->dependency);
     }
-    end_dependency(source, node->dependency);
     node = node->next;
   }
 }
@@ -1700,6 +1755,7 @@ void emit_userdata_method(const struct userdata *data, const struct method *meth
       fprintf(source, "    %s * ud = check_%s(L, 1);\n", data->name, data->sanatized_name);
       break;
     case UD_SINGLETON:
+    case UD_GLOBAL:
       // this was bound early
       break;
     case UD_AP_OBJECT:
@@ -2086,7 +2142,11 @@ void emit_index(struct userdata *head) {
 
     struct method_alias *alias = node->method_aliases;
     while(alias) {
-      fprintf(source, "    {\"%s\", %s_%s},\n", alias->alias, node->sanatized_name, alias->name);
+      if (alias->is_manual) {
+        fprintf(source, "    {\"%s\", %s},\n", alias->alias, alias->name);
+      } else {
+        fprintf(source, "    {\"%s\", %s_%s},\n", alias->alias, node->sanatized_name, alias->name);
+      }
       alias = alias->next;
     }
 
@@ -2240,6 +2300,16 @@ void emit_sandbox(void) {
     end_dependency(source, data->dependency);
     data = data->next;
   }
+  if (parsed_globals) {
+    struct method_alias *manual_aliases = parsed_globals->method_aliases;
+    while (manual_aliases) {
+      if (manual_aliases->is_manual == 0) {
+        error(ERROR_GLOBALS, "Globals only support manual methods");
+      }
+      fprintf(source, "    {\"%s\", %s},\n", manual_aliases->alias, manual_aliases->name);
+      manual_aliases = manual_aliases->next;
+    }
+  }
   fprintf(source, "};\n\n");
 
   fprintf(source, "void load_generated_sandbox(lua_State *L) {\n");
@@ -2250,7 +2320,7 @@ void emit_sandbox(void) {
   fprintf(source, "        lua_settable(L, -3);\n");
   fprintf(source, "    }\n");
 
-  // load the userdata allactors
+  // load the userdata allactors and globals
   fprintf(source, "    for (uint32_t i = 0; i < ARRAY_SIZE(new_userdata); i++) {\n");
   fprintf(source, "        lua_pushstring(L, new_userdata[i].name);\n");
   fprintf(source, "        lua_pushcfunction(L, new_userdata[i].fun);\n");
@@ -2468,22 +2538,25 @@ void emit_docs(struct userdata *node, int is_userdata, int emit_creation) {
     // aliases
     struct method_alias *alias = node->method_aliases;
     while(alias) {
-      // find the method this is a alias of
-      struct method * method = node->methods;
-      while (method != NULL && strcmp(method->name, alias->name)) {
-        method = method-> next;
-      }
-      if (method == NULL) {
-        error(ERROR_DOCS, "Could not fine Method %s to alias to %s", alias->name, alias->alias);
-      }
+      // dont do manual bindings
+      if (alias->is_manual == 0) {
+        // find the method this is a alias of
+        struct method * method = node->methods;
+        while (method != NULL && strcmp(method->name, alias->name)) {
+          method = method-> next;
+        }
+        if (method == NULL) {
+          error(ERROR_DOCS, "Could not fine Method %s to alias to %s", alias->name, alias->alias);
+        }
 
-      emit_docs_method(name, alias->alias, method);
+        emit_docs_method(name, alias->alias, method);
 
-      alias = alias->next;
-    }
+        alias = alias->next;
+      }
 
-    fprintf(docs, "\n");
-    free(name);
+      fprintf(docs, "\n");
+      free(name);
+    }
     node = node->next;
   }
 }
@@ -2584,6 +2657,8 @@ int main(int argc, char **argv) {
         handle_singleton();
       } else if (strcmp (state.token, keyword_ap_object) == 0){
         handle_ap_object();
+      } else if (strcmp (state.token, keyword_global) == 0){
+        handle_global();
       } else {
         error(ERROR_UNKNOWN_KEYWORD, "Expected a keyword, got: %s", state.token);
       }
@@ -2612,6 +2687,7 @@ int main(int argc, char **argv) {
   fprintf(source, "#pragma GCC optimize(\"Os\")\n");
   fprintf(source, "#include \"lua_generated_bindings.h\"\n");
   fprintf(source, "#include <AP_Scripting/lua_boxed_numerics.h>\n");
+  fprintf(source, "#include <AP_Scripting/lua_bindings.h>\n");
 
   // for set_and_print_new_error_message deprecate warning
   fprintf(source, "#include <AP_Scripting/lua_scripts.h>\n");

libraries/AP_Scripting/lua_bindings.cpp

@@ -1,5 +1,4 @@
 #include <AP_Common/AP_Common.h>
-#include <SRV_Channel/SRV_Channel.h>
 #include <AP_HAL/HAL.h>
 #include <AP_Logger/AP_Logger.h>
 
@@ -29,7 +28,7 @@ int check_arguments(lua_State *L, int expected_arguments, const char *fn_name) {
 }
 
 // millis
-static int lua_millis(lua_State *L) {
+int lua_millis(lua_State *L) {
     check_arguments(L, 0, "millis");
 
     new_uint32_t(L);
@@ -39,7 +38,7 @@ static int lua_millis(lua_State *L) {
 }
 
 // micros
-static int lua_micros(lua_State *L) {
+int lua_micros(lua_State *L) {
     check_arguments(L, 0, "micros");
 
     new_uint32_t(L);
@@ -48,7 +47,7 @@ static int lua_micros(lua_State *L) {
     return 1;
 }
 
-static int lua_mission_receive(lua_State *L) {
+int lua_mission_receive(lua_State *L) {
     check_arguments(L, 0, "mission_receive");
 
     ObjectBuffer<struct AP_Scripting::scripting_mission_cmd> *input = AP::scripting()->mission_data;
@@ -76,15 +75,7 @@ static int lua_mission_receive(lua_State *L) {
     return 5;
 }
 
-static const luaL_Reg global_functions[] =
-{
-    {"millis", lua_millis},
-    {"micros", lua_micros},
-    {"mission_receive", lua_mission_receive},
-    {NULL, NULL}
-};
-
-static int AP_Logger_Write(lua_State *L) {
+int AP_Logger_Write(lua_State *L) {
     AP_Logger * AP_logger = AP_Logger::get_singleton();
     if (AP_logger == nullptr) {
         return luaL_argerror(L, 1, "logger not supported on this firmware");
@@ -283,12 +274,7 @@ static int AP_Logger_Write(lua_State *L) {
     return 0;
 }
 
-const luaL_Reg AP_Logger_functions[] = {
-    {"write", AP_Logger_Write},
-    {NULL, NULL}
-};
-
-static int lua_get_i2c_device(lua_State *L) {
+int lua_get_i2c_device(lua_State *L) {
 
     const int args = lua_gettop(L);
     if (args < 2) {
@@ -342,13 +328,8 @@ static int lua_get_i2c_device(lua_State *L) {
     return 1;
 }
 
-const luaL_Reg i2c_functions[] = {
-    {"get_device", lua_get_i2c_device},
-    {NULL, NULL}
-};
-
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
-static int lua_get_CAN_device(lua_State *L) {
+int lua_get_CAN_device(lua_State *L) {
 
     check_arguments(L, 1, "CAN:get_device");
 
@@ -368,28 +349,4 @@ static int lua_get_CAN_device(lua_State *L) {
 
     return 1;
 }
-
-const luaL_Reg CAN_functions[] = {
-    {"get_device", lua_get_CAN_device},
-    {NULL, NULL}
-};
 #endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
-
-void load_lua_bindings(lua_State *L) {
-    lua_pushstring(L, "logger");
-    luaL_newlib(L, AP_Logger_functions);
-    lua_settable(L, -3);
-
-    lua_pushstring(L, "i2c");
-    luaL_newlib(L, i2c_functions);
-    lua_settable(L, -3);
-
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
-    lua_pushstring(L, "CAN");
-    luaL_newlib(L, CAN_functions);
-    lua_settable(L, -3);
-#endif
-
-    luaL_setfuncs(L, global_functions, 0);
-}
-

libraries/AP_Scripting/lua_bindings.h

@@ -2,5 +2,10 @@
 
 #include "lua/src/lua.hpp"
 
-// load all known lua bindings into the state
-void load_lua_bindings(lua_State *state);
+int lua_millis(lua_State *L);
+int lua_micros(lua_State *L);
+int lua_mission_receive(lua_State *L);
+int AP_Logger_Write(lua_State *L);
+int lua_get_i2c_device(lua_State *L);
+int lua_get_CAN_device(lua_State *L);
+