Function lua_GCS_command_int

libraries/AP_Scripting/lua_bindings.cpp:1180–1245

implement gcs:command_int() access to MAV_CMD_xxx commands */

  implement gcs:command_int() access to MAV_CMD_xxx commands
 */
int lua_GCS_command_int(lua_State *L)
{
    GCS *_gcs = check_GCS(L);
    binding_argcheck(L, 3);

    const uint16_t command = get_uint16_t(L, 2);
    if (!lua_istable(L, 3)) {
        // must have parameter table
        return 0;
    }

    mavlink_command_int_t pkt {};

    pkt.command = command;

    float *params = &pkt.param1;
    int32_t *xy = &pkt.x;

    // extract the first 4 parameters as floats
    for (uint8_t i=0; i<4; i++) {
        char pname[3] { 'p' , char('1' + i), 0 };
        lua_pushstring(L, pname);
        lua_gettable(L, 3);
        if (lua_isnumber(L, -1)) {
            params[i] = lua_tonumber(L, -1);
        }
        lua_pop(L, 1);
    }

    // extract the xy values
    for (uint8_t i=0; i<2; i++) {
        const char *names[] = { "x", "y" };
        lua_pushstring(L, names[i]);
        lua_gettable(L, 3);
        if (lua_isinteger(L, -1)) {
            xy[i] = lua_tointeger(L, -1);
        }
        lua_pop(L, 1);
    }

    // and z
    lua_pushstring(L, "z");
    lua_gettable(L, 3);
    if (lua_isnumber(L, -1)) {
        pkt.z = lua_tonumber(L, -1);
    }
    lua_pop(L, 1);

    // optional frame
    lua_pushstring(L, "frame");
    lua_gettable(L, 3);
    if (lua_isinteger(L, -1)) {
        pkt.frame = lua_tointeger(L, -1);
    }
    lua_pop(L, 1);
    
    // call the interface with scheduler lock
    WITH_SEMAPHORE(AP::scheduler().get_semaphore());