Function lua_get_i2c_device

libraries/AP_Scripting/lua_bindings.cpp:564–618

#endif // HAL_LOGGING_ENABLED

int lua_get_i2c_device(lua_State *L) {

    // 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) {
        return luaL_argerror(L, args, "require i2c bus and address");
    }
    if (args > 4) {
        return luaL_argerror(L, args, "too many arguments");
    }

    const lua_Integer bus_in = get_integer(L, 1 + arg_offset, 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 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) {
            use_smbus = static_cast<bool>(lua_toboolean(L, 4 + arg_offset));
        }
    }

    auto *scripting = AP::scripting();

    static_assert(SCRIPTING_MAX_NUM_I2C_DEVICE >= 0, "There cannot be a negative number of I2C devices");
    if (scripting->num_i2c_devices >= SCRIPTING_MAX_NUM_I2C_DEVICE) {
        return luaL_argerror(L, 1, "no i2c devices available");
    }

    scripting->_i2c_dev[scripting->num_i2c_devices] = NEW_NOTHROW AP_HAL::OwnPtr<AP_HAL::I2CDevice>;
    if (scripting->_i2c_dev[scripting->num_i2c_devices] == nullptr) {
        return luaL_argerror(L, 1, "i2c device nullptr");
    }

    *scripting->_i2c_dev[scripting->num_i2c_devices] = std::move(hal.i2c_mgr->get_device(bus, address, bus_clock, use_smbus));

    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) = scripting->_i2c_dev[scripting->num_i2c_devices]->get();

    scripting->num_i2c_devices++;

    return 1;
}

int AP_HAL__I2CDevice_read_registers(lua_State *L) {
    const int args = lua_gettop(L);