| 50 | |
| 51 | #if HAL_GCS_ENABLED |
| 52 | int lua_mavlink_init(lua_State *L) { |
| 53 | |
| 54 | // Allow : and . access |
| 55 | const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0; |
| 56 | |
| 57 | binding_argcheck(L, 2+arg_offset); |
| 58 | // get the depth of receive queue |
| 59 | const uint32_t queue_size = get_uint32(L, 1+arg_offset, 0, 25); |
| 60 | // get number of msgs to accept |
| 61 | const uint32_t num_msgs = get_uint32(L, 2+arg_offset, 0, 25); |
| 62 | |
| 63 | struct AP_Scripting::mavlink &data = AP::scripting()->mavlink_data; |
| 64 | bool failed = false; |
| 65 | { |
| 66 | WITH_SEMAPHORE(data.sem); |
| 67 | if (data.rx_buffer == nullptr) { |
| 68 | data.rx_buffer = NEW_NOTHROW ObjectBuffer<struct AP_Scripting::mavlink_msg>(queue_size); |
| 69 | } |
| 70 | if (data.accept_msg_ids == nullptr) { |
| 71 | data.accept_msg_ids = NEW_NOTHROW uint32_t[num_msgs]; |
| 72 | } |
| 73 | if ((data.rx_buffer == nullptr) || (data.accept_msg_ids == nullptr)) { |
| 74 | delete data.rx_buffer; |
| 75 | delete[] data.accept_msg_ids; |
| 76 | data.rx_buffer = nullptr; |
| 77 | data.accept_msg_ids = nullptr; |
| 78 | data.accept_msg_ids_size = 0; |
| 79 | failed = true; |
| 80 | } else { |
| 81 | data.accept_msg_ids_size = num_msgs; |
| 82 | memset(data.accept_msg_ids, UINT32_MAX, sizeof(int) * num_msgs); |
| 83 | } |
| 84 | } // release semaphore here as luaL_error will NOT do that! |
| 85 | |
| 86 | if (failed) { |
| 87 | return luaL_error(L, "out of memory"); |
| 88 | } |
| 89 | |
| 90 | return 0; |
| 91 | } |
| 92 | |
| 93 | int lua_mavlink_receive_chan(lua_State *L) { |
| 94 |
nothing calls this directly
no test coverage detected