Method thread

libraries/AP_Scripting/AP_Scripting.cpp:303–389

#pragma GCC optimize ("O0")

void AP_Scripting::thread(void) {
    while (true) {
        // reset flags
        _stop = false;
        _restart = false;
        _init_failed = false;

        lua_scripts *lua = NEW_NOTHROW lua_scripts(_script_vm_exec_count, _script_heap_size, _debug_options);
        if (lua == nullptr || !lua->heap_allocated()) {
            GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Scripting: %s", "Unable to allocate memory");
            _init_failed = true;
        } else {
#if AP_SCRIPTING_SERIALDEVICE_ENABLED
            // clear data in serial buffers that the script wasn't ready to
            // receive
            _serialdevice.clear();
#endif
            // run won't return while scripting is still active
            lua->run();

            // only reachable if the lua backend has died for any reason
            GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Scripting: %s", "stopped");
        }
        delete lua;
        lua = nullptr;

        // clear allocated i2c devices
        for (uint8_t i=0; i<SCRIPTING_MAX_NUM_I2C_DEVICE; i++) {
            delete _i2c_dev[i];
            _i2c_dev[i] = nullptr;
        }
        num_i2c_devices = 0;

        // clear allocated PWM sources
        for (uint8_t i=0; i<SCRIPTING_MAX_NUM_PWM_SOURCE; i++) {
            if (_pwm_source[i] != nullptr) {
                delete _pwm_source[i];
                _pwm_source[i] = nullptr;
            }
        }
        num_pwm_source = 0;

#if AP_NETWORKING_ENABLED
        // clear allocated sockets
        for (uint8_t i=0; i<SCRIPTING_MAX_NUM_NET_SOCKET; i++) {
            if (_net_sockets[i] != nullptr) {
                delete _net_sockets[i];
                _net_sockets[i] = nullptr;
            }
        }
#endif // AP_NETWORKING_ENABLED

#if AP_SCRIPTING_SERIALDEVICE_ENABLED
        // clear data in serial buffers that hasn't been transmitted
        _serialdevice.clear();
#endif
        
        // Clear blocked commands