Method load_script

libraries/AP_Scripting/lua_scripts.cpp:169–231

}

lua_scripts::script_info *lua_scripts::load_script(lua_State *L, char *filename) {
    if (int error = luaL_loadfile(L, filename)) {
        switch (error) {
            case LUA_ERRSYNTAX:
                set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Error: %s", get_error_object_message(L));
                lua_pop(L, lua_gettop(L));
                return nullptr;
            case LUA_ERRMEM:
                set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Insufficent memory loading %s", filename);
                lua_pop(L, lua_gettop(L));
                return nullptr;
            case LUA_ERRFILE:
                set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Unable to load the file: %s", get_error_object_message(L));
                lua_pop(L, lua_gettop(L));
                return nullptr;
            default:
                set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Unknown error (%d) loading %s", error, filename);
                lua_pop(L, lua_gettop(L));
                return nullptr;
        }
    }

    const int loadMem = lua_gc(L, LUA_GCCOUNT, 0) * 1024 + lua_gc(L, LUA_GCCOUNTB, 0);
    const uint32_t loadStart = AP_HAL::micros();

    script_info *new_script = (script_info *)_heap.allocate(sizeof(script_info));
    if (new_script == nullptr) {
        // No memory, shouldn't happen, we even attempted to do a GC
        set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Insufficent memory loading %s", filename);
        lua_pop(L, 1); // we can't use the function we just loaded, so ditch it
        return nullptr;
    }


    create_sandbox(L);
    lua_pushvalue(L, -1); // duplicate environment for reference below
    lua_setupvalue(L, -3, 1);

    const uint32_t loadEnd = AP_HAL::micros();
    const int endMem = lua_gc(L, LUA_GCCOUNT, 0) * 1024 + lua_gc(L, LUA_GCCOUNTB, 0);

    update_stats(filename, loadEnd-loadStart, endMem, loadMem);

    new_script->name = filename;
    new_script->env_ref = luaL_ref(L, LUA_REGISTRYINDEX); // store reference to script's environment
    new_script->run_ref = luaL_ref(L, LUA_REGISTRYINDEX); // store reference to function to run
    new_script->next_run_ms = AP_HAL::millis64() - 1; // force the script to be stale

    // Get checksum of file
    uint32_t crc = 0;
    if (AP::FS().crc32(filename, crc)) {
        // Record crc of this script
        new_script->crc = crc;
        {
            // Apply crc to checksum of all scripts
            WITH_SEMAPHORE(crc_sem);
            loaded_checksum ^= crc;
            running_checksum ^= crc;