Method run

libraries/AP_Scripting/lua_scripts.cpp:477–657

}

void lua_scripts::run(void) {
    bool succeeded_initial_load = false;

    if (!_heap.available()) {
        GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Lua: Unable to allocate a heap");
        return;
    }

    // panic should be hooked first
    if (setjmp(panic_jmp)) {
        if (!succeeded_initial_load) {
            return;
        }
        if (lua_state != nullptr) {
            lua_close(lua_state); // shutdown the old state
        }
        // remove all the old scheduled scripts
        for (script_info *script = scripts; script != nullptr; script = scripts) {
            remove_script(nullptr, script);
        }
        scripts = nullptr;
        overtime = false;
    }

    lua_state = lua_newstate(alloc, NULL);
    lua_State *L = lua_state;
    if (L == nullptr) {
        GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Lua: Couldn't allocate a lua state");
        return;
    }

#ifndef HAL_CONSOLE_DISABLED
    const int inital_mem = lua_gc(L, LUA_GCCOUNT, 0) * 1024 + lua_gc(L, LUA_GCCOUNTB, 0);
#endif

    lua_atpanic(L, atpanic);
    load_generated_bindings(L);

    // set up string metatable. we set up one for all scripts that no script has
    // access to, as it's impossible to set up one per-script and we don't want
    // any script to be able to mess with it.
    lua_pushliteral(L, "");  /* dummy string */
    lua_createtable(L, 0, 1);  /* table to be metatable for strings */
    luaopen_string(L);  /* get string library */
    lua_setfield(L, -2, "__index");  /* metatable.__index = string */
    lua_setmetatable(L, -2);  /* set table as metatable for strings */
    lua_pop(L, 1);  /* pop dummy string */

#ifndef HAL_CONSOLE_DISABLED
    const int loaded_mem = lua_gc(L, LUA_GCCOUNT, 0) * 1024 + lua_gc(L, LUA_GCCOUNTB, 0);
    DEV_PRINTF("Lua: State memory usage: %i + %i\n", inital_mem, loaded_mem - inital_mem);
#endif

    // Scan the filesystem in an appropriate manner and autostart scripts
    // Skip those directores disabled with SCR_DIR_DISABLE param
    uint16_t dir_disable = AP_Scripting::get_singleton()->get_disabled_dir();
    bool loaded = false;
    if ((dir_disable & uint16_t(AP_Scripting::SCR_DIR::SCRIPTS)) == 0) {