/
script.cpp
184 lines (150 loc) · 4.1 KB
/
script.cpp
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#include <lua.hpp>
#include <windows.h>
#include <stdio.h>
#include <math.h>
char g_strDebugInfo[10000] = "";
char g_luaDebugInfo[1024] = "";
char g_lua2DebugInfo[1024] = "";
lua_State *L;
float acc[3] = { 0.0, 0.0, 0.0 };
float rx[39];
int errorHandler(lua_State* L)
{
//stack: err
const char* err = lua_tostring(L, 1);
printf("\nError: %s\n", err);
lua_getglobal(L, "debug"); // stack: err debug
lua_getfield(L, -1, "traceback"); // stack: err debug debug.traceback
// debug.traceback() возвращает 1 значение
if(lua_pcall(L, 0, 1, 0)) {
const char* err = lua_tostring(L, -1);
printf("Error in debug.traceback() call: %s\n", err);
} else {
const char* stackTrace = lua_tostring(L, -1);
printf("C++ stack traceback: %s\n", stackTrace);
}
return 1;
}
void send()
{
lua_getglobal(L, "RAW");
/* menu */
lua_pushstring(L, "menu");
lua_pushinteger(L, 999);
lua_rawset(L, -3);
/* dt*/
lua_pushstring(L, "dt");
lua_pushnumber(L, 0.016666666);
lua_rawset(L, -3);
/* model gyro */
lua_pushstring(L, "gyr");
lua_gettable(L, -2);
{
lua_pushstring(L, "x");
lua_pushnumber(L, 0.00001);
lua_rawset(L, -3);
lua_pushstring(L, "y");
lua_pushnumber(L, 0.00002);
lua_rawset(L, -3);
lua_pushstring(L, "z");
lua_pushnumber(L, 0.00003);
lua_rawset(L, -3);
}
lua_pop(L, 1);
/* model acc */
lua_pushstring(L, "acc");
lua_gettable(L, -2);
{
lua_pushstring(L, "x");
lua_pushnumber(L, 0.0);
lua_rawset(L, -3);
lua_pushstring(L, "y");
lua_pushnumber(L, 0.0);
lua_rawset(L, -3);
lua_pushstring(L, "z");
lua_pushnumber(L, -9.81);
lua_rawset(L, -3);
}
lua_pop(L, 1);
/* lat/lon/alt */
lua_pushstring(L, "gps");
lua_gettable(L, -2);
{
lua_pushstring(L, "lat");
lua_pushnumber(L, 58.5);
lua_rawset(L, -3);
lua_pushstring(L, "lon");
lua_pushnumber(L, 31.25);
lua_rawset(L, -3);
lua_pushstring(L, "alt");
lua_pushnumber(L, 22);
lua_rawset(L, -3);
}
lua_pop(L, 1);
lua_pop(L, 1);
lua_getglobal(L, "TX");
for (int i = 0; i < 39; i++) {
lua_pushinteger(L, i+1);
lua_pushnumber(L, (float)(i+1) * 0.01);
lua_rawset(L, -3);
}
lua_pop(L, 1);
lua_pushcfunction(L, errorHandler);
lua_getglobal(L, "main");
int result = lua_pcall(L, 0, 0, -2);
if (result) {
printf("send() failed\n");
}
lua_pop(L, 1);
}
void recieve()
{
strcpy(g_luaDebugInfo, "no errors");
printf("1) %s\n", g_luaDebugInfo);
lua_getglobal(L, "DBGSTR");
strcpy(g_lua2DebugInfo, lua_tostring(L, -1));
lua_pop(L, 1);
printf("2) %s\n", g_lua2DebugInfo);
lua_getglobal(L, "RX");
for (int i = 0; i < 39; i++) {
lua_rawgeti(L, -1, i+1);
rx[i] = lua_tonumber(L, -1);
lua_pop(L, 1);
}
lua_pop(L, 1);
printf("%+1.2f, %+1.2f, %+1.2f, %+1.2f %+1.2f ", rx[0], rx[1], rx[2], rx[3], rx[4]);
printf("%+1.2f, %+1.2f, %+1.2f, %+1.2f %+1.2f ", rx[5], rx[6], rx[7], rx[8], rx[9]);
printf("(%d)\n", lua_gettop(L));
}
int main(void)
{
L = luaL_newstate();
luaL_openlibs(L); // Load Lua libraries
lua_pushcfunction(L, errorHandler);
luaL_loadfile(L, "lua\\main.lua");
int result = lua_pcall(L, 0, 0, -2);
lua_pop(L, 1);
if (result) {
printf("\nloadfile failed\n");
} else {
/*
for (int i = 0; i < 6; i++) {
send();
recieve();
}
*/
for (int i = 0; i < 6; i++) {
lua_getglobal(L, "next_resolution");
lua_pcall(L, 0, 4, 0);
int x = 111, y = 222, w = 333, h = 444;
x = lua_tointeger(L, 1);
y = lua_tointeger(L, 2);
w = lua_tointeger(L, 3);
h = lua_tointeger(L, 4);
lua_pop(L, 4);
printf("%d, %d, %d, %d (%d)\n", x, y, w, h, lua_gettop(L));
}
}
lua_close(L); /* Cya, Lua */
return 0;
}