lua_plugin.cpp

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/*
 * Lua scripting plugin
 */

#include <rtt/Service.hpp>
#include <rtt/plugin/ServicePlugin.hpp>
#include <iostream>

#include "../rtt.hpp"

using namespace RTT;

class LuaService : public Service
{
protected:
        lua_State *L;
        os::Mutex m;

public:
        LuaService(RTT::TaskContext* tc)
                : RTT::Service("Lua", tc)
        {
                /* initialize lua */
                os::MutexLock lock(m);

                L = lua_open();
                lua_gc(L, LUA_GCSTOP, 0);
                luaL_openlibs(L);
                lua_gc(L, LUA_GCRESTART, 0);

                if (L == NULL) {
                        Logger::log(Logger::Error) << "LuaService ctr '" << this->getOwner()->getName() << "': "
                                                   << "cannot create state: not enough memory" << endlog();
                        throw;
                }

                /* setup rtt bindings */
                lua_pushcfunction(L, luaopen_rtt);
                lua_call(L, 0, 0);

                set_context_tc(tc, L);

                this->addOperation("exec_file", &LuaService::exec_file, this);
                this->addOperation("exec_str", &LuaService::exec_str, this);
        }

        bool exec_file(const std::string &file)
        {
                os::MutexLock lock(m);
                if (luaL_dofile(L, file.c_str())) {
                        Logger::log(Logger::Error) << "LuaService '" << this->getOwner()->getName()
                                                   << "': " << lua_tostring(L, -1) << endlog();
                        return false;
                }
                return true;
        }

        bool exec_str(const std::string &str)
        {
                os::MutexLock lock(m);
                if (luaL_dostring(L, str.c_str())) {
                        Logger::log(Logger::Error) << "LuaService '" << this->getOwner()->getName()
                                                   << "': " << lua_tostring(L, -1) << endlog();
                        return false;
                }
                return true;
        }
};

ORO_SERVICE_NAMED_PLUGIN(LuaService , "Lua")

---

ocl
Author(s): OCL Development Team
autogenerated on Fri Jan 11 09:50:38 2013