lua_plugin.cpp

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/*
 * Lua scripting plugin
 */

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

#include "../rtt.hpp"

#ifdef LUA_RTT_TLSF
extern "C" {
#include "../tlsf_rtt.h"
}
#endif

#ifdef LUA_RTT_TLSF
#define LuaService LuaTLSFService
#else
#define LuaService LuaService
#endif

using namespace RTT;

class LuaService : public Service
{
protected:
        lua_State *L;
        os::Mutex m;
#if LUA_RTT_TLSF
        struct lua_tlsf_info tlsf_inf;
#endif

public:
        LuaService(RTT::TaskContext* tc)
#if LUA_RTT_TLSF
                : RTT::Service("LuaTLSF", tc)
#else
                : RTT::Service("Lua", tc)
#endif
        {
                /* initialize lua */
                os::MutexLock lock(m);

#if LUA_RTT_TLSF
                if(tlsf_rtt_init_mp(&tlsf_inf, TLSF_INITIAL_POOLSIZE)) {
                        Logger::log(Logger::Error) << "LuaService (TLSF)'"
                                                   << this->getOwner()->getName() << ": failed to create tlsf pool ("
                                                   << std::hex << TLSF_INITIAL_POOLSIZE << "bytes)" << endlog();
                        throw;
                }

                L = lua_newstate(tlsf_alloc, &tlsf_inf);
                tlsf_inf.L = L;
                set_context_tlsf_info(&tlsf_inf);
                register_tlsf_api(L);
#else
                L = luaL_newstate();
#endif

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


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

                /* 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)
                        .doc("load (and run) the given lua script")
                        .arg("filename", "filename of the lua script");

                this->addOperation("exec_str", &LuaService::exec_str, this)
                        .doc("evaluate the given string in the lua environment")
                        .arg("lua-string", "string of lua code to evaluate");

#ifdef LUA_RTT_TLSF
                this->addOperation("tlsf_incmem", &LuaService::tlsf_incmem, this, OwnThread)
                        .doc("increase the TLSF memory pool")
                        .arg("size", "size in bytes to add to pool");
#endif
        }

        // Destructor
        ~LuaService()
        {
                os::MutexLock lock(m);
                lua_close(L);
#ifdef LUA_RTT_TLSF
                tlsf_rtt_free_mp(&tlsf_inf);
#endif
        }


#ifdef LUA_RTT_TLSF
        bool tlsf_incmem(unsigned int size)
        {
                return tlsf_rtt_incmem(&tlsf_inf, size);
        }
#endif
        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;
        }
};

#ifdef LUA_RTT_TLSF
 ORO_SERVICE_NAMED_PLUGIN(LuaService , "LuaTLSF")
#else
 ORO_SERVICE_NAMED_PLUGIN(LuaService , "Lua")
#endif