AP_Scripting: Fix nullable arguments numbering, add location bearing

libraries/AP_Scripting/generator/description/bindings.desc

@@ -12,6 +12,7 @@ userdata Location field loiter_xtrack boolean read write
 userdata Location method get_distance float Location
 userdata Location method offset void float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX
 userdata Location method get_vector_from_origin_NEU boolean Vector3f'Null
+userdata Location method get_bearing float Location
 
 include AP_AHRS/AP_AHRS.h
 

libraries/AP_Scripting/generator/src/main.c

@@ -861,7 +861,7 @@ void emit_userdata_declarations(void) {
 }
 
 #define NULLABLE_ARG_COUNT_BASE 5000
-void emit_checker(const struct type t, int arg_number, const char *indentation, const char *name) {
+void emit_checker(const struct type t, int arg_number, int skipped, const char *indentation, const char *name) {
   assert(indentation != NULL);
 
   if (arg_number > NULLABLE_ARG_COUNT_BASE) {
@@ -964,7 +964,7 @@ void emit_checker(const struct type t, int arg_number, const char *indentation,
     // non down cast
     switch (t.type) {
       case TYPE_FLOAT:
-        fprintf(source, "%sconst float raw_data_%d = luaL_checknumber(L, %d);\n", indentation, arg_number, arg_number);
+        fprintf(source, "%sconst float raw_data_%d = luaL_checknumber(L, %d);\n", indentation, arg_number, arg_number - skipped);
         break;
       case TYPE_INT8_T:
       case TYPE_INT16_T:
@@ -972,10 +972,10 @@ void emit_checker(const struct type t, int arg_number, const char *indentation,
       case TYPE_UINT8_T:
       case TYPE_UINT16_T:
       case TYPE_ENUM:
-        fprintf(source, "%sconst lua_Integer raw_data_%d = luaL_checkinteger(L, %d);\n", indentation, arg_number, arg_number);
+        fprintf(source, "%sconst lua_Integer raw_data_%d = luaL_checkinteger(L, %d);\n", indentation, arg_number, arg_number - skipped);
         break;
       case TYPE_UINT32_T:
-        fprintf(source, "%sconst uint32_t raw_data_%d = *check_uint32_t(L, %d);\n", indentation, arg_number, arg_number);
+        fprintf(source, "%sconst uint32_t raw_data_%d = *check_uint32_t(L, %d);\n", indentation, arg_number, arg_number - skipped);
         break;
       case TYPE_NONE:
       case TYPE_STRING:
@@ -1026,7 +1026,7 @@ void emit_checker(const struct type t, int arg_number, const char *indentation,
                  indentation,
                  arg_number, cast_target, t.range->low,
                  arg_number, cast_target, t.range->high,
-                 arg_number, name);
+                 arg_number - skipped, name);
        }
     }
 
@@ -1120,7 +1120,7 @@ void emit_userdata_field(const struct userdata *data, const struct userdata_fiel
 
   if (field->access_flags & ACCESS_FLAG_WRITE) {
     fprintf(source, "        case 2: {\n");
-    emit_checker(field->type, 2, "            ", field->name);
+    emit_checker(field->type, 2, 0, "            ", field->name);
     fprintf(source, "            ud->%s = data_2;\n", field->name);
     fprintf(source, "            return 0;\n");
     fprintf(source, "         }\n");
@@ -1184,12 +1184,16 @@ void emit_userdata_method(const struct userdata *data, const struct method *meth
   // extract the arguments
   arg = method->arguments;
   arg_count = 2;
+  int skipped = 0;
   while (arg != NULL) {
     if (arg->type.type != TYPE_LITERAL) {
       // emit_checker will emit a nullable argument for us
-      emit_checker(arg->type, arg_count, "    ", "argument");
+      emit_checker(arg->type, arg_count, skipped, "    ", "argument");
       arg_count++;
     }
+    if (arg->type.type != TYPE_LITERAL || arg->type.flags & TYPE_FLAGS_NULLABLE) {
+      skipped++;
+    }
     arg = arg->next;
   }
 

libraries/AP_Scripting/lua_generated_bindings.cpp

@@ -390,6 +390,17 @@ static int Vector3f___sub(lua_State *L) {
     return 1;
 }
 
+static int Location_get_bearing(lua_State *L) {
+    binding_argcheck(L, 2);
+    Location * ud = check_Location(L, 1);
+    Location & data_2 = *check_Location(L, 2);
+    const float data = ud->get_bearing(
+            data_2);
+
+    lua_pushnumber(L, data);
+    return 1;
+}
+
 static int Location_get_vector_from_origin_NEU(lua_State *L) {
     binding_argcheck(L, 1);
     Location * ud = check_Location(L, 1);
@@ -412,7 +423,7 @@ static int Location_offset(lua_State *L) {
     const float raw_data_2 = luaL_checknumber(L, 2);
     luaL_argcheck(L, ((raw_data_2 >= MAX(-FLT_MAX, -INFINITY)) && (raw_data_2 <= MIN(FLT_MAX, INFINITY))), 2, "argument out of range");
     const float data_2 = raw_data_2;
-    const float raw_data_3 = luaL_checknumber(L, 3);
+    const float raw_data_3 = luaL_checknumber(L, 2);
     luaL_argcheck(L, ((raw_data_3 >= MAX(-FLT_MAX, -INFINITY)) && (raw_data_3 <= MIN(FLT_MAX, INFINITY))), 3, "argument out of range");
     const float data_3 = raw_data_3;
     ud->offset(
@@ -467,6 +478,7 @@ const luaL_Reg Location_meta[] = {
     {"relative_alt", Location_relative_alt},
     {"lng", Location_lng},
     {"lat", Location_lat},
+    {"get_bearing", Location_get_bearing},
     {"get_vector_from_origin_NEU", Location_get_vector_from_origin_NEU},
     {"offset", Location_offset},
     {"get_distance", Location_get_distance},
@@ -501,10 +513,10 @@ static int GCS_set_message_interval(lua_State *L) {
     const lua_Integer raw_data_2 = luaL_checkinteger(L, 2);
     luaL_argcheck(L, ((raw_data_2 >= MAX(0, 0)) && (raw_data_2 <= MIN(MAVLINK_COMM_NUM_BUFFERS, UINT8_MAX))), 2, "argument out of range");
     const uint8_t data_2 = static_cast<uint8_t>(raw_data_2);
-    const uint32_t raw_data_3 = *check_uint32_t(L, 3);
+    const uint32_t raw_data_3 = *check_uint32_t(L, 2);
     luaL_argcheck(L, ((raw_data_3 >= MAX(0U, 0U)) && (raw_data_3 <= MIN(UINT32_MAX, UINT32_MAX))), 3, "argument out of range");
     const uint32_t data_3 = static_cast<uint32_t>(raw_data_3);
-    const lua_Integer raw_data_4 = luaL_checkinteger(L, 4);
+    const lua_Integer raw_data_4 = luaL_checkinteger(L, 2);
     luaL_argcheck(L, ((raw_data_4 >= MAX(-1, INT32_MIN)) && (raw_data_4 <= MIN(INT32_MAX, INT32_MAX))), 4, "argument out of range");
     const int32_t data_4 = raw_data_4;
     const MAV_RESULT &data = ud->set_message_interval(
@@ -1084,7 +1096,7 @@ static int AP_BattMonitor_get_temperature(lua_State *L) {
 
     binding_argcheck(L, 2);
     float data_5002 = {};
-    const lua_Integer raw_data_3 = luaL_checkinteger(L, 3);
+    const lua_Integer raw_data_3 = luaL_checkinteger(L, 2);
     luaL_argcheck(L, ((raw_data_3 >= MAX(0, 0)) && (raw_data_3 <= MIN(ud->num_instances(), UINT8_MAX))), 3, "argument out of range");
     const uint8_t data_3 = static_cast<uint8_t>(raw_data_3);
     const bool data = ud->get_temperature(
@@ -1171,7 +1183,7 @@ static int AP_BattMonitor_consumed_wh(lua_State *L) {
 
     binding_argcheck(L, 2);
     float data_5002 = {};
-    const lua_Integer raw_data_3 = luaL_checkinteger(L, 3);
+    const lua_Integer raw_data_3 = luaL_checkinteger(L, 2);
     luaL_argcheck(L, ((raw_data_3 >= MAX(0, 0)) && (raw_data_3 <= MIN(ud->num_instances(), UINT8_MAX))), 3, "argument out of range");
     const uint8_t data_3 = static_cast<uint8_t>(raw_data_3);
     const bool data = ud->consumed_wh(
@@ -1194,7 +1206,7 @@ static int AP_BattMonitor_consumed_mah(lua_State *L) {
 
     binding_argcheck(L, 2);
     float data_5002 = {};
-    const lua_Integer raw_data_3 = luaL_checkinteger(L, 3);
+    const lua_Integer raw_data_3 = luaL_checkinteger(L, 2);
     luaL_argcheck(L, ((raw_data_3 >= MAX(0, 0)) && (raw_data_3 <= MIN(ud->num_instances(), UINT8_MAX))), 3, "argument out of range");
     const uint8_t data_3 = static_cast<uint8_t>(raw_data_3);
     const bool data = ud->consumed_mah(
@@ -1217,7 +1229,7 @@ static int AP_BattMonitor_current_amps(lua_State *L) {
 
     binding_argcheck(L, 2);
     float data_5002 = {};
-    const lua_Integer raw_data_3 = luaL_checkinteger(L, 3);
+    const lua_Integer raw_data_3 = luaL_checkinteger(L, 2);
     luaL_argcheck(L, ((raw_data_3 >= MAX(0, 0)) && (raw_data_3 <= MIN(ud->num_instances(), UINT8_MAX))), 3, "argument out of range");
     const uint8_t data_3 = static_cast<uint8_t>(raw_data_3);
     const bool data = ud->current_amps(

libraries/AP_Scripting/scripts/sandbox.lua

@@ -8,6 +8,7 @@ function get_sandbox_env ()
           tonumber = tonumber,
           tostring = tostring,
           type = type,
+          error = error,
           unpack = unpack,
           io = { close = io.close, flush = io.flush, input = io.input, open = io.open, output = io.output,
                  popen = io.popen, read = io.read, type = io.type, write = io.write},