WitchcraftDevice.lua

local witchcraft = {}
witchcraft.host = "localhost"
witchcraft.port = 3401
local require = require
local loadfile = loadfile

package.path = package.path..";.\\LuaSocket\\?.lua"
package.cpath = package.cpath..";.\\LuaSocket\\?.dll"

local JSON = loadfile("Scripts\\JSON.lua")()
witchcraft.JSON = JSON
local socket = require("socket")

local tools = {}
tools.lfs = lfs
tools.io = io
tools.os = os

function witchcraft.step(arg, time)
	witchcraft.txbuf = witchcraft.txbuf .. '{"type":"dummy"}\n'
	if witchcraft.txbuf:len() > 0 then
		local bytes_sent = nil
		local ret1, ret2, ret3 = witchcraft.conn:send(witchcraft.txbuf)
		if ret1 then
			bytes_sent = ret1
		else
			--env.info("could not send witchcraft: "..ret2)
			if ret3 == 0 then
				if ret2 == "closed" then
					witchcraft.txbuf = '{"type":"dummy"}\n'
					witchcraft.rxbuf = ""
					witchcraft.lastUnitUpdateTime = 0
					witchcraft.conn = socket.tcp()
					witchcraft.conn:settimeout(.0001)
					--env.info("witchcraft: socket was closed")
				end
				--env.info("reconnecting to "..tostring(witchcraft.host)..":"..tostring(witchcraft.port))
				witchcraft.conn:connect(witchcraft.host, witchcraft.port)
				return
			end
			bytes_sent = ret3
		end
		witchcraft.txbuf = witchcraft.txbuf:sub(bytes_sent + 1)
	else
		if witchcraft.txidle_hook then
			local bool, err = pcall(witchcraft.txidle_hook)
			if not bool then
				--env.info("witchcraft.txidle_hook() failed: "..err)
			end
		end
	end
	
	local line, err = witchcraft.conn:receive()
	if err then
		--env.info("witchcraft read error: "..err)
	else
		msg = JSON:decode(line)
		if msg.type == "lua" then
			local response_msg = {}
			response_msg.type = "luaresult"
			response_msg.name = msg.name
			local f, error_msg = loadstring(msg.code, msg.name)
			if f then
				witchcraft.context = {}
				witchcraft.mission_env.witchcraft = witchcraft
				witchcraft.context.arg = msg.arg
				witchcraft.context.tools = tools
				setfenv(f, witchcraft.mission_env)
				response_msg.success, response_msg.result = pcall(f)
			else
				response_msg.success = false
				response_msg.result = tostring(error_msg)
			end
			witchcraft.context = nil
			
			local response_string = ""
			local function encode_response()
				response_string = JSON:encode(response_msg):gsub("\n","").."\n"
			end
			
			local success, result = pcall(encode_response)
			if not success then
				response_msg.success = false
				response_msg.result = tostring(result)
				encode_response()
			end
			
			witchcraft.txbuf = witchcraft.txbuf .. response_string
		end
	end
	
end

witchcraft.start = function(mission_env_)
	witchcraft.mission_env = mission_env_
	
	if not witchcraft.scheduled then
		
		
		witchcraft.lastUnitUpdateTime = 0
		witchcraft.unitUpdateInterval = 0
		witchcraft.txbuf = '{"type":"dummy"}\n'
		witchcraft.rxbuf = ""
		witchcraft.lastUnitUpdateTime = 0
		witchcraft.conn = socket.tcp()
		witchcraft.conn:settimeout(.0001)
		witchcraft.conn:connect(witchcraft.host, witchcraft.port)				
		witchcraft.scheduled = true
		
	end
end

witchcraft.log = function(data)
	local msg = { ["type"] = "log", ["data"] = data };
	witchcraft.txbuf = witchcraft.txbuf .. JSON:encode(msg):gsub("\n","").."\n"
end



local dev = GetSelf()

local update_time_step = 0.1
make_default_activity(update_time_step)
sensor_data = get_base_data()

function update()
	witchcraft.step()
end


function performClickableAction(a,b,c)
	witchcraft.log("performClickableAction a="..tostring(a).." b="..tostring(b).." c="..tostring(c))
end

function SetCommand(a,b,c)
	witchcraft.log("SetCommand a="..tostring(a).." b="..tostring(b).." c="..tostring(c))
end

witchcraft.start(_G)