HMS NETWORKS CANbridge NT Lua ADK Bridge Router User Guide

CAN@net NT/CANbridge NT Lua ADK  

Creang Lua Scripts  

4. Creang Lua Scripts  

4.1. How does the Lua ADK Event System Work?  

Understanding how the system executes the code can help you to structure the code beer and to improve both  

performance and memory usage.  

• Ixxat Lua ADK uses the tree kinds of callback uncons initialize, on_..., and loop.  

– initializeis called once while the system is inializing. It is used to register further events and to set  

CAN message lers.  

– loopis called cyclically every 100 ms afer the inializaon phase, when the device is up and running. It is  

used to trigger cyclically recurring tasks.  

– on_canand on_mqttuncons are used to handle events from CAN and MQTT.  

• Keep the uncon execuon mes as short as praccal so that the overall system can work smoothly and  

responsively. The general recommendaon is to keep the callbacks under 5 ms in duraon. If exceeded  

inermien problems because of mailbox overruns of the Lua task might occur.  

• The Lua libraries provide a set of uncons for declaring applicaon uncons (wrien in Lua) as callbacks  

to associate applicaon tasks with specic hardware and mer events. These are also non-preempve  

at an applicaons level. The Lua libraries work in consort with the ADK to queue pending events and  

invoke any registered Lua callback rounes, which then run to compleon uninterrupted. For example  

Luasys.call_after(time, callback, arg)calls a uncon in the syslibrary which registers a  

Lua uncon for this mer alarm. When this alarm is triggered, it will call the Lua callback.  

• Lua uncons iniaed by mer or network events and other callbacks run non-preempvely to compleon  

before the next task can run. This includes all Lua ADK uncons.  

Observe that you are using the wrong approach,  

• if you are not using mers and other callbacks.  

• if you are using poll loops.  

• if you are execung more than a few hundred lines of Lua per callback.  

4.2. Example Applicaons  

Various example applicaons can be found afer insallaon of the CAN-Gateway Conguraor download package  

in folder C:\Users\Public\Documents\HMS\Ixxat CAN-Gateway Confguraor\\Examples\Lua.  

Example applicaon Descripon  

\can_demo.lua  

\canfd_demo.lua  

\coroune.lua  

Shows how to handle (send and receive) CAN messages via Lua.  

Shows how to handle (send and receive) CAN FD messages via Lua.  

Implements a task and delay uncon and show how more than one task can be executed  

simultaneously.  

\hello_world.lua  

\iso15765.lua  

Read and output ADK and device inormaon, addionally blink with the user LED.  

Segmenaon of large CAN FD messages into classic CAN messages using the ISO 15765-2 transport  

protocol  

\mqt.lua  

Shows how to subscribe and publish MQTT messages.  

\mqt_json.lua  

\repack.lua  

Subscribes MQTT JSON messages and sends the messages on CAN and vice versa.  

Repack the data bytes of a receive CAN messages from CAN1 and send on CAN2  

Page 8 of 20  

4.02.0332.20002 Version 1.5  

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Name	HMS NETWORKS CANbridge NT Lua ADK Bridge Router User Guide
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