Lua Integration — Megahub ESP32

Overview

• Lua 5.4 embedded interpreter
• All custom Lua bindings: lib/megahub/src/libluahub.cpp
• Lua state created in lib/megahub/src/megahub.cpp → newLuaState()
• Scripts stored on LittleFS/SD, loaded on demand
• Execution triggered via BLE command (app request type 6 = execute-lua)

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Execution Flow

BLE request (type 6, Lua code payload)
  → megahub.cpp: executeLUACode()
      → newLuaState()       (~20ms, opens standard libs + registers custom bindings)
      → lua_pcall()         (executes the script)
      → cleanup Lua state

From real device logs: execution of a motor control script completes in ~62ms.

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Lua Bindings (libluahub.cpp)

Key functions available in Lua scripts:

Lua function	Purpose
hub.init(fn)	Register initialization block (runs first)
hub.startthread(name, fn, stackSize)	Start a FreeRTOS task running a Lua coroutine

Threads: hub.startthread() creates a FreeRTOS task. Stack size is specified in bytes (e.g., 4096). The thread runs as a Lua coroutine and should yield periodically.

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Critical Rules

• Always wrap Lua execution in lua_pcall() — never use lua_call() in production code
• Always install an error handler before pcall to get useful error messages
• Never let Lua errors propagate unhandled — they will crash the firmware
• Lua threads via hub.startthread() consume both FreeRTOS stack and Lua VM heap
• The Lua VM runs in the main heap; large scripts reduce heap available for BLE, LEGO, etc.
• Long-running scripts must yield periodically — a tight Lua loop will starve other tasks

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Error Handling Pattern

// Safe Lua execution (in megahub.cpp)
lua_State* L = newLuaState();
if (!L) { ERROR("Failed to create Lua state"); return; }

int result = lua_pcall(L, 0, 0, 0);
if (result != LUA_OK) {
    ERROR("Lua error: %s", lua_tostring(L, -1));
    lua_pop(L, 1);
}
// Always close state when done
lua_close(L);

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Blockly → Lua Pipeline

1. User builds program in Blockly editor (browser)
2. Blockly generates Lua code (custom generators in frontend/src/components/blockly/)
3. Lua code sent to firmware via BLE (streaming upload or direct execute)
4. Firmware executes via executeLUACode()

The generated Lua code always follows a structure with hub.init() and optionally hub.startthread() for background monitoring loops.

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Memory Impact

From device logs:

• Creating a new Lua state: ~30KB heap consumed (~170KB → ~140KB)
• A script with hub.startthread("Device monitor", fn, 4096) adds another ~4KB stack + Lua coroutine overhead