ardupilot/libraries/AP_Scripting/lua_scripts.cpp

/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "lua_scripts.h"
#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_ROMFS/AP_ROMFS.h>

extern const AP_HAL::HAL& hal;

bool lua_scripts::overtime;

lua_scripts::lua_scripts(const AP_Int32 &vm_steps)
    : _vm_steps(vm_steps) {
      scripts = nullptr;
}

void lua_scripts::hook(lua_State *L, lua_Debug *ar) {
    lua_scripts::overtime = true;

    // we need to aggressively bail out as we are over time
    // so we will aggressively trap errors until we clear out
    lua_sethook(L, hook, LUA_MASKCOUNT, 1);

    luaL_error(L, "Exceeded CPU time");
}

lua_scripts::script_info *lua_scripts::load_script(lua_State *L, const char *filename) {
    if (int error = luaL_loadfile(L, filename)) {
        switch (error) {
            case LUA_ERRSYNTAX:
                gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: Syntax error in %s", filename);
                return nullptr;
            case LUA_ERRMEM:
                gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: Insufficent memory loading %s", filename);
                return nullptr;
            default:
                gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: Unknown error (%d) loading %s", error, filename);
                return nullptr;
        }
    }

    script_info *new_script = (script_info *)luaM_malloc(L, sizeof(script_info));
    if (new_script == nullptr) {
        // No memory, shouldn't happen, we even attempted to do a GC
        gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: Insufficent memory loading %s", filename);
        lua_pop(L, 1); // we can't use the function we just loaded, so ditch it
        return nullptr;
    }

    new_script->name = filename;
    new_script->next = nullptr;


    // find and create a sandbox for the new chunk
    lua_getglobal(L, "get_sandbox_env");
    if (lua_pcall(L, 0, LUA_MULTRET, 0)) {
        gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting: Could not create sandbox: %s", lua_tostring(L, -1));
        return nullptr;
    }
    lua_setupvalue(L, -2, 1);

    new_script->lua_ref = luaL_ref(L, LUA_REGISTRYINDEX);   // cache the reference
    new_script->next_run_ms = AP_HAL::millis64() - 1; // force the script to be stale

    return new_script;
}

void lua_scripts::run_next_script(lua_State *L) {
    if (scripts == nullptr) {
        #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
        AP_HAL::panic("Lua: Attempted to run a script without any scripts queued");
        #endif // #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
        return;
    }

    // reset the current script tracking information
    overtime = false;

    // strip the selected script out of the list
    script_info *script = scripts;
    scripts = script->next;

    // reset the hook to clear the counter
    const int32_t vm_steps = MAX(_vm_steps, 1000);
    lua_sethook(L, hook, LUA_MASKCOUNT, vm_steps);

    // store top of stack so we can calculate the number of return values
    int stack_top = lua_gettop(L);

    // pop the function to the top of the stack
    lua_rawgeti(L, LUA_REGISTRYINDEX, script->lua_ref);

    if(lua_pcall(L, 0, LUA_MULTRET, 0)) {
        if (overtime) {
            // script has consumed an excessive amount of CPU time
            gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: %s exceeded time limit (%d)", script->name,  vm_steps);
            remove_script(L, script);
        } else {
            gcs().send_text(MAV_SEVERITY_INFO, "Lua: %s", lua_tostring(L, -1));
            hal.console->printf("Lua: Error: %s\n", lua_tostring(L, -1));
            remove_script(L, script);
        }
        lua_pop(L, 1);
        return;
    } else {
        int returned = lua_gettop(L) - stack_top;
        switch (returned) {
            case 0:
                // no time to reschedule so bail out
                remove_script(L, script);
                break;
            case 2:
                {
                   // sanity check the return types
                   if (lua_type(L, -2) != LUA_TNUMBER) {
                       gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: %s did not return a delay (0x%d)", script->name, lua_type(L, -2));
                       lua_pop(L, 2);
                       remove_script(L, script);
                       return;
                   }
                   if (lua_type(L, -1) != LUA_TFUNCTION) {
                       gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: %s did not return a function (0x%d)", script->name, lua_type(L, -1));
                       lua_pop(L, 2);
                       remove_script(L, script);
                       return;
                   }

                   // types match the expectations, go ahead and reschedule
                   int old_ref = script->lua_ref;
                   script->lua_ref = luaL_ref(L, LUA_REGISTRYINDEX);
                   luaL_unref(L, LUA_REGISTRYINDEX, old_ref);
                   script->next_run_ms = AP_HAL::millis64() + (uint64_t)luaL_checknumber(L, -1);
                   lua_pop(L, 1);
                   reschedule_script(script);
                   break;
                }
            default:
                {
                    gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: %s returned bad result count (%d)", script->name, returned);
                    remove_script(L, script);
                    // pop all the results we got that we didn't expect
                    lua_pop(L, returned);
                    break;
                 }
         }
     }
}

void lua_scripts::remove_script(lua_State *L, script_info *script) {
    // ensure that the script isn't in the loaded list for any reason
    if (scripts == nullptr) {
        // nothing to do, already not in the list
    } else if (scripts == script) {
        scripts = script->next;
    } else {
        for(script_info * current = scripts; current->next != nullptr; current = current->next) {
            if (current->next == script) {
                current->next = script->next;
                break;
            }
        }
    }

    luaL_unref(L, LUA_REGISTRYINDEX, script->lua_ref);
    luaM_free(L, script);
}

void lua_scripts::reschedule_script(script_info *script) {
    if (script == nullptr) {
       #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
       AP_HAL::panic("Lua: Attempted to schedule a null pointer");
       #endif // #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
       return;
    }

    script->next = nullptr;
    if (scripts == nullptr) {
        scripts = script;
        return;
    }

    uint64_t next_run_ms = script->next_run_ms;

    if (scripts->next_run_ms > next_run_ms) {
        script->next = scripts;
        scripts = script;
        return;
    }

    script_info *previous = scripts;
    while (previous->next != nullptr) {
        if (previous->next->next_run_ms > next_run_ms) {
            script->next = previous->next;
            previous->next = script;
            return;
        }
        previous = previous->next;
    }

    previous->next = script;
}

void lua_scripts::run(void) {
    lua_State *L = luaL_newstate();
    luaL_openlibs(L);
    load_lua_bindings(L);

    // load the sandbox creation function
    uint32_t sandbox_size;
    char *sandbox_data = (char *)AP_ROMFS::find_decompress("sandbox.lua", sandbox_size);
    if (sandbox_data == nullptr) {
        gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting: Could not find sandbox");
        return;
    }

    if (luaL_dostring(L, sandbox_data)) {
        gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting: Loading sandbox: %s", lua_tostring(L, -1));
        return;
    }
    free(sandbox_data);

    // FIXME: Scan the filesystem in an appropriate manner and autostart scripts
    // FIXME: This panic's SITL if the file is not found
    reschedule_script(load_script(L, "test.lua"));

    while (true) {
        if (scripts != nullptr) {
            // compute delay time
            uint64_t now_ms = AP_HAL::millis64();
            if (now_ms < scripts->next_run_ms) {
                hal.scheduler->delay(scripts->next_run_ms - now_ms);
            }

            gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: Running %s", scripts->name);

            const uint32_t startMem = hal.util->available_memory();
            const uint32_t loadEnd = AP_HAL::micros();

            run_next_script(L);

            const uint32_t runEnd = AP_HAL::micros();
            const uint32_t endMem = hal.util->available_memory();
            gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: Time: %d Mem: %d", runEnd - loadEnd, startMem - endMem);

        } else {
            gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: No scripts to run");
            hal.scheduler->delay(100);
        }

    }
}