ardupilot/libraries/AP_Scripting/AP_Scripting.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 "AP_Scripting_config.h"

#if AP_SCRIPTING_ENABLED

#include <AP_Scripting/AP_Scripting.h>
#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS.h>

#include "lua_scripts.h"

// ensure that we have a set of stack sizes, and enforce constraints around it
// except for the minimum size, these are allowed to be defined by the build system
#undef SCRIPTING_STACK_MIN_SIZE
#define SCRIPTING_STACK_MIN_SIZE (8 * 1024)

#if !defined(SCRIPTING_STACK_SIZE)
  #define SCRIPTING_STACK_SIZE (17 * 1024) // Linux experiences stack corruption at ~16.25KB when handed bad scripts
#endif // !defined(SCRIPTING_STACK_SIZE)

#if !defined(SCRIPTING_STACK_MAX_SIZE)
  #define SCRIPTING_STACK_MAX_SIZE (64 * 1024)
#endif // !defined(SCRIPTING_STACK_MAX_SIZE)

#if !defined(SCRIPTING_HEAP_SIZE)
  #if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX || HAL_MEM_CLASS >= HAL_MEM_CLASS_1000
    #define SCRIPTING_HEAP_SIZE (200 * 1024)
  #elif HAL_MEM_CLASS >= HAL_MEM_CLASS_500
    #define SCRIPTING_HEAP_SIZE (100 * 1024)
  #else
    #define SCRIPTING_HEAP_SIZE (43 * 1024)
  #endif
#endif // !defined(SCRIPTING_HEAP_SIZE)

static_assert(SCRIPTING_STACK_SIZE >= SCRIPTING_STACK_MIN_SIZE, "Scripting requires a larger minimum stack size");
static_assert(SCRIPTING_STACK_SIZE <= SCRIPTING_STACK_MAX_SIZE, "Scripting requires a smaller stack size");

#ifndef SCRIPTING_ENABLE_DEFAULT
#define SCRIPTING_ENABLE_DEFAULT 0
#endif

#if AP_NETWORKING_ENABLED
#include <AP_HAL/utility/Socket.h>
#endif

extern const AP_HAL::HAL& hal;

const AP_Param::GroupInfo AP_Scripting::var_info[] = {
    // @Param: ENABLE
    // @DisplayName: Enable Scripting
    // @Description: Controls if scripting is enabled
    // @Values: 0:None,1:Lua Scripts
    // @RebootRequired: True
    // @User: Advanced
    AP_GROUPINFO_FLAGS("ENABLE", 1, AP_Scripting, _enable, SCRIPTING_ENABLE_DEFAULT, AP_PARAM_FLAG_ENABLE),

    // @Param: VM_I_COUNT
    // @DisplayName: Scripting Virtual Machine Instruction Count
    // @Description: The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time
    // @Range: 1000 1000000
    // @Increment: 10000
    // @User: Advanced
    AP_GROUPINFO("VM_I_COUNT", 2, AP_Scripting, _script_vm_exec_count, 10000),

    // @Param: HEAP_SIZE
    // @DisplayName: Scripting Heap Size
    // @Description: Amount of memory available for scripting
    // @Range: 1024 1048576
    // @Increment: 1024
    // @User: Advanced
    // @RebootRequired: True
    AP_GROUPINFO("HEAP_SIZE", 3, AP_Scripting, _script_heap_size, SCRIPTING_HEAP_SIZE),

    // @Param: DEBUG_OPTS
    // @DisplayName: Scripting Debug Level
    // @Description: Debugging options
    // @Bitmask: 0: No Scripts to run message if all scripts have stopped
    // @Bitmask: 1: Runtime messages for memory usage and execution time
    // @Bitmask: 2: Suppress logging scripts to dataflash
    // @Bitmask: 3: log runtime memory usage and execution time
    // @Bitmask: 4: Disable pre-arm check
    // @Bitmask: 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm
    // @User: Advanced
    AP_GROUPINFO("DEBUG_OPTS", 4, AP_Scripting, _debug_options, 0),

    // @Param: USER1
    // @DisplayName: Scripting User Parameter1
    // @Description: General purpose user variable input for scripts
    // @User: Standard
    AP_GROUPINFO("USER1", 5, AP_Scripting, _user[0], 0.0),

    // @Param: USER2
    // @DisplayName: Scripting User Parameter2
    // @Description: General purpose user variable input for scripts
    // @User: Standard
    AP_GROUPINFO("USER2", 6, AP_Scripting, _user[1], 0.0),

    // @Param: USER3
    // @DisplayName: Scripting User Parameter3
    // @Description: General purpose user variable input for scripts
    // @User: Standard
    AP_GROUPINFO("USER3", 7, AP_Scripting, _user[2], 0.0),

    // @Param: USER4
    // @DisplayName: Scripting User Parameter4
    // @Description: General purpose user variable input for scripts
    // @User: Standard
    AP_GROUPINFO("USER4", 8, AP_Scripting, _user[3], 0.0),

    // @Param: USER5
    // @DisplayName: Scripting User Parameter5
    // @Description: General purpose user variable input for scripts
    // @User: Standard
    AP_GROUPINFO("USER5", 10, AP_Scripting, _user[4], 0.0),

    // @Param: USER6
    // @DisplayName: Scripting User Parameter6
    // @Description: General purpose user variable input for scripts
    // @User: Standard
    AP_GROUPINFO("USER6", 11, AP_Scripting, _user[5], 0.0),
    
    // @Param: DIR_DISABLE
    // @DisplayName: Directory disable
    // @Description: This will stop scripts being loaded from the given locations
    // @Bitmask: 0:ROMFS, 1:APM/scripts
    // @RebootRequired: True
    // @User: Advanced
    AP_GROUPINFO("DIR_DISABLE", 9, AP_Scripting, _dir_disable, 0),

    // @Param: LD_CHECKSUM
    // @DisplayName: Loaded script checksum
    // @Description: Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables
    // @User: Advanced
    AP_GROUPINFO("LD_CHECKSUM", 12, AP_Scripting, _required_loaded_checksum, -1),

    // @Param: RUN_CHECKSUM
    // @DisplayName: Running script checksum
    // @Description: Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables
    // @User: Advanced
    AP_GROUPINFO("RUN_CHECKSUM", 13, AP_Scripting, _required_running_checksum, -1),

    AP_GROUPEND
};

AP_Scripting::AP_Scripting() {
    AP_Param::setup_object_defaults(this, var_info);

#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
    if (_singleton != nullptr) {
        AP_HAL::panic("Scripting must be a singleton");
    }
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
    _singleton = this;
}

void AP_Scripting::init(void) {
    if (!_enable) {
        return;
    }

    const char *dir_name = SCRIPTING_DIRECTORY;
    if (AP::FS().mkdir(dir_name)) {
        if (errno != EEXIST) {
            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Scripting: failed to create (%s)", dir_name);
        }
    }

    if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Scripting::thread, void),
                                      "Scripting", SCRIPTING_STACK_SIZE, AP_HAL::Scheduler::PRIORITY_SCRIPTING, 0)) {
        GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Scripting: %s", "failed to start");
        _thread_failed = true;
    }
}

#if HAL_GCS_ENABLED
MAV_RESULT AP_Scripting::handle_command_int_packet(const mavlink_command_int_t &packet) {
    switch ((SCRIPTING_CMD)packet.param1) {
        case SCRIPTING_CMD_REPL_START:
            return repl_start() ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED;
        case SCRIPTING_CMD_REPL_STOP:
            repl_stop();
            return MAV_RESULT_ACCEPTED;
        case SCRIPTING_CMD_STOP:
            _restart = false;
            _stop = true;
            return MAV_RESULT_ACCEPTED;
        case SCRIPTING_CMD_STOP_AND_RESTART:
            _restart = true;
            _stop = true;
            return MAV_RESULT_ACCEPTED;
        case SCRIPTING_CMD_ENUM_END: // cope with MAVLink generator appending to our enum
            break;
    }

    return MAV_RESULT_UNSUPPORTED;
}
#endif

bool AP_Scripting::repl_start(void) {
    if (terminal.session) { // it's already running, this is fine
        return true;
    }

    // nuke the old folder and all contents
    struct stat st;
    if ((AP::FS().stat(REPL_DIRECTORY, &st) == -1) &&
        (AP::FS().unlink(REPL_DIRECTORY)  == -1) &&
        (errno != EEXIST)) {
        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Scripting: Unable to delete old REPL %s", strerror(errno));
    }

    // create a new folder
    AP::FS().mkdir(REPL_DIRECTORY);
    // delete old files in case we couldn't
    AP::FS().unlink(REPL_DIRECTORY "/in");
    AP::FS().unlink(REPL_DIRECTORY "/out");

    // make the output pointer
    terminal.output_fd = AP::FS().open(REPL_OUT, O_WRONLY|O_CREAT|O_TRUNC);
    if (terminal.output_fd == -1) {
        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Scripting: %s", "Unable to make new REPL");
        return false;
    }

    terminal.session = true;
    return true;
}

void AP_Scripting::repl_stop(void) {
    terminal.session = false;
    // can't do any more cleanup here, closing the open FD's is the REPL's responsibility
}

/*
  avoid optimisation of the thread function. This avoids nasty traps
  where setjmp/longjmp does not properly handle save/restore of
  floating point registers on exceptions. This is an extra protection
  over the top of the fix in luaD_rawrunprotected() for the same issue
 */
#pragma GCC push_options
#pragma GCC optimize ("O0")

void AP_Scripting::thread(void) {
    while (true) {
        // reset flags
        _stop = false;
        _restart = false;
        _init_failed = false;

        lua_scripts *lua = new lua_scripts(_script_vm_exec_count, _script_heap_size, _debug_options, terminal);
        if (lua == nullptr || !lua->heap_allocated()) {
            GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Scripting: %s", "Unable to allocate memory");
            _init_failed = true;
        } else {
            // run won't return while scripting is still active
            lua->run();

            // only reachable if the lua backend has died for any reason
            GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Scripting: %s", "stopped");
        }
        delete lua;
        lua = nullptr;

        // clear allocated i2c devices
        for (uint8_t i=0; i<SCRIPTING_MAX_NUM_I2C_DEVICE; i++) {
            delete _i2c_dev[i];
            _i2c_dev[i] = nullptr;
        }
        num_i2c_devices = 0;

        // clear allocated PWM sources
        for (uint8_t i=0; i<SCRIPTING_MAX_NUM_PWM_SOURCE; i++) {
            if (_pwm_source[i] != nullptr) {
                delete _pwm_source[i];
                _pwm_source[i] = nullptr;
            }
        }
        num_pwm_source = 0;

#if AP_NETWORKING_ENABLED
        // clear allocated sockets
        for (uint8_t i=0; i<SCRIPTING_MAX_NUM_NET_SOCKET; i++) {
            if (_net_sockets[i] != nullptr) {
                delete _net_sockets[i];
                _net_sockets[i] = nullptr;
            }
        }
        num_net_sockets = 0;
#endif // AP_NETWORKING_ENABLED
        
        // Clear blocked commands
        {
            WITH_SEMAPHORE(mavlink_command_block_list_sem);
            while (mavlink_command_block_list != nullptr) {
                command_block_list *next_item = mavlink_command_block_list->next;
                delete mavlink_command_block_list;
                mavlink_command_block_list = next_item;
            }
        }

        bool cleared = false;
        while(true) {
            // 1hz check if we should restart
            hal.scheduler->delay(1000);
            if (!enabled()) {
                // enable must be put to 0 and back to 1 to restart from params
                cleared = true;
                continue;
            }
            // must be enabled to get this far
            if (cleared || _restart) {
                GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Scripting: %s", "restarted");
                break;
            }
            if ((_debug_options.get() & uint8_t(lua_scripts::DebugLevel::NO_SCRIPTS_TO_RUN)) != 0) {
                GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "Scripting: %s", "stopped");
            }
        }
    }
}
#pragma GCC pop_options

void AP_Scripting::handle_mission_command(const AP_Mission::Mission_Command& cmd_in)
{
#if AP_MISSION_ENABLED
    if (!_enable) {
        return;
    }

    if (mission_data == nullptr) {
        // load buffer
        mission_data = new ObjectBuffer<struct AP_Scripting::scripting_mission_cmd>(mission_cmd_queue_size);
        if (mission_data != nullptr && mission_data->get_size() == 0) {
            delete mission_data;
            mission_data = nullptr;
        }
        if (mission_data == nullptr) {
            GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Scripting: %s", "unable to receive mission command");
            return;
        }
    }

    struct scripting_mission_cmd cmd {cmd_in.p1,
                                      cmd_in.content.scripting.p1,
                                      cmd_in.content.scripting.p2,
                                      cmd_in.content.scripting.p3,
                                      AP_HAL::millis()};

    mission_data->push(cmd);
#endif
}

bool AP_Scripting::arming_checks(size_t buflen, char *buffer) const
{
    if (!enabled() || ((_debug_options.get() & uint8_t(lua_scripts::DebugLevel::DISABLE_PRE_ARM)) != 0)) {
        return true;
    }

    if (_thread_failed) {
        hal.util->snprintf(buffer, buflen, "Scripting: %s", "failed to start");
        return false;
    }

    if (_init_failed) {
        hal.util->snprintf(buffer, buflen, "Scripting: %s", "out of memory");
        return false;
    }

    lua_scripts::get_last_error_semaphore()->take_blocking();
    const char *error_buf = lua_scripts::get_last_error_message();
    if (error_buf != nullptr) {
        hal.util->snprintf(buffer, buflen, "Scripting: %s", error_buf);
        lua_scripts::get_last_error_semaphore()->give();
        return false;
    }
    lua_scripts::get_last_error_semaphore()->give();

    // Use -1 for disabled, this means we don't have to avoid 0 in the CRC, the sign bit is masked off anyway
    if (_required_loaded_checksum != -1) {
        const uint32_t expected_loaded = (uint32_t)_required_loaded_checksum.get() & checksum_param_mask;
        const uint32_t loaded = lua_scripts::get_loaded_checksum() & checksum_param_mask;
        if (expected_loaded != loaded) {
            hal.util->snprintf(buffer, buflen, "Scripting: loaded CRC incorrect want: 0x%x", (unsigned int)loaded);
            return false;
        }
    }

    if (_required_running_checksum != -1) {
        const uint32_t expected_running = (uint32_t)_required_running_checksum.get() & checksum_param_mask;
        const uint32_t running = lua_scripts::get_running_checksum() & checksum_param_mask;
        if (expected_running != running) {
            hal.util->snprintf(buffer, buflen, "Scripting: running CRC incorrect want: 0x%x", (unsigned int)running);
            return false;
        }
    }

    return true;
}

void AP_Scripting::restart_all()
{
    _restart = true;
    _stop = true;
}

#if HAL_GCS_ENABLED
void AP_Scripting::handle_message(const mavlink_message_t &msg, const mavlink_channel_t chan) {
    if (mavlink_data.rx_buffer == nullptr) {
        return;
    }

    struct mavlink_msg data {msg, chan, AP_HAL::millis()};

    WITH_SEMAPHORE(mavlink_data.sem);
    for (uint16_t i = 0; i < mavlink_data.accept_msg_ids_size; i++) {
        if (mavlink_data.accept_msg_ids[i] == UINT32_MAX) {
            return;
        }
        if (mavlink_data.accept_msg_ids[i] == msg.msgid) {
            mavlink_data.rx_buffer->push(data);
            return;
        }
    }
}

bool AP_Scripting::is_handling_command(uint16_t cmd_id)
{
    WITH_SEMAPHORE(mavlink_command_block_list_sem);

    // Look in linked list to see if id is registered
    if (mavlink_command_block_list != nullptr) {
        for (command_block_list *item = mavlink_command_block_list; item; item = item->next) {
            if (item->id == cmd_id) {
                return true;
            }
        }
    }

    return false;
}
#endif // HAL_GCS_ENABLED

// Update called at 1Hz from AP_Vehicle
void AP_Scripting::update() {

    save_checksum();

}

// Check if DEBUG_OPTS bit has been set to save current checksum values to params
void AP_Scripting::save_checksum() {

    const uint8_t opts = _debug_options.get();
    const uint8_t save_bit = uint8_t(lua_scripts::DebugLevel::SAVE_CHECKSUM);
    if ((opts & save_bit) == 0) {
        // Bit not set, nothing to do
        return;
    }

    // Save two checksum parameters to there current values
    _required_loaded_checksum.set_and_save(lua_scripts::get_loaded_checksum() & checksum_param_mask);
    _required_running_checksum.set_and_save(lua_scripts::get_running_checksum() & checksum_param_mask);

    // Un-set debug option bit
    _debug_options.set_and_save(opts & ~save_bit);

    GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Scripting: %s", "saved checksums");

}

AP_Scripting *AP_Scripting::_singleton = nullptr;

namespace AP {
    AP_Scripting *scripting() {
        return AP_Scripting::get_singleton();
    }
}

#endif  // AP_SCRIPTING_ENABLED