AP_Scripting: Load a sandbox enviorment

libraries/AP_Scripting/AP_Scripting.cpp

@@ -16,6 +16,7 @@
 #include <AP_Scripting/AP_Scripting.h>
 #include <AP_HAL/AP_HAL.h>
 #include <GCS_MAVLink/GCS.h>
+#include <AP_ROMFS/AP_ROMFS.h>
 
 #include "lua_bindings.h"
 
@@ -80,18 +81,24 @@ void AP_Scripting::thread(void) {
     luaL_openlibs(state);
     load_lua_bindings(state);
 
-//    luaL_loadstring(state, "gcs.send_text(string.format(\"1 + 2 = %d\", 1+2))");
-
     // load the sandbox creation function
-    if (luaL_dofile(state, "sandbox.lua")) {
-        gcs().send_text(MAV_SEVERITY_CRITICAL, "SFATAL: %s", lua_tostring(state, -1));
+    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;
     }
 
-    luaL_loadfile(state, "test.lua");
-    lua_getglobal(state, "get_sandbox_env"); //find the sandbox creation function
+    if (luaL_dostring(state, sandbox_data)) {
+        gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting: Loading sandbox: %s", lua_tostring(state, -1));
+        return;
+    }
+    free(sandbox_data);
+
+    luaL_loadstring(state, "gcs.send_text(string.format(\"math.cos(1 + 2) = %f\", math.cos(1+2)))");
+    lua_getglobal(state, "get_sandbox_env"); // find the sandbox creation function
     if (lua_pcall(state, 0, LUA_MULTRET, 0)) {
-        gcs().send_text(MAV_SEVERITY_CRITICAL, "SFATAL: %s", lua_tostring(state, -1));
+        gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting: Could not create sandbox: %s", lua_tostring(state, -1));
         return;
     }
     lua_setupvalue(state, -2, 1);
@@ -111,7 +118,7 @@ void AP_Scripting::thread(void) {
         }
         const uint32_t runEnd = AP_HAL::micros();
         const uint32_t endMem = hal.util->available_memory();
-        gcs().send_text(MAV_SEVERITY_INFO, "Execution: %d Memory: %d", runEnd - loadEnd, startMem - endMem);
+        gcs().send_text(MAV_SEVERITY_INFO, "Time: %d Memory: %d", runEnd - loadEnd, startMem - endMem);
     }
 }
 

libraries/AP_Scripting/scripts/sandbox.lua

@@ -0,0 +1,32 @@
+-- sample sandbox environment
+function get_sandbox_env ()
+  return {
+          ipairs = ipairs,
+          next = next,
+          pairs = pairs,
+          pcall = pcall,
+          tonumber = tonumber,
+          tostring = tostring,
+          type = type,
+          unpack = unpack,
+          string = { byte = string.byte, char = string.char, find = string.find, 
+                     format = string.format, gmatch = string.gmatch, gsub = string.gsub, 
+                     len = string.len, lower = string.lower, match = string.match, 
+                     rep = string.rep, reverse = string.reverse, sub = string.sub, 
+                     upper = string.upper },
+          math = { abs = math.abs, acos = math.acos, asin = math.asin, 
+                   atan = math.atan, atan2 = math.atan2, ceil = math.ceil, cos = math.cos, 
+                   cosh = math.cosh, deg = math.deg, exp = math.exp, floor = math.floor, 
+                   fmod = math.fmod, frexp = math.frexp, huge = math.huge, 
+                   ldexp = math.ldexp, log = math.log, log10 = math.log10, max = math.max, 
+                   min = math.min, modf = math.modf, pi = math.pi, pow = math.pow, 
+                   rad = math.rad, random = math.random, sin = math.sin, sinh = math.sinh, 
+                   sqrt = math.sqrt, tan = math.tan, tanh = math.tanh },
+          table = { insert = table.insert, maxn = table.maxn, remove = table.remove, 
+                    sort = table.sort },
+          utf8 = { char = utf8.char, charpattern = utf8.charpattern, codes = utf8.codes,
+                   codepoint = utf8.codepoint, len = utf8.len, offsets = utf8.offsets},
+          os = { clock = os.clock, difftime = os.difftime, time = os.time },
+          gcs = { send_text = gcs.send_text},
+        }
+end