AP_Scripting: fix PWMSource deletion crash

libraries/AP_Scripting/AP_Scripting.cpp

@@ -244,6 +244,15 @@ void AP_Scripting::thread(void) {
         }
         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;
+
         bool cleared = false;
         while(true) {
             // 1hz check if we should restart

libraries/AP_Scripting/AP_Scripting.h

@@ -28,6 +28,8 @@
   #define SCRIPTING_MAX_NUM_I2C_DEVICE 4
 #endif
 
+#define SCRIPTING_MAX_NUM_PWM_SOURCE 4
+
 class AP_Scripting
 {
 public:
@@ -89,6 +91,10 @@ public:
     };
     ObjectBuffer<struct scripting_mission_cmd> * mission_data;
 
+    // PWMSource storage
+    uint8_t num_pwm_source;
+    AP_HAL::PWMSource *_pwm_source[SCRIPTING_MAX_NUM_PWM_SOURCE];
+
 private:
 
     bool repl_start(void);

libraries/AP_Scripting/docs/docs.lua

@@ -309,24 +309,24 @@ function motor_factor_table_ud:roll(index, value) end
 
 
 -- desc
----@class PWMSource_ud
-local PWMSource_ud = {}
+---@class AP_HAL__PWMSource_ud
+local AP_HAL__PWMSource_ud = {}
 
----@return PWMSource_ud
+---@return AP_HAL__PWMSource_ud
 function PWMSource() end
 
 -- desc
 ---@return integer
-function PWMSource_ud:get_pwm_avg_us() end
+function AP_HAL__PWMSource_ud:get_pwm_avg_us() end
 
 -- desc
 ---@return integer
-function PWMSource_ud:get_pwm_us() end
+function AP_HAL__PWMSource_ud:get_pwm_us() end
 
 -- desc
 ---@param pin_number integer
 ---@return boolean
-function PWMSource_ud:set_pin(pin_number) end
+function AP_HAL__PWMSource_ud:set_pin(pin_number) end
 
 
 -- desc

libraries/AP_Scripting/generator/description/bindings.desc

@@ -478,10 +478,11 @@ ap_object AP_HAL::AnalogSource method voltage_average float
 ap_object AP_HAL::AnalogSource method voltage_latest float
 ap_object AP_HAL::AnalogSource method voltage_average_ratiometric float
 
-userdata AP_HAL::PWMSource rename PWMSource
-userdata AP_HAL::PWMSource method set_pin boolean uint8_t'skip_check "Scripting"'literal
-userdata AP_HAL::PWMSource method get_pwm_us uint16_t
-userdata AP_HAL::PWMSource method get_pwm_avg_us uint16_t
+global manual PWMSource lua_get_PWMSource 0
+
+ap_object AP_HAL::PWMSource method set_pin boolean uint8_t'skip_check "Scripting"'literal
+ap_object AP_HAL::PWMSource method get_pwm_us uint16_t
+ap_object AP_HAL::PWMSource method get_pwm_avg_us uint16_t
 
 singleton hal.gpio rename gpio
 singleton hal.gpio literal

libraries/AP_Scripting/lua_bindings.cpp

@@ -500,6 +500,8 @@ int lua_get_CAN_device2(lua_State *L) {
   directory listing, return table of files in a directory
  */
 int lua_dirlist(lua_State *L) {
+    binding_argcheck(L, 1);
+
     struct dirent *entry;
     int i;
     const char *path = luaL_checkstring(L, 1);
@@ -529,8 +531,9 @@ int lua_dirlist(lua_State *L) {
   remove a file
  */
 int lua_removefile(lua_State *L) {
-  const char *filename = luaL_checkstring(L, 1);
-  return luaL_fileresult(L, remove(filename) == 0, filename);
+    binding_argcheck(L, 1);
+    const char *filename = luaL_checkstring(L, 1);
+    return luaL_fileresult(L, remove(filename) == 0, filename);
 }
 
 // Manual binding to allow SRV_Channels table to see safety state
@@ -540,3 +543,24 @@ int SRV_Channels_get_safety_state(lua_State *L) {
     lua_pushboolean(L, data);
     return 1;
 }
+
+int lua_get_PWMSource(lua_State *L) {
+    binding_argcheck(L, 0);
+
+    static_assert(SCRIPTING_MAX_NUM_PWM_SOURCE >= 0, "There cannot be a negative number of PWMSources");
+    if (AP::scripting()->num_pwm_source >= SCRIPTING_MAX_NUM_PWM_SOURCE) {
+        return luaL_argerror(L, 1, "no PWMSources available");
+    }
+
+    AP::scripting()->_pwm_source[AP::scripting()->num_pwm_source] = new AP_HAL::PWMSource;
+    if (AP::scripting()->_pwm_source[AP::scripting()->num_pwm_source] == nullptr) {
+        return luaL_argerror(L, 1, "PWMSources device nullptr");
+    }
+
+    new_AP_HAL__PWMSource(L);
+    *((AP_HAL::PWMSource**)luaL_checkudata(L, -1, "AP_HAL::PWMSource")) = AP::scripting()->_pwm_source[AP::scripting()->num_pwm_source];
+
+    AP::scripting()->num_pwm_source++;
+
+    return 1;
+}

libraries/AP_Scripting/lua_bindings.h

@@ -13,3 +13,4 @@ int lua_get_CAN_device2(lua_State *L);
 int lua_dirlist(lua_State *L);
 int lua_removefile(lua_State *L);
 int SRV_Channels_get_safety_state(lua_State *L);
+int lua_get_PWMSource(lua_State *L);