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AP_Scripting: re-emmit error messages every 10 seconds if SCR_DEBUG_LVL > 0

This commit is contained in:
Iampete1 2021-08-26 01:29:41 +01:00 committed by Andrew Tridgell
parent 7cb2619413
commit 6aa8319b90
2 changed files with 102 additions and 37 deletions
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131
libraries/AP_Scripting/lua_scripts.cpp
View File

@ -15,7 +15,6 @@
#include "lua_scripts.h"
#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS.h>
#include "AP_Scripting.h"
#include <AP_Scripting/lua_generated_bindings.h>
@ -24,6 +23,9 @@ extern const AP_HAL::HAL& hal;
bool lua_scripts::overtime;
jmp_buf lua_scripts::panic_jmp;
char *lua_scripts::error_msg_buf;
uint8_t lua_scripts::print_error_count;
uint32_t lua_scripts::last_print_ms;
lua_scripts::lua_scripts(const AP_Int32 &vm_steps, const AP_Int32 &heap_size, const AP_Int8 &debug_level, struct AP_Scripting::terminal_s &_terminal)
: _vm_steps(vm_steps),
@ -42,10 +44,58 @@ void lua_scripts::hook(lua_State *L, lua_Debug *ar) {
luaL_error(L, "Exceeded CPU time");
}
void lua_scripts::print_error(MAV_SEVERITY severity) {
if (error_msg_buf == nullptr) {
return;
}
last_print_ms = AP_HAL::millis();
GCS_SEND_TEXT(severity, "Lua: %s", error_msg_buf);
}
void lua_scripts::set_and_print_new_error_message(MAV_SEVERITY severity, const char *fmt, ...) {
// reset buffer and print count
print_error_count = 0;
if (error_msg_buf) {
hal.util->heap_realloc(_heap, error_msg_buf, 0);
error_msg_buf = nullptr;
}
// generate va_list and create a copy
va_list arg_list, arg_list_copy;
va_start(arg_list, fmt);
va_copy(arg_list_copy, arg_list);
// dry run to work out the required length
int len = hal.util->vsnprintf(NULL, 0, fmt, arg_list_copy);
// finished with copy
va_end(arg_list_copy);
if (len <= 0) {
// nothing to print, something has gone wrong
va_end(arg_list);
return;
}
// allocate buffer on scripting heap
error_msg_buf = (char *)hal.util->heap_realloc(_heap, nullptr, len+1);
if (!error_msg_buf) {
// allocation failed
va_end(arg_list);
return;
}
// do actual print to buffer and clear va list
hal.util->vsnprintf(error_msg_buf, len+1, fmt, arg_list);
va_end(arg_list);
// print to cosole and GCS
hal.console->printf("Lua: %s\n", error_msg_buf);
print_error(severity);
}
int lua_scripts::atpanic(lua_State *L) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: Panic: %s", lua_tostring(L, -1));
hal.console->printf("Lua: Panic: %s\n", lua_tostring(L, -1));
printf("Lua: Panic: %s\n", lua_tostring(L, -1));
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Panic: %s", lua_tostring(L, -1));
longjmp(panic_jmp, 1);
return 0;
}
@ -54,20 +104,19 @@ lua_scripts::script_info *lua_scripts::load_script(lua_State *L, char *filename)
if (int error = luaL_loadfile(L, filename)) {
switch (error) {
case LUA_ERRSYNTAX:
gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: Error: %s", lua_tostring(L, -1));
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Error: %s", lua_tostring(L, -1));
lua_pop(L, lua_gettop(L));
return nullptr;
case LUA_ERRMEM:
gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: Insufficent memory loading %s", filename);
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Insufficent memory loading %s", filename);
lua_pop(L, lua_gettop(L));
return nullptr;
case LUA_ERRFILE:
gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: Unable to load the file: %s", lua_tostring(L, -1));
hal.console->printf("Lua: File error: %s\n", lua_tostring(L, -1));
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Unable to load the file: %s", lua_tostring(L, -1));
lua_pop(L, lua_gettop(L));
return nullptr;
default:
gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: Unknown error (%d) loading %s", error, filename);
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Unknown error (%d) loading %s", error, filename);
lua_pop(L, lua_gettop(L));
return nullptr;
}
@ -76,7 +125,7 @@ lua_scripts::script_info *lua_scripts::load_script(lua_State *L, char *filename)
script_info *new_script = (script_info *)hal.util->heap_realloc(_heap, nullptr, 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);
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Insufficent memory loading %s", filename);
lua_pop(L, 1); // we can't use the function we just loaded, so ditch it
return nullptr;
}
@ -192,13 +241,11 @@ void lua_scripts::run_next_script(lua_State *L) {
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", script->name);
remove_script(L, script);
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "%s exceeded time limit", script->name);
} else {
hal.console->printf("Lua: Error: %s\n", lua_tostring(L, -1));
gcs().send_text(MAV_SEVERITY_INFO, "Lua: %s", lua_tostring(L, -1));
remove_script(L, script);
set_and_print_new_error_message(MAV_SEVERITY_INFO, "%s", lua_tostring(L, -1));
}
remove_script(L, script);
lua_pop(L, 1);
return;
} else {
@ -210,32 +257,32 @@ void lua_scripts::run_next_script(lua_State *L) {
break;
case 2:
{
// sanity check the return types
if (lua_type(L, -1) != LUA_TNUMBER) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: %s did not return a delay (0x%d)", script->name, lua_type(L, -1));
lua_pop(L, 2);
remove_script(L, script);
return;
}
if (lua_type(L, -2) != LUA_TFUNCTION) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: %s did not return a function (0x%d)", script->name, lua_type(L, -2));
lua_pop(L, 2);
remove_script(L, script);
return;
}
// sanity check the return types
if (lua_type(L, -1) != LUA_TNUMBER) {
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "%s did not return a delay (0x%d)", script->name, lua_type(L, -1));
lua_pop(L, 2);
remove_script(L, script);
return;
}
if (lua_type(L, -2) != LUA_TFUNCTION) {
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "%s did not return a function (0x%d)", script->name, lua_type(L, -2));
lua_pop(L, 2);
remove_script(L, script);
return;
}
// types match the expectations, go ahead and reschedule
script->next_run_ms = start_time_ms + (uint64_t)luaL_checknumber(L, -1);
lua_pop(L, 1);
int old_ref = script->lua_ref;
script->lua_ref = luaL_ref(L, LUA_REGISTRYINDEX);
luaL_unref(L, LUA_REGISTRYINDEX, old_ref);
reschedule_script(script);
break;
// types match the expectations, go ahead and reschedule
script->next_run_ms = start_time_ms + (uint64_t)luaL_checknumber(L, -1);
lua_pop(L, 1);
int old_ref = script->lua_ref;
script->lua_ref = luaL_ref(L, LUA_REGISTRYINDEX);
luaL_unref(L, LUA_REGISTRYINDEX, old_ref);
reschedule_script(script);
break;
}
default:
{
gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: %s returned bad result count (%d)", script->name, returned);
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "%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);
@ -441,5 +488,15 @@ void lua_scripts::run(void) {
hal.scheduler->delay(1000);
}
// re-print the latest error message every 10 seconds 10 times
const uint8_t error_prints = 10;
if ((print_error_count < error_prints) && (AP_HAL::millis() - last_print_ms > 10000)) {
print_error(MAV_SEVERITY_DEBUG);
print_error_count++;
if ((print_error_count >= error_prints) && (error_msg_buf != nullptr)) {
hal.util->heap_realloc(_heap, error_msg_buf, 0);
error_msg_buf = nullptr;
}
}
}
}

8
libraries/AP_Scripting/lua_scripts.h
View File

@ -21,6 +21,7 @@
#include <AP_Filesystem/posix_compat.h>
#include "lua_bindings.h"
#include <AP_Scripting/AP_Scripting.h>
#include <GCS_MAVLink/GCS.h>
#ifndef REPL_DIRECTORY
#if HAL_OS_FATFS_IO
@ -120,4 +121,11 @@ private:
static void *alloc(void *ud, void *ptr, size_t osize, size_t nsize);
static void *_heap;
// must be static for use in atpanic
static void print_error(MAV_SEVERITY severity);
static void set_and_print_new_error_message(MAV_SEVERITY severity, const char *fmt, ...) FMT_PRINTF(2,3);
static char *error_msg_buf;
static uint8_t print_error_count;
static uint32_t last_print_ms;
};