AP_Scripting: Add location and ahrs user data

libraries/AP_Scripting/README.md

@@ -0,0 +1,41 @@
+# AP_Scripting
+
+## Enabling Scripting Support in Builds
+
+To enable scripting the `--enable-scripting` flag must be passed to waf.
+The following example enables scripting and builds the ArduPlane firmware for the Cube.
+
+```
+$ waf configure --enable-scripting --board=CubeBlack
+
+$ waf plane
+```
+
+To run SITL you can simply use the `sim_vehicle.py` script which will wrap the configuration, compilation,
+and launching of the simulation into one command for you.
+
+
+```
+$ Tools/autotest/sim_vehicle.py --waf-configure-arg --enable-scripting -v ArduPlane
+```
+
+## Adding Scripts
+
+The vehicle will automatically look for and launch any scripts that are contained in the `scripts` folder when it starts.
+On real hardware this should be inside of the `APM` folder of the SD card. In SITL this should be in the working directory (typically the main `ardupilot` directory).
+
+An example script is given below:
+
+```lua
+function update () -- periodic function that will be called
+  distance = ahrs:position():distance(ahrs:home()) -- calculate the distance from home
+  if distance > 1000 then -- if more then 1000 meters away
+    distance = 1000;      -- clamp the distance to 1000 meters
+  end
+  servo.set_output_pwm(96, 1000 + distance) -- set the servo assigned function 96 (scripting3) to a proportional value
+
+  return update, 1000 -- request to be rerun again 1000 milliseconds (1 second) from now
+end
+
+return update, 0 -- immediately run the update function
+```

libraries/AP_Scripting/lua_bindings.cpp

@@ -4,7 +4,14 @@
 
 #include "lua_bindings.h"
 
+int check_arguments(lua_State *L, int expected_arguments, const char *fn_name);
 int check_arguments(lua_State *L, int expected_arguments, const char *fn_name) {
+#if defined(AP_SCRIPTING_CHECKS) && AP_SCRIPTING_CHECKS >= 1
+    if (expected_arguments < 0) {
+       AP_HAL::panic("Lua: Attempted to check for negative arguments");
+    }
+#endif
+
     const int args = lua_gettop(L);
     if (args != expected_arguments) {
         return luaL_error(L, "%s expected %d arguments got %d", fn_name, expected_arguments, args);
@@ -14,10 +21,11 @@ int check_arguments(lua_State *L, int expected_arguments, const char *fn_name) {
 
 // GCS binding
 
+int lua_gcs_send_text(lua_State *L);
 int lua_gcs_send_text(lua_State *L) {
     check_arguments(L, 1, "send_text");
 
-    const char* str = lua_tostring(L, 1);
+    const char* str = lua_tostring(L, -1);
 
     gcs().send_text(MAV_SEVERITY_INFO, str);
     return 0;
@@ -31,15 +39,16 @@ static const luaL_Reg gcs_functions[] =
 
 // servo binding
 
+int lua_servo_set_output_pwm(lua_State *L);
 int lua_servo_set_output_pwm(lua_State *L) {
     check_arguments(L, 2, "set_output_pwm");
 
-    const SRV_Channel::Aux_servo_function_t servo_function = (SRV_Channel::Aux_servo_function_t)luaL_checkinteger(L, 1);
+    const SRV_Channel::Aux_servo_function_t servo_function = (SRV_Channel::Aux_servo_function_t)luaL_checkinteger(L, -2);
     luaL_argcheck(L, ((servo_function >= SRV_Channel::Aux_servo_function_t::k_scripting1) &&
                       (servo_function <= SRV_Channel::Aux_servo_function_t::k_scripting16)),
                   2, "function out of range");
 
-    const int output = luaL_checknumber(L, 2);
+    const int output = luaL_checknumber(L, -1);
     luaL_argcheck(L, ((output >= 0) && (output <= UINT16_MAX)), 2, "output out of range");
 
     SRV_Channels::set_output_pwm((SRV_Channel::Aux_servo_function_t)servo_function, output);
@@ -53,12 +62,320 @@ static const luaL_Reg servo_functions[] =
     {NULL, NULL}
 };
 
-// all bindings
+// location stuff
-
+static int new_location(lua_State *L) {
-void load_lua_bindings(lua_State *state) {
+    Location *loc = (Location *)lua_newuserdata(L, sizeof(Location));
-    luaL_newlib(state, gcs_functions);
+    luaL_getmetatable(L, "location");
-    lua_setglobal(state, "gcs");
+    lua_setmetatable(L, -2);
-    luaL_newlib(state, servo_functions);
+    memset((void *)loc, 0, sizeof(Location));
-    lua_setglobal(state, "servo");
+    return 1;
+}
+
+static Location *check_location(lua_State *L, int arg) {
+    void *data = luaL_checkudata(L, arg, "location");
+    luaL_argcheck(L, data != NULL, arg, "`location` expected");
+    return (Location *)data;
+}
+
+static int location_lat(lua_State *L) {
+    Location *loc = check_location(L, 1);
+    switch(lua_gettop(L)) {
+        case 1: // access
+            lua_pushinteger(L, loc->lat);
+            return 1;
+        case 2: // set
+            {
+                const int32_t lat = luaL_checkinteger(L, 2);
+                luaL_argcheck(L, ((lat >= -900000000) && (lat <= 900000000)), 2, "invalid latitude out of range");
+                loc->lat = lat;
+                return 0;
+            }
+        default:
+            return luaL_argerror(L, lua_gettop(L), "too many arguments");
+    }
+}
+
+static int location_long(lua_State *L) {
+    Location *loc = check_location(L, 1);
+    switch(lua_gettop(L)) {
+        case 1: // access
+            lua_pushinteger(L, loc->lng);
+            return 1;
+        case 2: // set
+            {
+                const int32_t lng = luaL_checkinteger(L, 2);
+                luaL_argcheck(L, ((lng >= -1800000000) && (lng <= 1800000000)), 2, "invalid longitude out of range");
+                loc->lng = lng;
+                return 0;
+            }
+        default:
+            return luaL_argerror(L, lua_gettop(L), "too many arguments");
+    }
+}
+
+static int location_alt(lua_State *L) {
+    Location *loc = check_location(L, 1);
+    switch(lua_gettop(L)) {
+        case 1: // access
+            lua_pushinteger(L, loc->alt);
+            return 1;
+        case 2: // set
+            loc->alt = luaL_checknumber(L, 2);
+            return 0;
+        default:
+            return luaL_argerror(L, lua_gettop(L), "too many arguments");
+    }
+}
+
+static int location_relative_alt(lua_State *L) {
+    Location *loc = check_location(L, 1);
+    switch(lua_gettop(L)) {
+        case 1: // access
+            lua_pushboolean(L, loc->relative_alt);
+            return 1;
+        case 2: // set
+            loc->relative_alt = lua_toboolean(L, 2);
+            return 0;
+        default:
+            return luaL_argerror(L, lua_gettop(L), "too many arguments");
+    }
+}
+
+static int location_loiter_ccw(lua_State *L) {
+    Location *loc = check_location(L, 1);
+    switch(lua_gettop(L)) {
+        case 1: // access
+            lua_pushboolean(L, loc->loiter_ccw);
+            return 1;
+        case 2: // set
+            loc->loiter_ccw = lua_toboolean(L, 2);
+            return 0;
+        default:
+            return luaL_argerror(L, lua_gettop(L), "too many arguments");
+    }
+}
+
+static int location_terrain_alt(lua_State *L) {
+    Location *loc = check_location(L, 1);
+    switch(lua_gettop(L)) {
+        case 1: // access
+            lua_pushboolean(L, loc->terrain_alt);
+            return 1;
+        case 2: // set
+            loc->terrain_alt = lua_toboolean(L, 2);
+            return 0;
+        default:
+            return luaL_argerror(L, lua_gettop(L), "too many arguments");
+    }
+}
+
+static int location_origin_alt(lua_State *L) {
+    Location *loc = check_location(L, 1);
+    switch(lua_gettop(L)) {
+        case 1: // access
+            lua_pushboolean(L, loc->origin_alt);
+            return 1;
+        case 2: // set
+            loc->origin_alt = lua_toboolean(L, 2);
+            return 0;
+        default:
+            return luaL_argerror(L, lua_gettop(L), "too many arguments");
+    }
+}
+
+static int location_loiter_xtrack(lua_State *L) {
+    Location *loc = check_location(L, 1);
+    switch(lua_gettop(L)) {
+        case 1: // access
+            lua_pushboolean(L, loc->loiter_xtrack);
+            return 1;
+        case 2: // set
+            loc->loiter_xtrack = lua_toboolean(L, 2);
+            return 0;
+        default:
+            return luaL_argerror(L, lua_gettop(L), "too many arguments");
+    }
+}
+
+static int location_tostring(lua_State *L) {
+    Location *loc = check_location(L, -1);
+    char buf[64] = {};
+    snprintf(buf, sizeof(buf),
+                  "Loc(%ld.%07ld %c, %ld.%07ld %c, %.02f)",
+                  labs(loc->lat / 10000000),
+                  labs(loc->lat % 10000000),
+                  loc->lat > 0 ? 'N' : 'S',
+                  labs(loc->lng / 10000000),
+                  labs(loc->lng % 10000000),
+                  loc->lng > 0 ? 'E' : 'W',
+                  loc->alt * 1e-2);
+    lua_pushstring(L, buf);
+    return 1;
+}
+
+static int location_distance(lua_State *L) {
+    const int args = lua_gettop(L);
+    if (args != 2) {
+        return luaL_argerror(L, args, "too many arguments");
+    }
+
+    lua_pushnumber(L, get_distance(*check_location(L, -2),
+                                   *check_location(L, -1)));
+
+    return 1;
+}
+
+static int location_project(lua_State *L) {
+    const int args = lua_gettop(L);
+    if (args != 3) {
+        return luaL_argerror(L, args, "too many arguments");
+    }
+
+    location_update(*check_location(L, -3),
+                    luaL_checknumber(L, -2),
+                    luaL_checknumber(L, -1));
+
+    lua_pop(L, 2);
+
+    return 1;
+}
+
+static int location_passed_point(lua_State *L) {
+    const int args = lua_gettop(L);
+    if (args != 3) {
+        return luaL_argerror(L, args, "too many arguments");
+    }
+
+    lua_pushboolean(L, location_passed_point(*check_location(L, -3),
+                                             *check_location(L, -2),
+                                             *check_location(L, -1)));
+
+    return 1;
+}
+
+static int location_path_proportion(lua_State *L) {
+    const int args = lua_gettop(L);
+    if (args != 3) {
+        return luaL_argerror(L, args, "too many arguments");
+    }
+
+    lua_pushnumber(L, location_path_proportion(*check_location(L, -3),
+                                               *check_location(L, -2),
+                                               *check_location(L, -1)));
+
+    return 1;
+}
+
+static int location_offset(lua_State *L) {
+    const int args = lua_gettop(L);
+    if (args != 3) {
+        return luaL_argerror(L, args, "too many arguments");
+    }
+
+    location_offset(*check_location(L, -3),
+                    luaL_checknumber(L, -2),
+                    luaL_checknumber(L, -1));
+
+    lua_pop(L, 2);
+
+    return 1;
+}
+
+static int location_equal(lua_State *L) {
+    const int args = lua_gettop(L);
+    if (args != 2) {
+        return luaL_argerror(L, args, "too many arguments");
+    }
+
+    Location *l2 = check_location(L, -2);
+    Location *l1 = check_location(L, -1);
+
+    lua_pushboolean(L, locations_are_same(*l1, *l2));
+
+    return 1;
+}
+
+static const luaL_Reg locLib[] = {
+  {"new", new_location},
+  {NULL, NULL}
+};
+
+static const luaL_Reg locationMeta[] = {
+  {"lat", location_lat},
+  {"long", location_long},
+  {"alt", location_alt},
+  {"relative_alt", location_relative_alt},
+  {"loiter_ccw", location_loiter_ccw},
+  {"terrain_alt", location_terrain_alt},
+  {"origin_alt", location_origin_alt},
+  {"loiter_xtrack", location_loiter_xtrack},
+  {"distance", location_distance},
+  {"project", location_project},
+  {"passed_point", location_passed_point},
+  {"path_proportion", location_path_proportion},
+  {"offset", location_offset},
+  {"__tostring", location_tostring},
+  {"__eq", location_equal},
+  {NULL, NULL}
+};
+
+static int ahrs_position(lua_State *L) {
+    check_arguments(L, 1, "ahrs:position");
+
+    new_location(L);
+    Location *loc = check_location(L, -1);
+    AP::ahrs().get_position(*loc);
+
+    return 1;
+}
+
+static int ahrs_get_home(lua_State *L) {
+    check_arguments(L, 1, "ahrs:home");
+
+    new_location(L);
+    Location *loc = check_location(L, -1);
+    *loc = AP::ahrs().get_home();
+
+    return 1;
+}
+
+static const luaL_Reg ahrsMeta[] = {
+  {"position", ahrs_position},
+  {"home", ahrs_get_home},
+  {NULL, NULL}
+};
+
+// all bindings
+
+void load_lua_bindings(lua_State *L) {
+    luaL_newlib(L, gcs_functions);
+    lua_setglobal(L, "gcs");
+
+    luaL_newlib(L, servo_functions);
+    lua_setglobal(L, "servo");
+
+    // location metatable
+    luaL_newmetatable(L, "location");
+    luaL_setfuncs(L, locationMeta, 0);
+    lua_pushstring(L, "__index");
+    lua_pushvalue(L, -2);
+    lua_settable(L, -3);
+    lua_pop(L, 1);
+    luaL_newlib(L, locLib);
+    lua_setglobal(L, "loc");
+
+    // ahrs metatable
+    luaL_newmetatable(L, "ahrs");
+    luaL_setfuncs(L, ahrsMeta, 0);
+    lua_pushstring(L, "__index");
+    lua_pushvalue(L, -2);
+    lua_settable(L, -3);
+    lua_pop(L, 1);
+
+    // ahrs userdata
+    lua_newuserdata(L, 0); // lose the pointer, we don't really care about it
+    luaL_getmetatable(L, "ahrs");
+    lua_setmetatable(L, -2);
+    lua_setglobal(L, "ahrs");
 }
 

libraries/AP_Scripting/lua_scripts.cpp

@@ -96,6 +96,7 @@ lua_scripts::script_info *lua_scripts::load_script(lua_State *L, char *filename)
     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));
+        hal.console->printf("Lua: Scripting: Could not create sandbox: %s", lua_tostring(L, -1));
         return nullptr;
     }
     lua_setupvalue(L, -2, 1);

libraries/AP_Scripting/scripts/sandbox.lua

@@ -31,5 +31,7 @@ function get_sandbox_env ()
           -- ArduPilot specific
           gcs = { send_text = gcs.send_text},
           servo = { set_output_pwm = servo.set_output_pwm},
+          location = { new = loc.new},
+          ahrs = ahrs
         }
 end