AP_Scripting: Use dedicated heap

libraries/AP_Scripting/AP_Scripting.cpp

@@ -54,6 +54,15 @@ const AP_Param::GroupInfo AP_Scripting::var_info[] = {
     // @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, 32*1024),
+
     AP_GROUPEND
 };
 
@@ -83,7 +92,7 @@ bool AP_Scripting::init(void) {
 }
 
 void AP_Scripting::thread(void) {
-    lua_scripts *lua = new lua_scripts(_script_vm_exec_count);
+    lua_scripts *lua = new lua_scripts(_script_vm_exec_count, _script_heap_size);
     if (lua == nullptr) {
         gcs().send_text(MAV_SEVERITY_CRITICAL, "Unable to allocate scripting memory");
         return;

libraries/AP_Scripting/AP_Scripting.h

@@ -41,6 +41,7 @@ private:
 
     AP_Int8 _enable;
     AP_Int32 _script_vm_exec_count;
+    AP_Int32 _script_heap_size;
 
     static AP_Scripting *_singleton;
 

libraries/AP_Scripting/lua_scripts.cpp

@@ -39,9 +39,9 @@ extern const AP_HAL::HAL& hal;
 bool lua_scripts::overtime;
 jmp_buf lua_scripts::panic_jmp;
 
-lua_scripts::lua_scripts(const AP_Int32 &vm_steps)
+lua_scripts::lua_scripts(const AP_Int32 &vm_steps, const AP_Int32 &heap_size)
     : _vm_steps(vm_steps) {
-      scripts = nullptr;
+    _heap = hal.util->allocate_heap_memory(heap_size);
 }
 
 void lua_scripts::hook(lua_State *L, lua_Debug *ar) {
@@ -80,7 +80,7 @@ lua_scripts::script_info *lua_scripts::load_script(lua_State *L, char *filename)
         }
     }
 
-    script_info *new_script = (script_info *)malloc(sizeof(script_info));
+    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);
@@ -132,7 +132,7 @@ void lua_scripts::load_all_scripts_in_dir(lua_State *L, const char *dirname) {
 
         // FIXME: because chunk name fetching is not working we are allocating and storing an extra string we shouldn't need to
         size_t size = strlen(dirname) + strlen(de->d_name) + 2;
-        char * filename = (char *)malloc(size);
+        char * filename = (char *) hal.util->heap_realloc(_heap, nullptr, size);
         if (filename == nullptr) {
             continue;
         }
@@ -141,7 +141,7 @@ void lua_scripts::load_all_scripts_in_dir(lua_State *L, const char *dirname) {
         // we have something that looks like a lua file, attempt to load it
         script_info * script = load_script(L, filename);
         if (script == nullptr) {
-            free(filename);
+            hal.util->heap_realloc(_heap, filename, 0);
             continue;
         }
         reschedule_script(script);
@@ -254,8 +254,8 @@ void lua_scripts::remove_script(lua_State *L, script_info *script) {
         // state could be null if we are force killing all scripts
         luaL_unref(L, LUA_REGISTRYINDEX, script->lua_ref);
     }
-    free(script->name);
-    free(script);
+    hal.util->heap_realloc(_heap, script->name, 0);
+    hal.util->heap_realloc(_heap, script, 0);
 }
 
 void lua_scripts::reschedule_script(script_info *script) {
@@ -293,7 +293,19 @@ void lua_scripts::reschedule_script(script_info *script) {
     previous->next = script;
 }
 
+void *lua_scripts::_heap;
+
+void *lua_scripts::alloc(void *ud, void *ptr, size_t osize, size_t nsize) {
+    (void)ud; (void)osize;  /* not used */
+    return hal.util->heap_realloc(_heap, ptr, nsize);
+}
+
 void lua_scripts::run(void) {
+    if (_heap == nullptr) {
+        gcs().send_text(MAV_SEVERITY_INFO, "Lua: Unable to allocate a heap");
+        return;
+    }
+
     // panic should be hooked first
     if (setjmp(panic_jmp)) {
         if (lua_state != nullptr) {
@@ -307,7 +319,7 @@ void lua_scripts::run(void) {
         overtime = false;
     }
 
-    lua_state = luaL_newstate();
+    lua_state = lua_newstate(alloc, NULL);
     lua_State *L = lua_state;
     if (L == nullptr) {
         gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: Couldn't allocate a lua state");
@@ -361,14 +373,14 @@ void lua_scripts::run(void) {
 
             gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: Running %s", scripts->name);
 
-            const uint32_t startMem = hal.util->available_memory();
+            const uint32_t startMem = lua_gc(L, LUA_GCCOUNT, 0) * 1024 + lua_gc(L, LUA_GCCOUNTB, 0);
             const uint32_t loadEnd = AP_HAL::micros();
 
             run_next_script(L);
 
             const uint32_t runEnd = AP_HAL::micros();
-            const uint32_t endMem = hal.util->available_memory();
-            gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: Time: %d Mem: %d", runEnd - loadEnd, startMem - endMem);
+            const uint32_t endMem = lua_gc(L, LUA_GCCOUNT, 0) * 1024 + lua_gc(L, LUA_GCCOUNTB, 0);
+            gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: Time: %d Mem: %d", runEnd - loadEnd, endMem - startMem);
 
         } else {
             gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: No scripts to run");

libraries/AP_Scripting/lua_scripts.h

@@ -23,7 +23,7 @@
 class lua_scripts
 {
 public:
-    lua_scripts(const AP_Int32 &vm_steps);
+    lua_scripts(const AP_Int32 &vm_steps, const AP_Int32 &heap_size);
 
     /* Do not allow copies */
     lua_scripts(const lua_scripts &other) = delete;
@@ -67,4 +67,7 @@ private:
 
     const AP_Int32 & _vm_steps;
 
+    static void *alloc(void *ud, void *ptr, size_t osize, size_t nsize);
+
+    static void *_heap;
 };