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AP_Scripting: refactor serial readstring

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Using `luaL_Buffer` avoids the need for any heap allocation in the
common case (count <= 512 bytes) and avoids stressing out the system
heap for large reads, instead using the script heap.

Zero net flash usage change.
This commit is contained in:
Thomas Watson 2024-06-16 16:52:37 -05:00 committed by Peter Barker
parent e18449b1b8
commit d93aa15f2a
3 changed files with 24 additions and 26 deletions
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2
libraries/AP_Scripting/generator/description/bindings.desc
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@ -398,7 +398,7 @@ userdata AP_Scripting_SerialAccess creation null -1
userdata AP_Scripting_SerialAccess method begin void uint32_t 1U UINT32_MAX
userdata AP_Scripting_SerialAccess method write uint32_t uint8_t'skip_check
userdata AP_Scripting_SerialAccess method read int16_t
userdata AP_Scripting_SerialAccess manual readstring AP_Scripting_SerialAccess_readstring 1 1
userdata AP_Scripting_SerialAccess manual readstring lua_serial_readstring 1 1
userdata AP_Scripting_SerialAccess method available uint32_t
userdata AP_Scripting_SerialAccess method set_flow_control void AP_HAL::UARTDriver::flow_control'enum AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE AP_HAL::UARTDriver::FLOW_CONTROL_RTS_DE

46
libraries/AP_Scripting/lua_bindings.cpp
View File

@ -655,30 +655,6 @@ int AP_HAL__I2CDevice_read_registers(lua_State *L) {
return success;
}
int AP_Scripting_SerialAccess_readstring(lua_State *L) {
binding_argcheck(L, 2);
AP_Scripting_SerialAccess * p = check_AP_Scripting_SerialAccess(L, 1);
const uint16_t count = get_uint16_t(L, 2);
uint8_t *data = (uint8_t*)malloc(count);
if (data == nullptr) {
return 0;
}
const auto ret = p->read(data, count);
if (ret < 0) {
free(data);
return 0;
}
// push to lua string
lua_pushlstring(L, (const char *)data, ret);
free(data);
return 1;
}
#if AP_SCRIPTING_CAN_SENSOR_ENABLED
int lua_get_CAN_device(lua_State *L) {
@ -767,6 +743,28 @@ int lua_serial_find_serial(lua_State *L) {
}
#endif // HAL_GCS_ENABLED
int lua_serial_readstring(lua_State *L) {
binding_argcheck(L, 2);
AP_Scripting_SerialAccess * port = check_AP_Scripting_SerialAccess(L, 1);
// create a buffer sized to hold the number of bytes the user wants to read
luaL_Buffer b;
const uint16_t req_bytes = get_uint16_t(L, 2);
uint8_t *data = (uint8_t *)luaL_buffinitsize(L, &b, req_bytes);
// read up to that number of bytes
const ssize_t read_bytes = port->read(data, req_bytes);
if (read_bytes < 0) {
return 0; // error, return nil
}
// push the buffer as a string, truncated to the number of bytes actually read
luaL_pushresultsize(&b, read_bytes);
return 1;
}
/*
directory listing, return table of files in a directory
*/

2
libraries/AP_Scripting/lua_bindings.h
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@ -8,10 +8,10 @@ int lua_mission_receive(lua_State *L);
int AP_Logger_Write(lua_State *L);
int lua_get_i2c_device(lua_State *L);
int AP_HAL__I2CDevice_read_registers(lua_State *L);
int AP_Scripting_SerialAccess_readstring(lua_State *L);
int lua_get_CAN_device(lua_State *L);
int lua_get_CAN_device2(lua_State *L);
int lua_serial_find_serial(lua_State *L);
int lua_serial_readstring(lua_State *L);
int lua_dirlist(lua_State *L);
int lua_removefile(lua_State *L);
int SRV_Channels_get_safety_state(lua_State *L);