Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
ardupilot/libraries/AP_Scripting/lua_bindings.cpp

1271 lines
37 KiB
C++
Raw Permalink Blame History

#include "AP_Scripting_config.h"
#if AP_SCRIPTING_ENABLED
#include <AP_Common/AP_Common.h>
#include <AP_HAL/HAL.h>
#include <AP_Networking/AP_Networking_Config.h>
#if AP_NETWORKING_ENABLED
#include <AP_HAL/utility/Socket.h>
#endif
#include <AP_Logger/AP_Logger.h>
#include <AP_Filesystem/AP_Filesystem.h>
#include "lua_bindings.h"
#include "lua_boxed_numerics.h"
#include <AP_Scripting/lua_generated_bindings.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_Scripting/AP_Scripting.h>
#include <string.h>
#include "lua/src/lauxlib.h"
extern const AP_HAL::HAL& hal;
extern "C" {
#include "lua/src/lmem.h"
}
extern const AP_HAL::HAL& hal;
// millis
int lua_millis(lua_State *L) {
binding_argcheck(L, 0);
*new_uint32_t(L) = AP_HAL::millis();
return 1;
}
// micros
int lua_micros(lua_State *L) {
binding_argcheck(L, 0);
*new_uint32_t(L) = AP_HAL::micros();
return 1;
}
#if HAL_GCS_ENABLED
int lua_mavlink_init(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, 2+arg_offset);
WITH_SEMAPHORE(AP::scripting()->mavlink_data.sem);
// get the depth of receive queue
const uint32_t queue_size = get_uint32(L, 1+arg_offset, 0, 25);
// get number of msgs to accept
const uint32_t num_msgs = get_uint32(L, 2+arg_offset, 0, 25);
struct AP_Scripting::mavlink &data = AP::scripting()->mavlink_data;
if (data.rx_buffer == nullptr) {
data.rx_buffer = NEW_NOTHROW ObjectBuffer<struct AP_Scripting::mavlink_msg>(queue_size);
if (data.rx_buffer == nullptr) {
return luaL_error(L, "Failed to allocate mavlink rx buffer");
}
}
if (data.accept_msg_ids == nullptr) {
data.accept_msg_ids = NEW_NOTHROW uint32_t[num_msgs];
if (data.accept_msg_ids == nullptr) {
return luaL_error(L, "Failed to allocate mavlink rx registry");
}
data.accept_msg_ids_size = num_msgs;
memset(data.accept_msg_ids, UINT32_MAX, sizeof(int) * num_msgs);
}
return 0;
}
int lua_mavlink_receive_chan(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, arg_offset);
struct AP_Scripting::mavlink_msg msg;
ObjectBuffer<struct AP_Scripting::mavlink_msg> *rx_buffer = AP::scripting()->mavlink_data.rx_buffer;
if (rx_buffer == nullptr) {
return luaL_error(L, "Never subscribed to a message");
}
if (rx_buffer->pop(msg)) {
luaL_Buffer b;
luaL_buffinit(L, &b);
luaL_addlstring(&b, (char *)&msg.msg, sizeof(msg.msg));
luaL_pushresult(&b);
lua_pushinteger(L, msg.chan);
*new_uint32_t(L) = msg.timestamp_ms;
return 3;
} else {
// no MAVLink to handle, just return no results
return 0;
}
}
int lua_mavlink_register_rx_msgid(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, 1+arg_offset);
const uint32_t msgid = get_uint32(L, 1+arg_offset, 0, (1 << 24) - 1);
struct AP_Scripting::mavlink &data = AP::scripting()->mavlink_data;
// check that we aren't currently watching this ID
for (uint8_t i = 0; i < data.accept_msg_ids_size; i++) {
if (data.accept_msg_ids[i] == msgid) {
lua_pushboolean(L, false);
return 1;
}
}
int i = 0;
for (i = 0; i < data.accept_msg_ids_size; i++) {
if (data.accept_msg_ids[i] == UINT32_MAX) {
break;
}
}
if (i >= data.accept_msg_ids_size) {
return luaL_error(L, "Out of MAVLink ID's to monitor");
}
{
WITH_SEMAPHORE(data.sem);
data.accept_msg_ids[i] = msgid;
}
lua_pushboolean(L, true);
return 1;
}
int lua_mavlink_send_chan(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, 3+arg_offset);
const mavlink_channel_t chan = (mavlink_channel_t)get_uint32(L, 1+arg_offset, 0, MAVLINK_COMM_NUM_BUFFERS - 1);
const uint32_t msgid = get_uint32(L, 2+arg_offset, 0, (1 << 24) - 1);
const char *packet = luaL_checkstring(L, 3+arg_offset);
// FIXME: The data that's in this mavlink_msg_entry_t should be provided from the script, which allows
// sending entirely new messages as outputs. At the moment we can only encode messages that
// are known at compile time. This is fine as a starting point as this is symmetrical to the
// decoding side of the scripting support
const mavlink_msg_entry_t *entry = mavlink_get_msg_entry(msgid);
if (entry == nullptr) {
return luaL_error(L, "Unknown MAVLink message ID (%d)", msgid);
}
WITH_SEMAPHORE(comm_chan_lock(chan));
if (comm_get_txspace(chan) >= (GCS_MAVLINK::packet_overhead_chan(chan) + entry->max_msg_len)) {
_mav_finalize_message_chan_send(chan,
entry->msgid,
packet,
entry->min_msg_len,
entry->max_msg_len,
entry->crc_extra);
lua_pushboolean(L, true);
} else {
lua_pushboolean(L, false);
}
return 1;
}
int lua_mavlink_block_command(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, 1+arg_offset);
const uint16_t id = get_uint16_t(L, 1+arg_offset);
// Check if ID is already registered
if (AP::scripting()->is_handling_command(id)) {
lua_pushboolean(L, true);
return 1;
}
// Add new list item
AP_Scripting::command_block_list *new_item = NEW_NOTHROW AP_Scripting::command_block_list;
if (new_item == nullptr) {
lua_pushboolean(L, false);
return 1;
}
new_item->id = id;
{
WITH_SEMAPHORE(AP::scripting()->mavlink_command_block_list_sem);
new_item->next = AP::scripting()->mavlink_command_block_list;
AP::scripting()->mavlink_command_block_list = new_item;
}
lua_pushboolean(L, true);
return 1;
}
#endif // HAL_GCS_ENABLED
#if AP_MISSION_ENABLED
int lua_mission_receive(lua_State *L) {
binding_argcheck(L, 0);
ObjectBuffer<struct AP_Scripting::scripting_mission_cmd> *input = AP::scripting()->mission_data;
if (input == nullptr) {
// no mission items ever received
return 0;
}
struct AP_Scripting::scripting_mission_cmd cmd;
if (!input->pop(cmd)) {
// no new item
return 0;
}
*new_uint32_t(L) = cmd.time_ms;
lua_pushinteger(L, cmd.p1);
lua_pushnumber(L, cmd.content_p1);
lua_pushnumber(L, cmd.content_p2);
lua_pushnumber(L, cmd.content_p3);
return 5;
}
#endif // AP_MISSION_ENABLED
#if HAL_LOGGING_ENABLED
int AP_Logger_Write(lua_State *L) {
AP_Logger * AP_logger = AP_Logger::get_singleton();
if (AP_logger == nullptr) {
return luaL_argerror(L, 1, "logger not supported on this firmware");
}
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "logger") != NULL) ? 1 : 0;
// check we have at least 4 arguments passed in
const int args = lua_gettop(L) - arg_offset;
if (args < 4) {
return luaL_argerror(L, args, "too few arguments");
}
const char * name = luaL_checkstring(L, 1 + arg_offset);
const char * labels = luaL_checkstring(L, 2 + arg_offset);
const char * fmt = luaL_checkstring(L, 3 + arg_offset);
// cheack the name, labels and format are not too long
if (strlen(name) >= LS_NAME_SIZE) {
return luaL_error(L, "Name must be 4 or less chars long");
}
uint8_t length = strlen(labels);
if (length >= (LS_LABELS_SIZE - 7)) { // need 7 chars to add 'TimeUS,'
return luaL_error(L, "labels must be less than 58 chars long");
}
// Count the number of commas
uint8_t commas = 1;
for (uint8_t i=0; i<length; i++) {
if (labels[i] == ',') {
commas++;
}
}
length = strlen(fmt);
if (length >= (LS_FORMAT_SIZE - 1)) { // need 1 char to add timestamp
return luaL_error(L, "format must be less than 15 chars long");
}
// check the number of arguments matches the number of values in the label
if (length != commas) {
return luaL_argerror(L, args, "label does not match format");
}
bool have_units = false;
if (args - 5 == length) {
// check if there are enough arguments for units and multiplyers
have_units = true;
} else if (args - 3 != length) {
// check the number of arguments matches the length of the foramt string
return luaL_argerror(L, args, "format does not match No. of arguments");
}
// prepend timestamp to format and labels
char label_cat[LS_LABELS_SIZE];
strcpy(label_cat,"TimeUS,");
strcat(label_cat,labels);
char fmt_cat[LS_FORMAT_SIZE];
strcpy(fmt_cat,"Q");
strcat(fmt_cat,fmt);
// Need to declare these here so they don't go out of scope
char units_cat[LS_FORMAT_SIZE];
char multipliers_cat[LS_FORMAT_SIZE];
uint8_t field_start = 4;
struct AP_Logger::log_write_fmt *f;
if (!have_units) {
// ask for a mesage type
f = AP_logger->msg_fmt_for_name(name, label_cat, nullptr, nullptr, fmt_cat, true, true);
} else {
// read in units and multiplers strings
field_start += 2;
const char * units = luaL_checkstring(L, 4 + arg_offset);
const char * multipliers = luaL_checkstring(L, 5 + arg_offset);
if (length != strlen(units)) {
return luaL_error(L, "units must be same length as format");
}
if (length != strlen(multipliers)) {
return luaL_error(L, "multipliers must be same length as format");
}
// prepend timestamp to units and multiplyers
strcpy(units_cat,"s");
strcat(units_cat,units);
strcpy(multipliers_cat,"F");
strcat(multipliers_cat,multipliers);
// ask for a mesage type
f = AP_logger->msg_fmt_for_name(name, label_cat, units_cat, multipliers_cat, fmt_cat, true, true);
}
if (f == nullptr) {
// unable to map name to a messagetype; could be out of
// msgtypes, could be out of slots, ...
return luaL_argerror(L, args, "could not map message type");
}
// work out how long the block will be
int16_t msg_len = AP_logger->Write_calc_msg_len(fmt_cat);
if (msg_len == -1) {
return luaL_argerror(L, args, "unknown format");
}
// note that luaM_malloc will never return null, it will fault instead
char *buffer = (char*)luaM_malloc(L, msg_len);
// add logging headers
uint8_t offset = 0;
buffer[offset++] = HEAD_BYTE1;
buffer[offset++] = HEAD_BYTE2;
buffer[offset++] = f->msg_type;
// timestamp is always first value
const uint64_t now = AP_HAL::micros64();
memcpy(&buffer[offset], &now, sizeof(uint64_t));
offset += sizeof(uint64_t);
for (uint8_t i=field_start; i<=args; i++) {
uint8_t charlen = 0;
uint8_t index = have_units ? i-5 : i-3;
uint8_t arg_index = i + arg_offset;
switch(fmt_cat[index]) {
// logger variable types not available to scripting
// 'd': double
// 'q': int64_t
// 'a': int16_t[32]
case 'b': { // int8_t
int isnum;
const lua_Integer tmp1 = lua_tointegerx(L, arg_index, &isnum);
if (!isnum || (tmp1 < INT8_MIN) || (tmp1 > INT8_MAX)) {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
int8_t tmp = static_cast<int8_t>(tmp1);
memcpy(&buffer[offset], &tmp, sizeof(int8_t));
offset += sizeof(int8_t);
break;
}
case 'h': // int16_t
case 'c': { // int16_t * 100
int isnum;
const lua_Integer tmp1 = lua_tointegerx(L, arg_index, &isnum);
if (!isnum || (tmp1 < INT16_MIN) || (tmp1 > INT16_MAX)) {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
int16_t tmp = static_cast<int16_t>(tmp1);
memcpy(&buffer[offset], &tmp, sizeof(int16_t));
offset += sizeof(int16_t);
break;
}
case 'H': // uint16_t
case 'C': { // uint16_t * 100
int isnum;
const lua_Integer tmp1 = lua_tointegerx(L, arg_index, &isnum);
if (!isnum || (tmp1 < 0) || (tmp1 > UINT16_MAX)) {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
uint16_t tmp = static_cast<uint16_t>(tmp1);
memcpy(&buffer[offset], &tmp, sizeof(uint16_t));
offset += sizeof(uint16_t);
break;
}
case 'i': // int32_t
case 'L': // int32_t (lat/long)
case 'e': { // int32_t * 100
int isnum;
const lua_Integer tmp1 = lua_tointegerx(L, arg_index, &isnum);
if (!isnum) {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
const int32_t tmp = tmp1;
memcpy(&buffer[offset], &tmp, sizeof(int32_t));
offset += sizeof(int32_t);
break;
}
case 'f': { // float
int isnum;
const lua_Number tmp1 = lua_tonumberx(L, arg_index, &isnum);
if (!isnum) {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
const float tmp = tmp1;
memcpy(&buffer[offset], &tmp, sizeof(float));
offset += sizeof(float);
break;
}
case 'n': { // char[4]
charlen = 4;
break;
}
case 'M': // uint8_t (flight mode)
case 'B': { // uint8_t
int isnum;
lua_Integer tmp1 = lua_tointegerx(L, arg_index, &isnum);
if (!isnum || (tmp1 < 0) || (tmp1 > UINT8_MAX)) {
// Also allow boolean
if (!isnum && lua_isboolean(L, arg_index)) {
tmp1 = lua_toboolean(L, arg_index);
} else {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
}
uint8_t tmp = static_cast<uint8_t>(tmp1);
memcpy(&buffer[offset], &tmp, sizeof(uint8_t));
offset += sizeof(uint8_t);
break;
}
case 'I': // uint32_t
case 'E': { // uint32_t * 100
uint32_t tmp;
void * ud = luaL_testudata(L, arg_index, "uint32_t");
if (ud != nullptr) {
tmp = *static_cast<uint32_t *>(ud);
} else {
int success;
const lua_Integer v_int = lua_tointegerx(L, arg_index, &success);
if (success) {
tmp = v_int;
} else {
const lua_Number v_float = lua_tonumberx(L, arg_index, &success);
if (!success || (v_float < 0) || (v_float > float(UINT32_MAX))) {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
tmp = v_float;
}
}
memcpy(&buffer[offset], &tmp, sizeof(uint32_t));
offset += sizeof(uint32_t);
break;
}
case 'Q': { // uint64_t
void * ud = luaL_testudata(L, arg_index, "uint64_t");
if (ud == nullptr) {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
uint64_t tmp = *static_cast<uint64_t *>(ud);
memcpy(&buffer[offset], &tmp, sizeof(uint64_t));
offset += sizeof(uint64_t);
break;
}
case 'N': { // char[16]
charlen = 16;
break;
}
case 'Z': { // char[64]
charlen = 64;
break;
}
default: {
luaM_free(L, buffer);
luaL_error(L, "%c unsupported format",fmt_cat[index]);
// no return
}
}
if (charlen != 0) {
size_t slen;
const char *tmp = lua_tolstring(L, arg_index, &slen);
if (tmp == nullptr) {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
if (slen > charlen) {
luaM_free(L, buffer);
luaL_error(L, "arg %d too long for %c format",arg_index,fmt_cat[index]);
// no return
}
memcpy(&buffer[offset], tmp, slen);
memset(&buffer[offset+slen], 0, charlen-slen);
offset += charlen;
}
}
AP_logger->Safe_Write_Emit_FMT(f);
AP_logger->WriteBlock(buffer,msg_len);
luaM_free(L, buffer);
return 0;
}
#endif // HAL_LOGGING_ENABLED
int lua_get_i2c_device(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "i2c") != NULL) ? 1 : 0;
const int args = lua_gettop(L) - arg_offset;
if (args < 2) {
return luaL_argerror(L, args, "require i2c bus and address");
}
if (args > 4) {
return luaL_argerror(L, args, "too many arguments");
}
const lua_Integer bus_in = get_integer(L, 1 + arg_offset, 0, 4);
const uint8_t bus = static_cast<uint8_t>(bus_in);
const lua_Integer address_in = get_integer(L, 2 + arg_offset, 0, 128);
const uint8_t address = static_cast<uint8_t>(address_in);
// optional arguments, use the same defaults as the hal get_device function
uint32_t bus_clock = 400000;
bool use_smbus = false;
if (args > 2) {
bus_clock = coerce_to_uint32_t(L, 3 + arg_offset);
if (args > 3) {
use_smbus = static_cast<bool>(lua_toboolean(L, 4 + arg_offset));
}
}
auto *scripting = AP::scripting();
static_assert(SCRIPTING_MAX_NUM_I2C_DEVICE >= 0, "There cannot be a negative number of I2C devices");
if (scripting->num_i2c_devices >= SCRIPTING_MAX_NUM_I2C_DEVICE) {
return luaL_argerror(L, 1, "no i2c devices available");
}
scripting->_i2c_dev[scripting->num_i2c_devices] = NEW_NOTHROW AP_HAL::OwnPtr<AP_HAL::I2CDevice>;
if (scripting->_i2c_dev[scripting->num_i2c_devices] == nullptr) {
return luaL_argerror(L, 1, "i2c device nullptr");
}
*scripting->_i2c_dev[scripting->num_i2c_devices] = std::move(hal.i2c_mgr->get_device(bus, address, bus_clock, use_smbus));
if (scripting->_i2c_dev[scripting->num_i2c_devices] == nullptr || scripting->_i2c_dev[scripting->num_i2c_devices]->get() == nullptr) {
return luaL_argerror(L, 1, "i2c device nullptr");
}
*new_AP_HAL__I2CDevice(L) = scripting->_i2c_dev[scripting->num_i2c_devices]->get();
scripting->num_i2c_devices++;
return 1;
}
int AP_HAL__I2CDevice_read_registers(lua_State *L) {
const int args = lua_gettop(L);
bool multi_register;
if (args == 2) {
multi_register = false;
} else if (args == 3) {
multi_register = true;
} else {
return luaL_argerror(L, args, "expected 1 or 2 arguments");
}
AP_HAL::I2CDevice * ud = *check_AP_HAL__I2CDevice(L, 1);
const uint8_t first_reg = get_uint8_t(L, 2);
uint8_t recv_length = 1;
if (multi_register) {
recv_length = get_uint8_t(L, 3);
}
uint8_t data[recv_length];
ud->get_semaphore()->take_blocking();
const bool success = static_cast<bool>(ud->read_registers(first_reg, data, recv_length));
ud->get_semaphore()->give();
if (success) {
if (!multi_register) {
lua_pushinteger(L, data[0]);
} else {
// push to table
lua_newtable(L);
for (uint8_t i=0; i < recv_length; i++) {
lua_pushinteger(L, i+1);
lua_pushinteger(L, data[i]);
lua_settable(L, -3);
}
}
}
return success;
}
int AP_HAL__I2CDevice_transfer(lua_State *L) {
binding_argcheck(L, 3);
AP_HAL::I2CDevice * ud = *check_AP_HAL__I2CDevice(L, 1);
// Parse string of bytes to send
size_t send_len;
const uint8_t* send_data = (const uint8_t*)(lua_tolstring(L, 2, &send_len));
// Parse and setup rx buffer
uint32_t rx_len = get_uint8_t(L, 3);
uint8_t rx_data[rx_len];
// Transfer
ud->get_semaphore()->take_blocking();
const bool success = ud->transfer(send_data, send_len, rx_data, rx_len);
ud->get_semaphore()->give();
if (!success) {
return 0;
}
// Return a string
lua_pushlstring(L, (const char *)rx_data, rx_len);
return 1;
}
#if AP_SCRIPTING_CAN_SENSOR_ENABLED
int lua_get_CAN_device(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "CAN") != NULL) ? 1 : 0;
binding_argcheck(L, 1 + arg_offset);
const uint32_t raw_buffer_len = get_uint32(L, 1 + arg_offset, 1, 25);
const uint32_t buffer_len = static_cast<uint32_t>(raw_buffer_len);
auto *scripting = AP::scripting();
if (scripting->_CAN_dev == nullptr) {
scripting->_CAN_dev = NEW_NOTHROW ScriptingCANSensor(AP_CAN::Protocol::Scripting);
if (scripting->_CAN_dev == nullptr) {
return luaL_argerror(L, 1, "CAN device nullptr");
}
}
if (!scripting->_CAN_dev->initialized()) {
// Driver not initialized, probably because there is no can driver set to scripting
// Return nil
return 0;
}
*new_ScriptingCANBuffer(L) = scripting->_CAN_dev->add_buffer(buffer_len);
return 1;
}
int lua_get_CAN_device2(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "CAN") != NULL) ? 1 : 0;
binding_argcheck(L, 1 + arg_offset);
const uint32_t raw_buffer_len = get_uint32(L, 1 + arg_offset, 1, 25);
const uint32_t buffer_len = static_cast<uint32_t>(raw_buffer_len);
auto *scripting = AP::scripting();
if (scripting->_CAN_dev2 == nullptr) {
scripting->_CAN_dev2 = NEW_NOTHROW ScriptingCANSensor(AP_CAN::Protocol::Scripting2);
if (scripting->_CAN_dev2 == nullptr) {
return luaL_argerror(L, 1, "CAN device nullptr");
}
}
if (!scripting->_CAN_dev2->initialized()) {
// Driver not initialized, probably because there is no can driver set to scripting 2
// Return nil
return 0;
}
*new_ScriptingCANBuffer(L) = scripting->_CAN_dev2->add_buffer(buffer_len);
return 1;
}
#endif // AP_SCRIPTING_CAN_SENSOR_ENABLED
#if AP_SERIALMANAGER_ENABLED
int lua_serial_find_serial(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "serial") != NULL) ? 1 : 0;
binding_argcheck(L, 1 + arg_offset);
uint8_t instance = get_uint8_t(L, 1 + arg_offset);
AP_SerialManager *mgr = &AP::serialmanager();
AP_HAL::UARTDriver *driver_stream = mgr->find_serial(
AP_SerialManager::SerialProtocol_Scripting, instance);
if (driver_stream == nullptr) { // not found
return 0;
}
AP_Scripting_SerialAccess *port = new_AP_Scripting_SerialAccess(L);
port->stream = driver_stream;
#if AP_SCRIPTING_SERIALDEVICE_ENABLED
port->is_device_port = false;
#endif
return 1;
}
#endif // AP_SERIALMANAGER_ENABLED
#if AP_SCRIPTING_SERIALDEVICE_ENABLED
int lua_serial_find_simulated_device(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "serial") != NULL) ? 1 : 0;
binding_argcheck(L, 2 + arg_offset);
const int8_t protocol = (int8_t)get_uint32(L, 1 + arg_offset, 0, 127);
uint32_t instance = get_uint16_t(L, 2 + arg_offset);
auto *scripting = AP::scripting();
AP_Scripting_SerialDevice::Port *device_stream = nullptr;
for (auto &port : scripting->_serialdevice.ports) {
if (port.state.protocol == protocol) {
if (instance-- == 0) {
device_stream = &port;
break;
}
}
}
if (!scripting->_serialdevice.enable || device_stream == nullptr) {
// serial devices as a whole are disabled, or port not found
return 0;
}
AP_Scripting_SerialAccess *port = new_AP_Scripting_SerialAccess(L);
port->stream = device_stream;
port->is_device_port = true;
return 1;
}
#endif // AP_SCRIPTING_SERIALDEVICE_ENABLED
int lua_serial_writestring(lua_State *L)
{
binding_argcheck(L, 2);
AP_Scripting_SerialAccess * port = check_AP_Scripting_SerialAccess(L, 1);
// get the bytes the user wants to write, along with their length
size_t req_bytes;
const char *data = lua_tolstring(L, 2, &req_bytes);
// write up to that number of bytes
const uint32_t written_bytes = port->write((const uint8_t*)data, req_bytes);
// return the number of bytes that were actually written
lua_pushinteger(L, written_bytes);
return 1;
}
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
*/
int lua_dirlist(lua_State *L) {
binding_argcheck(L, 1);
struct dirent *entry;
int i;
const char *path = luaL_checkstring(L, 1);
/* open directory */
auto dir = AP::FS().opendir(path);
if (dir == nullptr) { /* error opening the directory? */
lua_pushnil(L); /* return nil and ... */
lua_pushstring(L, strerror(errno)); /* error message */
return 2; /* number of results */
}
/* create result table */
lua_newtable(L);
i = 1;
while ((entry = AP::FS().readdir(dir)) != nullptr) {
lua_pushnumber(L, i++); /* push key */
lua_pushstring(L, entry->d_name); /* push value */
lua_settable(L, -3);
}
AP::FS().closedir(dir);
return 1; /* table is already on top */
}
/*
remove a file
*/
int lua_removefile(lua_State *L) {
binding_argcheck(L, 1);
const char *filename = luaL_checkstring(L, 1);
return luaL_fileresult(L, AP::FS().unlink(filename) == 0, filename);
}
// Manual binding to allow SRV_Channels table to see safety state
int SRV_Channels_get_safety_state(lua_State *L) {
binding_argcheck(L, 1);
const bool data = hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_ARMED;
lua_pushboolean(L, data);
return 1;
}
int lua_get_PWMSource(lua_State *L) {
binding_argcheck(L, 0);
auto *scripting = AP::scripting();
static_assert(SCRIPTING_MAX_NUM_PWM_SOURCE >= 0, "There cannot be a negative number of PWMSources");
if (scripting->num_pwm_source >= SCRIPTING_MAX_NUM_PWM_SOURCE) {
return luaL_argerror(L, 1, "no PWMSources available");
}
scripting->_pwm_source[scripting->num_pwm_source] = NEW_NOTHROW AP_HAL::PWMSource;
if (scripting->_pwm_source[scripting->num_pwm_source] == nullptr) {
return luaL_argerror(L, 1, "PWMSources device nullptr");
}
*new_AP_HAL__PWMSource(L) = scripting->_pwm_source[scripting->num_pwm_source];
scripting->num_pwm_source++;
return 1;
}
#if AP_NETWORKING_ENABLED
/*
allocate a SocketAPM
*/
int lua_get_SocketAPM(lua_State *L) {
binding_argcheck(L, 1);
const uint8_t datagram = get_uint8_t(L, 1);
auto *scripting = AP::scripting();
auto *sock = NEW_NOTHROW SocketAPM(datagram);
if (sock == nullptr) {
return luaL_argerror(L, 1, "SocketAPM device nullptr");
}
for (uint8_t i=0; i<SCRIPTING_MAX_NUM_NET_SOCKET; i++) {
if (scripting->_net_sockets[i] == nullptr) {
scripting->_net_sockets[i] = sock;
*new_SocketAPM(L) = scripting->_net_sockets[i];
return 1;
}
}
return luaL_argerror(L, 1, "no sockets available");
}
/*
socket close
*/
int SocketAPM_close(lua_State *L) {
binding_argcheck(L, 1);
SocketAPM *ud = *check_SocketAPM(L, 1);
auto *scripting = AP::scripting();
// clear allocated socket
for (uint8_t i=0; i<SCRIPTING_MAX_NUM_NET_SOCKET; i++) {
if (scripting->_net_sockets[i] == ud) {
ud->close();
delete ud;
scripting->_net_sockets[i] = nullptr;
*check_SocketAPM(L, 1) = nullptr;
break;
}
}
return 0;
}
/*
socket sendfile, for offloading file send to AP_Networking
*/
int SocketAPM_sendfile(lua_State *L) {
binding_argcheck(L, 2);
SocketAPM *ud = *check_SocketAPM(L, 1);
auto *p = (luaL_Stream *)luaL_checkudata(L, 2, LUA_FILEHANDLE);
int fd = p->f->fd;
bool ret = fd != -1 && AP::network().sendfile(ud, fd);
if (ret) {
// the fd is no longer valid. The lua script must
// still call close() to release the memory from the
// socket
p->f->fd = -1;
}
lua_pushboolean(L, ret);
return 1;
}
/*
receive from a socket to a lua string
*/
int SocketAPM_recv(lua_State *L) {
binding_argcheck(L, 2);
SocketAPM * ud = *check_SocketAPM(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 = ud->recv(data, count, 0);
if (ret < 0) {
free(data);
return 0;
}
int retcount = 1;
// push data to lua string
lua_pushlstring(L, (const char *)data, ret);
// also push the address and port if available
uint32_t ip_addr;
uint16_t port;
if (ud->last_recv_address(ip_addr, port)) {
*new_uint32_t(L) = ip_addr;
lua_pushinteger(L, port);
retcount += 2;
}
free(data);
return retcount;
}
/*
TCP socket accept() call
*/
int SocketAPM_accept(lua_State *L) {
binding_argcheck(L, 1);
SocketAPM * ud = *check_SocketAPM(L, 1);
auto *scripting = AP::scripting();
// find an empty slot
for (uint8_t i=0; i<SCRIPTING_MAX_NUM_NET_SOCKET; i++) {
if (scripting->_net_sockets[i] == nullptr) {
scripting->_net_sockets[i] = ud->accept(0);
if (scripting->_net_sockets[i] == nullptr) {
return 0;
}
*new_SocketAPM(L) = scripting->_net_sockets[i];
return 1;
}
}
// out of socket slots, return nil, caller can retry
return 0;
}
/*
convert a uint32_t ipv4 address to a string
*/
int SocketAPM_ipv4_addr_to_string(lua_State *L) {
binding_argcheck(L, 1);
const uint32_t ip_addr = get_uint32(L, 1, 0, UINT32_MAX);
char buf[IP4_STR_LEN];
const char *ret = SocketAPM::inet_addr_to_str(ip_addr, buf, sizeof(buf));
if (ret == nullptr) {
return 0;
}
lua_pushlstring(L, (const char *)ret, strlen(ret));
return 1;
}
/*
convert a ipv4 string address to a uint32_t
*/
int SocketAPM_string_to_ipv4_addr(lua_State *L) {
binding_argcheck(L, 1);
const char *str = luaL_checkstring(L, 1);
*new_uint32_t(L) = SocketAPM::inet_str_to_addr(str);
return 1;
}
#endif // AP_NETWORKING_ENABLED
int lua_get_current_env_ref()
{
auto *scripting = AP::scripting();
return scripting->get_current_env_ref();
}
// This is used when loading modules with require, lua must only look in enabled directory's
const char* lua_get_modules_path()
{
#define LUA_PATH_ROMFS "@ROMFS/scripts/modules/?.lua;" "@ROMFS/scripts/modules/?/init.lua"
#define LUA_PATH_SCRIPTS LUA_LDIR"?.lua;" LUA_LDIR"?/init.lua"
uint16_t dir_disable = AP_Scripting::get_singleton()->get_disabled_dir();
dir_disable &= uint16_t(AP_Scripting::SCR_DIR::SCRIPTS) | uint16_t(AP_Scripting::SCR_DIR::ROMFS);
if (dir_disable == 0) {
// Both directory's are enabled, return both, ROMFS takes priority
return LUA_PATH_ROMFS ";" LUA_PATH_SCRIPTS;
}
if ((dir_disable & uint16_t(AP_Scripting::SCR_DIR::SCRIPTS)) == 0) {
// Only scripts enabled
return LUA_PATH_SCRIPTS;
}
if ((dir_disable & uint16_t(AP_Scripting::SCR_DIR::ROMFS)) == 0) {
// Only ROMFS enabled
return LUA_PATH_ROMFS;
}
// Nothing enabled?
return "";
}
// Simple print to GCS or over CAN
int lua_print(lua_State *L) {
// Only support a single argument
binding_argcheck(L, 1);
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "%s", luaL_checkstring(L, 1));
return 0;
}
#if AP_RANGEFINDER_ENABLED
int lua_range_finder_handle_script_msg(lua_State *L) {
// Arg 1 => self (an instance of rangefinder_backend)
// Arg 2 => a float distance or a RangeFinder_State user data
binding_argcheck(L, 2);
// check_AP_RangeFinder_Backend aborts if not found. No need to check for null
AP_RangeFinder_Backend * ud = *check_AP_RangeFinder_Backend(L, 1);
bool result = false;
// Check to see if the first argument is the state structure.
const void *state_arg = luaL_testudata(L, 2, "RangeFinder_State");
if (state_arg != nullptr) {
result = ud->handle_script_msg(*static_cast<const RangeFinder::RangeFinder_State *>(state_arg));
} else {
// Otherwise assume the argument is a number and set the measurement.
result = ud->handle_script_msg(luaL_checknumber(L, 2));
}
lua_pushboolean(L, result);
return 1;
}
#endif // AP_RANGEFINDER_ENABLED
/*
lua wants to abort, and doesn't have access to a panic function
*/
void lua_abort()
{
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
#if AP_SIM_ENABLED
AP_HAL::panic("lua_abort called");
#else
if (!hal.util->get_soft_armed()) {
AP_HAL::panic("lua_abort called");
}
// abort while flying, all we can do is loop
while (true) {
hal.scheduler->delay(1000);
}
#endif
}
#if (HAL_GCS_ENABLED && !defined(HAL_BUILD_AP_PERIPH))
/*
implement gcs:command_int() access to MAV_CMD_xxx commands
*/
int lua_GCS_command_int(lua_State *L)
{
GCS *_gcs = check_GCS(L);
binding_argcheck(L, 3);
const uint16_t command = get_uint16_t(L, 2);
if (!lua_istable(L, 3)) {
// must have parameter table
return 0;
}
mavlink_command_int_t pkt {};
pkt.command = command;
float *params = &pkt.param1;
int32_t *xy = &pkt.x;
// extract the first 4 parameters as floats
for (uint8_t i=0; i<4; i++) {
char pname[3] { 'p' , char('1' + i), 0 };
lua_pushstring(L, pname);
lua_gettable(L, 3);
if (lua_isnumber(L, -1)) {
params[i] = lua_tonumber(L, -1);
}
lua_pop(L, 1);
}
// extract the xy values
for (uint8_t i=0; i<2; i++) {
const char *names[] = { "x", "y" };
lua_pushstring(L, names[i]);
lua_gettable(L, 3);
if (lua_isinteger(L, -1)) {
xy[i] = lua_tointeger(L, -1);
}
lua_pop(L, 1);
}
// and z
lua_pushstring(L, "z");
lua_gettable(L, 3);
if (lua_isnumber(L, -1)) {
pkt.z = lua_tonumber(L, -1);
}
lua_pop(L, 1);
// optional frame
lua_pushstring(L, "frame");
lua_gettable(L, 3);
if (lua_isinteger(L, -1)) {
pkt.frame = lua_tointeger(L, -1);
}
lua_pop(L, 1);
// call the interface with scheduler lock
WITH_SEMAPHORE(AP::scheduler().get_semaphore());
auto result = _gcs->lua_command_int_packet(pkt);
// Return the resulting MAV_RESULT
lua_pushinteger(L, result);
return 1;
}
#endif
#if HAL_ENABLE_DRONECAN_DRIVERS
/*
get FlexDebug from a DroneCAN node
*/
int lua_DroneCAN_get_FlexDebug(lua_State *L)
{
binding_argcheck(L, 4);
const uint8_t bus = get_uint8_t(L, 1);
const uint8_t node_id = get_uint8_t(L, 2);
const uint16_t msg_id = get_uint16_t(L, 3);
uint32_t tstamp_us = get_uint32(L, 4, 0, UINT32_MAX);
const auto *dc = AP_DroneCAN::get_dronecan(bus);
if (dc == nullptr) {
return 0;
}
dronecan_protocol_FlexDebug msg;
if (!dc->get_FlexDebug(node_id, msg_id, tstamp_us, msg)) {
return 0;
}
*new_uint32_t(L) = tstamp_us;
lua_pushlstring(L, (const char *)msg.u8.data, msg.u8.len);
return 2;
}
#endif // HAL_ENABLE_DRONECAN_DRIVERS
#endif // AP_SCRIPTING_ENABLED
Reference in New Issue View Git Blame Copy Permalink