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ardupilot/libraries/AP_Scripting/lua_scripts.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "lua_scripts.h"
#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_ROMFS/AP_ROMFS.h>
#if HAL_OS_POSIX_IO
#include <dirent.h>
#endif
#if HAL_OS_FATFS_IO
#include <stdio.h>
#endif
#include "lua_generated_bindings.h"
#ifndef SCRIPTING_DIRECTORY
#if HAL_OS_FATFS_IO
#define SCRIPTING_DIRECTORY "/APM/scripts"
#else
#define SCRIPTING_DIRECTORY "./scripts"
#endif //HAL_OS_FATFS_IO
#endif // SCRIPTING_DIRECTORY
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, const AP_Int32 &heap_size, const AP_Int8 &debug_level)
: _vm_steps(vm_steps),
_debug_level(debug_level) {
_heap = hal.util->allocate_heap_memory(heap_size);
}
void lua_scripts::hook(lua_State *L, lua_Debug *ar) {
lua_scripts::overtime = true;
// we need to aggressively bail out as we are over time
// so we will aggressively trap errors until we clear out
lua_sethook(L, hook, LUA_MASKCOUNT, 1);
luaL_error(L, "Exceeded CPU time");
}
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));
longjmp(panic_jmp, 1);
return 0;
}
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: Syntax error in %s", filename);
gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: 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);
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));
lua_pop(L, lua_gettop(L));
return nullptr;
default:
gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: Unknown error (%d) loading %s", error, filename);
lua_pop(L, lua_gettop(L));
return nullptr;
}
}
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);
lua_pop(L, 1); // we can't use the function we just loaded, so ditch it
return nullptr;
}
new_script->name = filename;
new_script->next = nullptr;
// find and create a sandbox for the new chunk
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;
}
load_generated_sandbox(L);
lua_setupvalue(L, -2, 1);
new_script->lua_ref = luaL_ref(L, LUA_REGISTRYINDEX); // cache the reference
new_script->next_run_ms = AP_HAL::millis64() - 1; // force the script to be stale
return new_script;
}
void lua_scripts::load_all_scripts_in_dir(lua_State *L, const char *dirname) {
if (dirname == nullptr) {
return;
}
DIR *d = opendir(dirname);
if (d == nullptr) {
gcs().send_text(MAV_SEVERITY_INFO, "Lua: Could not find a scripts directory");
return;
}
// load anything that ends in .lua
for (struct dirent *de=readdir(d); de; de=readdir(d)) {
uint8_t length = strlen(de->d_name);
if (length < 5) {
// not long enough
continue;
}
if (strncmp(&de->d_name[length-4], ".lua", 4)) {
// doesn't end in .lua
continue;
}
// 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 *) hal.util->heap_realloc(_heap, nullptr, size);
if (filename == nullptr) {
continue;
}
snprintf(filename, size, "%s/%s", dirname, de->d_name);
// we have something that looks like a lua file, attempt to load it
script_info * script = load_script(L, filename);
if (script == nullptr) {
hal.util->heap_realloc(_heap, filename, 0);
continue;
}
reschedule_script(script);
}
closedir(d);
}
void lua_scripts::run_next_script(lua_State *L) {
if (scripts == nullptr) {
#if defined(AP_SCRIPTING_CHECKS) && AP_SCRIPTING_CHECKS >= 1
AP_HAL::panic("Lua: Attempted to run a script without any scripts queued");
#endif // defined(AP_SCRIPTING_CHECKS) && AP_SCRIPTING_CHECKS >= 1
return;
}
// reset the current script tracking information
overtime = false;
// strip the selected script out of the list
script_info *script = scripts;
scripts = script->next;
// reset the hook to clear the counter
const int32_t vm_steps = MAX(_vm_steps, 1000);
lua_sethook(L, hook, LUA_MASKCOUNT, vm_steps);
// store top of stack so we can calculate the number of return values
int stack_top = lua_gettop(L);
// pop the function to the top of the stack
lua_rawgeti(L, LUA_REGISTRYINDEX, script->lua_ref);
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 (%d)", script->name, (int)vm_steps);
remove_script(L, script);
} else {
gcs().send_text(MAV_SEVERITY_INFO, "Lua: %s", lua_tostring(L, -1));
hal.console->printf("Lua: Error: %s\n", lua_tostring(L, -1));
remove_script(L, script);
}
lua_pop(L, 1);
return;
} else {
int returned = lua_gettop(L) - stack_top;
switch (returned) {
case 0:
// no time to reschedule so bail out
remove_script(L, script);
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;
}
// types match the expectations, go ahead and reschedule
script->next_run_ms = AP_HAL::millis64() + (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);
remove_script(L, script);
// pop all the results we got that we didn't expect
lua_pop(L, returned);
break;
}
}
}
}
void lua_scripts::remove_script(lua_State *L, script_info *script) {
if (script == nullptr) {
return;
}
// ensure that the script isn't in the loaded list for any reason
if (scripts == nullptr) {
// nothing to do, already not in the list
} else if (scripts == script) {
scripts = script->next;
} else {
for(script_info * current = scripts; current->next != nullptr; current = current->next) {
if (current->next == script) {
current->next = script->next;
break;
}
}
}
if (L != nullptr) {
// state could be null if we are force killing all scripts
luaL_unref(L, LUA_REGISTRYINDEX, script->lua_ref);
}
hal.util->heap_realloc(_heap, script->name, 0);
hal.util->heap_realloc(_heap, script, 0);
}
void lua_scripts::reschedule_script(script_info *script) {
if (script == nullptr) {
#if defined(AP_SCRIPTING_CHECKS) && AP_SCRIPTING_CHECKS >= 1
AP_HAL::panic("Lua: Attempted to schedule a null pointer");
#endif // defined(AP_SCRIPTING_CHECKS) && AP_SCRIPTING_CHECKS >= 1
return;
}
script->next = nullptr;
if (scripts == nullptr) {
scripts = script;
return;
}
uint64_t next_run_ms = script->next_run_ms;
if (scripts->next_run_ms > next_run_ms) {
script->next = scripts;
scripts = script;
return;
}
script_info *previous = scripts;
while (previous->next != nullptr) {
if (previous->next->next_run_ms > next_run_ms) {
script->next = previous->next;
previous->next = script;
return;
}
previous = previous->next;
}
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) {
lua_close(lua_state); // shutdown the old state
}
// remove all the old scheduled scripts
for (script_info *script = scripts; script != nullptr; script = scripts) {
remove_script(nullptr, script);
}
scripts = nullptr;
overtime = false;
}
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");
return;
}
lua_atpanic(L, atpanic);
luaL_openlibs(L);
load_lua_bindings(L);
// load the sandbox creation function
uint32_t sandbox_size;
char *sandbox_data = (char *)AP_ROMFS::find_decompress("sandbox.lua", sandbox_size);
if (sandbox_data == nullptr) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting: Could not find sandbox");
return;
}
if (luaL_dostring(L, sandbox_data)) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting: Loading sandbox: %s", lua_tostring(L, -1));
return;
}
free(sandbox_data);
// Scan the filesystem in an appropriate manner and autostart scripts
load_all_scripts_in_dir(L, SCRIPTING_DIRECTORY);
while (true) {
#if defined(AP_SCRIPTING_CHECKS) && AP_SCRIPTING_CHECKS >= 1
if (lua_gettop(L) != 0) {
AP_HAL::panic("Lua: Stack should be empty before running scripts");
}
#endif // defined(AP_SCRIPTING_CHECKS) && AP_SCRIPTING_CHECKS >= 1
if (scripts != nullptr) {
#if defined(AP_SCRIPTING_CHECKS) && AP_SCRIPTING_CHECKS >= 1
// Sanity check that the scripts list is ordered correctly
script_info *sanity = scripts;
while (sanity->next != nullptr) {
if (sanity->next_run_ms > sanity->next->next_run_ms) {
AP_HAL::panic("Lua: Script tasking order has been violated");
}
sanity = sanity->next;
}
#endif // defined(AP_SCRIPTING_CHECKS) && AP_SCRIPTING_CHECKS >= 1
// compute delay time
uint64_t now_ms = AP_HAL::millis64();
if (now_ms < scripts->next_run_ms) {
hal.scheduler->delay(scripts->next_run_ms - now_ms);
}
if (_debug_level > 1) {
gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: Running %s", scripts->name);
}
const int 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 int endMem = lua_gc(L, LUA_GCCOUNT, 0) * 1024 + lua_gc(L, LUA_GCCOUNTB, 0);
if (_debug_level > 1) {
gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: Time: %u Mem: %d", (unsigned int)(runEnd - loadEnd), (int)(endMem - startMem));
}
} else {
gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: No scripts to run");
hal.scheduler->delay(10000);
}
}
}
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