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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 "AP_Scripting_config.h"
#if AP_SCRIPTING_ENABLED
#include "lua_scripts.h"
#include <AP_HAL/AP_HAL.h>
#include "AP_Scripting.h"
#include <AP_Logger/AP_Logger.h>
#include <AP_Scripting/lua_generated_bindings.h>
#define DISABLE_INTERRUPTS_FOR_SCRIPT_RUN 0
extern const AP_HAL::HAL& hal;
#define ENABLE_DEBUG_MODULE 0
bool lua_scripts::overtime;
jmp_buf lua_scripts::panic_jmp;
char *lua_scripts::error_msg_buf;
HAL_Semaphore lua_scripts::error_msg_buf_sem;
uint8_t lua_scripts::print_error_count;
uint32_t lua_scripts::last_print_ms;
uint32_t lua_scripts::loaded_checksum;
uint32_t lua_scripts::running_checksum;
HAL_Semaphore lua_scripts::crc_sem;
lua_scripts::lua_scripts(const AP_Int32 &vm_steps, const AP_Int32 &heap_size, const AP_Int8 &debug_options)
: _vm_steps(vm_steps),
_debug_options(debug_options)
{
_heap.create(heap_size, 4);
}
lua_scripts::~lua_scripts() {
_heap.destroy();
}
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");
}
void lua_scripts::print_error(MAV_SEVERITY severity) {
error_msg_buf_sem.take_blocking();
if (error_msg_buf == nullptr) {
error_msg_buf_sem.give();
return;
}
last_print_ms = AP_HAL::millis();
GCS_SEND_TEXT(severity, "Lua: %s", error_msg_buf);
error_msg_buf_sem.give();
}
void lua_scripts::set_and_print_new_error_message(MAV_SEVERITY severity, const char *fmt, ...) {
error_msg_buf_sem.take_blocking();
// reset buffer and print count
print_error_count = 0;
if (error_msg_buf) {
_heap.deallocate(error_msg_buf);
error_msg_buf = nullptr;
}
// generate va_list and create a copy
va_list arg_list, arg_list_copy;
va_start(arg_list, fmt);
va_copy(arg_list_copy, arg_list);
// dry run to work out the required length
int len = hal.util->vsnprintf(nullptr, 0, fmt, arg_list_copy);
// finished with copy
va_end(arg_list_copy);
if (len <= 0) {
// nothing to print, something has gone wrong
va_end(arg_list);
error_msg_buf_sem.give();
return;
}
// allocate buffer on scripting heap
error_msg_buf = (char *)_heap.allocate(len+1);
if (!error_msg_buf) {
// allocation failed
va_end(arg_list);
error_msg_buf_sem.give();
return;
}
// do actual print to buffer and clear va list
hal.util->vsnprintf(error_msg_buf, len+1, fmt, arg_list);
va_end(arg_list);
// print to cosole and GCS
DEV_PRINTF("Lua: %s\n", error_msg_buf);
error_msg_buf_sem.give();
print_error(severity);
}
int lua_scripts::atpanic(lua_State *L) {
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Panic: %s", lua_tostring(L, -1));
longjmp(panic_jmp, 1);
return 0;
}
// helper for print and log of runtime stats
void lua_scripts::update_stats(const char *name, uint32_t run_time, int total_mem, int run_mem)
{
if ((_debug_options.get() & uint8_t(DebugLevel::RUNTIME_MSG)) != 0) {
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "Lua: Time: %u Mem: %d + %d",
(unsigned int)run_time,
(int)total_mem,
(int)run_mem);
}
#if HAL_LOGGING_ENABLED
if ((_debug_options.get() & uint8_t(DebugLevel::LOG_RUNTIME)) != 0) {
struct log_Scripting pkt {
LOG_PACKET_HEADER_INIT(LOG_SCRIPTING_MSG),
time_us : AP_HAL::micros64(),
name : {},
run_time : run_time,
total_mem : total_mem,
run_mem : run_mem
};
const char * name_short = strrchr(name, '/');
if ((strlen(name) > sizeof(pkt.name)) && (name_short != nullptr)) {
strncpy_noterm(pkt.name, name_short+1, sizeof(pkt.name));
} else {
strncpy_noterm(pkt.name, name, sizeof(pkt.name));
}
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}
#endif // HAL_LOGGING_ENABLED
}
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:
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Error: %s", lua_tostring(L, -1));
lua_pop(L, lua_gettop(L));
return nullptr;
case LUA_ERRMEM:
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Insufficent memory loading %s", filename);
lua_pop(L, lua_gettop(L));
return nullptr;
case LUA_ERRFILE:
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Unable to load the file: %s", lua_tostring(L, -1));
lua_pop(L, lua_gettop(L));
return nullptr;
default:
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Unknown error (%d) loading %s", error, filename);
lua_pop(L, lua_gettop(L));
return nullptr;
}
}
const int loadMem = lua_gc(L, LUA_GCCOUNT, 0) * 1024 + lua_gc(L, LUA_GCCOUNTB, 0);
const uint32_t loadStart = AP_HAL::micros();
script_info *new_script = (script_info *)_heap.allocate(sizeof(script_info));
if (new_script == nullptr) {
// No memory, shouldn't happen, we even attempted to do a GC
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Insufficent memory loading %s", filename);
lua_pop(L, 1); // we can't use the function we just loaded, so ditch it
return nullptr;
}
create_sandbox(L);
lua_setupvalue(L, -2, 1);
const uint32_t loadEnd = AP_HAL::micros();
const int endMem = lua_gc(L, LUA_GCCOUNT, 0) * 1024 + lua_gc(L, LUA_GCCOUNTB, 0);
update_stats(filename, loadEnd-loadStart, endMem, loadMem);
new_script->name = filename;
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
// Get checksum of file
uint32_t crc = 0;
if (AP::FS().crc32(filename, crc)) {
// Record crc of this script
new_script->crc = crc;
{
// Apply crc to checksum of all scripts
WITH_SEMAPHORE(crc_sem);
loaded_checksum ^= crc;
running_checksum ^= crc;
}
}
return new_script;
}
void lua_scripts::create_sandbox(lua_State *L) {
lua_newtable(L);
luaopen_base_sandbox(L);
#if ENABLE_DEBUG_MODULE
lua_pushstring(L, "debug");
luaopen_debug(L);
lua_settable(L, -3);
#endif
lua_pushstring(L, "math");
luaopen_math(L);
lua_settable(L, -3);
lua_pushstring(L, "table");
luaopen_table(L);
lua_settable(L, -3);
lua_pushstring(L, "string");
luaopen_string(L);
lua_settable(L, -3);
lua_pushstring(L, "io");
luaopen_io(L);
lua_settable(L, -3);
lua_pushstring(L, "utf8");
luaopen_utf8(L);
lua_settable(L, -3);
lua_pushstring(L, "package");
luaopen_package(L);
lua_settable(L, -3);
load_generated_sandbox(L);
}
void lua_scripts::load_all_scripts_in_dir(lua_State *L, const char *dirname) {
if (dirname == nullptr) {
return;
}
auto *d = AP::FS().opendir(dirname);
if (d == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Lua: open directory (%s) failed", dirname);
return;
}
// load anything that ends in .lua
for (struct dirent *de=AP::FS().readdir(d); de; de=AP::FS().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 *) _heap.allocate(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) {
_heap.deallocate(filename);
continue;
}
reschedule_script(script);
#if HAL_LOGGER_FILE_CONTENTS_ENABLED
if ((_debug_options.get() & uint8_t(DebugLevel::SUPPRESS_SCRIPT_LOG)) == 0) {
AP::logger().log_file_content(filename);
}
#endif
}
AP::FS().closedir(d);
}
void lua_scripts::reset_loop_overtime(lua_State *L) {
overtime = false;
// reset the hook to clear the counter
const int32_t vm_steps = MAX(_vm_steps, 1000);
lua_sethook(L, hook, LUA_MASKCOUNT, vm_steps);
}
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;
}
uint64_t start_time_ms = AP_HAL::millis64();
// strip the selected script out of the list
script_info *script = scripts;
scripts = script->next;
// reset the hook to clear the counter
reset_loop_overtime(L);
// 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);
AP::scripting()->set_current_ref(script->lua_ref);
if(lua_pcall(L, 0, LUA_MULTRET, 0)) {
if (overtime) {
// script has consumed an excessive amount of CPU time
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "%s exceeded time limit", script->name);
} else {
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "%s", 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) {
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "%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) {
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "%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 = start_time_ms + (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:
{
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "%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;
}
}
}
{
// Remove from running checksum
WITH_SEMAPHORE(crc_sem);
running_checksum ^= script->crc;
}
if (L != nullptr) {
// state could be null if we are force killing all scripts
luaL_unref(L, LUA_REGISTRYINDEX, script->lua_ref);
}
_heap.deallocate(script->name);
_heap.deallocate(script);
}
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;
}
MultiHeap lua_scripts::_heap;
void *lua_scripts::alloc(void *ud, void *ptr, size_t osize, size_t nsize) {
(void)ud; /* not used */
return _heap.change_size(ptr, osize, nsize);
}
void lua_scripts::run(void) {
bool succeeded_initial_load = false;
if (!_heap.available()) {
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Lua: Unable to allocate a heap");
return;
}
// panic should be hooked first
if (setjmp(panic_jmp)) {
if (!succeeded_initial_load) {
return;
}
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;
}
#ifndef HAL_CONSOLE_DISABLED
const int inital_mem = lua_gc(L, LUA_GCCOUNT, 0) * 1024 + lua_gc(L, LUA_GCCOUNTB, 0);
#endif
lua_atpanic(L, atpanic);
load_generated_bindings(L);
#ifndef HAL_CONSOLE_DISABLED
const int loaded_mem = lua_gc(L, LUA_GCCOUNT, 0) * 1024 + lua_gc(L, LUA_GCCOUNTB, 0);
DEV_PRINTF("Lua: State memory usage: %i + %i\n", inital_mem, loaded_mem - inital_mem);
#endif
// Scan the filesystem in an appropriate manner and autostart scripts
// Skip those directores disabled with SCR_DIR_DISABLE param
uint16_t dir_disable = AP_Scripting::get_singleton()->get_disabled_dir();
bool loaded = false;
if ((dir_disable & uint16_t(AP_Scripting::SCR_DIR::SCRIPTS)) == 0) {
load_all_scripts_in_dir(L, SCRIPTING_DIRECTORY);
loaded = true;
}
#ifdef HAL_HAVE_AP_ROMFS_EMBEDDED_LUA
if ((dir_disable & uint16_t(AP_Scripting::SCR_DIR::ROMFS)) == 0) {
load_all_scripts_in_dir(L, "@ROMFS/scripts");
loaded = true;
}
#endif
if (!loaded) {
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Lua: All directory's disabled see SCR_DIR_DISABLE");
}
#ifndef __clang_analyzer__
succeeded_initial_load = true;
#endif // __clang_analyzer__
while (AP_Scripting::get_singleton()->should_run()) {
#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_options.get() & uint8_t(DebugLevel::RUNTIME_MSG)) != 0) {
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "Lua: Running %s", scripts->name);
}
// take a copy of the script name for the purposes of
// logging statistics. "scripts" may become invalid
// during the "run_next_script" call, below.
char script_name[128+1] {};
strncpy_noterm(script_name, scripts->name, 128);
#if DISABLE_INTERRUPTS_FOR_SCRIPT_RUN
void *istate = hal.scheduler->disable_interrupts_save();
#endif
const int startMem = lua_gc(L, LUA_GCCOUNT, 0) * 1024 + lua_gc(L, LUA_GCCOUNTB, 0);
const uint32_t loadEnd = AP_HAL::micros();
// NOTE! the base pointer of our scripts linked list,
// *and all its contents* may become invalid as part of
// "run_next_script"! So do *NOT* attempt to access
// anything that was in *scripts after this call.
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 DISABLE_INTERRUPTS_FOR_SCRIPT_RUN
hal.scheduler->restore_interrupts(istate);
#endif
update_stats(script_name, runEnd - loadEnd, endMem, endMem - startMem);
// garbage collect after each script, this shouldn't matter, but seems to resolve a memory leak
lua_gc(L, LUA_GCCOLLECT, 0);
} else {
if ((_debug_options.get() & uint8_t(DebugLevel::NO_SCRIPTS_TO_RUN)) != 0) {
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "Lua: No scripts to run");
}
hal.scheduler->delay(1000);
}
// re-print the latest error message every 10 seconds 10 times
const uint8_t error_prints = 10;
if ((print_error_count < error_prints) && (AP_HAL::millis() - last_print_ms > 10000)) {
// note that we do not clear the buffer after we have finished printing, this allows it to be used for a pre-arm check
print_error(MAV_SEVERITY_DEBUG);
print_error_count++;
}
}
// make sure all scripts have been removed
while (scripts != nullptr) {
remove_script(lua_state, scripts);
}
if (lua_state != nullptr) {
lua_close(lua_state); // shutdown the old state
lua_state = nullptr;
}
error_msg_buf_sem.take_blocking();
if (error_msg_buf != nullptr) {
_heap.deallocate(error_msg_buf);
error_msg_buf = nullptr;
}
error_msg_buf_sem.give();
}
// Return the file checksums of running and loaded scripts
uint32_t lua_scripts::get_loaded_checksum()
{
WITH_SEMAPHORE(crc_sem);
return loaded_checksum;
}
uint32_t lua_scripts::get_running_checksum()
{
WITH_SEMAPHORE(crc_sem);
return running_checksum;
}
#endif // AP_SCRIPTING_ENABLED
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