mirror of https://github.com/ArduPilot/ardupilot
132 lines
4.4 KiB
C++
132 lines
4.4 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_Scripting/AP_Scripting.h>
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#include <AP_HAL/AP_HAL.h>
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#include <GCS_MAVLink/GCS.h>
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#include <AP_ROMFS/AP_ROMFS.h>
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#include "lua_bindings.h"
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// ensure that we have a set of stack sizes, and enforce constraints around it
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// except for the minimum size, these are allowed to be defined by the build system
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#undef SCRIPTING_STACK_MIN_SIZE
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#define SCRIPTING_STACK_MIN_SIZE 2048
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#if !defined(SCRIPTING_STACK_SIZE)
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#define SCRIPTING_STACK_SIZE 16384
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#endif // !defined(SCRIPTING_STACK_SIZE)
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#if !defined(SCRIPTING_STACK_MAX_SIZE)
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#define SCRIPTING_STACK_MAX_SIZE 16384
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#endif // !defined(SCRIPTING_STACK_MAX_SIZE)
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static_assert(SCRIPTING_STACK_SIZE >= SCRIPTING_STACK_MIN_SIZE, "Scripting requires a larger minimum stack size");
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static_assert(SCRIPTING_STACK_SIZE <= SCRIPTING_STACK_MAX_SIZE, "Scripting requires a smaller stack size");
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo AP_Scripting::var_info[] = {
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// @Param: ENABLE
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// @DisplayName: Enable Scripting
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// @Description: Controls if scripting is enabled
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// @Values: 0:None,1:Lua Scripts
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// @RebootRequired: True
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// @User: Advanced
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AP_GROUPINFO_FLAGS("ENABLE", 1, AP_Scripting, _enable, 1, AP_PARAM_FLAG_ENABLE),
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AP_GROUPEND
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};
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AP_Scripting::AP_Scripting() {
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AP_Param::setup_object_defaults(this, var_info);
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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if (_singleton != nullptr) {
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AP_HAL::panic("Scripting must be a singleton");
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
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_singleton = this;
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}
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bool AP_Scripting::init(void) {
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if (!_enable) {
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return true;
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}
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if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Scripting::thread, void),
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"Scripting", SCRIPTING_STACK_SIZE, AP_HAL::Scheduler::PRIORITY_SCRIPTING, 0)) {
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return false;
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}
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_running = true;
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return true;
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}
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void AP_Scripting::thread(void) {
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unsigned int loop = 0;
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lua_State *state = luaL_newstate();
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luaL_openlibs(state);
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load_lua_bindings(state);
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// load the sandbox creation function
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uint32_t sandbox_size;
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char *sandbox_data = (char *)AP_ROMFS::find_decompress("sandbox.lua", sandbox_size);
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if (sandbox_data == nullptr) {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting: Could not find sandbox");
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return;
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}
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if (luaL_dostring(state, sandbox_data)) {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting: Loading sandbox: %s", lua_tostring(state, -1));
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return;
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}
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free(sandbox_data);
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luaL_loadstring(state, "gcs.send_text(string.format(\"math.cos(1 + 2) = %f\", math.cos(1+2)))");
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lua_getglobal(state, "get_sandbox_env"); // find the sandbox creation function
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if (lua_pcall(state, 0, LUA_MULTRET, 0)) {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting: Could not create sandbox: %s", lua_tostring(state, -1));
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return;
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}
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lua_setupvalue(state, -2, 1);
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while (true) {
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hal.scheduler->delay(1000);
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gcs().send_text(MAV_SEVERITY_INFO, "Scripting Loop: %u", loop++);
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const uint32_t startMem = hal.util->available_memory();
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const uint32_t loadEnd = AP_HAL::micros();
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lua_pushvalue(state, -1);
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if(lua_pcall(state, 0, LUA_MULTRET, 0)) {
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gcs().send_text(MAV_SEVERITY_INFO, "Lua: %s", lua_tostring(state, -1));
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hal.console->printf("Lua: %s", lua_tostring(state, -1));
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lua_pop(state, 1);
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continue;
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}
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const uint32_t runEnd = AP_HAL::micros();
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const uint32_t endMem = hal.util->available_memory();
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gcs().send_text(MAV_SEVERITY_INFO, "Time: %d Memory: %d", runEnd - loadEnd, startMem - endMem);
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}
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}
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AP_Scripting *AP_Scripting::_singleton = nullptr;
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namespace AP {
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AP_Scripting *scripting() {
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return AP_Scripting::get_singleton();
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}
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}
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