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ardupilot/libraries/AP_Scripting/AP_Scripting.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/AP_Scripting.h>
#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS.h>
#include "lua_scripts.h"
// ensure that we have a set of stack sizes, and enforce constraints around it
// except for the minimum size, these are allowed to be defined by the build system
#undef SCRIPTING_STACK_MIN_SIZE
#define SCRIPTING_STACK_MIN_SIZE (8 * 1024)
#if !defined(SCRIPTING_STACK_SIZE)
#define SCRIPTING_STACK_SIZE (17 * 1024) // Linux experiences stack corruption at ~16.25KB when handed bad scripts
#endif // !defined(SCRIPTING_STACK_SIZE)
#if !defined(SCRIPTING_STACK_MAX_SIZE)
#define SCRIPTING_STACK_MAX_SIZE (64 * 1024)
#endif // !defined(SCRIPTING_STACK_MAX_SIZE)
#if !defined(SCRIPTING_HEAP_SIZE)
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#define SCRIPTING_HEAP_SIZE (64 * 1024)
#else
#define SCRIPTING_HEAP_SIZE (43 * 1024)
#endif
#endif // !defined(SCRIPTING_HEAP_SIZE)
static_assert(SCRIPTING_STACK_SIZE >= SCRIPTING_STACK_MIN_SIZE, "Scripting requires a larger minimum stack size");
static_assert(SCRIPTING_STACK_SIZE <= SCRIPTING_STACK_MAX_SIZE, "Scripting requires a smaller stack size");
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_Scripting::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable Scripting
// @Description: Controls if scripting is enabled
// @Values: 0:None,1:Lua Scripts
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 1, AP_Scripting, _enable, 0, AP_PARAM_FLAG_ENABLE),
// @Param: VM_I_COUNT
// @DisplayName: Scripting Virtual Machine Instruction Count
// @Description: The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time
// @Range: 1000 1000000
// @Increment: 10000
// @User: Advanced
AP_GROUPINFO("VM_I_COUNT", 2, AP_Scripting, _script_vm_exec_count, 10000),
// @Param: HEAP_SIZE
// @DisplayName: Scripting Heap Size
// @Description: Amount of memory available for scripting
// @Range: 1024 1048576
// @Increment: 1024
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("HEAP_SIZE", 3, AP_Scripting, _script_heap_size, SCRIPTING_HEAP_SIZE),
// @Param: DEBUG_LVL
// @DisplayName: Scripting Debug Level
// @Description: The higher the number the more verbose builtin scripting debug will be.
// @User: Advanced
AP_GROUPINFO("DEBUG_LVL", 4, AP_Scripting, _debug_level, 0),
// @Param: USER1
// @DisplayName: Scripting User Parameter1
// @Description: General purpose user variable input for scripts
// @User: Standard
AP_GROUPINFO("USER1", 5, AP_Scripting, _user[0], 0.0),
// @Param: USER2
// @DisplayName: Scripting User Parameter2
// @Description: General purpose user variable input for scripts
// @User: Standard
AP_GROUPINFO("USER2", 6, AP_Scripting, _user[1], 0.0),
// @Param: USER3
// @DisplayName: Scripting User Parameter3
// @Description: General purpose user variable input for scripts
// @User: Standard
AP_GROUPINFO("USER3", 7, AP_Scripting, _user[2], 0.0),
// @Param: USER4
// @DisplayName: Scripting User Parameter4
// @Description: General purpose user variable input for scripts
// @User: Standard
AP_GROUPINFO("USER4", 8, AP_Scripting, _user[3], 0.0),
// @Param: DIR_DISABLE
// @DisplayName: Directory disable
// @Description: This will stop scripts being loaded from the given locations
// @Bitmask: 0:ROMFS, 1:APM/scripts
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("DIR_DISABLE", 9, AP_Scripting, _dir_disable, 0),
AP_GROUPEND
};
AP_Scripting::AP_Scripting() {
AP_Param::setup_object_defaults(this, var_info);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (_singleton != nullptr) {
AP_HAL::panic("Scripting must be a singleton");
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
_singleton = this;
}
void AP_Scripting::init(void) {
if (!_enable) {
return;
}
const char *dir_name = SCRIPTING_DIRECTORY;
if (AP::FS().mkdir(dir_name)) {
if (errno != EEXIST) {
gcs().send_text(MAV_SEVERITY_INFO, "Lua: failed to create (%s)", dir_name);
}
}
if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Scripting::thread, void),
"Scripting", SCRIPTING_STACK_SIZE, AP_HAL::Scheduler::PRIORITY_SCRIPTING, 0)) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Could not create scripting stack (%d)", SCRIPTING_STACK_SIZE);
gcs().send_text(MAV_SEVERITY_ERROR, "Scripting failed to start");
_init_failed = true;
}
}
MAV_RESULT AP_Scripting::handle_command_int_packet(const mavlink_command_int_t &packet) {
switch ((SCRIPTING_CMD)packet.param1) {
case SCRIPTING_CMD_REPL_START:
return repl_start() ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED;
case SCRIPTING_CMD_REPL_STOP:
repl_stop();
return MAV_RESULT_ACCEPTED;
case SCRIPTING_CMD_ENUM_END: // cope with MAVLink generator appending to our enum
break;
}
return MAV_RESULT_UNSUPPORTED;
}
bool AP_Scripting::repl_start(void) {
if (terminal.session) { // it's already running, this is fine
return true;
}
// nuke the old folder and all contents
struct stat st;
if ((AP::FS().stat(REPL_DIRECTORY, &st) == -1) &&
(AP::FS().unlink(REPL_DIRECTORY) == -1) &&
(errno != EEXIST)) {
gcs().send_text(MAV_SEVERITY_INFO, "Unable to delete old REPL %s", strerror(errno));
}
// create a new folder
AP::FS().mkdir(REPL_DIRECTORY);
// delete old files in case we couldn't
AP::FS().unlink(REPL_DIRECTORY "/in");
AP::FS().unlink(REPL_DIRECTORY "/out");
// make the output pointer
terminal.output_fd = AP::FS().open(REPL_OUT, O_WRONLY|O_CREAT|O_TRUNC);
if (terminal.output_fd == -1) {
gcs().send_text(MAV_SEVERITY_INFO, "Unable to make new REPL");
return false;
}
terminal.session = true;
return true;
}
void AP_Scripting::repl_stop(void) {
terminal.session = false;
// can't do any more cleanup here, closing the open FD's is the REPL's responsibility
}
void AP_Scripting::thread(void) {
lua_scripts *lua = new lua_scripts(_script_vm_exec_count, _script_heap_size, _debug_level, terminal);
if (lua == nullptr || !lua->heap_allocated()) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Unable to allocate scripting memory");
delete lua;
_init_failed = true;
return;
}
lua->run();
// only reachable if the lua backend has died for any reason
gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting has stopped");
}
void AP_Scripting::handle_mission_command(const AP_Mission::Mission_Command& cmd_in)
{
if (!_enable) {
return;
}
if (mission_data == nullptr) {
// load buffer
mission_data = new ObjectBuffer<struct AP_Scripting::scripting_mission_cmd>(mission_cmd_queue_size);
if (mission_data == nullptr) {
gcs().send_text(MAV_SEVERITY_INFO, "scripting: unable to receive mission command");
return;
}
}
struct scripting_mission_cmd cmd {cmd_in.p1,
cmd_in.content.scripting.p1,
cmd_in.content.scripting.p2,
cmd_in.content.scripting.p3,
AP_HAL::millis()};
mission_data->push(cmd);
}
AP_Scripting *AP_Scripting::_singleton = nullptr;
namespace AP {
AP_Scripting *scripting() {
return AP_Scripting::get_singleton();
}
}
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