mirror of https://github.com/ArduPilot/ardupilot
132 lines
4.3 KiB
C++
132 lines
4.3 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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#pragma once
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#include "AP_Scripting_config.h"
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#if AP_SCRIPTING_ENABLED
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <setjmp.h>
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#include <AP_Filesystem/posix_compat.h>
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#include <AP_Scripting/AP_Scripting.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <AP_HAL/Semaphores.h>
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#include <AP_Common/MultiHeap.h>
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#include "lua_common_defs.h"
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#include "lua/src/lua.hpp"
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class lua_scripts
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{
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public:
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lua_scripts(const AP_Int32 &vm_steps, const AP_Int32 &heap_size, AP_Int8 &debug_options);
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~lua_scripts();
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CLASS_NO_COPY(lua_scripts);
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// return true if initialisation failed
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bool heap_allocated() const { return _heap.available(); }
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// run scripts, does not return unless an error occured
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void run(void);
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static bool overtime; // script exceeded it's execution slot, and we are bailing out
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private:
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void create_sandbox(lua_State *L);
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typedef struct script_info {
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int env_ref; // reference to the script's environment table
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int run_ref; // reference to the function to run
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uint64_t next_run_ms; // time (in milliseconds) the script should next be run at
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uint32_t crc; // crc32 checksum
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char *name; // filename for the script // FIXME: This information should be available from Lua
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script_info *next;
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} script_info;
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script_info *load_script(lua_State *L, char *filename);
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void reset_loop_overtime(lua_State *L);
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void load_all_scripts_in_dir(lua_State *L, const char *dirname);
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void run_next_script(lua_State *L);
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void remove_script(lua_State *L, script_info *script);
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// reschedule the script for execution. It is assumed the script is not in the list already
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void reschedule_script(script_info *script);
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script_info *scripts; // linked list of scripts to be run, sorted by next run time (soonest first)
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// hook will be run when CPU time for a script is exceeded
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// it must be static to be passed to the C API
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static void hook(lua_State *L, lua_Debug *ar);
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// lua panic handler, will jump back to the start of run
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static int atpanic(lua_State *L);
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static jmp_buf panic_jmp;
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lua_State *lua_state;
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const AP_Int32 & _vm_steps;
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AP_Int8 & _debug_options;
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bool option_is_set(AP_Scripting::DebugOption option) const {
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return (uint8_t(_debug_options.get()) & uint8_t(option)) != 0;
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}
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static void *alloc(void *ud, void *ptr, size_t osize, size_t nsize);
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static MultiHeap _heap;
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// helper for print and log of runtime stats
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void update_stats(const char *name, uint32_t run_time, int total_mem, int run_mem);
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// must be static for use in atpanic
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static void print_error(MAV_SEVERITY severity);
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static char *error_msg_buf;
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static HAL_Semaphore error_msg_buf_sem;
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static uint8_t print_error_count;
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static uint32_t last_print_ms;
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// XOR of crc32 of running scripts
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static uint32_t loaded_checksum;
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static uint32_t running_checksum;
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static HAL_Semaphore crc_sem;
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public:
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// must be static for use in atpanic, public to allow bindings to issue none fatal warnings
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static void set_and_print_new_error_message(MAV_SEVERITY severity, const char *fmt, ...) FMT_PRINTF(2,3);
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// return last error message, nullptr if none, must use semaphore as this is updated in the scripting thread
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static const char* get_last_error_message() { return error_msg_buf; }
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// get semaphore for above error buffer
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static AP_HAL::Semaphore* get_last_error_semaphore() { return &error_msg_buf_sem; }
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// Return the file checksums of running and loaded scripts
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static uint32_t get_loaded_checksum();
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static uint32_t get_running_checksum();
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};
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#endif // AP_SCRIPTING_ENABLED
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