mirror of https://github.com/ArduPilot/ardupilot
116 lines
4.0 KiB
C++
116 lines
4.0 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 "lua_scripts.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 (8 * 1024)
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#if !defined(SCRIPTING_STACK_SIZE)
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#define SCRIPTING_STACK_SIZE (17 * 1024) // Linux experiences stack corruption at ~16.25KB when handed bad scripts
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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 (64 * 1024)
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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, 0, AP_PARAM_FLAG_ENABLE),
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// @Param: VM_I_COUNT
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// @DisplayName: Scripting Virtual Machine Instruction Count
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// @Description: The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time
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// @Range: 1000 1000000
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// @Increment: 10000
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// @User: Advanced
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AP_GROUPINFO("VM_I_COUNT", 2, AP_Scripting, _script_vm_exec_count, 10000),
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// @Param: HEAP_SIZE
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// @DisplayName: Scripting Heap Size
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// @Description: Amount of memory available for scripting
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// @Range: 1024 1048576
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// @Increment: 1024
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("HEAP_SIZE", 3, AP_Scripting, _script_heap_size, 42*1024),
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AP_GROUPINFO("DEBUG_LVL", 4, AP_Scripting, _debug_level, 1),
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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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gcs().send_text(MAV_SEVERITY_CRITICAL, "Could not create scripting stack (%d)", SCRIPTING_STACK_SIZE);
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_enable = 0;
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return false;
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}
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return true;
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}
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void AP_Scripting::thread(void) {
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lua_scripts *lua = new lua_scripts(_script_vm_exec_count, _script_heap_size, _debug_level);
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if (lua == nullptr) {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Unable to allocate scripting memory");
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return;
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}
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lua->run();
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// only reachable if the lua backend has died for any reason
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting has stopped");
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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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