ardupilot/libraries/AP_Scripting/AP_Scripting.cpp

115 lines
3.9 KiB
C++

/*
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 (16 * 1024)
#endif // !defined(SCRIPTING_STACK_SIZE)
#if !defined(SCRIPTING_STACK_MAX_SIZE)
#define SCRIPTING_STACK_MAX_SIZE (64 * 1024)
#endif // !defined(SCRIPTING_STACK_MAX_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, 1, 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, 32*1024),
AP_GROUPINFO("DEBUG_LVL", 4, AP_Scripting, _debug_level, 1),
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;
}
bool AP_Scripting::init(void) {
if (!_enable) {
return true;
}
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);
return false;
}
return true;
}
void AP_Scripting::thread(void) {
lua_scripts *lua = new lua_scripts(_script_vm_exec_count, _script_heap_size, _debug_level);
if (lua == nullptr) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Unable to allocate scripting memory");
return;
}
lua->run();
// only reachable if the lua backend has died for any reason
gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting has died");
}
AP_Scripting *AP_Scripting::_singleton = nullptr;
namespace AP {
AP_Scripting *scripting() {
return AP_Scripting::get_singleton();
}
}