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AP_Scripting: Add more runtime sanity checks

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This commit is contained in:
Michael du Breuil 2018-11-03 14:59:45 -07:00 committed by WickedShell
parent 472cd9f48c
commit ecb1a433b1
1 changed files with 15 additions and 4 deletions
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19
libraries/AP_Scripting/lua_scripts.cpp
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@ -139,9 +139,9 @@ void lua_scripts::load_all_scripts_in_dir(lua_State *L, const char *dirname) {
void lua_scripts::run_next_script(lua_State *L) { void lua_scripts::run_next_script(lua_State *L) {
if (scripts == nullptr) { if (scripts == nullptr) {
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if defined(AP_SCRIPTING_CHECKS) && AP_SCRIPTING_CHECKS >= 1
AP_HAL::panic("Lua: Attempted to run a script without any scripts queued"); AP_HAL::panic("Lua: Attempted to run a script without any scripts queued");
#endif // #if CONFIG_HAL_BOARD == HAL_BOARD_SITL #endif // defined(AP_SCRIPTING_CHECKS) && AP_SCRIPTING_CHECKS >= 1
return; return;
} }
@ -240,9 +240,9 @@ void lua_scripts::remove_script(lua_State *L, script_info *script) {
void lua_scripts::reschedule_script(script_info *script) { void lua_scripts::reschedule_script(script_info *script) {
if (script == nullptr) { if (script == nullptr) {
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if defined(AP_SCRIPTING_CHECKS) && AP_SCRIPTING_CHECKS >= 1
AP_HAL::panic("Lua: Attempted to schedule a null pointer"); AP_HAL::panic("Lua: Attempted to schedule a null pointer");
#endif // #if CONFIG_HAL_BOARD == HAL_BOARD_SITL #endif // defined(AP_SCRIPTING_CHECKS) && AP_SCRIPTING_CHECKS >= 1
return; return;
} }
@ -297,6 +297,17 @@ void lua_scripts::run(void) {
while (true) { while (true) {
if (scripts != nullptr) { if (scripts != nullptr) {
#if defined(AP_SCRIPTING_CHECKS) && AP_SCRIPTING_CHECKS >= 1
// Sanity check that the scripts list is ordered correctly
script_info *sanity = scripts;
while (sanity->next != nullptr) {
if (sanity->next_run_ms > sanity->next->next_run_ms) {
AP_HAL::panic("Lua: Script tasking order has been violated");
}
sanity = sanity->next;
}
#endif // defined(AP_SCRIPTING_CHECKS) && AP_SCRIPTING_CHECKS >= 1
// compute delay time // compute delay time
uint64_t now_ms = AP_HAL::millis64(); uint64_t now_ms = AP_HAL::millis64();
if (now_ms < scripts->next_run_ms) { if (now_ms < scripts->next_run_ms) {