Michael du Breuil
6 years ago
committed by
WickedShell
6 changed files with 342 additions and 87 deletions
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@@ -0,0 +1,264 @@
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/*
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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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|
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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 "lua_scripts.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 <AP_ROMFS/AP_ROMFS.h> |
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extern const AP_HAL::HAL& hal; |
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bool lua_scripts::overtime; |
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lua_scripts::lua_scripts(const AP_Int32 &vm_steps) |
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: _vm_steps(vm_steps) { |
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scripts = nullptr; |
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} |
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void lua_scripts::hook(lua_State *L, lua_Debug *ar) { |
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lua_scripts::overtime = true; |
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// we need to aggressively bail out as we are over time
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// so we will aggressively trap errors until we clear out
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lua_sethook(L, hook, LUA_MASKCOUNT, 1); |
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luaL_error(L, "Exceeded CPU time"); |
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} |
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lua_scripts::script_info *lua_scripts::load_script(lua_State *L, const char *filename) { |
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if (int error = luaL_loadfile(L, filename)) { |
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switch (error) { |
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case LUA_ERRSYNTAX: |
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: Syntax error in %s", filename); |
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return nullptr; |
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case LUA_ERRMEM: |
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: Insufficent memory loading %s", filename); |
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return nullptr; |
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default: |
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: Unknown error (%d) loading %s", error, filename); |
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return nullptr; |
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} |
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} |
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script_info *new_script = (script_info *)luaM_malloc(L, sizeof(script_info)); |
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if (new_script == nullptr) { |
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// No memory, shouldn't happen, we even attempted to do a GC
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: Insufficent memory loading %s", filename); |
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lua_pop(L, 1); // we can't use the function we just loaded, so ditch it
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return nullptr; |
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} |
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new_script->name = filename; |
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new_script->next = nullptr; |
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// find and create a sandbox for the new chunk
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lua_getglobal(L, "get_sandbox_env"); |
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if (lua_pcall(L, 0, LUA_MULTRET, 0)) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting: Could not create sandbox: %s", lua_tostring(L, -1)); |
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return nullptr; |
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} |
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lua_setupvalue(L, -2, 1); |
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new_script->lua_ref = luaL_ref(L, LUA_REGISTRYINDEX); // cache the reference
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new_script->next_run_ms = AP_HAL::millis64() - 1; // force the script to be stale
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return new_script; |
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} |
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void lua_scripts::run_next_script(lua_State *L) { |
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if (scripts == nullptr) { |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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AP_HAL::panic("Lua: Attempted to run a script without any scripts queued"); |
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#endif // #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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return; |
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} |
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// reset the current script tracking information
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overtime = false; |
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// strip the selected script out of the list
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script_info *script = scripts; |
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scripts = script->next; |
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// reset the hook to clear the counter
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const int32_t vm_steps = MAX(_vm_steps, 1000); |
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lua_sethook(L, hook, LUA_MASKCOUNT, vm_steps); |
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// store top of stack so we can calculate the number of return values
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int stack_top = lua_gettop(L); |
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// pop the function to the top of the stack
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lua_rawgeti(L, LUA_REGISTRYINDEX, script->lua_ref); |
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if(lua_pcall(L, 0, LUA_MULTRET, 0)) { |
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if (overtime) { |
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// script has consumed an excessive amount of CPU time
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: %s exceeded time limit (%d)", script->name, vm_steps); |
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remove_script(L, script); |
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} else { |
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gcs().send_text(MAV_SEVERITY_INFO, "Lua: %s", lua_tostring(L, -1)); |
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hal.console->printf("Lua: Error: %s\n", lua_tostring(L, -1)); |
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remove_script(L, script); |
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} |
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lua_pop(L, 1); |
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return; |
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} else { |
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int returned = lua_gettop(L) - stack_top; |
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switch (returned) { |
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case 0: |
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// no time to reschedule so bail out
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remove_script(L, script); |
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break; |
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case 2: |
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{ |
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// sanity check the return types
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if (lua_type(L, -2) != LUA_TNUMBER) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: %s did not return a delay (0x%d)", script->name, lua_type(L, -2)); |
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lua_pop(L, 2); |
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remove_script(L, script); |
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return; |
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} |
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if (lua_type(L, -1) != LUA_TFUNCTION) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: %s did not return a function (0x%d)", script->name, lua_type(L, -1)); |
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lua_pop(L, 2); |
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remove_script(L, script); |
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return; |
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} |
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// types match the expectations, go ahead and reschedule
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int old_ref = script->lua_ref; |
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script->lua_ref = luaL_ref(L, LUA_REGISTRYINDEX); |
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luaL_unref(L, LUA_REGISTRYINDEX, old_ref); |
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script->next_run_ms = AP_HAL::millis64() + (uint64_t)luaL_checknumber(L, -1); |
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lua_pop(L, 1); |
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reschedule_script(script); |
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break; |
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} |
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default: |
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{ |
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: %s returned bad result count (%d)", script->name, returned); |
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remove_script(L, script); |
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// pop all the results we got that we didn't expect
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lua_pop(L, returned); |
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break; |
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} |
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} |
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} |
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} |
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void lua_scripts::remove_script(lua_State *L, script_info *script) { |
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// ensure that the script isn't in the loaded list for any reason
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if (scripts == nullptr) { |
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// nothing to do, already not in the list
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} else if (scripts == script) { |
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scripts = script->next; |
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} else { |
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for(script_info * current = scripts; current->next != nullptr; current = current->next) { |
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if (current->next == script) { |
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current->next = script->next; |
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break; |
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} |
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} |
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} |
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luaL_unref(L, LUA_REGISTRYINDEX, script->lua_ref); |
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luaM_free(L, script); |
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} |
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void lua_scripts::reschedule_script(script_info *script) { |
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if (script == nullptr) { |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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AP_HAL::panic("Lua: Attempted to schedule a null pointer"); |
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#endif // #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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return; |
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} |
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script->next = nullptr; |
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if (scripts == nullptr) { |
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scripts = script; |
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return; |
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} |
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uint64_t next_run_ms = script->next_run_ms; |
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if (scripts->next_run_ms > next_run_ms) { |
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script->next = scripts; |
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scripts = script; |
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return; |
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} |
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script_info *previous = scripts; |
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while (previous->next != nullptr) { |
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if (previous->next->next_run_ms > next_run_ms) { |
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script->next = previous->next; |
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previous->next = script; |
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return; |
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} |
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previous = previous->next; |
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} |
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previous->next = script; |
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} |
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void lua_scripts::run(void) { |
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lua_State *L = luaL_newstate(); |
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luaL_openlibs(L); |
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load_lua_bindings(L); |
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// load the sandbox creation function
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uint32_t sandbox_size; |
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char *sandbox_data = (char *)AP_ROMFS::find_decompress("sandbox.lua", sandbox_size); |
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if (sandbox_data == nullptr) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting: Could not find sandbox"); |
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return; |
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} |
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if (luaL_dostring(L, sandbox_data)) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting: Loading sandbox: %s", lua_tostring(L, -1)); |
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return; |
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} |
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free(sandbox_data); |
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// FIXME: Scan the filesystem in an appropriate manner and autostart scripts
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// FIXME: This panic's SITL if the file is not found
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reschedule_script(load_script(L, "test.lua")); |
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while (true) { |
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if (scripts != nullptr) { |
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// compute delay time
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uint64_t now_ms = AP_HAL::millis64(); |
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if (now_ms < scripts->next_run_ms) { |
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hal.scheduler->delay(scripts->next_run_ms - now_ms); |
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} |
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gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: Running %s", scripts->name); |
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const uint32_t startMem = hal.util->available_memory(); |
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const uint32_t loadEnd = AP_HAL::micros(); |
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run_next_script(L); |
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const uint32_t runEnd = AP_HAL::micros(); |
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const uint32_t endMem = hal.util->available_memory(); |
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gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: Time: %d Mem: %d", runEnd - loadEnd, startMem - endMem); |
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} else { |
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gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: No scripts to run"); |
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hal.scheduler->delay(100); |
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} |
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} |
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} |
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@ -0,0 +1,61 @@
@@ -0,0 +1,61 @@
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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. |
||||
|
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You should have received a copy of the GNU General Public License |
||||
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_Common/AP_Common.h> |
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#include <AP_Param/AP_Param.h> |
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#include "lua_bindings.h" |
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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); |
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/* Do not allow copies */ |
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lua_scripts(const lua_scripts &other) = delete; |
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lua_scripts &operator=(const lua_scripts&) = delete; |
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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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typedef struct script_info { |
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int lua_ref; // reference to the loaded script object
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uint64_t next_run_ms; // time (in milliseconds) the script should next be run at
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const 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, const char *filename); |
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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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const AP_Int32 & _vm_steps; |
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}; |
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