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114 lines
3.9 KiB
114 lines
3.9 KiB
/* |
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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 (16 * 1024) |
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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, 32*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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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 died"); |
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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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