Mirrors_Framework/ardupilot
1
0 Fork 0
mirror of https://github.com/ArduPilot/ardupilot.git synced 2026-11-09 16:41:21 +08:00
Code Issues Packages Projects Releases Wiki Activity

AP_Scripting: Load a sandbox enviorment

Browse Source
This commit is contained in:
Michael du Breuil authored and WickedShell committed 2018-10-30 16:17:03 -07:00
1 parent 645afbab82
commit 2c3fe0cbcf
2 files changed
+47 -8
Download Patch File Download Diff File Expand all files Collapse all files

No files matched your search

libraries/AP_Scripting/AP_Scripting.cpp
+15 -8
View File
@@ -16,6 +16,7 @@
#include <AP_Scripting/AP_Scripting.h>
#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_ROMFS/AP_ROMFS.h>
#include "lua_bindings.h"
@@ -80,18 +81,24 @@ void AP_Scripting::thread(void) {
luaL_openlibs(state);
load_lua_bindings(state);
// luaL_loadstring(state, "gcs.send_text(string.format(\"1 + 2 = %d\", 1+2))");
// load the sandbox creation function
if (luaL_dofile(state, "sandbox.lua")) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "SFATAL: %s", lua_tostring(state, -1));
uint32_t sandbox_size;
char *sandbox_data = (char *)AP_ROMFS::find_decompress("sandbox.lua", sandbox_size);
if (sandbox_data == nullptr) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting: Could not find sandbox");
return;
}
luaL_loadfile(state, "test.lua");
lua_getglobal(state, "get_sandbox_env"); //find the sandbox creation function
if (luaL_dostring(state, sandbox_data)) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting: Loading sandbox: %s", lua_tostring(state, -1));
return;
}
free(sandbox_data);
luaL_loadstring(state, "gcs.send_text(string.format(\"math.cos(1 + 2) = %f\", math.cos(1+2)))");
lua_getglobal(state, "get_sandbox_env"); // find the sandbox creation function
if (lua_pcall(state, 0, LUA_MULTRET, 0)) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "SFATAL: %s", lua_tostring(state, -1));
gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting: Could not create sandbox: %s", lua_tostring(state, -1));
return;
}
lua_setupvalue(state, -2, 1);
@@ -111,7 +118,7 @@ void AP_Scripting::thread(void) {
}
const uint32_t runEnd = AP_HAL::micros();
const uint32_t endMem = hal.util->available_memory();
gcs().send_text(MAV_SEVERITY_INFO, "Execution: %d Memory: %d", runEnd - loadEnd, startMem - endMem);
gcs().send_text(MAV_SEVERITY_INFO, "Time: %d Memory: %d", runEnd - loadEnd, startMem - endMem);
}
}