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AP_Scripting: remove Lua panic handler

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Nominally cannot be called as we do not call error-raising Lua functions
outside of protected mode. In the event a panic happens somehow anyway,
Lua calls `lua_abort` which we already handle safely.
This commit is contained in:
Thomas Watson
2025-12-26 17:33:47 -06:00
committed by Thomas Watson
parent 67860f11c0
commit 79e591f947
2 changed files with 12 additions and 51 deletions
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53
libraries/AP_Scripting/lua_scripts.cpp
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@@ -30,7 +30,6 @@ extern const AP_HAL::HAL& hal;
#define ENABLE_DEBUG_MODULE 0
bool lua_scripts::overtime;
ap_jmp_buf lua_scripts::panic_jmp;
char *lua_scripts::error_msg_buf;
HAL_Semaphore lua_scripts::error_msg_buf_sem;
uint8_t lua_scripts::print_error_count;
@@ -130,12 +129,6 @@ void lua_scripts::set_and_print_new_error_message(MAV_SEVERITY severity, const c
print_error(severity);
}
int lua_scripts::atpanic(lua_State *L) {
set_and_print_new_error_message(MAV_SEVERITY_CRITICAL, "Panic: %s", get_error_object_message(L));
ap_longjmp(panic_jmp, 1);
return 0;
}
// helper for print and log of runtime stats
void lua_scripts::update_stats(const char *name, uint32_t run_time, int total_mem, int run_mem)
{
@@ -421,7 +414,7 @@ void lua_scripts::remove_script(lua_State *L, script_info *script) {
}
if (L != nullptr) {
// state could be null if we are force killing all scripts
// state will be nullptr when we are tearing down
luaL_unref(L, LUA_REGISTRYINDEX, script->env_ref);
luaL_unref(L, LUA_REGISTRYINDEX, script->run_ref);
}
@@ -472,31 +465,12 @@ void *lua_scripts::alloc(void *ud, void *ptr, size_t osize, size_t nsize) {
}
void lua_scripts::run(void) {
bool succeeded_initial_load = false;
if (!_heap.available()) {
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Lua: Unable to allocate a heap");
return;
}
// panic should be hooked first
if (ap_setjmp(panic_jmp)) {
if (!succeeded_initial_load) {
return;
}
if (lua_state != nullptr) {
lua_close(lua_state); // shutdown the old state
}
// remove all the old scheduled scripts
for (script_info *script = scripts; script != nullptr; script = scripts) {
remove_script(nullptr, script);
}
scripts = nullptr;
overtime = false;
}
lua_state = lua_newstate(alloc, NULL);
lua_State *L = lua_state;
lua_State *L = lua_newstate(alloc, NULL);
if (L == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Lua: Couldn't allocate a lua state");
return;
@@ -505,13 +479,6 @@ void lua_scripts::run(void) {
// (see ls_object_from_state)
*static_cast<lua_scripts**>(lua_getextraspace(L)) = this;
lua_atpanic(L, atpanic);
#ifndef __clang_analyzer__
succeeded_initial_load = true;
#endif // __clang_analyzer__
// call main engine function in protected mode now that Lua itself is ready.
// this catches any errors raised by the code between here and Lua scripts.
// our current function must not use any Lua API which can raise an error!
@@ -522,22 +489,22 @@ void lua_scripts::run(void) {
}
// we are now finished with Lua, tear everything down
if (lua_state != nullptr) {
lua_close(lua_state); // shutdown the old state
lua_state = nullptr;
}
// make sure all scripts have been removed
while (scripts != nullptr) {
remove_script(lua_state, scripts);
lua_close(L); // shut down the state
L = nullptr;
while (scripts != nullptr) { // remove all scripts from the engine list
remove_script(nullptr, scripts);
}
// free error message
error_msg_buf_sem.take_blocking();
if (error_msg_buf != nullptr) {
_heap.deallocate(error_msg_buf);
error_msg_buf = nullptr;
}
error_msg_buf_sem.give();
// heap is now empty
}
int lua_scripts::run_engine(lua_State *L) {