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AP_Scripting: Use dedicated heap

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This commit is contained in:
Michael du Breuil
2018-12-08 19:35:08 -07:00
committed by WickedShell
parent 7b259fb09f
commit c191789651
4 changed files with 38 additions and 13 deletions
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34
libraries/AP_Scripting/lua_scripts.cpp
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@@ -39,9 +39,9 @@ extern const AP_HAL::HAL& hal;
bool lua_scripts::overtime;
jmp_buf lua_scripts::panic_jmp;
lua_scripts::lua_scripts(const AP_Int32 &vm_steps)
lua_scripts::lua_scripts(const AP_Int32 &vm_steps, const AP_Int32 &heap_size)
: _vm_steps(vm_steps) {
scripts = nullptr;
_heap = hal.util->allocate_heap_memory(heap_size);
}
void lua_scripts::hook(lua_State *L, lua_Debug *ar) {
@@ -80,7 +80,7 @@ lua_scripts::script_info *lua_scripts::load_script(lua_State *L, char *filename)
}
}
script_info *new_script = (script_info *)malloc(sizeof(script_info));
script_info *new_script = (script_info *)hal.util->heap_realloc(_heap, nullptr, sizeof(script_info));
if (new_script == nullptr) {
// No memory, shouldn't happen, we even attempted to do a GC
gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: Insufficent memory loading %s", filename);
@@ -132,7 +132,7 @@ void lua_scripts::load_all_scripts_in_dir(lua_State *L, const char *dirname) {
// FIXME: because chunk name fetching is not working we are allocating and storing an extra string we shouldn't need to
size_t size = strlen(dirname) + strlen(de->d_name) + 2;
char * filename = (char *)malloc(size);
char * filename = (char *) hal.util->heap_realloc(_heap, nullptr, size);
if (filename == nullptr) {
continue;
}
@@ -141,7 +141,7 @@ void lua_scripts::load_all_scripts_in_dir(lua_State *L, const char *dirname) {
// we have something that looks like a lua file, attempt to load it
script_info * script = load_script(L, filename);
if (script == nullptr) {
free(filename);
hal.util->heap_realloc(_heap, filename, 0);
continue;
}
reschedule_script(script);
@@ -254,8 +254,8 @@ void lua_scripts::remove_script(lua_State *L, script_info *script) {
// state could be null if we are force killing all scripts
luaL_unref(L, LUA_REGISTRYINDEX, script->lua_ref);
}
free(script->name);
free(script);
hal.util->heap_realloc(_heap, script->name, 0);
hal.util->heap_realloc(_heap, script, 0);
}
void lua_scripts::reschedule_script(script_info *script) {
@@ -293,7 +293,19 @@ void lua_scripts::reschedule_script(script_info *script) {
previous->next = script;
}
void *lua_scripts::_heap;
void *lua_scripts::alloc(void *ud, void *ptr, size_t osize, size_t nsize) {
(void)ud; (void)osize; /* not used */
return hal.util->heap_realloc(_heap, ptr, nsize);
}
void lua_scripts::run(void) {
if (_heap == nullptr) {
gcs().send_text(MAV_SEVERITY_INFO, "Lua: Unable to allocate a heap");
return;
}
// panic should be hooked first
if (setjmp(panic_jmp)) {
if (lua_state != nullptr) {
@@ -307,7 +319,7 @@ void lua_scripts::run(void) {
overtime = false;
}
lua_state = luaL_newstate();
lua_state = lua_newstate(alloc, NULL);
lua_State *L = lua_state;
if (L == nullptr) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Lua: Couldn't allocate a lua state");
@@ -361,14 +373,14 @@ void lua_scripts::run(void) {
gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: Running %s", scripts->name);
const uint32_t startMem = hal.util->available_memory();
const uint32_t startMem = lua_gc(L, LUA_GCCOUNT, 0) * 1024 + lua_gc(L, LUA_GCCOUNTB, 0);
const uint32_t loadEnd = AP_HAL::micros();
run_next_script(L);
const uint32_t runEnd = AP_HAL::micros();
const uint32_t endMem = hal.util->available_memory();
gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: Time: %d Mem: %d", runEnd - loadEnd, startMem - endMem);
const uint32_t endMem = lua_gc(L, LUA_GCCOUNT, 0) * 1024 + lua_gc(L, LUA_GCCOUNTB, 0);
gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: Time: %d Mem: %d", runEnd - loadEnd, endMem - startMem);
} else {
gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: No scripts to run");