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e18449b1b8f2dac829ece4cb79aa748c2e425ed1
ardupilot/libraries/AP_Scripting/lua_bindings.cpp
Thomas Watson e18449b1b8 AP_Scripting: use generic access userdata for serial ports 
Adding another layer instead of just exposing UARTDriver bindings allows
substitution of the different functions for device simulation later.

Also take the opportunity to rework the docs a little.
2024-06-27 12:00:18 +10:00

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#include "AP_Scripting_config.h"
#if AP_SCRIPTING_ENABLED
#include <AP_Common/AP_Common.h>
#include <AP_HAL/HAL.h>
#include <AP_Networking/AP_Networking_Config.h>
#if AP_NETWORKING_ENABLED
#include <AP_HAL/utility/Socket.h>
#endif
#include <AP_Logger/AP_Logger.h>
#include <AP_Filesystem/AP_Filesystem.h>
#include "lua_bindings.h"
#include "lua_boxed_numerics.h"
#include <AP_Scripting/lua_generated_bindings.h>
#include <AP_Scripting/AP_Scripting.h>
#include <string.h>
#include "lua/src/lauxlib.h"
extern const AP_HAL::HAL& hal;
extern "C" {
#include "lua/src/lmem.h"
}
extern const AP_HAL::HAL& hal;
// millis
int lua_millis(lua_State *L) {
binding_argcheck(L, 0);
new_uint32_t(L);
*check_uint32_t(L, -1) = AP_HAL::millis();
return 1;
}
// micros
int lua_micros(lua_State *L) {
binding_argcheck(L, 0);
new_uint32_t(L);
*check_uint32_t(L, -1) = AP_HAL::micros();
return 1;
}
#if HAL_GCS_ENABLED
int lua_mavlink_init(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, 2+arg_offset);
WITH_SEMAPHORE(AP::scripting()->mavlink_data.sem);
// get the depth of receive queue
const uint32_t queue_size = get_uint32(L, 1+arg_offset, 0, 25);
// get number of msgs to accept
const uint32_t num_msgs = get_uint32(L, 2+arg_offset, 0, 25);
struct AP_Scripting::mavlink &data = AP::scripting()->mavlink_data;
if (data.rx_buffer == nullptr) {
data.rx_buffer = NEW_NOTHROW ObjectBuffer<struct AP_Scripting::mavlink_msg>(queue_size);
if (data.rx_buffer == nullptr) {
return luaL_error(L, "Failed to allocate mavlink rx buffer");
}
}
if (data.accept_msg_ids == nullptr) {
data.accept_msg_ids = NEW_NOTHROW uint32_t[num_msgs];
if (data.accept_msg_ids == nullptr) {
return luaL_error(L, "Failed to allocate mavlink rx registry");
}
data.accept_msg_ids_size = num_msgs;
memset(data.accept_msg_ids, UINT32_MAX, sizeof(int) * num_msgs);
}
return 0;
}
int lua_mavlink_receive_chan(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, arg_offset);
struct AP_Scripting::mavlink_msg msg;
ObjectBuffer<struct AP_Scripting::mavlink_msg> *rx_buffer = AP::scripting()->mavlink_data.rx_buffer;
if (rx_buffer == nullptr) {
return luaL_error(L, "Never subscribed to a message");
}
if (rx_buffer->pop(msg)) {
luaL_Buffer b;
luaL_buffinit(L, &b);
luaL_addlstring(&b, (char *)&msg.msg, sizeof(msg.msg));
luaL_pushresult(&b);
lua_pushinteger(L, msg.chan);
new_uint32_t(L);
*check_uint32_t(L, -1) = msg.timestamp_ms;
return 3;
} else {
// no MAVLink to handle, just return no results
return 0;
}
}
int lua_mavlink_register_rx_msgid(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, 1+arg_offset);
const uint32_t msgid = get_uint32(L, 1+arg_offset, 0, (1 << 24) - 1);
struct AP_Scripting::mavlink &data = AP::scripting()->mavlink_data;
// check that we aren't currently watching this ID
for (uint8_t i = 0; i < data.accept_msg_ids_size; i++) {
if (data.accept_msg_ids[i] == msgid) {
lua_pushboolean(L, false);
return 1;
}
}
int i = 0;
for (i = 0; i < data.accept_msg_ids_size; i++) {
if (data.accept_msg_ids[i] == UINT32_MAX) {
break;
}
}
if (i >= data.accept_msg_ids_size) {
return luaL_error(L, "Out of MAVLink ID's to monitor");
}
{
WITH_SEMAPHORE(data.sem);
data.accept_msg_ids[i] = msgid;
}
lua_pushboolean(L, true);
return 1;
}
int lua_mavlink_send_chan(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, 3+arg_offset);
const mavlink_channel_t chan = (mavlink_channel_t)get_uint32(L, 1+arg_offset, 0, MAVLINK_COMM_NUM_BUFFERS - 1);
const uint32_t msgid = get_uint32(L, 2+arg_offset, 0, (1 << 24) - 1);
const char *packet = luaL_checkstring(L, 3+arg_offset);
// FIXME: The data that's in this mavlink_msg_entry_t should be provided from the script, which allows
// sending entirely new messages as outputs. At the moment we can only encode messages that
// are known at compile time. This is fine as a starting point as this is symmetrical to the
// decoding side of the scripting support
const mavlink_msg_entry_t *entry = mavlink_get_msg_entry(msgid);
if (entry == nullptr) {
return luaL_error(L, "Unknown MAVLink message ID (%d)", msgid);
}
WITH_SEMAPHORE(comm_chan_lock(chan));
if (comm_get_txspace(chan) >= (GCS_MAVLINK::packet_overhead_chan(chan) + entry->max_msg_len)) {
_mav_finalize_message_chan_send(chan,
entry->msgid,
packet,
entry->min_msg_len,
entry->max_msg_len,
entry->crc_extra);
lua_pushboolean(L, true);
} else {
lua_pushboolean(L, false);
}
return 1;
}
int lua_mavlink_block_command(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, 1+arg_offset);
const uint16_t id = get_uint16_t(L, 1+arg_offset);
// Check if ID is already registered
if (AP::scripting()->is_handling_command(id)) {
lua_pushboolean(L, true);
return 1;
}
// Add new list item
AP_Scripting::command_block_list *new_item = NEW_NOTHROW AP_Scripting::command_block_list;
if (new_item == nullptr) {
lua_pushboolean(L, false);
return 1;
}
new_item->id = id;
{
WITH_SEMAPHORE(AP::scripting()->mavlink_command_block_list_sem);
new_item->next = AP::scripting()->mavlink_command_block_list;
AP::scripting()->mavlink_command_block_list = new_item;
}
lua_pushboolean(L, true);
return 1;
}
#endif // HAL_GCS_ENABLED
#if AP_MISSION_ENABLED
int lua_mission_receive(lua_State *L) {
binding_argcheck(L, 0);
ObjectBuffer<struct AP_Scripting::scripting_mission_cmd> *input = AP::scripting()->mission_data;
if (input == nullptr) {
// no mission items ever received
return 0;
}
struct AP_Scripting::scripting_mission_cmd cmd;
if (!input->pop(cmd)) {
// no new item
return 0;
}
new_uint32_t(L);
*check_uint32_t(L, -1) = cmd.time_ms;
lua_pushinteger(L, cmd.p1);
lua_pushnumber(L, cmd.content_p1);
lua_pushnumber(L, cmd.content_p2);
lua_pushnumber(L, cmd.content_p3);
return 5;
}
#endif // AP_MISSION_ENABLED
#if HAL_LOGGING_ENABLED
int AP_Logger_Write(lua_State *L) {
AP_Logger * AP_logger = AP_Logger::get_singleton();
if (AP_logger == nullptr) {
return luaL_argerror(L, 1, "logger not supported on this firmware");
}
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "logger") != NULL) ? 1 : 0;
// check we have at least 4 arguments passed in
const int args = lua_gettop(L) - arg_offset;
if (args < 4) {
return luaL_argerror(L, args, "too few arguments");
}
const char * name = luaL_checkstring(L, 1 + arg_offset);
const char * labels = luaL_checkstring(L, 2 + arg_offset);
const char * fmt = luaL_checkstring(L, 3 + arg_offset);
// cheack the name, labels and format are not too long
if (strlen(name) >= LS_NAME_SIZE) {
return luaL_error(L, "Name must be 4 or less chars long");
}
uint8_t length = strlen(labels);
if (length >= (LS_LABELS_SIZE - 7)) { // need 7 chars to add 'TimeUS,'
return luaL_error(L, "labels must be less than 58 chars long");
}
// Count the number of commas
uint8_t commas = 1;
for (uint8_t i=0; i<length; i++) {
if (labels[i] == ',') {
commas++;
}
}
length = strlen(fmt);
if (length >= (LS_FORMAT_SIZE - 1)) { // need 1 char to add timestamp
return luaL_error(L, "format must be less than 15 chars long");
}
// check the number of arguments matches the number of values in the label
if (length != commas) {
return luaL_argerror(L, args, "label does not match format");
}
bool have_units = false;
if (args - 5 == length) {
// check if there are enough arguments for units and multiplyers
have_units = true;
} else if (args - 3 != length) {
// check the number of arguments matches the length of the foramt string
return luaL_argerror(L, args, "format does not match No. of arguments");
}
// prepend timestamp to format and labels
char label_cat[LS_LABELS_SIZE];
strcpy(label_cat,"TimeUS,");
strcat(label_cat,labels);
char fmt_cat[LS_FORMAT_SIZE];
strcpy(fmt_cat,"Q");
strcat(fmt_cat,fmt);
// Need to declare these here so they don't go out of scope
char units_cat[LS_FORMAT_SIZE];
char multipliers_cat[LS_FORMAT_SIZE];
uint8_t field_start = 4;
struct AP_Logger::log_write_fmt *f;
if (!have_units) {
// ask for a mesage type
f = AP_logger->msg_fmt_for_name(name, label_cat, nullptr, nullptr, fmt_cat, true, true);
} else {
// read in units and multiplers strings
field_start += 2;
const char * units = luaL_checkstring(L, 4 + arg_offset);
const char * multipliers = luaL_checkstring(L, 5 + arg_offset);
if (length != strlen(units)) {
return luaL_error(L, "units must be same length as format");
}
if (length != strlen(multipliers)) {
return luaL_error(L, "multipliers must be same length as format");
}
// prepend timestamp to units and multiplyers
strcpy(units_cat,"s");
strcat(units_cat,units);
strcpy(multipliers_cat,"F");
strcat(multipliers_cat,multipliers);
// ask for a mesage type
f = AP_logger->msg_fmt_for_name(name, label_cat, units_cat, multipliers_cat, fmt_cat, true, true);
}
if (f == nullptr) {
// unable to map name to a messagetype; could be out of
// msgtypes, could be out of slots, ...
return luaL_argerror(L, args, "could not map message type");
}
// work out how long the block will be
int16_t msg_len = AP_logger->Write_calc_msg_len(fmt_cat);
if (msg_len == -1) {
return luaL_argerror(L, args, "unknown format");
}
// note that luaM_malloc will never return null, it will fault instead
char *buffer = (char*)luaM_malloc(L, msg_len);
// add logging headers
uint8_t offset = 0;
buffer[offset++] = HEAD_BYTE1;
buffer[offset++] = HEAD_BYTE2;
buffer[offset++] = f->msg_type;
// timestamp is always first value
const uint64_t now = AP_HAL::micros64();
memcpy(&buffer[offset], &now, sizeof(uint64_t));
offset += sizeof(uint64_t);
for (uint8_t i=field_start; i<=args; i++) {
uint8_t charlen = 0;
uint8_t index = have_units ? i-5 : i-3;
uint8_t arg_index = i + arg_offset;
switch(fmt_cat[index]) {
// logger variable types not available to scripting
// 'd': double
// 'q': int64_t
// 'a': int16_t[32]
case 'b': { // int8_t
int isnum;
const lua_Integer tmp1 = lua_tointegerx(L, arg_index, &isnum);
if (!isnum || (tmp1 < INT8_MIN) || (tmp1 > INT8_MAX)) {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
int8_t tmp = static_cast<int8_t>(tmp1);
memcpy(&buffer[offset], &tmp, sizeof(int8_t));
offset += sizeof(int8_t);
break;
}
case 'h': // int16_t
case 'c': { // int16_t * 100
int isnum;
const lua_Integer tmp1 = lua_tointegerx(L, arg_index, &isnum);
if (!isnum || (tmp1 < INT16_MIN) || (tmp1 > INT16_MAX)) {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
int16_t tmp = static_cast<int16_t>(tmp1);
memcpy(&buffer[offset], &tmp, sizeof(int16_t));
offset += sizeof(int16_t);
break;
}
case 'H': // uint16_t
case 'C': { // uint16_t * 100
int isnum;
const lua_Integer tmp1 = lua_tointegerx(L, arg_index, &isnum);
if (!isnum || (tmp1 < 0) || (tmp1 > UINT16_MAX)) {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
uint16_t tmp = static_cast<uint16_t>(tmp1);
memcpy(&buffer[offset], &tmp, sizeof(uint16_t));
offset += sizeof(uint16_t);
break;
}
case 'i': // int32_t
case 'L': // int32_t (lat/long)
case 'e': { // int32_t * 100
int isnum;
const lua_Integer tmp1 = lua_tointegerx(L, arg_index, &isnum);
if (!isnum) {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
const int32_t tmp = tmp1;
memcpy(&buffer[offset], &tmp, sizeof(int32_t));
offset += sizeof(int32_t);
break;
}
case 'f': { // float
int isnum;
const lua_Number tmp1 = lua_tonumberx(L, arg_index, &isnum);
if (!isnum) {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
const float tmp = tmp1;
memcpy(&buffer[offset], &tmp, sizeof(float));
offset += sizeof(float);
break;
}
case 'n': { // char[4]
charlen = 4;
break;
}
case 'M': // uint8_t (flight mode)
case 'B': { // uint8_t
int isnum;
lua_Integer tmp1 = lua_tointegerx(L, arg_index, &isnum);
if (!isnum || (tmp1 < 0) || (tmp1 > UINT8_MAX)) {
// Also allow boolean
if (!isnum && lua_isboolean(L, arg_index)) {
tmp1 = lua_toboolean(L, arg_index);
} else {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
}
uint8_t tmp = static_cast<uint8_t>(tmp1);
memcpy(&buffer[offset], &tmp, sizeof(uint8_t));
offset += sizeof(uint8_t);
break;
}
case 'I': // uint32_t
case 'E': { // uint32_t * 100
uint32_t tmp;
void * ud = luaL_testudata(L, arg_index, "uint32_t");
if (ud != nullptr) {
tmp = *static_cast<uint32_t *>(ud);
} else {
int success;
const lua_Integer v_int = lua_tointegerx(L, arg_index, &success);
if (success) {
tmp = v_int;
} else {
const lua_Number v_float = lua_tonumberx(L, arg_index, &success);
if (!success || (v_float < 0) || (v_float > float(UINT32_MAX))) {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
tmp = v_float;
}
}
memcpy(&buffer[offset], &tmp, sizeof(uint32_t));
offset += sizeof(uint32_t);
break;
}
case 'Q': { // uint64_t
void * ud = luaL_testudata(L, arg_index, "uint64_t");
if (ud == nullptr) {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
uint64_t tmp = *static_cast<uint64_t *>(ud);
memcpy(&buffer[offset], &tmp, sizeof(uint64_t));
offset += sizeof(uint64_t);
break;
}
case 'N': { // char[16]
charlen = 16;
break;
}
case 'Z': { // char[64]
charlen = 64;
break;
}
default: {
luaM_free(L, buffer);
luaL_error(L, "%c unsupported format",fmt_cat[index]);
// no return
}
}
if (charlen != 0) {
size_t slen;
const char *tmp = lua_tolstring(L, arg_index, &slen);
if (tmp == nullptr) {
luaM_free(L, buffer);
luaL_argerror(L, arg_index, "argument out of range");
// no return
}
if (slen > charlen) {
luaM_free(L, buffer);
luaL_error(L, "arg %d too long for %c format",arg_index,fmt_cat[index]);
// no return
}
memcpy(&buffer[offset], tmp, slen);
memset(&buffer[offset+slen], 0, charlen-slen);
offset += charlen;
}
}
AP_logger->Safe_Write_Emit_FMT(f);
AP_logger->WriteBlock(buffer,msg_len);
luaM_free(L, buffer);
return 0;
}
#endif // HAL_LOGGING_ENABLED
int lua_get_i2c_device(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "i2c") != NULL) ? 1 : 0;
const int args = lua_gettop(L) - arg_offset;
if (args < 2) {
return luaL_argerror(L, args, "require i2c bus and address");
}
if (args > 4) {
return luaL_argerror(L, args, "too many arguments");
}
const lua_Integer bus_in = get_integer(L, 1 + arg_offset, 0, 4);
const uint8_t bus = static_cast<uint8_t>(bus_in);
const lua_Integer address_in = get_integer(L, 2 + arg_offset, 0, 128);
const uint8_t address = static_cast<uint8_t>(address_in);
// optional arguments, use the same defaults as the hal get_device function
uint32_t bus_clock = 400000;
bool use_smbus = false;
if (args > 2) {
bus_clock = coerce_to_uint32_t(L, 3 + arg_offset);
if (args > 3) {
use_smbus = static_cast<bool>(lua_toboolean(L, 4 + arg_offset));
}
}
auto *scripting = AP::scripting();
static_assert(SCRIPTING_MAX_NUM_I2C_DEVICE >= 0, "There cannot be a negative number of I2C devices");
if (scripting->num_i2c_devices >= SCRIPTING_MAX_NUM_I2C_DEVICE) {
return luaL_argerror(L, 1, "no i2c devices available");
}
scripting->_i2c_dev[scripting->num_i2c_devices] = NEW_NOTHROW AP_HAL::OwnPtr<AP_HAL::I2CDevice>;
if (scripting->_i2c_dev[scripting->num_i2c_devices] == nullptr) {
return luaL_argerror(L, 1, "i2c device nullptr");
}
*scripting->_i2c_dev[scripting->num_i2c_devices] = std::move(hal.i2c_mgr->get_device(bus, address, bus_clock, use_smbus));
if (scripting->_i2c_dev[scripting->num_i2c_devices] == nullptr || scripting->_i2c_dev[scripting->num_i2c_devices]->get() == nullptr) {
return luaL_argerror(L, 1, "i2c device nullptr");
}
new_AP_HAL__I2CDevice(L);
*((AP_HAL::I2CDevice**)luaL_checkudata(L, -1, "AP_HAL::I2CDevice")) = scripting->_i2c_dev[scripting->num_i2c_devices]->get();
scripting->num_i2c_devices++;
return 1;
}
int AP_HAL__I2CDevice_read_registers(lua_State *L) {
const int args = lua_gettop(L);
bool multi_register;
if (args == 2) {
multi_register = false;
} else if (args == 3) {
multi_register = true;
} else {
return luaL_argerror(L, args, "expected 1 or 2 arguments");
}
AP_HAL::I2CDevice * ud = *check_AP_HAL__I2CDevice(L, 1);
const uint8_t first_reg = get_uint8_t(L, 2);
uint8_t recv_length = 1;
if (multi_register) {
recv_length = get_uint8_t(L, 3);
}
uint8_t data[recv_length];
ud->get_semaphore()->take_blocking();
const bool success = static_cast<bool>(ud->read_registers(first_reg, data, recv_length));
ud->get_semaphore()->give();
if (success) {
if (!multi_register) {
lua_pushinteger(L, data[0]);
} else {
// push to table
lua_newtable(L);
for (uint8_t i=0; i < recv_length; i++) {
lua_pushinteger(L, i+1);
lua_pushinteger(L, data[i]);
lua_settable(L, -3);
}
}
}
return success;
}
int AP_Scripting_SerialAccess_readstring(lua_State *L) {
binding_argcheck(L, 2);
AP_Scripting_SerialAccess * p = check_AP_Scripting_SerialAccess(L, 1);
const uint16_t count = get_uint16_t(L, 2);
uint8_t *data = (uint8_t*)malloc(count);
if (data == nullptr) {
return 0;
}
const auto ret = p->read(data, count);
if (ret < 0) {
free(data);
return 0;
}
// push to lua string
lua_pushlstring(L, (const char *)data, ret);
free(data);
return 1;
}
#if AP_SCRIPTING_CAN_SENSOR_ENABLED
int lua_get_CAN_device(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "CAN") != NULL) ? 1 : 0;
binding_argcheck(L, 1 + arg_offset);
const uint32_t raw_buffer_len = get_uint32(L, 1 + arg_offset, 1, 25);
const uint32_t buffer_len = static_cast<uint32_t>(raw_buffer_len);
auto *scripting = AP::scripting();
if (scripting->_CAN_dev == nullptr) {
scripting->_CAN_dev = NEW_NOTHROW ScriptingCANSensor(AP_CAN::Protocol::Scripting);
if (scripting->_CAN_dev == nullptr) {
return luaL_argerror(L, 1, "CAN device nullptr");
}
}
if (!scripting->_CAN_dev->initialized()) {
// Driver not initialized, probably because there is no can driver set to scripting
// Return nil
return 0;
}
new_ScriptingCANBuffer(L);
*((ScriptingCANBuffer**)luaL_checkudata(L, -1, "ScriptingCANBuffer")) = scripting->_CAN_dev->add_buffer(buffer_len);
return 1;
}
int lua_get_CAN_device2(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "CAN") != NULL) ? 1 : 0;
binding_argcheck(L, 1 + arg_offset);
const uint32_t raw_buffer_len = get_uint32(L, 1 + arg_offset, 1, 25);
const uint32_t buffer_len = static_cast<uint32_t>(raw_buffer_len);
auto *scripting = AP::scripting();
if (scripting->_CAN_dev2 == nullptr) {
scripting->_CAN_dev2 = NEW_NOTHROW ScriptingCANSensor(AP_CAN::Protocol::Scripting2);
if (scripting->_CAN_dev2 == nullptr) {
return luaL_argerror(L, 1, "CAN device nullptr");
}
}
if (!scripting->_CAN_dev2->initialized()) {
// Driver not initialized, probably because there is no can driver set to scripting 2
// Return nil
return 0;
}
new_ScriptingCANBuffer(L);
*((ScriptingCANBuffer**)luaL_checkudata(L, -1, "ScriptingCANBuffer")) = scripting->_CAN_dev2->add_buffer(buffer_len);
return 1;
}
#endif // AP_SCRIPTING_CAN_SENSOR_ENABLED
#if HAL_GCS_ENABLED
int lua_serial_find_serial(lua_State *L) {
// Allow : and . access
const int arg_offset = (luaL_testudata(L, 1, "serial") != NULL) ? 1 : 0;
binding_argcheck(L, 1 + arg_offset);
uint8_t instance = get_uint8_t(L, 1 + arg_offset);
AP_SerialManager *mgr = &AP::serialmanager();
AP_HAL::UARTDriver *driver_stream = mgr->find_serial(
AP_SerialManager::SerialProtocol_Scripting, instance);
if (driver_stream == nullptr) { // not found
return 0;
}
new_AP_Scripting_SerialAccess(L);
check_AP_Scripting_SerialAccess(L, -1)->stream = driver_stream;
return 1;
}
#endif // HAL_GCS_ENABLED
/*
directory listing, return table of files in a directory
*/
int lua_dirlist(lua_State *L) {
binding_argcheck(L, 1);
struct dirent *entry;
int i;
const char *path = luaL_checkstring(L, 1);
/* open directory */
auto dir = AP::FS().opendir(path);
if (dir == nullptr) { /* error opening the directory? */
lua_pushnil(L); /* return nil and ... */
lua_pushstring(L, strerror(errno)); /* error message */
return 2; /* number of results */
}
/* create result table */
lua_newtable(L);
i = 1;
while ((entry = AP::FS().readdir(dir)) != nullptr) {
lua_pushnumber(L, i++); /* push key */
lua_pushstring(L, entry->d_name); /* push value */
lua_settable(L, -3);
}
AP::FS().closedir(dir);
return 1; /* table is already on top */
}
/*
remove a file
*/
int lua_removefile(lua_State *L) {
binding_argcheck(L, 1);
const char *filename = luaL_checkstring(L, 1);
return luaL_fileresult(L, remove(filename) == 0, filename);
}
// Manual binding to allow SRV_Channels table to see safety state
int SRV_Channels_get_safety_state(lua_State *L) {
binding_argcheck(L, 1);
const bool data = hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_ARMED;
lua_pushboolean(L, data);
return 1;
}
int lua_get_PWMSource(lua_State *L) {
binding_argcheck(L, 0);
auto *scripting = AP::scripting();
static_assert(SCRIPTING_MAX_NUM_PWM_SOURCE >= 0, "There cannot be a negative number of PWMSources");
if (scripting->num_pwm_source >= SCRIPTING_MAX_NUM_PWM_SOURCE) {
return luaL_argerror(L, 1, "no PWMSources available");
}
scripting->_pwm_source[scripting->num_pwm_source] = NEW_NOTHROW AP_HAL::PWMSource;
if (scripting->_pwm_source[scripting->num_pwm_source] == nullptr) {
return luaL_argerror(L, 1, "PWMSources device nullptr");
}
new_AP_HAL__PWMSource(L);
*((AP_HAL::PWMSource**)luaL_checkudata(L, -1, "AP_HAL::PWMSource")) = scripting->_pwm_source[scripting->num_pwm_source];
scripting->num_pwm_source++;
return 1;
}
#if AP_NETWORKING_ENABLED
/*
allocate a SocketAPM
*/
int lua_get_SocketAPM(lua_State *L) {
binding_argcheck(L, 1);
const uint8_t datagram = get_uint8_t(L, 1);
auto *scripting = AP::scripting();
auto *sock = NEW_NOTHROW SocketAPM(datagram);
if (sock == nullptr) {
return luaL_argerror(L, 1, "SocketAPM device nullptr");
}
for (uint8_t i=0; i<SCRIPTING_MAX_NUM_NET_SOCKET; i++) {
if (scripting->_net_sockets[i] == nullptr) {
scripting->_net_sockets[i] = sock;
new_SocketAPM(L);
*((SocketAPM**)luaL_checkudata(L, -1, "SocketAPM")) = scripting->_net_sockets[i];
return 1;
}
}
return luaL_argerror(L, 1, "no sockets available");
}
/*
socket close
*/
int SocketAPM_close(lua_State *L) {
binding_argcheck(L, 1);
SocketAPM *ud = *check_SocketAPM(L, 1);
auto *scripting = AP::scripting();
// clear allocated socket
for (uint8_t i=0; i<SCRIPTING_MAX_NUM_NET_SOCKET; i++) {
if (scripting->_net_sockets[i] == ud) {
ud->close();
delete ud;
scripting->_net_sockets[i] = nullptr;
*check_SocketAPM(L, 1) = nullptr;
break;
}
}
return 0;
}
/*
socket sendfile, for offloading file send to AP_Networking
*/
int SocketAPM_sendfile(lua_State *L) {
binding_argcheck(L, 2);
SocketAPM *ud = *check_SocketAPM(L, 1);
auto *p = (luaL_Stream *)luaL_checkudata(L, 2, LUA_FILEHANDLE);
int fd = p->f->fd;
bool ret = fd != -1 && AP::network().sendfile(ud, fd);
if (ret) {
// the fd is no longer valid. The lua script must
// still call close() to release the memory from the
// socket
p->f->fd = -1;
}
lua_pushboolean(L, ret);
return 1;
}
/*
receive from a socket to a lua string
*/
int SocketAPM_recv(lua_State *L) {
binding_argcheck(L, 2);
SocketAPM * ud = *check_SocketAPM(L, 1);
const uint16_t count = get_uint16_t(L, 2);
uint8_t *data = (uint8_t*)malloc(count);
if (data == nullptr) {
return 0;
}
const auto ret = ud->recv(data, count, 0);
if (ret < 0) {
free(data);
return 0;
}
// push to lua string
lua_pushlstring(L, (const char *)data, ret);
free(data);
return 1;
}
/*
TCP socket accept() call
*/
int SocketAPM_accept(lua_State *L) {
binding_argcheck(L, 1);
SocketAPM * ud = *check_SocketAPM(L, 1);
auto *scripting = AP::scripting();
// find an empty slot
for (uint8_t i=0; i<SCRIPTING_MAX_NUM_NET_SOCKET; i++) {
if (scripting->_net_sockets[i] == nullptr) {
scripting->_net_sockets[i] = ud->accept(0);
if (scripting->_net_sockets[i] == nullptr) {
return 0;
}
new_SocketAPM(L);
*((SocketAPM**)luaL_checkudata(L, -1, "SocketAPM")) = scripting->_net_sockets[i];
return 1;
}
}
// out of socket slots, return nil, caller can retry
return 0;
}
#endif // AP_NETWORKING_ENABLED
int lua_get_current_ref()
{
auto *scripting = AP::scripting();
return scripting->get_current_ref();
}
// This is used when loading modules with require, lua must only look in enabled directory's
const char* lua_get_modules_path()
{
#define LUA_PATH_ROMFS "@ROMFS/scripts/modules/?.lua;" "@ROMFS/scripts/modules/?/init.lua"
#define LUA_PATH_SCRIPTS LUA_LDIR"?.lua;" LUA_LDIR"?/init.lua"
uint16_t dir_disable = AP_Scripting::get_singleton()->get_disabled_dir();
dir_disable &= uint16_t(AP_Scripting::SCR_DIR::SCRIPTS) | uint16_t(AP_Scripting::SCR_DIR::ROMFS);
if (dir_disable == 0) {
// Both directory's are enabled, return both, ROMFS takes priority
return LUA_PATH_ROMFS ";" LUA_PATH_SCRIPTS;
}
if ((dir_disable & uint16_t(AP_Scripting::SCR_DIR::SCRIPTS)) == 0) {
// Only scripts enabled
return LUA_PATH_SCRIPTS;
}
if ((dir_disable & uint16_t(AP_Scripting::SCR_DIR::ROMFS)) == 0) {
// Only ROMFS enabled
return LUA_PATH_ROMFS;
}
// Nothing enabled?
return "";
}
// Simple print to GCS or over CAN
int lua_print(lua_State *L) {
// Only support a single argument
binding_argcheck(L, 1);
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "%s", luaL_checkstring(L, 1));
return 0;
}
#if (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_RANGEFINDER))
int lua_range_finder_handle_script_msg(lua_State *L) {
// Arg 1 => self (an instance of rangefinder_backend)
// Arg 2 => a float distance or a RangeFinder_State user data
binding_argcheck(L, 2);
// check_AP_RangeFinder_Backend aborts if not found. No need to check for null
AP_RangeFinder_Backend * ud = *check_AP_RangeFinder_Backend(L, 1);
bool result = false;
// Check to see if the first argument is the state structure.
const void *state_arg = luaL_testudata(L, 2, "RangeFinder_State");
if (state_arg != nullptr) {
result = ud->handle_script_msg(*static_cast<const RangeFinder::RangeFinder_State *>(state_arg));
} else {
// Otherwise assume the argument is a number and set the measurement.
result = ud->handle_script_msg(luaL_checknumber(L, 2));
}
lua_pushboolean(L, result);
return 1;
}
#endif
/*
lua wants to abort, and doesn't have access to a panic function
*/
void lua_abort()
{
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
#if AP_SIM_ENABLED
AP_HAL::panic("lua_abort called");
#else
if (!hal.util->get_soft_armed()) {
AP_HAL::panic("lua_abort called");
}
// abort while flying, all we can do is loop
while (true) {
hal.scheduler->delay(1000);
}
#endif
}
#endif // AP_SCRIPTING_ENABLED
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