mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-08 02:57:16 +08:00
Thomas Watson
232f6524f6
In particular this fixes some exceedingly rare/impossible use-after-frees. Add the new docs from the distribution and clarify where we get our code from. To maintain our alterations, the following patches have been applied to the source from upstream's repository (1221e987...75ea9ccb) to bring the source up to date: * Bug: Long brackets with a huge number of '=' causes overflow A long bracket with too many equal signs can overflow the 'int' used for the counting and some arithmetic done on the value. Changing the counter to 'size_t' avoids that. (Because what is counted goes to a buffer, an overflow in the counter will first raise a buffer-overflow error.) * Fixed bug in 'lua_upvaluejoin' Bug-fix: joining an upvalue with itself could cause a use-after-free crash. * Fixed typos in comments * Fixed missing GC barriers in compiler and undump While building a new prototype, the GC needs barriers for every object (strings and nested prototypes) that is attached to the new prototype. * Updated release number and copyright year * Fixed bug: invalid mode can crash 'io.popen' * Fixed bug: Negation overflow in getlocal/setlocal * 'realloc' can fail when shrinking a block According to ISO C, 'realloc' can fail when shrinking a block. If that happens, 'l_alloc' simply ignores the fail and returns the original block. * Fixed bug of long strings in binary chunks When "undumping" a long string, the function 'LoadVector' can call the reader function, which can run the garbage collector, which can collect the string being read. So, the string must be anchored during the call to 'LoadVector'.
68 lines
2.5 KiB
Markdown
68 lines
2.5 KiB
Markdown
# AP_Scripting
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## Enabling Scripting Support in Builds
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Scripting is automatically enabled on all boards with at least 1MB of flash space.
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The following example enables scripting, builds the ArduPlane firmware for the Cube, and uploads it.
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```
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$ waf configure --board=CubeBlack
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$ waf plane
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$ waf plane --upload
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```
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To run SITL you can simply use the `sim_vehicle.py` script which will wrap the configuration, compilation,
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and launching of the simulation into one command for you.
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```
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$ Tools/autotest/sim_vehicle.py -v ArduPlane
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```
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Once you have a vehicle flashed with scripting you need to set the `SCR_ENABLE` parameter to 1 to enable scripting and reboot.
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## Adding Scripts
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The vehicle will automatically look for and launch any scripts that are contained in the `scripts` folder when it starts.
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On real hardware this should be inside of the `APM` folder of the SD card. In SITL this should be in the working directory (typically the main `ardupilot` directory).
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An example script is given below:
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```lua
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function update () -- periodic function that will be called
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local current_pos = ahrs:get_location() -- fetch the current position of the vehicle
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local home = ahrs:get_home() -- fetch the home position of the vehicle
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if current_pos and home then -- check that both a vehicle location, and home location are available
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local distance = current_pos:get_distance(home) -- calculate the distance from home in meters
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if distance > 1000 then -- if more then 1000 meters away
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distance = 1000; -- clamp the distance to 1000 meters
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end
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SRV_Channels:set_output_pwm(96, 1000 + distance) -- set the servo assigned function 96 (scripting3) to a proportional value
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end
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return update, 1000 -- request "update" to be rerun again 1000 milliseconds (1 second) from now
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end
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return update, 1000 -- request "update" to be the first time 1000 milliseconds (1 second) after script is loaded
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```
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## Examples
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See the [code examples folder](https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_Scripting/examples)
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## Working with bindings
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Edit bindings.desc and rebuild. The waf build will automatically
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re-run the code generator.
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## Lua Source Code
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The Lua 5.3.6 source code is vendored in `lua/`. This is a customized
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version of the [official
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distribution](https://www.lua.org/ftp/lua-5.3.6.tar.gz). Where possible,
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differences have been marked of the code.
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Lua (not including modifications) is distributed under the terms of the
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MIT license.
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