rusefi/firmware/controllers/lua/lua.cpp

#include "rusefi_lua.h"
#include "thread_controller.h"
#include "perf_trace.h"

#if EFI_LUA

#include "lua.hpp"
#include "lua_hooks.h"

#define TAG "LUA "

#if EFI_PROD_CODE
#include "ch.h"
#include "engine.h"
#include "tunerstudio_outputs.h"

EXTERN_ENGINE;

#define LUA_HEAP_SIZE 20000

static memory_heap_t heap;

static int32_t memoryUsed = 0;

static void* myAlloc(void* /*ud*/, void* ptr, size_t osize, size_t nsize) {
	memoryUsed += nsize - osize;

	if (CONFIG(debugMode) == DBG_LUA) {
		tsOutputChannels.debugIntField1 = memoryUsed;
	}

	if (nsize == 0) {
		// requested size is zero, free if necessary and return nullptr
		if (ptr) {
			chHeapFree(ptr);
		}

		return nullptr;
	}

	void *new_mem = chHeapAlloc(&heap, nsize);

	if (!ptr) {
		// No old pointer passed in, simply return allocated block
		return new_mem;
	}

	// An old pointer was passed in, copy the old data in, then free
	if (new_mem != nullptr) {
		memcpy(new_mem, ptr, chHeapGetSize(ptr) > nsize ? nsize : chHeapGetSize(ptr));
		chHeapFree(ptr);
	}

	return new_mem;
}
#else // not EFI_PROD_CODE
// Non-MCU code can use plain realloc function instead of custom implementation
static void* myAlloc(void* /*ud*/, void* ptr, size_t /*osize*/, size_t nsize) {
	return realloc(ptr, nsize);
}
#endif // EFI_PROD_CODE

class LuaHandle {
public:
	LuaHandle(lua_State* ptr) : m_ptr(ptr) { }

	// Don't allow copying!
	LuaHandle(const LuaHandle&) = delete;
	LuaHandle& operator=(const LuaHandle&) = delete;

	// Allow moving!
	LuaHandle(LuaHandle&& rhs) {
		m_ptr = rhs.m_ptr;
		rhs.m_ptr = nullptr;
	}

	// Destruction cleans up lua state
	~LuaHandle() {
		if (m_ptr) lua_close(m_ptr);
	}

	operator lua_State*() const { return m_ptr; }

private:
	lua_State* m_ptr;
};

static int luaTickPeriodMs;

static int lua_setTickRate(lua_State* l) {
	float freq = luaL_checknumber(l, 1);

	// Limit to 1..100 hz
	freq = clampF(1, freq, 100);

	luaTickPeriodMs = 1000.0f / freq;
	return 0;
}

static LuaHandle setupLuaState() {
	LuaHandle ls = lua_newstate(myAlloc, NULL);

	if (!ls) {
		firmwareError(OBD_PCM_Processor_Fault, "Failed to start Lua interpreter");

		return nullptr;
	}

	// load libraries
	luaopen_base(ls);
	luaopen_math(ls);

	// Load rusEFI hooks
	lua_register(ls, "setTickRate", lua_setTickRate);
	configureRusefiLuaHooks(ls);

	// run a GC cycle
	lua_gc(ls, LUA_GCCOLLECT, 0);

	// set GC settings
	// see https://www.lua.org/manual/5.4/manual.html#2.5.1
	lua_gc(ls, LUA_GCINC, 50, 1000, 9);

	return ls;
}

static bool loadScript(LuaHandle& ls, const char* scriptStr) {
	efiPrintf(TAG "loading script length: %d...", efiStrlen(scriptStr));

	if (0 != luaL_dostring(ls, scriptStr)) {
		efiPrintf(TAG "ERROR loading script: %s", lua_tostring(ls, -1));
		lua_pop(ls, 1);
		return false;
	}

	efiPrintf(TAG "script loaded successfully!");

	return true;
}

#if !EFI_UNIT_TEST
static bool interactivePending = false;
static char interactiveCmd[100];

void doInteractive(LuaHandle& ls) {
	if (!interactivePending) {
		// no cmd pending, return
		return;
	}

	auto status = luaL_dostring(ls, interactiveCmd);

	if (0 == status) {
		// Function call was OK, resolve return value and print it
		if (lua_isinteger(ls, -1)) {
			efiPrintf(TAG "interactive returned integer: %d", lua_tointeger(ls, -1));
		} else if (lua_isnumber(ls, -1)) {
			efiPrintf(TAG "interactive returned number: %f", lua_tonumber(ls, -1));
		} else if (lua_isstring(ls, -1)) {
			efiPrintf(TAG "interactive returned string: '%s'", lua_tostring(ls, -1));
		} else if (lua_isnil(ls, -1)) {
			efiPrintf(TAG "interactive returned nil.");
		} else {
			efiPrintf(TAG "interactive returned nothing.");
		}
	} else {
		// error with interactive command, print it
		efiPrintf(TAG "interactive error: %s", lua_tostring(ls, -1));
	}

	interactivePending = false;

	lua_settop(ls, 0);
}

void invokeTick(LuaHandle& ls) {
	ScopePerf perf(PE::LuaTickFunction);

	// run the tick function
	lua_getglobal(ls, "onTick");
	if (lua_isnil(ls, -1)) {
		// TODO: handle missing tick function
		lua_settop(ls, 0);
		return;
	}

	int status = lua_pcall(ls, 0, 0, 0);

	if (0 != status) {
		// error calling hook function
		auto errMsg = lua_tostring(ls, -1);
		efiPrintf(TAG "error %s", errMsg);
		lua_pop(ls, 1);
	}

	lua_settop(ls, 0);
}

struct LuaThread : ThreadController<4096> {
	LuaThread() : ThreadController("lua", PRIO_LUA) { }

	void ThreadTask() override;
};

static char luaHeap[LUA_HEAP_SIZE];

void LuaThread::ThreadTask() {
	chHeapObjectInit(&heap, &luaHeap, sizeof(luaHeap));

	auto ls = setupLuaState();

	// couldn't start Lua interpreter, bail out
	if (!ls) {
		return;
	}

	// Reset default tick rate
	luaTickPeriodMs = 100;

	auto scriptStr = "function onTick() end";

	if (!loadScript(ls, scriptStr)) {
		return;
	}

	while (!chThdShouldTerminateX()) {
		// First, check if there is a pending interactive command entered by the user
		doInteractive(ls);

		invokeTick(ls);

		chThdSleepMilliseconds(luaTickPeriodMs);
	}
}

static LuaThread luaThread;

void startLua() {
	luaThread.Start();

	addConsoleActionS("lua", [](const char* str){
		if (interactivePending) {
			return;
		}

		strncpy(interactiveCmd, str, sizeof(interactiveCmd));

		interactivePending = true;
	});
}

#else // not EFI_UNIT_TEST

void startLua() {
	// todo
}

#include <stdexcept>
#include <string>

static LuaHandle runScript(const char* script) {
	auto ls = setupLuaState();

	if (!ls) {
		throw new std::logic_error("Call to setupLuaState failed, returned null");
	}

	if (!loadScript(ls, script)) {
		throw new std::logic_error("Call to loadScript failed");
	}

	lua_getglobal(ls, "testFunc");
	if (lua_isnil(ls, -1)) {
		throw new std::logic_error("Failed to find function testFunc");
	}

	int status = lua_pcall(ls, 0, 1, 0);

	if (0 != status) {
		std::string msg = std::string("lua error while running script: ") + lua_tostring(ls, -1);
		throw new std::logic_error(msg);
	}

	return ls;
}

expected<float> testLuaReturnsNumberOrNil(const char* script) {
	auto ls = runScript(script);

	// check nil return first
	if (lua_isnil(ls, -1)) {
		return unexpected;
	}

	// If not nil, it should be a number
	if (!lua_isnumber(ls, -1)) {
		throw new std::logic_error("Returned value is not a number");
	}

	// pop the return value
	return lua_tonumber(ls, -1);
}

float testLuaReturnsNumber(const char* script) {
	auto ls = runScript(script);

	// check the return value
	if (!lua_isnumber(ls, -1)) {
		throw new std::logic_error("Returned value is not a number");
	}

	// pop the return value
	return lua_tonumber(ls, -1);
}

int testLuaReturnsInteger(const char* script) {
	auto ls = runScript(script);

	// pop the return value;
	if (!lua_isinteger(ls, -1)) {
		throw new std::logic_error("Returned value is not an integer");
	}

	return lua_tointeger(ls, -1);
}

#endif // EFI_UNIT_TEST

#endif // EFI_LUA