Lua rx callback (#4387)

* s

* mask, callback

* support 8 different signatures

* make the compiler happy about unrechable code

* s

* make the compiler happy about unreachable code

* guard

* changelog

firmware/CHANGELOG.md

@@ -30,6 +30,7 @@ Release template (copy/paste this for new release):
  - microRusEFI and Proteus F4 have CAN OpenBLT bootloader #4199 #4230
  - counter-noise measure for custom skipped trigger wheels #4375
  - Write hard faults to backup ram, print on next boot #4324
+ - Many more options for Lua CAN rx filters/callbacks #4387
 
 ### Fixed
  - Lua CAN reception fixed for 11-bit IDs where the frame would be received, but a corrupt ID was passed to the handler function. #4321

firmware/controllers/lua/lua_can_rx.cpp

@@ -6,23 +6,35 @@
 
 static constexpr size_t maxFilterCount = 48;
 
+struct Filter {
+	int32_t Id;
+	int32_t Mask;
+
+	int Bus;
+	int Callback;
+};
+
 size_t filterCount = 0;
-int32_t luaCanRxIds[maxFilterCount] = {0};
+Filter filters[maxFilterCount];
 
-static bool shouldRxCanFrame(const CANRxFrame& frame) {
+static Filter* getFilterForFrame(size_t busIndex, const CANRxFrame& frame) {
 	for (size_t i = 0; i < filterCount; i++) {
-		int32_t id = luaCanRxIds[i];
+		auto& filter = filters[i];
-		if (CAN_ID(frame) == id) {
+
-			return true;
+		if ((CAN_ID(frame) & filter.Mask) == filter.Id) {
+			if (filter.Bus == -1 || filter.Bus == busIndex) {
+				return &filter;
+			}
 		}
 	}
 
-	return false;
+	return nullptr;
 }
 
 // Stores information about one received CAN frame: which bus, plus the actual frame
 struct CanFrameData {
 	uint8_t BusIndex;
+	int Callback;
 	CANRxFrame Frame;
 };
 
@@ -34,8 +46,10 @@ chibios_rt::Mailbox<CanFrameData*, canFrameCount> freeBuffers;
 chibios_rt::Mailbox<CanFrameData*, canFrameCount> filledBuffers;
 
 void processLuaCan(const size_t busIndex, const CANRxFrame& frame) {
+	auto filter = getFilterForFrame(busIndex, frame);
+
 	// Filter the frame if we aren't listening for it
-	if (!shouldRxCanFrame(frame)) {
+	if (!filter) {
 		return;
 	}
 
@@ -57,6 +71,7 @@ void processLuaCan(const size_t busIndex, const CANRxFrame& frame) {
 	// Copy the frame in to the buffer
 	frameBuffer->BusIndex = busIndex;
 	frameBuffer->Frame = frame;
+	frameBuffer->Callback = filter->Callback;
 
 	{
 		// Push the frame in to the queue under lock
@@ -66,7 +81,14 @@ void processLuaCan(const size_t busIndex, const CANRxFrame& frame) {
 }
 
 static void handleCanFrame(LuaHandle& ls, CanFrameData* data) {
+	if (data->Callback == -1) {
+		// No callback, use catch-all function
 		lua_getglobal(ls, "onCanRx");
+	} else {
+		// Push the specified callback on to the stack
+		lua_rawgeti(ls, LUA_REGISTRYINDEX, data->Callback);
+	}
+
 	if (lua_isnil(ls, -1)) {
 		// no rx function, ignore
 		efiPrintf("LUA CAN rx missing function onCanRx");
@@ -144,18 +166,21 @@ void initLuaCanRx() {
 
 void resetLuaCanRx() {
 	// Clear all lua filters - reloading the script will reinit them
-	memset(luaCanRxIds, 0, sizeof(luaCanRxIds));
 	filterCount = 0;
 }
 
-void addLuaCanRxFilter(int32_t eid) {
+void addLuaCanRxFilter(int32_t eid, uint32_t mask, int bus, int callback) {
 	if (filterCount >= maxFilterCount) {
 		firmwareError(OBD_PCM_Processor_Fault, "Too many Lua CAN RX filters");
 	}
 
-	efiPrintf("Added Lua CAN RX filter: %d", eid);
+	efiPrintf("Added Lua CAN RX filter id 0x%x mask 0x%x with%s custom function", eid, mask, (callback == -1 ? "out" : ""));
+
+	filters[filterCount].Id = eid;
+	filters[filterCount].Mask = mask;
+	filters[filterCount].Bus = bus;
+	filters[filterCount].Callback = callback;
 
-	luaCanRxIds[filterCount] = eid;
 	filterCount++;
 }
 

firmware/controllers/lua/lua_hooks.cpp

@@ -448,6 +448,113 @@ private:
 	pid_s m_params;
 };
 
+static bool isFunction(lua_State* l, int idx) {
+	return lua_type(l, idx) == LUA_TFUNCTION;
+}
+
+int getLuaFunc(lua_State* l) {
+	if (!isFunction(l, 1)) {
+		return luaL_error(l, "expected function");
+	} else {
+		return luaL_ref(l, LUA_REGISTRYINDEX);
+	}
+}
+
+#if EFI_CAN_SUPPORT
+int lua_canRxAdd(lua_State* l) {
+	uint32_t eid;
+
+	// defaults if not passed
+	int bus = -1;
+	int callback = -1;
+
+	switch (lua_gettop(l)) {
+		case 1:
+			// handle canRxAdd(id)
+			eid = luaL_checkinteger(l, 1);
+			break;
+
+		case 2:
+			if (isFunction(l, 2)) {
+				// handle canRxAdd(id, callback)
+				eid = luaL_checkinteger(l, 1);
+				lua_remove(l, 1);
+				callback = getLuaFunc(l);
+			} else {
+				// handle canRxAdd(bus, id)
+				bus = luaL_checkinteger(l, 1);
+				eid = luaL_checkinteger(l, 2);
+			}
+
+			break;
+		case 3:
+			// handle canRxAdd(bus, id, callback)
+			bus = luaL_checkinteger(l, 1);
+			eid = luaL_checkinteger(l, 2);
+			lua_remove(l, 1);
+			lua_remove(l, 1);
+			callback = getLuaFunc(l);
+			break;
+		default:
+			return luaL_error(l, "Wrong number of arguments to canRxAdd. Got %d, expected 1, 2, or 3.");
+	}
+
+	addLuaCanRxFilter(eid, 0x1FFFFFFF, bus, callback);
+
+	return 0;
+}
+
+int lua_canRxAddMask(lua_State* l) {
+	uint32_t eid;
+	uint32_t mask;
+
+	// defaults if not passed
+	int bus = -1;
+	int callback = -1;
+
+	switch (lua_gettop(l)) {
+		case 2:
+			// handle canRxAddMask(id, mask)
+			eid = luaL_checkinteger(l, 1);
+			mask = luaL_checkinteger(l, 2);
+			break;
+
+		case 3:
+			if (isFunction(l, 3)) {
+				// handle canRxAddMask(id, mask, callback)
+				eid = luaL_checkinteger(l, 1);
+				mask = luaL_checkinteger(l, 2);
+				lua_remove(l, 1);
+				lua_remove(l, 1);
+				callback = getLuaFunc(l);
+			} else {
+				// handle canRxAddMask(bus, id, mask)
+				bus = luaL_checkinteger(l, 1);
+				eid = luaL_checkinteger(l, 2);
+				mask = luaL_checkinteger(l, 3);
+			}
+
+			break;
+		case 4:
+			// handle canRxAddMask(bus, id, mask, callback)
+			bus = luaL_checkinteger(l, 1);
+			eid = luaL_checkinteger(l, 2);
+			mask = luaL_checkinteger(l, 3);
+			lua_remove(l, 1);
+			lua_remove(l, 1);
+			lua_remove(l, 1);
+			callback = getLuaFunc(l);
+			break;
+		default:
+			return luaL_error(l, "Wrong number of arguments to canRxAddMask. Got %d, expected 2, 3, or 4.");
+	}
+
+	addLuaCanRxFilter(eid, mask, bus, callback);
+
+	return 0;
+}
+#endif // EFI_CAN_SUPPORT
+
 void configureRusefiLuaHooks(lua_State* l) {
 	LuaClass<Timer> luaTimer(l, "Timer");
 	luaTimer
@@ -707,12 +814,8 @@ void configureRusefiLuaHooks(lua_State* l) {
 
 
 #if EFI_CAN_SUPPORT
-	lua_register(l, "canRxAdd", [](lua_State* l) {
+	lua_register(l, "canRxAdd", lua_canRxAdd);
-		auto eid = luaL_checkinteger(l, 1);
+	lua_register(l, "canRxAddMask", lua_canRxAddMask);
-		addLuaCanRxFilter(eid);
-
-		return 0;
-	});
 #endif // EFI_CAN_SUPPORT
 #endif // not EFI_UNIT_TEST
 }

firmware/controllers/lua/rusefi_lua.h

@@ -61,7 +61,8 @@ void initLuaCanRx();
 // Called when the user script is unloaded, resets any CAN rx filters
 void resetLuaCanRx();
 // Adds a frame ID to listen to
-void addLuaCanRxFilter(int32_t eid);
+void addLuaCanRxFilter(int32_t eid, uint32_t mask, int bus, int callback);
+
 // Called from the Lua loop to process any pending CAN frames
 void doLuaCanRx(LuaHandle& ls);
 // Called from the CAN RX thread to queue a frame for Lua consumption