From 8ae8484dd9ff57cacae304f0764216cfd6fa698d Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Mon, 3 May 2021 14:46:12 -0700
Subject: [PATCH] interactive lua (#2614)

* interactive lua

* unnecessary pop

* print return value

* enable f7 lua

* match f7 chconf
---
 firmware/config/stm32f7ems/efifeatures.h      |   3 +
 firmware/controllers/lua/lua.cpp              | 100 +++++++++++++-----
 .../hw_layer/ports/stm32/stm32f7/cfg/chconf.h |   6 +-
 3 files changed, 81 insertions(+), 28 deletions(-)

diff --git a/firmware/config/stm32f7ems/efifeatures.h b/firmware/config/stm32f7ems/efifeatures.h
index 98bfbb8bd4..b7d8540fb1 100644
--- a/firmware/config/stm32f7ems/efifeatures.h
+++ b/firmware/config/stm32f7ems/efifeatures.h
@@ -52,3 +52,6 @@
 #define EFI_CONSOLE_RX_BRAIN_PIN GPIOD_9
 
 #define EFI_USE_COMPRESSED_INI_MSD
+
+#undef EFI_LUA
+#define EFI_LUA TRUE
diff --git a/firmware/controllers/lua/lua.cpp b/firmware/controllers/lua/lua.cpp
index 8cd242fed9..08d85b0e71 100644
--- a/firmware/controllers/lua/lua.cpp
+++ b/firmware/controllers/lua/lua.cpp
@@ -8,6 +8,8 @@
 #include "lua.hpp"
 #include "lua_hooks.h"
 
+#define TAG "LUA "
+
 #if EFI_PROD_CODE
 #include "ch.h"
 
@@ -112,20 +114,77 @@ static LuaHandle setupLuaState() {
 }
 
 static bool loadScript(LuaHandle& ls, const char* scriptStr) {
-	efiPrintf("loading script length: %d", efiStrlen(scriptStr));
+	efiPrintf(TAG "loading script length: %d...", efiStrlen(scriptStr));
 
 	if (0 != luaL_dostring(ls, scriptStr)) {
-		efiPrintf("LUA error loading script: %s", lua_tostring(ls, -1));
+		efiPrintf(TAG "ERROR loading script: %s", lua_tostring(ls, -1));
 		lua_pop(ls, 1);
 		return false;
 	}
 
-	efiPrintf("script loaded");
+	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) { }
 
@@ -154,29 +213,10 @@ void LuaThread::ThreadTask() {
 	}
 
 	while (!chThdShouldTerminateX()) {
-		// run the tick function
-		lua_getglobal(ls, "onTick");
-		if (lua_isnil(ls, -1)) {
-			// TODO: handle missing tick function
-			lua_pop(ls, 1);
-			lua_settop(ls, 0);
-			continue;
-		}
+		// First, check if there is a pending interactive command entered by the user
+		doInteractive(ls);
 
-		{
-			ScopePerf perf(PE::LuaTickFunction);
-
-			int status = lua_pcall(ls, 0, 0, 0);
-
-			if (0 != status) {
-				// error calling hook function
-				auto errMsg = lua_tostring(ls, -1);
-				efiPrintf("lua err %s", errMsg);
-				lua_pop(ls, 1);
-			}
-		}
-
-		lua_settop(ls, 0);
+		invokeTick(ls);
 
 		chThdSleepMilliseconds(luaTickPeriodMs);
 	}
@@ -186,6 +226,16 @@ 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
diff --git a/firmware/hw_layer/ports/stm32/stm32f7/cfg/chconf.h b/firmware/hw_layer/ports/stm32/stm32f7/cfg/chconf.h
index dc889d6fec..e346eb85c7 100644
--- a/firmware/hw_layer/ports/stm32/stm32f7/cfg/chconf.h
+++ b/firmware/hw_layer/ports/stm32/stm32f7/cfg/chconf.h
@@ -364,7 +364,7 @@
  * @note    The default is @p TRUE.
  */
 #if !defined(CH_CFG_USE_MEMCORE)
-#define CH_CFG_USE_MEMCORE                  FALSE
+#define CH_CFG_USE_MEMCORE                  TRUE
 #endif
 
 /**
@@ -393,7 +393,7 @@
  * @note    Mutexes are recommended.
  */
 #if !defined(CH_CFG_USE_HEAP)
-#define CH_CFG_USE_HEAP                     FALSE
+#define CH_CFG_USE_HEAP                     TRUE
 #endif
 
 /**
@@ -652,7 +652,7 @@
  *          tickless mode.
  */
 #if !defined(CH_DBG_THREADS_PROFILING)
-#define CH_DBG_THREADS_PROFILING            FALSE
+#define CH_DBG_THREADS_PROFILING            TRUE
 #endif
 
 /** @} */