Lua CAN RX (#3403)

* wiring

* static

* implementation

* comment

* unit tests happy

* guard

* guard smarter, not harder

* guard smarter not harder

* guard even smarter, not even harder

* don't need that

firmware/controllers/can/can_rx.cpp

@@ -10,6 +10,8 @@
 
 #include "pch.h"
 
+#include "rusefi_lua.h"
+
 typedef float fsio_table_8x8_f32t_linear[FSIO_TABLE_8 * FSIO_TABLE_8];
 
 bool acceptCanRx(int sid DECLARE_ENGINE_PARAMETER_SUFFIX) {
@@ -156,7 +158,6 @@ static void processCanRxImu(const CANRxFrame& frame, efitick_t nowNt) {
 			engine->sensors.accelerometer.z = accZ * MM5_10_ACC_QUANT;
 		}
 	}
-
 }
 
 void processCanRxMessage(const CANRxFrame &frame, efitick_t nowNt) {
@@ -173,6 +174,8 @@ void processCanRxMessage(const CANRxFrame &frame, efitick_t nowNt) {
 	// todo: convert to CanListener or not?
 	processCanRxImu(frame, nowNt);
 
+	processLuaCan(frame);
+
 #if EFI_CANBUS_SLAVE
 	if (CAN_EID(frame) == CONFIG(verboseCanBaseAddress) + CAN_SENSOR_1_OFFSET) {
 		int16_t mapScaled = *reinterpret_cast<const int16_t*>(&frame.data8[0]);

firmware/controllers/lua/lua.cpp

@@ -116,43 +116,6 @@ static void* myAlloc(void* /*ud*/, void* ptr, size_t /*osize*/, size_t nsize) {
 }
 #endif // EFI_PROD_CODE
 
-class LuaHandle final {
-public:
-	LuaHandle() : LuaHandle(nullptr) { }
-	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;
-	}
-
-	// Move assignment operator
-	LuaHandle& operator=(LuaHandle&& rhs) {
-		m_ptr = rhs.m_ptr;
-		rhs.m_ptr = nullptr;
-
-		return *this;
-	}
-
-	// Destruction cleans up lua state
-	~LuaHandle() {
-		if (m_ptr) {
-			efiPrintf("LUA: Tearing down instance...");
-			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) {
@@ -328,7 +291,12 @@ static bool runOneLua(lua_Alloc alloc, const char* script) {
 	}
 
 	while (!needsReset && !chThdShouldTerminateX()) {
-		// First, check if there is a pending interactive command entered by the user
+#if EFI_CAN_SUPPORT
+		// First, process any pending can RX messages
+		doLuaCanRx(ls);
+#endif // EFI_CAN_SUPPORT
+
+		// Next, check if there is a pending interactive command entered by the user
 		doInteractive(ls);
 
 		invokeTick(ls);
@@ -336,6 +304,10 @@ static bool runOneLua(lua_Alloc alloc, const char* script) {
 		chThdSleepMilliseconds(luaTickPeriodMs);
 	}
 
+#if EFI_CAN_SUPPORT
+	resetLuaCanRx();
+#endif // EFI_CAN_SUPPORT
+
 	// De-init pins, they will reinit next start of the script.
 	luaDeInitPins();
 
@@ -367,6 +339,10 @@ static LuaThread luaThread;
 
 void startLua() {
 #if LUA_USER_HEAP > 1
+#if EFI_CAN_SUPPORT
+	initLuaCanRx();
+#endif // EFI_CAN_SUPPORT
+
 	luaThread.Start();
 
 	addConsoleActionS("lua", [](const char* str){

firmware/controllers/lua/lua.mk

@@ -4,6 +4,7 @@ LUA_EXT=$(PROJECT_DIR)/ext/lua
 ALLCPPSRC += $(LUA_DIR)/lua.cpp \
 			 $(LUA_DIR)/lua_hooks.cpp \
 			 $(LUA_DIR)/system_lua.cpp \
+			 $(LUA_DIR)/lua_can_rx.cpp \
 
 ALLINC += $(LUA_DIR) $(LUA_DIR)/luaaa $(LUA_EXT)
 ALLCSRC += \

firmware/controllers/lua/lua_can_rx.cpp

@@ -0,0 +1,141 @@
+#include "pch.h"
+
+#if EFI_CAN_SUPPORT
+
+#include "rusefi_lua.h"
+#include "can.h"
+
+static constexpr size_t maxFilterCount = 16;
+
+size_t filterCount = 0;
+int32_t luaCanRxIds[maxFilterCount] = {0};
+
+static bool shouldRxCanFrame(const CANRxFrame& frame) {
+	for (size_t i = 0; i < filterCount; i++) {
+		if (CAN_EID(frame) == luaCanRxIds[i]) {
+			return true;
+		}
+	}
+
+	return false;
+}
+
+constexpr size_t canFrameCount = 32;
+static CANRxFrame canFrames[canFrameCount];
+// CAN frame buffers that are not in use
+chibios_rt::Mailbox<CANRxFrame*, canFrameCount> freeBuffers;
+// CAN frame buffers that are waiting to be processed by the lua thread
+chibios_rt::Mailbox<CANRxFrame*, canFrameCount> filledBuffers;
+
+void processLuaCan(const CANRxFrame& frame) {
+	// Filter the frame if we aren't listening for it
+	if (!shouldRxCanFrame(frame)) {
+		return;
+	}
+
+	CANRxFrame* frameBuffer;
+	msg_t msg;
+
+	{
+		// Acquire a buffer under lock
+		chibios_rt::CriticalSectionLocker csl;
+		msg = freeBuffers.fetchI(&frameBuffer);
+	}
+
+	if (msg != MSG_OK) {
+		// all buffers are already in use, this frame will be dropped!
+		// TODO: warn the user
+		return;
+	}
+
+	// Copy the frame in to the buffer
+	*frameBuffer = frame;
+
+	{
+		// Push the frame in to the queue under lock
+		chibios_rt::CriticalSectionLocker csl;
+		filledBuffers.postI(frameBuffer);
+	}
+}
+
+static void handleCanFrame(LuaHandle& ls, CANRxFrame* frame) {
+	lua_getglobal(ls, "onCanRx");
+	if (lua_isnil(ls, -1)) {
+		// no rx function, ignore
+		efiPrintf("LUA CAN rx missing function onCanRx");
+		lua_settop(ls, 0);
+		return;
+	}
+
+	// TODO: push arguments to function!
+	UNUSED(frame);
+
+	int status = lua_pcall(ls, 0, 0, 0);
+
+	if (0 != status) {
+		// error calling CAN rx hook function
+		auto errMsg = lua_tostring(ls, -1);
+		efiPrintf("LUA CAN RX error %s", errMsg);
+		lua_pop(ls, 1);
+	}
+
+	lua_settop(ls, 0);
+}
+
+bool doOneLuaCanRx(LuaHandle& ls) {
+	CANRxFrame* frame;
+
+	msg_t msg = filledBuffers.fetch(&frame, TIME_IMMEDIATE);
+
+	if (msg == MSG_TIMEOUT) {
+		// No new CAN messages rx'd, nothing more to do.
+		return false;
+	}
+
+	if (msg != MSG_OK) {
+		// Message was otherwise not OK
+		// TODO: what do here?
+		return false;
+	}
+
+	// We've accepted the frame, process it in Lua.
+	handleCanFrame(ls, frame);
+
+	// We're done, return this frame to the free list
+	msg = freeBuffers.post(frame, TIME_IMMEDIATE);
+	efiAssertVoid(OBD_PCM_Processor_Fault, msg == MSG_OK, "lua can post to free buffer fail");
+
+	// We processed a frame so we should check again
+	return true;
+}
+
+void doLuaCanRx(LuaHandle& ls) {
+	// While it processed a frame, continue checking
+	while (doOneLuaCanRx(ls)) ;
+}
+
+void initLuaCanRx() {
+	// Push all CAN frames in to the free buffer
+	for (size_t i = 0; i < canFrameCount; i++) {
+		freeBuffers.post(&canFrames[i], TIME_INFINITE);
+	}
+}
+
+void resetLuaCanRx() {
+	// Clear all lua filters - reloading the script will reinit them
+	memset(luaCanRxIds, 0, sizeof(luaCanRxIds));
+	filterCount = 0;
+}
+
+void addLuaCanRxFilter(int32_t eid) {
+	if (filterCount >= maxFilterCount) {
+		firmwareError(OBD_PCM_Processor_Fault, "Too many Lua CAN RX filters");
+	}
+
+	efiPrintf("Added Lua CAN RX filter: %d", eid);
+
+	luaCanRxIds[filterCount] = eid;
+	filterCount++;
+}
+
+#endif // EFI_CAN_SUPPORT

firmware/controllers/lua/lua_hooks.cpp

@@ -1,11 +1,10 @@
 #include "pch.h"
 
-#include "lua.hpp"
+#include "rusefi_lua.h"
 #include "lua_hooks.h"
 
 #include "fuel_math.h"
 #include "airmass.h"
-#include "utlist.h"
 #include "lua_airmass.h"
 #include "can_msg_tx.h"
 #include "settings.h"
@@ -339,39 +338,17 @@ static int lua_setFuelMult(lua_State* l) {
 
 	return 0;
 }
+
 #endif // EFI_UNIT_TEST
 
+#if EFI_CAN_SUPPORT
+static int lua_canRxAdd(lua_State* l) {
+	auto eid = luaL_checkinteger(l, 1);
+	addLuaCanRxFilter(eid);
 
-struct LuaCanReciever;
-
-// linked list of all CAN receivers
-static LuaCanReciever *list;
-
-struct LuaCanReciever {
-
-	LuaCanReciever *next;
-
-#if EFI_PROD_CODE
-	cyclic_buffer<CANRxFrame> pending;
-#endif // EFI_PROD_CODE
-
-	~LuaCanReciever() {
-		LuaCanReciever *current, *tmp;
-		// find self in list and remove self
-		LL_FOREACH_SAFE(list, current, tmp)
-		{
-			if (current == this) {
-				LL_DELETE(list, current);
-			}
-		}
-	}
-
-	LuaCanReciever() {
-		LL_PREPEND(list, this);
-	}
-
-
-};
+	return 0;
+}
+#endif // EFI_CAN_SUPPORT
 
 struct LuaSensor : public StoredValueSensor {
 	LuaSensor() : LuaSensor("Invalid") { }
@@ -405,11 +382,6 @@ void configureRusefiLuaHooks(lua_State* l) {
 		.fun("reset",             static_cast<void (Timer::*)()     >(&Timer::reset            ))
 		.fun("getElapsedSeconds", static_cast<float(Timer::*)()const>(&Timer::getElapsedSeconds));
 
-	LuaClass<LuaCanReciever> luaCanReciever(l, "CanReciever");
-	luaCanReciever
-		.ctor()
-		;
-
 	LuaClass<LuaSensor> luaSensor(l, "Sensor");
 	luaSensor
 		.ctor<const char*>()
@@ -444,5 +416,9 @@ void configureRusefiLuaHooks(lua_State* l) {
 
 	lua_register(l, "setFuelAdd", lua_setFuelAdd);
 	lua_register(l, "setFuelMult", lua_setFuelMult);
-#endif
+
+#if EFI_CAN_SUPPORT
+	lua_register(l, "canRxAdd", lua_canRxAdd);
+#endif // EFI_CAN_SUPPORT
+#endif // not EFI_UNIT_TEST
 }

firmware/controllers/lua/rusefi_lua.h

@@ -2,6 +2,45 @@
 
 #pragma once
 
+#include "lua.hpp"
+
+class LuaHandle final {
+public:
+	LuaHandle() : LuaHandle(nullptr) { }
+	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;
+	}
+
+	// Move assignment operator
+	LuaHandle& operator=(LuaHandle&& rhs) {
+		m_ptr = rhs.m_ptr;
+		rhs.m_ptr = nullptr;
+
+		return *this;
+	}
+
+	// Destruction cleans up lua state
+	~LuaHandle() {
+		if (m_ptr) {
+			efiPrintf("LUA: Tearing down instance...");
+			lua_close(m_ptr);
+		}
+	}
+
+	operator lua_State*() const { return m_ptr; }
+
+private:
+	lua_State* m_ptr;
+};
+
 void startLua();
 
 #if EFI_UNIT_TEST
@@ -12,3 +51,16 @@ float testLuaReturnsNumber(const char* script);
 int testLuaReturnsInteger(const char* script);
 void testLuaExecString(const char* script);
 #endif
+
+#if EFI_CAN_SUPPORT
+// Lua CAN rx feature
+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);
+// 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
+void processLuaCan(const CANRxFrame& frame);
+#endif // not EFI_CAN_SUPPORT

firmware/util/loggingcentral.cpp

@@ -120,9 +120,9 @@ constexpr size_t lineBufferCount = 24;
 static LogLineBuffer lineBuffers[lineBufferCount];
 
 // freeBuffers contains a queue of buffers that are not in use
-chibios_rt::Mailbox<LogLineBuffer*, lineBufferCount> freeBuffers;
+static chibios_rt::Mailbox<LogLineBuffer*, lineBufferCount> freeBuffers;
 // filledBuffers contains a queue of buffers currently waiting to be written to the output buffer
-chibios_rt::Mailbox<LogLineBuffer*, lineBufferCount> filledBuffers;
+static chibios_rt::Mailbox<LogLineBuffer*, lineBufferCount> filledBuffers;
 
 class LoggingBufferFlusher : public ThreadController<256> {
 public:

unit_tests/tests/lua/test_lua_basic.cpp

@@ -1,3 +1,4 @@
+#include "pch.h"
 #include "rusefi_lua.h"
 #include <gtest/gtest.h>