From f8097379cb70e68f2e2f1e544d7574448842793e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 7 Feb 2024 09:35:42 +1100
Subject: [PATCH] AP_Scripting: prevent a code path to abort() in scripting

if scripting can't find an error handler it can call abort(). We don't
ever want to do that in ArduPilot
---
 libraries/AP_Scripting/lua/src/ldo.c     |  2 +-
 libraries/AP_Scripting/lua_bindings.cpp  | 19 +++++++++++++++++++
 libraries/AP_Scripting/lua_common_defs.h |  2 ++
 3 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/lua/src/ldo.c b/libraries/AP_Scripting/lua/src/ldo.c
index 88b9d921ddc27..c07f4fdb32854 100644
--- a/libraries/AP_Scripting/lua/src/ldo.c
+++ b/libraries/AP_Scripting/lua/src/ldo.c
@@ -128,7 +128,7 @@ l_noret luaD_throw (lua_State *L, int errcode) {
         lua_unlock(L);
         g->panic(L);  /* call panic function (last chance to jump out) */
       }
-      abort();
+      lua_abort();
     }
   }
 }
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index f4cf9bb30735b..6e234130eb0e1 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -956,4 +956,23 @@ int lua_range_finder_handle_script_msg(lua_State *L) {
 }
 #endif
 
+/*
+  lua wants to abort, and doesn't have access to a panic function
+ */
+void lua_abort()
+{
+    INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
+#if AP_SIM_ENABLED
+    AP_HAL::panic("lua_abort called");
+#else
+    if (!hal.util->get_soft_armed()) {
+        AP_HAL::panic("lua_abort called");
+    }
+    // abort while flying, all we can do is loop
+    while (true) {
+        hal.scheduler->delay(1000);
+    }
+#endif
+}
+
 #endif  // AP_SCRIPTING_ENABLED
diff --git a/libraries/AP_Scripting/lua_common_defs.h b/libraries/AP_Scripting/lua_common_defs.h
index cfd047d06001c..664541ddfa003 100644
--- a/libraries/AP_Scripting/lua_common_defs.h
+++ b/libraries/AP_Scripting/lua_common_defs.h
@@ -27,3 +27,5 @@
 #endif // REPL_OUT
 
 int lua_get_current_ref();
+void lua_abort(void) __attribute__((noreturn));
+