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AP_Scripting: added socket network bindings #25687

Merged

tridge merged 33 commits into ArduPilot:master from tridge:pr-scripting-sockets

Dec 11, 2023

Contributor

tridge commented Dec 3, 2023 •

edited

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This adds some simple socket bindings for scripting and a web server example script.

update: added server side scripting support
for example, this file "test.shtml":

<html>
  <head>
       <meta http-equiv="refresh" content="1">
  </head>
  <body>
    <h1>Server Side Scripting Test</h1>
    <table>
      <tr><th>Roll</th><th>Pitch</th><th>Yaw</th></tr>
      <tr>
      <td><?lua return tostring(math.deg(ahrs:get_roll()))?></td>
      <td><?lua return tostring(math.deg(ahrs:get_pitch()))?></td>
      <td><?lua return tostring(math.deg(ahrs:get_yaw()))?></td>
      </tr>
    </table>
  </body>
</html>

gives this:

tridge added WIP Networking labels

tridge requested review from magicrub and IamPete1

December 3, 2023 05:47

IamPete1 reviewed

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Member

IamPete1 commented Dec 3, 2023

Garbage collect doesn't work because of the trick we used to move bindings from memory to flash. So the garbage collect function is not added in the correct place by the binding loader. You might find you can add it as a operator rather than a method. If that doesn't work we will have to mess with the generator to special case it.

tridge force-pushed the pr-scripting-sockets branch from 24221a1 to 0d431ed Compare

December 3, 2023 23:13

Contributor Author

tridge commented Dec 3, 2023 •

edited

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@IamPete1 for now I've added a close() method and user will run out of sockets if they don't use it. Hopefully we can fix gc as well for automatic close

tridge force-pushed the pr-scripting-sockets branch 5 times, most recently from 69cbae5 to 91b6ab6 Compare

December 4, 2023 19:57

tridge added DevCallTopic and removed WIP labels

Ryanf55 added WikiNeeded and removed DevCallTopic labels

Collaborator

Ryanf55 commented Dec 5, 2023

For wiki, want youtube video or dev documentation for the simple web server.

tridge force-pushed the pr-scripting-sockets branch 2 times, most recently from 92030c4 to 63f2a62 Compare

December 9, 2023 03:14

tridge added 5 commits

December 10, 2023 06:56


          AP_HAL: mark new accept() socket as connected

1b85565


          AP_HAL: added close() to SocketAPM

2d97d64


          AP_HAL: fixed SO_REUSEADDR on bind

0a063bb

and use MSG_NOSIGNAL to prevent pipe errors in SITL


          AP_HAL: mark socket as not connected on EOF

33ec538

this allows lua scripts to properly detect a closed TCP connection


          AP_Filesystem: fixed fseek and open of directories

998de91

tridge added 21 commits

December 10, 2023 08:38


          AP_Scripting: added web server appliction

a2c280b


          AP_Scripting: added poll bindings

ed0856d


          AP_Networking: make lwip debugging easier

82e56cf


          HAL_ChibiOS: make lwip debugging easier

c490f26

use ap_networking_printf wrapper


          AP_Scripting: improve web server debug

cf35ec4


          waf: fix dependency on lwip code

3d9a144


          HAL_ChibiOS: adjust buffer sizes

de03aff

this fixes issues with TCP accepts being lost in web server


          HAL_ChibiOS: increase LWIP windows

8b9c310

now getting 6.8MByte/s with NET_TESTS=4


          AP_Scripting: webserver improvements

220a1b4


          AP_Filesystem: expose APFS_FILE structure

b178b9a

allows scripting to set the fd for sendfile()


          AP_HAL: added duplicate() in SocketAPM

6de3817


          AP_Networking: added sendfile()

5d28424

this allows for scripting to offload a file send to the AP_Networking
library, reducing CPU costs of large file downloads


          AP_Scripting: added sendfile() API on sockets

8178d11


          AP_Scripting: use sendfile() in web server

0f6c1e2


          AP_Filesystem: implement stat() call for lua

3cde84f


          AP_RTC: added time and date APIs for lua

646423c

and fixed a bug with the ms time return


          AP_Scripting: added stat() binding for filesystem

1f362e0


          AP_Scripting: added If-Modified-Since for webserver

24bde34


          AP_Scripting: added a home page and ajax support

3893c50


          AP_Scripting: updated docs

e2e61d8


          AP_Scripting: fixed webserver warnings

648731c

tridge force-pushed the pr-scripting-sockets branch from 2af64b8 to 648731c Compare

December 9, 2023 21:55

IamPete1 reviewed

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          AP_RTC: fixed build on arm

a1b27a2

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tridge added 2 commits

December 10, 2023 11:40


          AP_Scripting: review fixes

cc4692d

thanks Pete!


          Tools: fixed AerobaticsScripting test

5913b82

we no longer allow open() on directories so that we match ChibiOS
FATFS

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peterbarker approved these changes

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Contributor

peterbarker left a comment

Only looked at that AP_FileSystem changes

libraries/AP_Filesystem/AP_Filesystem.cpp

+                  if (fs.stat(pathname, &st) != 0) {
+                      return false;
+                  }
+                  stbuf.size = st.st_size;

Contributor

peterbarker Dec 11, 2023

memset

tridge merged commit 75fca4c into ArduPilot:master

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