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Scripting: use double precision when on hardware with double support #24001

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Scripting: use double precision when on hardware with double support #24001

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1cbb3fc
waf: move LUA_32BITS to luaconf.h
tridge Jun 9, 2023
713c88f
AP_Scriping: make numbers double precision if we have hardware double
tridge Jun 7, 2023
7b658db
AP_Scripting: allow for 64 bit build on ChibiOS
tridge Jun 8, 2023
8f075a9
AP_Scripting: fixed alignment errors for 64 bit lua on ChibiOS
tridge Jun 9, 2023
1feeb45
AP_Scripting: added seconds_since_boot() binding
tridge Jun 9, 2023
d314ef2
AP_Scripting: use seconds_since_boot() in scripts
tridge Jun 9, 2023
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5 changes: 0 additions & 5 deletions Tools/ardupilotwaf/boards.py
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Original file line number Diff line number Diff line change
Expand Up @@ -47,11 +47,6 @@ def srcpath(path):
env.SRCROOT = srcpath('')
self.configure_env(cfg, env)

# Setup scripting:
env.DEFINES.update(
LUA_32BITS = 1,
)

env.AP_LIBRARIES += [
'AP_Scripting',
'AP_Scripting/lua/src',
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6 changes: 3 additions & 3 deletions libraries/AP_Scripting/applets/Aerobatics/FixedWing/RateBased/sport_aerobatics.lua
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Expand Up @@ -174,7 +174,7 @@ local function PI_controller(kP,kI,iMax)

-- update the controller.
function self.update(target, current)
local now = millis():tofloat() * 0.001
local now = seconds_since_boot()
if not _last_t then
_last_t = now
end
Expand Down Expand Up @@ -460,7 +460,7 @@ end
local knife_edge_ms = 0
function do_knife_edge(arg1,arg2)
-- arg1 is angle +/-180, duration is arg2
local now = millis():tofloat() * 0.001
local now = seconds_since_boot()
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Why not just correct this to do the time wrapping correctly with the uint32 case? It's a simple replacement, and more accurate.

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using uint32 is both slow and less accurate. The seconds_since_boot() is microsecond accurate, and cheaper

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Don't you lose all the accuracy immediately when you don't have double precision support available though?

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23 bit mantissa does not leave a lot of space on single precision float, I'd actually expect this to be significantly worse then before in accuracy on any 32bit board....

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the point is to get 64 bit float on any board running a non-trivial script

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As discussed on the dev call - isn't it really time to recognize that it's not really worthwhile supporting scripting on these low end boards?

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the point is to get 64 bit float on any board running a non-trivial script

I kind of get it, but at the same time I think there's a lot of value on say more lightly loaded Periph's (on M4's) to not forcing everything down this path. And it seems odd to chase the precision here when the core controls aren't at this resolution.

I do support a time wrapper utility if needed, but I'd almost prefer to see that just be us provide a library with get delta functions and the like. My big objection is I just don't want to force M4's to use double precision in scripting, as it hamstrings some of the AP_Periph style uses, and if we encourage the default path to be "rely upon high precision" that makes things harder to do. (I think at that point we also need a binding of "does this board have double support")

if not running then
running = true
height_PI.reset()
Expand Down Expand Up @@ -498,7 +498,7 @@ end
-- fly level for a time..allows full altitude recovery after trick
function do_pause(arg1,arg2)
-- arg1 is time of pause in sec, arg2 is unused
local now = millis():tofloat() * 0.001
local now = seconds_since_boot()
if not running then
running = true
height_PI.reset()
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6 changes: 3 additions & 3 deletions libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
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Expand Up @@ -280,7 +280,7 @@ local function PI_controller(kP,kI,iMax,min,max)

-- update the controller.
function self.update(target, current)
local now = millis():tofloat() * 0.001
local now = seconds_since_boot()
if not _last_t then
_last_t = now
end
Expand Down Expand Up @@ -1386,7 +1386,7 @@ function rudder_over(_direction, _min_speed)
local ahrs_quat = ahrs:get_quaternion()
local ahrs_pos = ahrs:get_relative_position_NED_origin()
local ahrs_gyro = ahrs:get_gyro()
local now = millis():tofloat() * 0.001
local now = seconds_since_boot()
local pitch_threshold = 60.0

if target_q == nil then
Expand Down Expand Up @@ -1815,7 +1815,7 @@ end
path_var.count = 0

function do_path()
local now = millis():tofloat() * 0.001
local now = seconds_since_boot()
local ahrs_pos_NED = ahrs:get_relative_position_NED_origin()
local ahrs_pos = ahrs:get_position()
local ahrs_gyro = ahrs:get_gyro()
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10 changes: 5 additions & 5 deletions libraries/AP_Scripting/applets/RockBlock.lua
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Expand Up @@ -386,7 +386,7 @@ local function RockblockModem()
local self = {
is_transmitting = false,
first_sucessful_mailbox_check = false,
time_last_tx = millis():tofloat() * 0.001,
time_last_tx = seconds_since_boot(),
last_modem_status_check = 0,
modem_detected = false,
in_read_cycle = false,
Expand Down Expand Up @@ -601,9 +601,9 @@ local function RockblockModem()

function self.checkmodem()
--- send detect command to modem every 10 sec if not detected
if (millis():tofloat() * 0.001) - self.last_modem_status_check > 10 then
if seconds_since_boot() - self.last_modem_status_check > 10 then
table.insert(_modem_to_send, _AT_query)
self.last_modem_status_check = millis():tofloat() * 0.001
self.last_modem_status_check = seconds_since_boot()
end
end

Expand All @@ -630,7 +630,7 @@ local function RockblockModem()
table.insert(_modem_to_send, pkt)
table.insert(_modem_to_send, highByte .. lowByte .. "\r")

self.time_last_tx = millis():tofloat() * 0.001
self.time_last_tx = seconds_since_boot()
if RCK_ENABLE:get() == 1 then
table.insert(_modem_to_send, _AT_mailbox_check)
self.is_transmitting = true
Expand Down Expand Up @@ -714,7 +714,7 @@ function HLSatcom()

-- send HL2 packet every 30 sec, if not aleady in a mailbox check
if rockblock.modem_detected and gcs:get_high_latency_status() and
(millis():tofloat() * 0.001) - rockblock.time_last_tx > RCK_PERIOD:get() and not rockblock.is_transmitting then
seconds_since_boot() - rockblock.time_last_tx > RCK_PERIOD:get() and not rockblock.is_transmitting then

-- update HL2 packet
hl2.timestamp = millis():tofloat()
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2 changes: 1 addition & 1 deletion libraries/AP_Scripting/applets/VTOL-quicktune.lua
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Expand Up @@ -186,7 +186,7 @@ end

-- get time in seconds since boot
function get_time()
return millis():tofloat() * 0.001
return seconds_since_boot()
end

local axis_names = { "RLL", "PIT", "YAW" }
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2 changes: 1 addition & 1 deletion libraries/AP_Scripting/applets/plane_package_place.lua
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Expand Up @@ -57,7 +57,7 @@ SRV_Channels:set_output_scaled(PKG_RELEASE_FUNC:get(), 0)

-- get time in seconds
function get_time()
return millis():tofloat() * 0.001
return seconds_since_boot()
end

-- reset state
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4 changes: 4 additions & 0 deletions libraries/AP_Scripting/docs/docs.lua
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Expand Up @@ -36,6 +36,10 @@ function millis() end
---@return uint32_t_ud -- microseconds
function micros() end

-- system time in seconds
---@return number -- seconds
function seconds_since_boot() end

-- receive mission command from running mission
---@return uint32_t_ud|nil -- command start time milliseconds
---@return integer|nil -- command param 1
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Scripting/drivers/EFI_HFE.lua
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Expand Up @@ -34,7 +34,7 @@ function bind_add_param(name, idx, default_value)
end

function get_time_sec()
return millis():tofloat() * 0.001
return seconds_since_boot()
end

-- Type conversion functions
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Scripting/drivers/EFI_Halo6000.lua
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Expand Up @@ -31,7 +31,7 @@ function bind_add_param(name, idx, default_value)
end

function get_time_sec()
return millis():tofloat() * 0.001
return seconds_since_boot()
end

-- Type conversion functions
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Scripting/drivers/EFI_SkyPower.lua
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Expand Up @@ -44,7 +44,7 @@ function bind_add_param(name, idx, default_value)
end

function get_time_sec()
return millis():tofloat() * 0.001
return seconds_since_boot()
end

-- Type conversion functions
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Scripting/examples/EFI_tester.lua
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Expand Up @@ -31,7 +31,7 @@ local EFISIM_TYPE = bind_add_param('TYPE', 1, 0)
local EFISIM_RATE_HZ = bind_add_param('RATE_HZ', 2, 100)

function get_time_sec()
return millis():tofloat() * 0.001
return seconds_since_boot()
end

local FRM_100 = uint32_t(0x80000100)
Expand Down
6 changes: 3 additions & 3 deletions libraries/AP_Scripting/examples/MAVLinkHL.lua
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Expand Up @@ -27,7 +27,7 @@ end
port:begin(19200)
port:set_flow_control(0)

local time_last_tx = millis():tofloat() * 0.001
local time_last_tx = seconds_since_boot()

-- enable high latency mode from here, instead of having to enable from GCS
gcs:enable_high_latency_connections(true)
Expand Down Expand Up @@ -369,7 +369,7 @@ function HLSatcom()
end

-- send HL2 packet every 5 sec
if gcs:get_high_latency_status() and (millis():tofloat() * 0.001) -
if gcs:get_high_latency_status() and seconds_since_boot() -
time_last_tx > 5 then

-- update HL2 packet
Expand Down Expand Up @@ -454,7 +454,7 @@ function HLSatcom()

for idx = 1, #newpkt do port:write(newpkt:byte(idx)) end

time_last_tx = millis():tofloat() * 0.001
time_last_tx = seconds_since_boot()

end

Expand Down
4 changes: 2 additions & 2 deletions libraries/AP_Scripting/examples/OOP_example.lua
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Expand Up @@ -34,7 +34,7 @@ local function PIFF(kFF,kP,kI,iMax)

-- update the controller.
function self.update(target, current)
local now = millis():tofloat() * 0.001
local now = seconds_since_boot()
if not _last_t then
_last_t = now
end
Expand Down Expand Up @@ -90,7 +90,7 @@ function PIFF2.new(kFF,kP,kI,iMax)
end

function PIFF2.update(self, target, current)
local now = millis():tofloat() * 0.001
local now = seconds_since_boot()
if not self.last_t then
self.last_t = now
end
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Scripting/examples/gen_control.lua
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Expand Up @@ -101,7 +101,7 @@ local function PI_controller(kP,kI,iMax,min,max)

-- update the controller.
function self.update(target, current)
local now = millis():tofloat() * 0.001
local now = seconds_since_boot()
if not _last_t then
_last_t = now
end
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Scripting/examples/opendog_demo.lua
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Expand Up @@ -11,7 +11,7 @@ pwm = { 1500, 1500, 2000,
local angle = 0.0

function update()
local t = 0.001 * millis():tofloat()
local t = seconds_since_boot()
local angle = math.sin(t) * 0.5
pwm[6] = math.floor(1500.0 + angle*500.0)
for i = 1, 12 do
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Scripting/examples/protected_call.lua
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Expand Up @@ -6,7 +6,7 @@

-- example main loop function
function update()
local t = 0.001 * millis():tofloat()
local t = seconds_since_boot()
gcs:send_text(0, string.format("TICK %.1fs", t))
if math.floor(t) % 10 == 0 then
-- deliberately make a bad call to cause a fault, asking for the 6th GPS status
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2 changes: 1 addition & 1 deletion libraries/AP_Scripting/examples/servo_scan.lua
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Expand Up @@ -4,7 +4,7 @@ local SERVO_FUNCTION = 94
local PERIOD = 0.5

function update() -- this is the loop which periodically runs
local t = 0.001 * millis():tofloat()
local t = seconds_since_boot()
local pi = 3.1415
local output = math.sin(pi * t * PERIOD * 2.0)
local pwm = math.floor(1500 + 500 * output)
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2 changes: 1 addition & 1 deletion libraries/AP_Scripting/examples/servo_slew.lua
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Expand Up @@ -29,7 +29,7 @@ function update()
local chan = STEST_CHAN:get()
local freq = STEST_FREQ:get()
if chan > 0 and freq > 0 then
local t = 0.001 * millis():tofloat()
local t = seconds_since_boot()
local pi = 3.1415
local output = math.sin(pi * t * freq * 2.0) * STEST_PCT:get() * 0.01
local pwm_min = STEST_PWM_MIN:get()
Expand Down
1 change: 1 addition & 0 deletions libraries/AP_Scripting/generator/description/bindings.desc
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Expand Up @@ -698,6 +698,7 @@ singleton i2c manual get_device lua_get_i2c_device 4

global manual millis lua_millis 0
global manual micros lua_micros 0
global manual seconds_since_boot lua_seconds_since_boot 0
global manual mission_receive lua_mission_receive 0

userdata uint32_t creation lua_new_uint32_t 1
Expand Down
8 changes: 8 additions & 0 deletions libraries/AP_Scripting/lua/src/lgc.c
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Expand Up @@ -128,6 +128,13 @@ static void removeentry (Node *n) {
setdeadvalue(wgkey(n)); /* unused and unmarked key; remove it */
}

/*
the GC code assumed pointer alignment is at least as large as
lua_Number. The memory allocator does align to at least 8 bytes, but
the compiler doesn't know this so need to suppress cast-align warnings
*/
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wcast-align"

/*
** tells whether a key or value can be cleared from a weak
Expand Down Expand Up @@ -526,6 +533,7 @@ static lu_mem traverseLclosure (global_State *g, LClosure *cl) {
return sizeLclosure(cl->nupvalues);
}

#pragma GCC diagnostic pop

static lu_mem traversethread (global_State *g, lua_State *th) {
StkId o = th->stack;
Expand Down
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