void CBuzzControllerFootBot::UpdateSensors() {
/*
* Update generic sensors
*/
CBuzzController::UpdateSensors();
/*
* Update proximity sensor table
*/
if(m_pcProximity != NULL) {
/* Create empty proximity table */
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, "proximity", 1));
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tProxTable = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_gstore(m_tBuzzVM);
/* Get proximity readings */
const CCI_FootBotProximitySensor::TReadings& tProxReads = m_pcProximity->GetReadings();
/* Fill into the proximity table */
buzzobj_t tProxRead;
for(size_t i = 0; i < tProxReads.size(); ++i) {
/* Create table for i-th read */
buzzvm_pusht(m_tBuzzVM);
tProxRead = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_pop(m_tBuzzVM);
/* Fill in the read */
TablePut(tProxRead, "value", tProxReads[i].Value);
TablePut(tProxRead, "angle", tProxReads[i].Angle);
/* Store read table in the proximity table */
TablePut(tProxTable, i, tProxRead);
}
}
}
void CBuzzControllerFootBot::UpdateSensors() {
/*
* Update generic sensors
*/
CBuzzController::UpdateSensors();
/*
* Update proximity sensor table
*/
if(m_pcProximity != NULL) {
/* Create empty proximity table */
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, "proximity", 1));
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tProxTable = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_gstore(m_tBuzzVM);
/* Get proximity readings */
const CCI_FootBotProximitySensor::TReadings& tProxReads = m_pcProximity->GetReadings();
/* Fill into the proximity table */
buzzobj_t tProxRead;
for(size_t i = 0; i < tProxReads.size(); ++i) {
/* Create table for i-th read */
buzzvm_pusht(m_tBuzzVM);
tProxRead = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_pop(m_tBuzzVM);
/* Fill in the read */
TablePut(tProxRead, "value", tProxReads[i].Value);
TablePut(tProxRead, "angle", tProxReads[i].Angle);
/* Store read table in the proximity table */
TablePut(tProxTable, i, tProxRead);
}
}
/*
* Camera
*/
if(m_pcCamera) {
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, "blobs", 1));
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tBlobs = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_gstore(m_tBuzzVM);
const CCI_ColoredBlobOmnidirectionalCameraSensor::SReadings& sBlobs = m_pcCamera->GetReadings();
for(size_t i = 0; i < sBlobs.BlobList.size(); ++i) {
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tEntry = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_pop(m_tBuzzVM);
TablePut(tBlobs, i, tEntry);
TablePut(tEntry, "distance", sBlobs.BlobList[i]->Distance);
TablePut(tEntry, "angle", sBlobs.BlobList[i]->Angle);
TablePut(tEntry, "color", sBlobs.BlobList[i]->Color);
}
}
}
void buzzvm_vstig_onconflictlost(buzzvm_t vm,
buzzvstig_t vs,
buzzobj_t k,
buzzvstig_elem_t lv) {
/* Was a conflict manager defined? */
if(vs->onconflictlost) {
/* Push closure */
buzzvm_push(vm, vs->onconflictlost);
/* Push key */
buzzvm_push(vm, k);
/* Make table for local value */
buzzvm_pusht(vm);
buzzobj_t loc = buzzvm_stack_at(vm, 1);
buzzvm_pushs(vm, buzzvm_string_register(vm, "robot"));
buzzvm_pushi(vm, lv->robot);
buzzvm_tput(vm);
buzzvm_push(vm, loc);
buzzvm_pushs(vm, buzzvm_string_register(vm, "data"));
buzzvm_push(vm, lv->data);
buzzvm_tput(vm);
buzzvm_push(vm, loc);
buzzvm_pushs(vm, buzzvm_string_register(vm, "timestamp"));
buzzvm_pushi(vm, lv->timestamp);
buzzvm_tput(vm);
/* Call closure with 2 arguments */
buzzvm_push(vm, loc);
buzzvm_closure_call(vm, 2);
}
}
int buzzvstig_create(buzzvm_t vm) {
buzzvm_lnum_assert(vm, 1);
/* Get vstig id */
buzzvm_lload(vm, 1);
buzzvm_type_assert(vm, 1, BUZZTYPE_INT);
uint16_t id = buzzvm_stack_at(vm, 1)->i.value;
buzzvm_pop(vm);
/* Look for virtual stigmergy */
const buzzvstig_t* vs = buzzdict_get(vm->vstigs, &id, buzzvstig_t);
if(vs) {
/* Found, destroy it */
buzzdict_remove(vm->vstigs, &id);
}
/* Create a new virtual stigmergy */
buzzvstig_t nvs = buzzvstig_new();
buzzdict_set(vm->vstigs, &id, &nvs);
/* Create a table */
buzzvm_pusht(vm);
/* Add data and methods */
buzzvm_dup(vm);
buzzvm_pushs(vm, buzzvm_string_register(vm, "id", 1));
buzzvm_pushi(vm, id);
buzzvm_tput(vm);
function_register(foreach);
function_register(size);
function_register(put);
function_register(get);
function_register(onconflict);
function_register(onconflictlost);
/* Return the table */
return buzzvm_ret1(vm);
}
buzzvm_state CBuzzController::Register(const std::string& str_key,
const CColor& c_color) {
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, str_key.c_str(), 1));
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tColorTable = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_gstore(m_tBuzzVM);
TablePut(tColorTable, "red", c_color.GetRed());
TablePut(tColorTable, "green", c_color.GetGreen());
TablePut(tColorTable, "blue", c_color.GetBlue());
return m_tBuzzVM->state;
}
buzzvm_state CBuzzController::Register(const std::string& str_key,
const CVector3& c_vec) {
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, str_key.c_str(), 1));
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tVecTable = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_gstore(m_tBuzzVM);
TablePut(tVecTable, "x", c_vec.GetX());
TablePut(tVecTable, "y", c_vec.GetY());
TablePut(tVecTable, "z", c_vec.GetZ());
return m_tBuzzVM->state;
}
buzzvm_state CBuzzController::Register(const std::string& str_key,
const CQuaternion& c_quat) {
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, str_key.c_str(), 1));
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tQuatTable = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_gstore(m_tBuzzVM);
CRadians cYaw, cPitch, cRoll;
c_quat.ToEulerAngles(cYaw, cPitch, cRoll);
TablePut(tQuatTable, "yaw", cYaw);
TablePut(tQuatTable, "pitch", cPitch);
TablePut(tQuatTable, "roll", cRoll);
return m_tBuzzVM->state;
}
int buzzvstig_register(struct buzzvm_s* vm) {
/* Push 'stigmergy' table */
buzzvm_pushs(vm, buzzvm_string_register(vm, "stigmergy", 1));
buzzvm_pusht(vm);
/* Add 'create' function */
buzzvm_dup(vm);
buzzvm_pushs(vm, buzzvm_string_register(vm, "create", 1));
buzzvm_pushcc(vm, buzzvm_function_register(vm, buzzvstig_create));
buzzvm_tput(vm);
/* Register the 'stigmergy' table */
buzzvm_gstore(vm);
return vm->state;
}
buzzvm_state CBuzzController::TablePut(buzzobj_t t_table,
SInt32 n_idx,
const CColor& c_color) {
buzzvm_push(m_tBuzzVM, t_table);
buzzvm_pushi(m_tBuzzVM, n_idx);
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tColorTable = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_tput(m_tBuzzVM);
TablePut(tColorTable, "red", c_color.GetRed());
TablePut(tColorTable, "green", c_color.GetGreen());
TablePut(tColorTable, "blue", c_color.GetBlue());
return m_tBuzzVM->state;
}
buzzvm_state CBuzzController::TablePut(buzzobj_t t_table,
SInt32 n_idx,
const CVector3& c_vec) {
buzzvm_push(m_tBuzzVM, t_table);
buzzvm_pushi(m_tBuzzVM, n_idx);
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tVecTable = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_tput(m_tBuzzVM);
TablePut(tVecTable, "x", c_vec.GetX());
TablePut(tVecTable, "y", c_vec.GetY());
TablePut(tVecTable, "z", c_vec.GetZ());
return m_tBuzzVM->state;
}
int buzzneighbors_add(buzzvm_t vm,
uint16_t robot,
float distance,
float azimuth,
float elevation) {
if(vm->state != BUZZVM_STATE_READY) return vm->state;
/* Get "neighbors" table */
buzzvm_pushs(vm, buzzvm_string_register(vm, "neighbors", 1));
buzzvm_gload(vm);
buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE);
buzzobj_t nbr = buzzvm_stack_at(vm, 1);
/* Get "data" field */
buzzvm_pushs(vm, buzzvm_string_register(vm, "data", 1));
buzzvm_tget(vm);
if(buzzvm_stack_at(vm, 1)->o.type == BUZZTYPE_NIL) {
/* Empty data, create a new table */
buzzvm_pop(vm);
buzzvm_push(vm, nbr);
buzzvm_pushs(vm, buzzvm_string_register(vm, "data", 1));
buzzvm_pusht(vm);
buzzobj_t data = buzzvm_stack_at(vm, 1);
buzzvm_tput(vm);
buzzvm_push(vm, data);
}
/* When we get here, the "data" table is on top of the stack */
/* Push robot id */
buzzvm_pushi(vm, robot);
/* Create entry table */
buzzobj_t entry = buzzheap_newobj(vm->heap, BUZZTYPE_TABLE);
/* Insert distance */
buzzvm_push(vm, entry);
buzzvm_pushs(vm, buzzvm_string_register(vm, "distance", 1));
buzzvm_pushf(vm, distance);
buzzvm_tput(vm);
/* Insert azimuth */
buzzvm_push(vm, entry);
buzzvm_pushs(vm, buzzvm_string_register(vm, "azimuth", 1));
buzzvm_pushf(vm, azimuth);
buzzvm_tput(vm);
/* Insert elevation */
buzzvm_push(vm, entry);
buzzvm_pushs(vm, buzzvm_string_register(vm, "elevation", 1));
buzzvm_pushf(vm, elevation);
buzzvm_tput(vm);
/* Save entry into data table */
buzzvm_push(vm, entry);
buzzvm_tput(vm);
return vm->state;
}
buzzvm_state CBuzzController::TablePut(buzzobj_t t_table,
SInt32 n_idx,
const CQuaternion& c_quat) {
buzzvm_push(m_tBuzzVM, t_table);
buzzvm_pushi(m_tBuzzVM, n_idx);
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tQuatTable = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_tput(m_tBuzzVM);
CRadians cYaw, cPitch, cRoll;
c_quat.ToEulerAngles(cYaw, cPitch, cRoll);
TablePut(tQuatTable, "yaw", cYaw);
TablePut(tQuatTable, "pitch", cPitch);
TablePut(tQuatTable, "roll", cRoll);
return m_tBuzzVM->state;
}
void CBuzzControllerSpiri::UpdateSensors() {
/* Positioning */
if(m_pcPosition) {
Register("position", m_pcPosition->GetReading().Position);
Register("orientation", m_pcPosition->GetReading().Orientation);
}
/* Camera */
if(m_pcCamera) {
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, "blobs", 1));
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tBlobs = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_gstore(m_tBuzzVM);
const CCI_ColoredBlobPerspectiveCameraSensor::SReadings& sBlobs = m_pcCamera->GetReadings();
for(size_t i = 0; i < sBlobs.BlobList.size(); ++i) {
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tEntry = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_pop(m_tBuzzVM);
TablePut(tBlobs, i, tEntry);
TablePut(tEntry, "px", sBlobs.BlobList[i]->X);
TablePut(tEntry, "py", sBlobs.BlobList[i]->Y);
TablePut(tEntry, "color", sBlobs.BlobList[i]->Color);
}
}
}
void buzzvstig_onconflictlost_call(buzzvm_t vm,
buzzvstig_t vs,
buzzobj_t k,
buzzvstig_elem_t lv) {
/* Was a conflict manager defined? */
if(vs->onconflictlost) {
/* Push closure */
buzzvm_push(vm, vs->onconflictlost);
/* Push key */
buzzvm_push(vm, k);
/* Make table for local value */
buzzvm_pusht(vm);
add_field(robot, lv, pushi);
add_field(data, lv, push);
add_field(timestamp, lv, pushi);
/* Call closure (key and table are on the stack) */
buzzvm_closure_call(vm, 2);
}
}
buzzvstig_elem_t buzzvm_vstig_onconflict(buzzvm_t vm,
buzzvstig_t vs,
buzzobj_t k,
buzzvstig_elem_t lv,
buzzvstig_elem_t rv) {
/* Was a conflict manager defined? */
if(vs->onconflict) {
/* Push closure */
buzzvm_push(vm, vs->onconflict);
/* Push key */
buzzvm_push(vm, k);
/* Make table for local value */
buzzvm_pusht(vm);
buzzobj_t loc = buzzvm_stack_at(vm, 1);
buzzvm_pushs(vm, buzzvm_string_register(vm, "robot"));
buzzvm_pushi(vm, lv->robot);
buzzvm_tput(vm);
buzzvm_push(vm, loc);
buzzvm_pushs(vm, buzzvm_string_register(vm, "data"));
buzzvm_push(vm, lv->data);
buzzvm_tput(vm);
buzzvm_push(vm, loc);
buzzvm_pushs(vm, buzzvm_string_register(vm, "timestamp"));
buzzvm_pushi(vm, lv->timestamp);
buzzvm_tput(vm);
/* Make table for remote value */
buzzvm_pusht(vm);
buzzobj_t rem = buzzvm_stack_at(vm, 1);
buzzvm_pushs(vm, buzzvm_string_register(vm, "robot"));
buzzvm_pushi(vm, rv->robot);
buzzvm_tput(vm);
buzzvm_push(vm, rem);
buzzvm_pushs(vm, buzzvm_string_register(vm, "data"));
buzzvm_push(vm, rv->data);
buzzvm_tput(vm);
buzzvm_push(vm, rem);
buzzvm_pushs(vm, buzzvm_string_register(vm, "timestamp"));
buzzvm_pushi(vm, rv->timestamp);
buzzvm_tput(vm);
/* Call closure with 3 arguments */
buzzvm_push(vm, loc);
buzzvm_push(vm, rem);
buzzvm_closure_call(vm, 3);
/* Make new entry with return value */
/* Make sure it's a table */
if(buzzvm_stack_at(vm, 1)->o.type != BUZZTYPE_TABLE) {
fprintf(stderr, "[WARNING] [ROBOT %u] Return value type is %d\n", vm->robot, buzzvm_stack_at(vm, 1)->o.type);
return NULL;
}
/* Get the robot id */
buzzobj_t ret = buzzvm_stack_at(vm, 1);
buzzvm_pushs(vm, buzzvm_string_register(vm, "robot"));
buzzvm_tget(vm);
if(buzzvm_stack_at(vm, 1)->o.type != BUZZTYPE_INT)
return NULL;
uint16_t robot = buzzvm_stack_at(vm, 1)->i.value;
buzzvm_pop(vm);
/* Get the data */
buzzvm_push(vm, ret);
buzzvm_pushs(vm, buzzvm_string_register(vm, "data"));
buzzvm_tget(vm);
buzzobj_t data = buzzvm_stack_at(vm, 1);
buzzvm_pop(vm);
/* Make new entry */
return buzzvstig_elem_new(data, lv->timestamp, robot);
}
else {
/* No conflict manager, use default behavior */
if(lv->robot > rv->robot) return buzzvstig_elem_clone(lv);
else return buzzvstig_elem_clone(rv);
}
}
buzzvm_state CBuzzController::RegisterFunctions() {
/*
* Pointer to this controller
*/
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, "controller", 1));
buzzvm_pushu(m_tBuzzVM, this);
buzzvm_gstore(m_tBuzzVM);
/*
* BuzzLOG
*/
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, "log", 1));
buzzvm_pushcc(m_tBuzzVM, buzzvm_function_register(m_tBuzzVM, BuzzLOG));
buzzvm_gstore(m_tBuzzVM);
/*
* Buzz debug facilities
*/
/* Initialize debug table */
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, "debug", 1));
buzzvm_pusht(m_tBuzzVM);
/* debug.print() */
buzzvm_dup(m_tBuzzVM);
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, "print", 1));
buzzvm_pushcc(m_tBuzzVM, buzzvm_function_register(m_tBuzzVM, BuzzDebugPrint));
buzzvm_tput(m_tBuzzVM);
/* Initialize debug.rays table */
buzzvm_dup(m_tBuzzVM);
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, "rays", 1));
buzzvm_pusht(m_tBuzzVM);
/* debug.rays.add() */
buzzvm_dup(m_tBuzzVM);
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, "add", 1));
buzzvm_pushcc(m_tBuzzVM, buzzvm_function_register(m_tBuzzVM, BuzzDebugRayAdd));
buzzvm_tput(m_tBuzzVM);
/* debug.rays.clear() */
buzzvm_dup(m_tBuzzVM);
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, "clear", 1));
buzzvm_pushcc(m_tBuzzVM, buzzvm_function_register(m_tBuzzVM, BuzzDebugRayClear));
buzzvm_tput(m_tBuzzVM);
/* Finalize debug.rays table */
buzzvm_tput(m_tBuzzVM);
if(m_pcPos != NULL) {
/* Initialize debug.trajectory table */
buzzvm_dup(m_tBuzzVM);
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, "trajectory", 1));
buzzvm_pusht(m_tBuzzVM);
/* debug.trajectory.enable() */
buzzvm_dup(m_tBuzzVM);
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, "enable", 1));
buzzvm_pushcc(m_tBuzzVM, buzzvm_function_register(m_tBuzzVM, BuzzDebugTrajectoryEnable));
buzzvm_tput(m_tBuzzVM);
/* debug.trajectory.disable() */
buzzvm_dup(m_tBuzzVM);
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, "disable", 1));
buzzvm_pushcc(m_tBuzzVM, buzzvm_function_register(m_tBuzzVM, BuzzDebugTrajectoryDisable));
buzzvm_tput(m_tBuzzVM);
/* debug.trajectory.clear() */
buzzvm_dup(m_tBuzzVM);
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, "clear", 1));
buzzvm_pushcc(m_tBuzzVM, buzzvm_function_register(m_tBuzzVM, BuzzDebugTrajectoryClear));
buzzvm_tput(m_tBuzzVM);
/* Finalize debug.trajectory table */
buzzvm_tput(m_tBuzzVM);
}
/* Finalize debug table */
buzzvm_gstore(m_tBuzzVM);
return m_tBuzzVM->state;
}
buzzvstig_elem_t buzzvstig_onconflict_call(buzzvm_t vm,
buzzvstig_t vs,
buzzobj_t k,
buzzvstig_elem_t lv,
buzzvstig_elem_t rv) {
/* Was a conflict manager defined? */
if(vs->onconflict) {
/* Push closure */
buzzvm_push(vm, vs->onconflict);
/* Push key */
buzzvm_push(vm, k);
/* Make table for local value */
buzzvm_pusht(vm);
add_field(robot, lv, pushi);
add_field(data, lv, push);
add_field(timestamp, lv, pushi);
/* Make table for remote value */
buzzvm_pusht(vm);
add_field(robot, rv, pushi);
add_field(data, rv, push);
add_field(timestamp, rv, pushi);
/* Call closure (key, lv, rv on the stack) */
buzzvm_closure_call(vm, 3);
/* Make new entry with return value */
/* Make sure it's a table */
if(buzzvm_stack_at(vm, 1)->o.type != BUZZTYPE_TABLE) {
fprintf(stderr, "[WARNING] [ROBOT %u] virtual stigmergy onconflict(): Return value type is %s, expected table\n", vm->robot, buzztype_desc[buzzvm_stack_at(vm, 1)->o.type]);
return NULL;
}
/* Get the robot id */
buzzobj_t ret = buzzvm_stack_at(vm, 1);
buzzvm_pushs(vm, buzzvm_string_register(vm, "robot", 1));
buzzvm_tget(vm);
if(buzzvm_stack_at(vm, 1)->o.type != BUZZTYPE_INT)
return NULL;
uint16_t robot = buzzvm_stack_at(vm, 1)->i.value;
buzzvm_pop(vm);
/* Get the data */
buzzvm_push(vm, ret);
buzzvm_pushs(vm, buzzvm_string_register(vm, "data", 1));
buzzvm_tget(vm);
buzzobj_t data = buzzvm_stack_at(vm, 1);
buzzvm_pop(vm);
/* Make new entry */
return buzzvstig_elem_new(data, lv->timestamp, robot);
}
else {
/* No conflict manager, use default behavior */
/* If both values are not nil, keep the value of the robot with the higher id */
if(((lv->data->o.type == BUZZTYPE_NIL) && (rv->data->o.type == BUZZTYPE_NIL)) ||
((lv->data->o.type != BUZZTYPE_NIL) && (rv->data->o.type != BUZZTYPE_NIL))) {
if(lv->robot > rv->robot)
return buzzvstig_elem_clone(vm, lv);
else
return buzzvstig_elem_clone(vm, rv);
}
/* If my value is not nil, keep mine */
if(lv->data->o.type != BUZZTYPE_NIL)
return buzzvstig_elem_clone(vm, lv);
/* If the other value is not nil, keep that one */
if(rv->data->o.type != BUZZTYPE_NIL)
return buzzvstig_elem_clone(vm, rv);
/* Otherwise nothing to do */
return NULL;
}
}
buzzvm_state buzzvm_step(buzzvm_t vm) {
/* buzzvm_dump(vm); */
/* Can't execute if not ready */
if(vm->state != BUZZVM_STATE_READY) return vm->state;
/* Execute GC */
buzzheap_gc(vm);
/* Fetch instruction and (potential) argument */
uint8_t instr = vm->bcode[vm->pc];
/* Execute instruction */
switch(instr) {
case BUZZVM_INSTR_NOP: {
inc_pc();
break;
}
case BUZZVM_INSTR_DONE: {
buzzvm_done(vm);
break;
}
case BUZZVM_INSTR_PUSHNIL: {
inc_pc();
buzzvm_pushnil(vm);
break;
}
case BUZZVM_INSTR_DUP: {
inc_pc();
buzzvm_dup(vm);
break;
}
case BUZZVM_INSTR_POP: {
if(buzzvm_pop(vm) != BUZZVM_STATE_READY) return vm->state;
inc_pc();
break;
}
case BUZZVM_INSTR_RET0: {
if(buzzvm_ret0(vm) != BUZZVM_STATE_READY) return vm->state;
assert_pc(vm->pc);
break;
}
case BUZZVM_INSTR_RET1: {
if(buzzvm_ret1(vm) != BUZZVM_STATE_READY) return vm->state;
assert_pc(vm->pc);
break;
}
case BUZZVM_INSTR_ADD: {
buzzvm_add(vm);
inc_pc();
break;
}
case BUZZVM_INSTR_SUB: {
buzzvm_sub(vm);
inc_pc();
break;
}
case BUZZVM_INSTR_MUL: {
buzzvm_mul(vm);
inc_pc();
break;
}
case BUZZVM_INSTR_DIV: {
buzzvm_div(vm);
inc_pc();
break;
}
case BUZZVM_INSTR_MOD: {
buzzvm_mod(vm);
inc_pc();
break;
}
case BUZZVM_INSTR_POW: {
buzzvm_pow(vm);
inc_pc();
break;
}
case BUZZVM_INSTR_UNM: {
buzzvm_unm(vm);
inc_pc();
break;
}
case BUZZVM_INSTR_AND: {
buzzvm_and(vm);
inc_pc();
break;
}
case BUZZVM_INSTR_OR: {
buzzvm_or(vm);
inc_pc();
break;
}
case BUZZVM_INSTR_NOT: {
buzzvm_not(vm);
inc_pc();
break;
}
case BUZZVM_INSTR_EQ: {
buzzvm_eq(vm);
inc_pc();
break;
}
case BUZZVM_INSTR_NEQ: {
buzzvm_neq(vm);
inc_pc();
break;
}
case BUZZVM_INSTR_GT: {
buzzvm_gt(vm);
inc_pc();
break;
}
case BUZZVM_INSTR_GTE: {
buzzvm_gte(vm);
inc_pc();
break;
}
case BUZZVM_INSTR_LT: {
buzzvm_lt(vm);
inc_pc();
break;
}
case BUZZVM_INSTR_LTE: {
buzzvm_lte(vm);
inc_pc();
break;
}
case BUZZVM_INSTR_GLOAD: {
inc_pc();
buzzvm_gload(vm);
break;
}
case BUZZVM_INSTR_GSTORE: {
inc_pc();
if(buzzvm_gstore(vm) != BUZZVM_STATE_READY) return vm->state;
break;
}
case BUZZVM_INSTR_PUSHT: {
buzzvm_pusht(vm);
inc_pc();
break;
}
case BUZZVM_INSTR_TPUT: {
if(buzzvm_tput(vm) != BUZZVM_STATE_READY) return vm->state;
inc_pc();
break;
}
case BUZZVM_INSTR_TGET: {
if(buzzvm_tget(vm) != BUZZVM_STATE_READY) return vm->state;
inc_pc();
break;
}
case BUZZVM_INSTR_CALLC: {
inc_pc();
if(buzzvm_callc(vm) != BUZZVM_STATE_READY) return vm->state;
assert_pc(vm->pc);
break;
}
case BUZZVM_INSTR_CALLS: {
inc_pc();
if(buzzvm_calls(vm) != BUZZVM_STATE_READY) return vm->state;
assert_pc(vm->pc);
break;
}
case BUZZVM_INSTR_PUSHF: {
inc_pc();
get_arg(float);
if(buzzvm_pushf(vm, arg) != BUZZVM_STATE_READY) return vm->state;
break;
}
case BUZZVM_INSTR_PUSHI: {
inc_pc();
get_arg(int32_t);
if(buzzvm_pushi(vm, arg) != BUZZVM_STATE_READY) return vm->state;
break;
}
case BUZZVM_INSTR_PUSHS: {
inc_pc();
get_arg(int32_t);
if(buzzvm_pushs(vm, arg) != BUZZVM_STATE_READY) return vm->state;
break;
}
case BUZZVM_INSTR_PUSHCN: {
inc_pc();
get_arg(uint32_t);
if(buzzvm_pushcn(vm, arg) != BUZZVM_STATE_READY) return vm->state;
break;
}
case BUZZVM_INSTR_PUSHCC: {
inc_pc();
get_arg(uint32_t);
if(buzzvm_pushcc(vm, arg) != BUZZVM_STATE_READY) return vm->state;
break;
}
case BUZZVM_INSTR_PUSHL: {
inc_pc();
get_arg(uint32_t);
if(buzzvm_pushl(vm, arg) != BUZZVM_STATE_READY) return vm->state;
break;
}
case BUZZVM_INSTR_LLOAD: {
inc_pc();
get_arg(uint32_t);
buzzvm_lload(vm, arg);
break;
}
case BUZZVM_INSTR_LSTORE: {
inc_pc();
get_arg(uint32_t);
buzzvm_lstore(vm, arg);
break;
}
case BUZZVM_INSTR_JUMP: {
inc_pc();
get_arg(uint32_t);
vm->pc = arg;
assert_pc(vm->pc);
break;
}
case BUZZVM_INSTR_JUMPZ: {
inc_pc();
get_arg(uint32_t);
buzzvm_stack_assert(vm, 1);
if(buzzvm_stack_at(vm, 1)->o.type == BUZZTYPE_NIL ||
(buzzvm_stack_at(vm, 1)->o.type == BUZZTYPE_INT &&
buzzvm_stack_at(vm, 1)->i.value == 0)) {
vm->pc = arg;
assert_pc(vm->pc);
}
buzzvm_pop(vm);
break;
}
case BUZZVM_INSTR_JUMPNZ: {
inc_pc();
get_arg(uint32_t);
buzzvm_stack_assert(vm, 1);
if(buzzvm_stack_at(vm, 1)->o.type != BUZZTYPE_NIL &&
(buzzvm_stack_at(vm, 1)->o.type != BUZZTYPE_INT ||
buzzvm_stack_at(vm, 1)->i.value != 0)) {
vm->pc = arg;
assert_pc(vm->pc);
}
buzzvm_pop(vm);
break;
}
default:
buzzvm_seterror(vm, BUZZVM_ERROR_INSTR, NULL);
break;
}
return vm->state;
}