/*
pの先頭から出力して行き,その階層のjump/proceedが出てくるまでを変換する
jump先は中間命令ではアドレスになっているが,
そのポインタ値が何個めのjump先として現れたか(index)を,その関数のシグネチャに使う
物理的に次の読み込み場所を返す
(変換するスタート地点, 変換する必要のある部分の記録, ルールのシグネチャ:trans_**_**_**, 成功時コード, 失敗時コード, インデント)
*/
const BYTE *translate_instructions(const BYTE *p, Vector *jump_points, const char *header, const char *successcode, const char *failcode, int indent)
{
while(1){
/* 自動生成で変換可能な中間命令をトランスレートする */
/* 終了フラグ: 正のとき変換成功+次を変換, 0のとき変換成功+jump/proceed等なので終了, 負のとき変換失敗 */
const BYTE *next;
int finishflag;
next = translate_instruction_generated(p, jump_points, header, successcode, failcode, indent, &finishflag);
if (finishflag > 0){
p = next;
continue;
} else if(finishflag == 0) {
return next;
} else {
/* 自動生成で対処できない中間命令をトランスレートする */
next = translate_instruction(p, jump_points, header, successcode, failcode, indent, &finishflag);
if (finishflag > 0) {
p = next;
continue;
} else if(finishflag == 0) {
return next;
} else {
LmnInstrOp op;
READ_VAL(LmnInstrOp, p, op);
fprintf(stderr, "translator: unknown instruction: %d\n", op);
exit(1);
}
}
}
}
static int py_anal(RAnal *a, RAnalOp *op, ut64 addr, const ut8 *buf, int len, RAnalOpMask mask) {
PyObject *tmpreg = NULL;
int size = 0;
int seize = -1;
int i = 0;
if (!op) return -1;
if (py_anal_cb) {
memset(op, 0, sizeof (RAnalOp));
// anal(addr, buf) - returns size + dictionary (structure) for RAnalOp
Py_buffer pybuf = {
.buf = (void *) buf, // Warning: const is lost when casting
.len = len,
.readonly = 1,
.ndim = 1,
.itemsize = 1,
};
PyObject *memview = PyMemoryView_FromBuffer (&pybuf);
PyObject *arglist = Py_BuildValue ("(NK)", memview, addr);
PyObject *result = PyEval_CallObject (py_anal_cb, arglist);
if (result && PyList_Check (result)) {
PyObject *len = PyList_GetItem (result, 0);
PyObject *dict = PyList_GetItem (result, 1);
if (dict && PyDict_Check (dict)) {
seize = PyNumber_AsSsize_t (len, NULL);
op->type = getI (dict, "type");
op->cycles = getI (dict, "cycles");
op->size = seize;
op->addr = getI (dict, "addr");
op->jump = getI (dict, "jump");
op->fail = getI (dict, "fail");
op->stackop = getI (dict, "stackop");
op->stackptr = getI (dict, "stackptr");
op->ptr = getI (dict, "ptr");
op->eob = getB (dict, "eob");
// Loading 'src' and 'dst' values
// SRC is is a list of 3 elements
PyObject *tmpsrc = getO (dict, "src");
if (tmpsrc && PyList_Check (tmpsrc)) {
for (i = 0; i < 3; i++) {
PyObject *tmplst = PyList_GetItem (tmpsrc, i);
// Read value and underlying regs
READ_VAL(tmplst, op->src[i], tmpreg)
}
}
PyObject *tmpdst = getO (dict, "dst");
// Read value and underlying regs
READ_VAL(tmpdst, op->dst, tmpreg)
// Loading 'var' value if presented
r_strbuf_set (&op->esil, getS (dict, "esil"));
// TODO: Add opex support here
Py_DECREF (dict);
}
Py_DECREF (result);
} else {
int main(void)
{
int c;
int ret;
uint8_t id;
uint8_t type;
uint8_t * data;
int16_t cntr = 0;
DDRA |= _BV(PA6) | _BV(PA7);
DDRC = 0xFF;
//PORTC= 0X00;
int ii=0;
uint8_t val = 1;
init();
uart0_printf("estop initialized\r\n");
DynamixelPacket xbeePacket;
DynamixelPacketInit(&xbeePacket);
uint8_t robotId;
uint8_t robotState;
const int bufSize = 256;
uint8_t buf[bufSize];
uint8_t * pbuf;
uint8_t estopPacketLen;
const int nRobots = 9;
uint8_t mode[nRobots+1] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
estopPacketLen = DynamixelPacketWrapData(MMC_ESTOP_DEVICE_ID,
MMC_ESTOP_STATE,mode,nRobots+1,buf,bufSize);
uint8_t modVal;
while(1)
{
cntr++;
if (cntr == 1000)
cntr = 0;
modVal = cntr % 200;
if (modVal == 0)
{
//generate new packet based on the latest desired estop state
estopPacketLen = DynamixelPacketWrapData(MMC_ESTOP_DEVICE_ID,
MMC_ESTOP_STATE,commandedState,nRobots+1,buf,bufSize);
pbuf = buf;
for (ii=0; ii<estopPacketLen; ii++)
uart1_putchar(*pbuf++);
//uart0_printf("sent estop packet\r\n");
}
//show the actual status for brief moment
if (modVal < 50)
{
ShowActualStateAll();
}
else
{
ShowCommandedStateAll();
}
//read from xbee
while( (c = uart1_getchar()) != EOF )
{
//uart0_printf("%X ",c);;
ret = DynamixelPacketProcessChar(c,&xbeePacket);
if (ret > 0)
{
id = DynamixelPacketGetId(&xbeePacket);
type = DynamixelPacketGetType(&xbeePacket);
data = DynamixelPacketGetData(&xbeePacket);
if (id == MMC_ESTOP_DEVICE_ID && type == MMC_ESTOP_STATE)
{
robotId = data[0];
robotState = data[1];
if ( (robotId > 0) && (robotId < 11) && (robotState >= 0) && (robotState < 3) )
{
actualState[robotId] = robotState;
uart0_printf("Robot%d: estop = %d\r\n",robotId,robotState);
}
else
uart0_printf("xbee received bad data : Robot%d: estop = %d\r\n",robotId,robotState);
}
}
}
READ_ESTOP_STATE(1);
READ_ESTOP_STATE(2);
READ_ESTOP_STATE(3);
READ_ESTOP_STATE(4);
READ_ESTOP_STATE(5);
READ_ESTOP_STATE(6);
READ_ESTOP_STATE(7);
READ_ESTOP_STATE(8);
READ_ESTOP_STATE(9);
READ_ESTOP_STATE(10);
//check the master pause button
if ( (READ_VAL(RP_IN0_PORT,RP_IN0_PIN)) && debounceCntr[0] == DEBOUNCE_DELAY )
{
if ( commandedState[0] == 1 )
{
for (ii=0; ii<11; ii++)
commandedState[ii] = 0;
}
else if (commandedState[0]==0)
{
for (ii=0; ii<11; ii++)
commandedState[ii] = 1;
}
debounceCntr[0] = 0;
}
if (debounceCntr[0] < DEBOUNCE_DELAY)
debounceCntr[0]++;
SHOW_COMMANDED_STATE(0);
/*
if ( READ_VAL(RP_IN1_PORT,RP_IN1_PIN) )
SET_PIN(LED_OUT1_PORT,LED_OUT1_PIN);
else
CLEAR_PIN(LED_OUT1_PORT,LED_OUT1_PIN);
*/
/*
if (val == 0)
DDRC=0x00;
//val = 1;
else
val = val << 1;
PORTC = val;
*/
//PORTC = PINL;
_delay_ms(5);
}
return 0;
}
const BYTE *translate_instruction(const BYTE *instr,
Vector *jump_points,
const char *header,
const char *successcode,
const char *failcode,
int indent,
int *finishflag)
{
LmnInstrOp op;
/* const BYTE *op_address = instr; */
READ_VAL(LmnInstrOp, instr, op);
switch (op) {
case INSTR_JUMP:{
/* 残念ながら引数読み込み途中のinstrからオフセットジャンプするため */
/* 先に全部読み込んでしまうと場所を忘れてしまう */
LmnInstrVar num, i, n;
LmnJumpOffset offset;
LmnRuleInstr next;
int next_index;
READ_VAL(LmnJumpOffset, instr, offset);
next = (BYTE*)instr + offset; /*ワーニング抑制 */
next_index = vec_inserted_index(jump_points, (LmnWord)next);
print_indent(indent); fprintf(OUT, "{\n");
print_indent(indent); fprintf(OUT, " static const int newid[] = {");
i = 0;
/* atom */
READ_VAL(LmnInstrVar, instr, num);
for (; num--; i++) {
READ_VAL(LmnInstrVar, instr, n);
if(i != 0) fprintf(OUT, ",");
fprintf(OUT, "%d", n);
}
/* mem */
READ_VAL(LmnInstrVar, instr, num);
for (; num--; i++) {
READ_VAL(LmnInstrVar, instr, n);
if(i != 0) fprintf(OUT, ",");
fprintf(OUT, "%d", n);
}
/* vars */
READ_VAL(LmnInstrVar, instr, num);
for (; num--; i++) {
READ_VAL(LmnInstrVar, instr, n);
if(i != 0) fprintf(OUT, ",");
fprintf(OUT, "%d", n);
}
fprintf(OUT, "};\n");
print_indent(indent); fprintf(OUT, " extern BOOL %s_%d();\n", header, next_index);
print_indent(indent); fprintf(OUT, " if (tr_instr_jump(%s_%d, rc, thisisrootmembutnotused, rule, %d, newid))\n"
, header, next_index, i);
print_indent(indent); fprintf(OUT, " %s;\n", successcode);
print_indent(indent); fprintf(OUT, " else\n");
print_indent(indent); fprintf(OUT, " %s;\n", failcode);
print_indent(indent); fprintf(OUT, "}\n");
*finishflag = 0;
return instr;
}
default:
*finishflag = -1; /* 常に失敗,終了 */
return instr;
}
}
