// proper way to send loooong 1D array int BuzzSetMap(buzzvm_t vm){ /* Make sure one parameter has been passed */ buzzvm_lnum_assert(vm, 1); /* Get the parameter */ buzzvm_lload(vm, 1); buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE); // matrix /* Get the table */ buzzobj_t t = buzzvm_stack_at(vm, 1); /* Copy the values into a vector */ std::vector<float> mat; for(int32_t i = 0; i < buzzdict_size(t->t.value); ++i) { /* Duplicate the table */ buzzvm_dup(vm); /* Push the index */ buzzvm_pushi(vm, i); /* Get the value */ buzzvm_tget(vm); /* Store it in the vector (assume all values are float, no mistake...) */ mat.push_back((float)buzzvm_stack_at(vm, 1)->f.value); /* Get rid of the value, now useless */ buzzvm_pop(vm); } /* Get a pointer to the controller */ buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); /* Copy data into the controller */ reinterpret_cast<CBuzzControllerFootBot*>(buzzvm_stack_at(vm, 1)->u.value)->SetMapParams(mat, Sqrt(buzzdict_size(t->t.value))); /* Done with the function */ return buzzvm_ret0(vm); }
int buzzvm_swarm_select(buzzvm_t vm) { buzzvm_lnum_assert(vm, 1); /* Get the id */ buzzvm_lload(vm, 0); buzzvm_pushs(vm, buzzvm_string_register(vm, "id")); buzzvm_tget(vm); uint16_t id = buzzvm_stack_at(vm, 1)->i.value; /* Get the result of the condition check */ buzzvm_lload(vm, 1); buzzvm_type_assert(vm, 1, BUZZTYPE_INT); uint8_t in = buzzvm_stack_at(vm, 1)->i.value; /* Update the swarm, if known */ if(buzzdict_exists(vm->swarms, &id)) { /* Store membership */ buzzdict_set(vm->swarms, &id, &in); /* Send update */ buzzoutmsg_queue_append_swarm_joinleave( vm->outmsgs, in ? BUZZMSG_SWARM_JOIN : BUZZMSG_SWARM_LEAVE, id); /* Return */ return buzzvm_ret0(vm); } else { vm->state = BUZZVM_STATE_ERROR; vm->error = BUZZVM_ERROR_SWARM; return BUZZVM_STATE_ERROR; } }
int buzzvm_vstig_setonconflictlost(struct buzzvm_s* vm) { buzzvm_lnum_assert(vm, 1); /* Get vstig id */ buzzvm_lload(vm, 0); buzzvm_pushs(vm, buzzvm_string_register(vm, "id")); buzzvm_tget(vm); uint16_t id = buzzvm_stack_at(vm, 1)->i.value; /* Look for virtual stigmergy */ buzzvstig_t* vs = buzzdict_get(vm->vstigs, &id, buzzvstig_t); if(vs) { /* Virtual stigmergy found */ /* Get closure */ buzzvm_lload(vm, 1); buzzvm_type_assert(vm, 1, BUZZTYPE_CLOSURE); /* Clone the closure */ if((*vs)->onconflictlost) free((*vs)->onconflictlost); (*vs)->onconflictlost = buzzobj_clone(buzzvm_stack_at(vm, 1)); } else { /* No virtual stigmergy found, just push false */ /* If this happens, its a bug */ buzzvm_pushnil(vm); fprintf(stderr, "[BUG] [ROBOT %u] Can't find virtual stigmergy %u\n", vm->robot, id); } /* Return the value found */ return buzzvm_ret0(vm); }
static int BuzzCameraDisable(buzzvm_t vm) { /* Get pointer to the controller */ buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); /* Call function */ reinterpret_cast<CBuzzControllerFootBot*>(buzzvm_stack_at(vm, 1)->u.value)->CameraDisable(); return buzzvm_ret0(vm); }
int BuzzStopProcessing(buzzvm_t vm) { /* Get pointer to the controller */ buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); /* Call function */ reinterpret_cast<CBuzzControllerEFootBot*>(buzzvm_stack_at(vm, 1)->u.value)->StopProcessing(); return buzzvm_ret0(vm); }
int buzzneighbors_ignore(buzzvm_t vm) { buzzvm_lnum_assert(vm, 1); /* Get value id argument */ buzzvm_lload(vm, 1); buzzvm_type_assert(vm, 1, BUZZTYPE_STRING); /* Remove listener */ buzzdict_remove( vm->listeners, &(buzzvm_stack_at(vm, 1)->s.value.sid)); return buzzvm_ret0(vm); }
static int BuzzRotate(buzzvm_t vm) { /* Push the yaw angle */ buzzvm_lload(vm, 1); /* Create a new angle with that */ CRadians cYaw(buzzvm_stack_at(vm, 1)->f.value); /* Get pointer to the controller */ buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); /* Call function */ reinterpret_cast<CBuzzControllerSpiri*>(buzzvm_stack_at(vm, 1)->u.value)->SetYaw(cYaw); return buzzvm_ret0(vm); }
int buzzvm_swarm_exec(buzzvm_t vm) { buzzvm_lnum_assert(vm, 1); /* Get the id */ buzzvm_lload(vm, 0); buzzvm_pushs(vm, buzzvm_string_register(vm, "id")); buzzvm_tget(vm); uint16_t id = buzzvm_stack_at(vm, 1)->i.value; /* Get the swarm entry */ uint8_t* x = buzzdict_get(vm->swarms, &id, uint8_t); if(!x) { vm->state = BUZZVM_STATE_ERROR; vm->error = BUZZVM_ERROR_SWARM; return BUZZVM_STATE_ERROR; } /* Check whether the robot is in the swarm */ if(*x) { /* Get the closure */ buzzvm_lload(vm, 1); buzzvm_type_assert(vm, 1, BUZZTYPE_CLOSURE); buzzobj_t c = buzzvm_stack_at(vm, 1); /* Get rid of the current call structure */ if(buzzvm_ret0(vm) != BUZZVM_STATE_READY) return vm->state; /* Save the current stack depth */ uint32_t stacks = buzzdarray_size(vm->stacks); /* Push the current swarm in the stack */ buzzdarray_push(vm->swarmstack, &id); /* Call the closure */ buzzvm_push(vm, c); int32_t numargs = 0; buzzvm_pushi(vm, numargs); buzzvm_calls(vm); do if(buzzvm_step(vm) != BUZZVM_STATE_READY) return vm->state; while(stacks < buzzdarray_size(vm->stacks)); return vm->state; } else { /* Get rid of the current call structure */ return buzzvm_ret0(vm); } }
int BuzzRemoveCS(buzzvm_t vm) { buzzvm_lnum_assert(vm, 1); buzzvm_lload(vm, 1); buzzvm_type_assert(vm, 1, BUZZTYPE_INT); int id = buzzvm_stack_at(vm, 1)->i.value; buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); reinterpret_cast<CBuzzControllerFootBot*>(buzzvm_stack_at(vm, 1)->u.value)->RemoveCS(id); return buzzvm_ret0(vm); }
int BuzzSetArgosMap(buzzvm_t vm) { buzzvm_lnum_assert(vm, 1); buzzvm_lload(vm, 1); buzzvm_type_assert(vm, 1, BUZZTYPE_STRING); std::string text = buzzvm_stack_at(vm, 1)->s.value.str; /* Get pointer to the controller */ buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); /* Call function */ //printf("Value: %s", buzzvm_stack_at(vm, 1)->s.value.str); reinterpret_cast<CBuzzControllerFootBot*>(buzzvm_stack_at(vm, 1)->u.value)->SetArgosMap(text); return buzzvm_ret0(vm); }
int BuzzDebugTrajectoryClear(buzzvm_t vm) { /* * Possible signatures * debug.trajectory.clear() * deletes all the trajectory points */ /* Get pointer to controller user data */ buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); buzzvm_type_assert(vm, 1, BUZZTYPE_USERDATA); CBuzzController& cContr = *reinterpret_cast<CBuzzController*>(buzzvm_stack_at(vm, 1)->u.value); cContr.GetARGoSDebugInfo().TrajectoryClear(); return buzzvm_ret0(vm); }
static int BuzzGoTo(buzzvm_t vm) { /* Push the vector components */ buzzvm_lload(vm, 1); buzzvm_lload(vm, 2); /* Create a new vector with that */ CVector2 cDir(buzzvm_stack_at(vm, 2)->f.value, buzzvm_stack_at(vm, 1)->f.value); /* Get pointer to the controller */ buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); /* Call function */ reinterpret_cast<CBuzzControllerEFootBot*>(buzzvm_stack_at(vm, 1)->u.value)->SetWheelSpeedsFromVector(cDir); return buzzvm_ret0(vm); }
int buzzneighbors_broadcast(buzzvm_t vm) { buzzvm_lnum_assert(vm, 2); /* Get value id argument */ buzzvm_lload(vm, 1); buzzvm_type_assert(vm, 1, BUZZTYPE_STRING); /* Get value argument */ buzzvm_lload(vm, 2); /* Queue a message with (value_id, value) */ buzzoutmsg_queue_append_broadcast( vm, buzzvm_stack_at(vm, 2), buzzvm_stack_at(vm, 1)); return buzzvm_ret0(vm); }
int buzzvstig_put(buzzvm_t vm) { buzzvm_lnum_assert(vm, 2); /* Get vstig id */ id_get(); /* Get key */ buzzvm_lload(vm, 1); buzzobj_t k = buzzvm_stack_at(vm, 1); /* Get value */ buzzvm_lload(vm, 2); buzzobj_t v = buzzvm_stack_at(vm, 1); /* Look for virtual stigmergy */ const buzzvstig_t* vs = buzzdict_get(vm->vstigs, &id, buzzvstig_t); if(vs) { /* Look for the element */ const buzzvstig_elem_t* x = buzzvstig_fetch(*vs, &k); if(x) { /* Element found */ if(v->o.type != BUZZTYPE_NIL) { /* New value is not nil, update the existing element */ (*x)->data = v; ++((*x)->timestamp); (*x)->robot = vm->robot; /* Append a PUT message to the out message queue */ buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_PUT, id, k, *x); } else { /* New value is nil, must delete the existing element */ /* Make a new element with nil as value to update neighbors */ buzzvstig_elem_t y = buzzvstig_elem_new( buzzobj_new(BUZZTYPE_NIL), // nil value (*x)->timestamp + 1, // new timestamp vm->robot); // robot id /* Append a PUT message to the out message queue with nil in it */ buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_PUT, id, k, y); /* Delete the existing element */ buzzvstig_remove(*vs, &k); } } else if(v->o.type != BUZZTYPE_NIL) { /* Element not found and new value is not nil, store it */ buzzvstig_elem_t y = buzzvstig_elem_new(v, 1, vm->robot); buzzvstig_store(*vs, &k, &y); /* Append a PUT message to the out message queue */ buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_PUT, id, k, y); } } /* Return */ return buzzvm_ret0(vm); }
int BuzzDebugTrajectoryDisable(buzzvm_t vm) { /* * Possible signatures * debug.trajectory.disable() * disables trajectory tracking */ /* Get pointer to controller user data */ buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); buzzvm_type_assert(vm, 1, BUZZTYPE_USERDATA); CBuzzController* pcContr = reinterpret_cast<CBuzzController*>(buzzvm_stack_at(vm, 1)->u.value); /* Call method */ CBuzzController::DebugTrajectoryDisable(pcContr); return buzzvm_ret0(vm); }
int buzzneighbors_listen(buzzvm_t vm) { buzzvm_lnum_assert(vm, 2); /* Get value id argument */ buzzvm_lload(vm, 1); buzzvm_type_assert(vm, 1, BUZZTYPE_STRING); /* Get listener argument */ buzzvm_lload(vm, 2); buzzvm_type_assert(vm, 1, BUZZTYPE_CLOSURE); /* Install listener */ buzzdict_set( vm->listeners, &buzzvm_stack_at(vm, 2)->s.value.sid, &buzzvm_stack_at(vm, 1)); return buzzvm_ret0(vm); }
int BuzzShowBorderRobots(buzzvm_t vm) { buzzvm_lnum_assert(vm, 1); buzzvm_lload(vm, 1); buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE); buzzobj_t t = buzzvm_stack_at(vm, 1); buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); std::vector<float> v; buzzdict_foreach(t->t.value, di_read_elem, &v); reinterpret_cast<CBuzzControllerFootBot*>(buzzvm_stack_at(vm, 1)->u.value)->m_border_robot_ids = v; return buzzvm_ret0(vm); }
int BuzzSetWheelsFb(buzzvm_t vm) { buzzvm_lnum_assert(vm, 2); /* Push speeds */ buzzvm_lload(vm, 1); /* Left speed */ buzzvm_lload(vm, 2); /* Right speed */ buzzvm_type_assert(vm, 2, BUZZTYPE_FLOAT); buzzvm_type_assert(vm, 1, BUZZTYPE_FLOAT); /* Get pointer to the controller */ buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); /* Call function */ reinterpret_cast<CBuzzControllerEFootBot*>( buzzvm_stack_at(vm, 1)->u.value)-> SetWheels(buzzvm_stack_at(vm, 3)->f.value, /* Left speed */ buzzvm_stack_at(vm, 2)->f.value /* Right speed */ ); return buzzvm_ret0(vm); }
int BuzzDebugPrint(buzzvm_t vm) { /* Get pointer to controller user data */ buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); buzzvm_type_assert(vm, 1, BUZZTYPE_USERDATA); CBuzzController& cContr = *reinterpret_cast<CBuzzController*>(buzzvm_stack_at(vm, 1)->u.value); /* Fill message */ std::ostringstream oss; for(UInt32 i = 1; i < buzzdarray_size(vm->lsyms->syms); ++i) { buzzvm_lload(vm, i); buzzobj_t o = buzzvm_stack_at(vm, 1); buzzvm_pop(vm); switch(o->o.type) { case BUZZTYPE_NIL: oss << "[nil]"; break; case BUZZTYPE_INT: oss << o->i.value; break; case BUZZTYPE_FLOAT: oss << o->f.value; break; case BUZZTYPE_TABLE: oss << "[table with " << (buzzdict_size(o->t.value)) << " elems]"; break; case BUZZTYPE_CLOSURE: if(o->c.value.isnative) oss << "[n-closure @" << o->c.value.ref << "]"; else oss << "[c-closure @" << o->c.value.ref << "]"; break; case BUZZTYPE_STRING: oss << o->s.value.str; break; case BUZZTYPE_USERDATA: oss << "[userdata @" << o->u.value << "]"; break; default: break; } } cContr.GetARGoSDebugInfo().Msg = oss.str(); return buzzvm_ret0(vm); }
int buzzvstig_foreach(struct buzzvm_s* vm) { /* Make sure you got one argument */ buzzvm_lnum_assert(vm, 1); /* Get vstig id */ id_get(); /* Look for virtual stigmergy */ const buzzvstig_t* vs = buzzdict_get(vm->vstigs, &id, buzzvstig_t); if(vs) { /* Virtual stigmergy found */ /* Get closure */ buzzvm_lload(vm, 1); buzzvm_type_assert(vm, 1, BUZZTYPE_CLOSURE); buzzobj_t c = buzzvm_stack_at(vm, 1); /* Go through the elements and apply the closure */ struct buzzvstig_foreach_params p = { .vm = vm, .fun = c }; buzzdict_foreach((*vs)->data, buzzvstig_foreach_entry, &p); } /* Return */ return buzzvm_ret0(vm); }
int BuzzSetLEDsFb(buzzvm_t vm) { buzzvm_lnum_assert(vm, 3); /* Push the color components */ buzzvm_lload(vm, 1); buzzvm_lload(vm, 2); buzzvm_lload(vm, 3); buzzvm_type_assert(vm, 3, BUZZTYPE_INT); buzzvm_type_assert(vm, 2, BUZZTYPE_INT); buzzvm_type_assert(vm, 1, BUZZTYPE_INT); /* Create a new color with that */ CColor cColor(buzzvm_stack_at(vm, 3)->i.value, buzzvm_stack_at(vm, 2)->i.value, buzzvm_stack_at(vm, 1)->i.value); /* Get pointer to the controller */ buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); /* Call function */ reinterpret_cast<CBuzzControllerEFootBot*>(buzzvm_stack_at(vm, 1)->u.value)->SetLEDs(cColor); return buzzvm_ret0(vm); }
int BuzzSetPath(buzzvm_t vm){ buzzvm_lnum_assert(vm, 1); /* Get the parameter */ buzzvm_lload(vm, 1); buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE); // dictionary buzzobj_t t = buzzvm_stack_at(vm, 1); std::vector<CBuzzControllerFootBot::PathItem> pis; for(int32_t i = 0; i < buzzdict_size(t->t.value); ++i) { buzzvm_dup(vm); buzzvm_pushi(vm, i); buzzvm_tget(vm); int id = 0; int parent = 0; float x = 0.0; float y = 0.0; for(int32_t j = 0; j < buzzdict_size(buzzvm_stack_at(vm, 1)->t.value); ++j) { buzzvm_dup(vm); buzzvm_pushi(vm, j); buzzvm_tget(vm); if(j == 0){ id = (float)buzzvm_stack_at(vm, 1)->i.value; } else if(j == 1){ parent = (float)buzzvm_stack_at(vm, 1)->i.value; } else if (j == 2){ x = (float)buzzvm_stack_at(vm, 1)->f.value; } else if (j == 3){ y = (float)buzzvm_stack_at(vm, 1)->f.value; } //fprintf(stdout, "%d %f \n", j, (float)buzzvm_stack_at(vm, 1)->f.value); buzzvm_pop(vm); } pis.push_back(CBuzzControllerFootBot::PathItem(id, parent, x, y)); buzzvm_pop(vm); } /* Get a pointer to the controller */ buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); /* Copy data into the controller */ reinterpret_cast<CBuzzControllerFootBot*>(buzzvm_stack_at(vm, 1)->u.value)->Done(pis); /* Done with the function */ return buzzvm_ret0(vm); }
int BuzzDrawObstacles(buzzvm_t vm){ buzzvm_lnum_assert(vm, 1); buzzvm_lload(vm, 1); buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE); // dictionary buzzobj_t t = buzzvm_stack_at(vm, 1); std::vector<CBuzzControllerFootBot::Obstacle> obs; for(int32_t i = 0; i < buzzdict_size(t->t.value); ++i) { buzzvm_dup(vm); buzzvm_pushi(vm, i); buzzvm_tget(vm); float x = 0.0; float y = 0.0; float radius = 0.0; int type = 0; for(int32_t j = 0; j < buzzdict_size(buzzvm_stack_at(vm, 1)->t.value); ++j) { buzzvm_dup(vm); buzzvm_pushi(vm, j); buzzvm_tget(vm); if(j == 0){ x = (float)buzzvm_stack_at(vm, 1)->f.value; } else if(j == 1){ y = (float)buzzvm_stack_at(vm, 1)->f.value; } else if (j == 2){ radius = (float)buzzvm_stack_at(vm, 1)->f.value; } else if (j == 3){ type = (int) buzzvm_stack_at(vm, 1)->i.value; } //fprintf(stdout, "%d %f \n", j, (float)buzzvm_stack_at(vm, 1)->f.value); buzzvm_pop(vm); } obs.push_back(CBuzzControllerFootBot::Obstacle(x, y, radius, type)); buzzvm_pop(vm); } buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); reinterpret_cast<CBuzzControllerFootBot*>(buzzvm_stack_at(vm, 1)->u.value)->ArgosDrawObstacles(obs); return buzzvm_ret0(vm); }
int BuzzShowCoordinateSystem(buzzvm_t vm) { buzzvm_lnum_assert(vm, 5); buzzvm_lload(vm, 1); buzzvm_lload(vm, 2); buzzvm_lload(vm, 3); buzzvm_lload(vm, 4); buzzvm_lload(vm, 5); buzzvm_type_assert(vm, 5, BUZZTYPE_INT); buzzvm_type_assert(vm, 4, BUZZTYPE_INT); buzzvm_type_assert(vm, 3, BUZZTYPE_INT); buzzvm_type_assert(vm, 2, BUZZTYPE_INT); buzzvm_type_assert(vm, 1, BUZZTYPE_INT); buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); reinterpret_cast<CBuzzControllerFootBot*>(buzzvm_stack_at(vm, 1)->u.value)->SetArgosCoordinateIDs( buzzvm_stack_at(vm, 6)->i.value, buzzvm_stack_at(vm, 5)->i.value, buzzvm_stack_at(vm, 4)->i.value, buzzvm_stack_at(vm, 3)->i.value, buzzvm_stack_at(vm, 2)->i.value); return buzzvm_ret0(vm); }
int BuzzLOG (buzzvm_t vm) { LOG << "BUZZ: "; for(UInt32 i = 1; i < buzzdarray_size(vm->lsyms->syms); ++i) { buzzvm_lload(vm, i); buzzobj_t o = buzzvm_stack_at(vm, 1); buzzvm_pop(vm); switch(o->o.type) { case BUZZTYPE_NIL: LOG << "[nil]"; break; case BUZZTYPE_INT: LOG << o->i.value; break; case BUZZTYPE_FLOAT: LOG << o->f.value; break; case BUZZTYPE_TABLE: LOG << "[table with " << (buzzdict_size(o->t.value)) << " elems]"; break; case BUZZTYPE_CLOSURE: if(o->c.value.isnative) LOG << "[n-closure @" << o->c.value.ref << "]"; else LOG << "[c-closure @" << o->c.value.ref << "]"; break; case BUZZTYPE_STRING: LOG << o->s.value.str; break; case BUZZTYPE_USERDATA: LOG << "[userdata @" << o->u.value << "]"; break; default: break; } } LOG << std::endl; LOG.Flush(); return buzzvm_ret0(vm); }
static int BuzzGoToP(buzzvm_t vm) { /* Push the vector components */ buzzvm_lload(vm, 1); buzzvm_lload(vm, 2); /* Create a new vector with that */ buzzobj_t tLinSpeed = buzzvm_stack_at(vm, 2); buzzobj_t tAngSpeed = buzzvm_stack_at(vm, 1); Real fLinSpeed = 0.0, fAngSpeed = 0.0; if(tLinSpeed->o.type == BUZZTYPE_INT) fLinSpeed = tLinSpeed->i.value; else if(tLinSpeed->o.type == BUZZTYPE_FLOAT) fLinSpeed = tLinSpeed->f.value; else { buzzvm_seterror(vm, BUZZVM_ERROR_TYPE, "gotop(linspeed,angspeed): expected %s, got %s in first argument", buzztype_desc[BUZZTYPE_FLOAT], buzztype_desc[tLinSpeed->o.type] ); return vm->state; } if(tAngSpeed->o.type == BUZZTYPE_INT) fAngSpeed = tAngSpeed->i.value; else if(tAngSpeed->o.type == BUZZTYPE_FLOAT) fAngSpeed = tAngSpeed->f.value; else { buzzvm_seterror(vm, BUZZVM_ERROR_TYPE, "gotop(linspeed,angspeed): expected %s, got %s in second argument", buzztype_desc[BUZZTYPE_FLOAT], buzztype_desc[tAngSpeed->o.type] ); return vm->state; } CVector2 cDir(fLinSpeed, CRadians(fAngSpeed)); /* Get pointer to the controller */ buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); /* Call function */ reinterpret_cast<CBuzzControllerFootBot*>(buzzvm_stack_at(vm, 1)->u.value)->SetWheelSpeedsFromVector(cDir); return buzzvm_ret0(vm); }
int print(buzzvm_t vm) { for(int i = 1; i < buzzdarray_size(vm->lsyms->syms); ++i) { buzzvm_lload(vm, i); buzzobj_t o = buzzvm_stack_at(vm, 1); buzzvm_pop(vm); switch(o->o.type) { case BUZZTYPE_NIL: fprintf(stdout, "[nil]"); break; case BUZZTYPE_INT: fprintf(stdout, "%d", o->i.value); break; case BUZZTYPE_FLOAT: fprintf(stdout, "%f", o->f.value); break; case BUZZTYPE_TABLE: fprintf(stdout, "[table with %d elems]", (buzzdict_size(o->t.value))); break; case BUZZTYPE_CLOSURE: if(o->c.value.isnative) fprintf(stdout, "[n-closure @%d]", o->c.value.ref); else fprintf(stdout, "[c-closure @%d]", o->c.value.ref); break; case BUZZTYPE_STRING: fprintf(stdout, "%s", o->s.value.str); break; case BUZZTYPE_USERDATA: fprintf(stdout, "[userdata @%p]", o->u.value); break; default: break; } } fprintf(stdout, "\n"); return buzzvm_ret0(vm); }
int buzzvm_vstig_put(buzzvm_t vm) { buzzvm_lnum_assert(vm, 2); /* Get vstig id */ buzzvm_lload(vm, 0); buzzvm_pushs(vm, buzzvm_string_register(vm, "id")); buzzvm_tget(vm); uint16_t id = buzzvm_stack_at(vm, 1)->i.value; /* Get key */ buzzvm_lload(vm, 1); buzzobj_t k = buzzvm_stack_at(vm, 1); /* Get value */ buzzvm_lload(vm, 2); buzzobj_t v = buzzvm_stack_at(vm, 1); /* Look for virtual stigmergy */ buzzvstig_t* vs = buzzdict_get(vm->vstigs, &id, buzzvstig_t); if(vs) { /* Look for the element */ buzzvstig_elem_t* x = buzzvstig_fetch(*vs, &k); if(x) { /* Element found, update it */ (*x)->data = v; ++((*x)->timestamp); (*x)->robot = vm->robot; /* Append a PUT message to the out message queue */ buzzoutmsg_queue_append_vstig(vm->outmsgs, BUZZMSG_VSTIG_PUT, id, k, *x); } else { /* Element not found, create a new one */ buzzvstig_elem_t y = buzzvstig_elem_new(v, 1, vm->robot); buzzvstig_store(*vs, &k, &y); /* Append a PUT message to the out message queue */ buzzoutmsg_queue_append_vstig(vm->outmsgs, BUZZMSG_VSTIG_PUT, id, k, y); } } /* Return */ return buzzvm_ret0(vm); }
static int BuzzGoToC(buzzvm_t vm) { /* Push the vector components */ buzzvm_lload(vm, 1); buzzvm_lload(vm, 2); /* Create a new vector with that */ buzzobj_t tX = buzzvm_stack_at(vm, 2); buzzobj_t tY = buzzvm_stack_at(vm, 1); CVector2 cDir; if(tX->o.type == BUZZTYPE_INT) cDir.SetX(tX->i.value); else if(tX->o.type == BUZZTYPE_FLOAT) cDir.SetX(tX->f.value); else { buzzvm_seterror(vm, BUZZVM_ERROR_TYPE, "gotoc(x,y): expected %s, got %s in first argument", buzztype_desc[BUZZTYPE_FLOAT], buzztype_desc[tX->o.type] ); return vm->state; } if(tY->o.type == BUZZTYPE_INT) cDir.SetY(tY->i.value); else if(tY->o.type == BUZZTYPE_FLOAT) cDir.SetY(tY->f.value); else { buzzvm_seterror(vm, BUZZVM_ERROR_TYPE, "gotoc(x,y): expected %s, got %s in second argument", buzztype_desc[BUZZTYPE_FLOAT], buzztype_desc[tY->o.type] ); return vm->state; } /* Get pointer to the controller */ buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1)); buzzvm_gload(vm); /* Call function */ reinterpret_cast<CBuzzControllerFootBot*>(buzzvm_stack_at(vm, 1)->u.value)->SetWheelSpeedsFromVector(cDir); return buzzvm_ret0(vm); }
int buzzvm_swarm_leave(buzzvm_t vm) { buzzvm_lnum_assert(vm, 0); /* Get the id */ buzzvm_lload(vm, 0); buzzvm_pushs(vm, buzzvm_string_register(vm, "id")); buzzvm_tget(vm); uint16_t id = buzzvm_stack_at(vm, 1)->i.value; /* Leave the swarm, if known */ if(buzzdict_exists(vm->swarms, &id)) { /* Store membership */ uint8_t v = 0; buzzdict_set(vm->swarms, &id, &v); /* Send update */ buzzoutmsg_queue_append_swarm_joinleave( vm->outmsgs, BUZZMSG_SWARM_LEAVE, id); /* Return */ return buzzvm_ret0(vm); } else { vm->state = BUZZVM_STATE_ERROR; vm->error = BUZZVM_ERROR_SWARM; return BUZZVM_STATE_ERROR; } }