buzzvm_state buzzvm_gstore(buzzvm_t vm) {
buzzvm_stack_assert((vm), 2);
buzzvm_type_assert((vm), 2, BUZZTYPE_STRING);
buzzobj_t str = buzzvm_stack_at((vm), 2);
buzzobj_t o = buzzvm_stack_at((vm), 1);
buzzvm_pop(vm);
buzzvm_pop(vm);
buzzdict_set((vm)->gsyms, &(str->s.value.sid), &o);
return BUZZVM_STATE_READY;
}
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 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);
}
}
}
buzzvm_state buzzvm_function_call(buzzvm_t vm,
const char* fname,
uint32_t argc) {
/* Reset the VM state if it's DONE */
if(vm->state == BUZZVM_STATE_DONE)
vm->state = BUZZVM_STATE_READY;
/* Don't continue if the VM has an error */
if(vm->state != BUZZVM_STATE_READY)
return vm->state;
/* Push the function name (return with error if not found) */
buzzvm_pushs(vm, buzzvm_string_register(vm, fname, 0));
/* Get associated symbol */
buzzvm_gload(vm);
/* Make sure it's a closure */
buzzvm_type_assert(vm, 1, BUZZTYPE_CLOSURE);
/* Move closure before arguments */
if(argc > 0) {
buzzdarray_insert(vm->stack,
buzzdarray_size(vm->stack) - argc - 1,
buzzvm_stack_at(vm, 1));
buzzvm_pop(vm);
}
/* Call the closure */
return buzzvm_closure_call(vm, argc);
}
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 buzzvm_ret1(buzzvm_t vm) {
/* Pop swarm stack */
if(vm->lsyms->isswarm)
buzzdarray_pop(vm->swarmstack);
/* Pop local symbol table */
buzzdarray_pop(vm->lsymts);
/* Set local symbol table pointer */
vm->lsyms = !buzzdarray_isempty(vm->lsymts) ?
buzzdarray_last(vm->lsymts, buzzvm_lsyms_t) :
NULL;
/* Make sure there's an element on the stack */
buzzvm_stack_assert(vm, 1);
/* Save it, it's the return value to pass to the lower stack */
buzzobj_t ret = buzzvm_stack_at(vm, 1);
/* Pop stack */
buzzdarray_pop(vm->stacks);
/* Set stack pointer */
vm->stack = buzzdarray_last(vm->stacks, buzzdarray_t);
/* Make sure the stack contains at least one element */
buzzvm_stack_assert(vm, 1);
/* Make sure that element is an integer */
buzzvm_type_assert(vm, 1, BUZZTYPE_INT);
/* Use that element as program counter */
vm->oldpc = vm->pc;
vm->pc = buzzvm_stack_at(vm, 1)->i.value;
/* Pop the return address */
buzzvm_pop(vm);
/* Push the return value */
return buzzvm_push(vm, ret);
}
// 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);
}
buzzvm_state buzzvm_tget(buzzvm_t vm) {
buzzvm_stack_assert(vm, 2);
buzzvm_type_assert(vm, 2, BUZZTYPE_TABLE);
buzzobj_t k = buzzvm_stack_at(vm, 1);
buzzobj_t t = buzzvm_stack_at(vm, 2);
buzzvm_pop(vm);
buzzvm_pop(vm);
if(k->o.type != BUZZTYPE_INT &&
k->o.type != BUZZTYPE_FLOAT &&
k->o.type != BUZZTYPE_STRING) {
buzzvm_seterror(vm, BUZZVM_ERROR_TYPE, "a %s value can't be used as table key", k->o.type);
return vm->state;
}
const buzzobj_t* v = buzzdict_get(t->t.value, &k, buzzobj_t);
if(v) buzzvm_push(vm, *v);
else buzzvm_pushnil(vm);
return BUZZVM_STATE_READY;
}
buzzvm_state buzzvm_gload(buzzvm_t vm) {
buzzvm_stack_assert(vm, 1);
buzzvm_type_assert(vm, 1, BUZZTYPE_STRING);
buzzobj_t str = buzzvm_stack_at(vm, 1);
buzzvm_pop(vm);
const buzzobj_t* o = buzzdict_get(vm->gsyms, &(str->s.value.sid), buzzobj_t);
if(!o) { buzzvm_pushnil(vm); }
else { buzzvm_push(vm, (*o)); }
return BUZZVM_STATE_READY;
}
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);
}
buzzvm_state buzzvm_tput(buzzvm_t vm) {
buzzvm_stack_assert(vm, 3);
buzzvm_type_assert(vm, 3, BUZZTYPE_TABLE);
buzzobj_t v = buzzvm_stack_at(vm, 1);
buzzobj_t k = buzzvm_stack_at(vm, 2);
buzzobj_t t = buzzvm_stack_at(vm, 3);
buzzvm_pop(vm);
buzzvm_pop(vm);
buzzvm_pop(vm);
if(k->o.type != BUZZTYPE_INT &&
k->o.type != BUZZTYPE_FLOAT &&
k->o.type != BUZZTYPE_STRING) {
buzzvm_seterror(vm, BUZZVM_ERROR_TYPE, "a %s value can't be used as table key", buzztype_desc[k->o.type]);
return vm->state;
}
if(v->o.type == BUZZTYPE_NIL) {
/* Nil, erase entry */
buzzdict_remove(t->t.value, &k);
}
else if(v->o.type == BUZZTYPE_CLOSURE) {
/* Method call */
int i;
buzzobj_t o = buzzheap_newobj(vm, BUZZTYPE_CLOSURE);
o->c.value.isnative = v->c.value.isnative;
o->c.value.ref = v->c.value.ref;
buzzdarray_push(o->c.value.actrec, &t);
for(i = 1; i < buzzdarray_size(v->c.value.actrec); ++i)
buzzdarray_push(o->c.value.actrec,
&buzzdarray_get(v->c.value.actrec,
i, buzzobj_t));
buzzdict_set(t->t.value, &k, &o);
}
else {
buzzdict_set(t->t.value, &k, &v);
}
return BUZZVM_STATE_READY;
}
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 buzzvm_call(buzzvm_t vm, int isswrm) {
/* Get argument number and pop it */
buzzvm_stack_assert(vm, 1);
buzzvm_type_assert(vm, 1, BUZZTYPE_INT);
int32_t argn = buzzvm_stack_at(vm, 1)->i.value;
buzzvm_pop(vm);
/* Make sure the stack has enough elements */
buzzvm_stack_assert(vm, argn+1);
/* Make sure the closure is where expected */
buzzvm_type_assert(vm, argn+1, BUZZTYPE_CLOSURE);
buzzobj_t c = buzzvm_stack_at(vm, argn+1);
/* Make sure that that data about C closures is correct */
if((!c->c.value.isnative) &&
((c->c.value.ref) >= buzzdarray_size(vm->flist))) {
buzzvm_seterror(vm, BUZZVM_ERROR_FLIST, NULL);
return vm->state;
}
/* Create a new local symbol list copying the parent's */
vm->lsyms =
buzzvm_lsyms_new(isswrm,
buzzdarray_clone(c->c.value.actrec));
buzzdarray_push(vm->lsymts, &(vm->lsyms));
/* Add function arguments to the local symbols */
int32_t i;
for(i = argn; i > 0; --i)
buzzdarray_push(vm->lsyms->syms,
&buzzdarray_get(vm->stack,
buzzdarray_size(vm->stack) - i,
buzzobj_t));
/* Get rid of the function arguments */
for(i = argn+1; i > 0; --i)
buzzdarray_pop(vm->stack);
/* Pop unused self table */
buzzdarray_pop(vm->stack);
/* Push return address */
buzzvm_pushi((vm), vm->pc);
/* Make a new stack for the function */
vm->stack = buzzdarray_new(1, sizeof(buzzobj_t), NULL);
buzzdarray_push(vm->stacks, &(vm->stack));
/* Jump to/execute the function */
if(c->c.value.isnative) {
vm->oldpc = vm->pc;
vm->pc = c->c.value.ref;
}
else buzzdarray_get(vm->flist,
c->c.value.ref,
buzzvm_funp)(vm);
return vm->state;
}
int buzzvm_vstig_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 */
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 and add data and methods */
buzzobj_t t = buzzheap_newobj(vm->heap, BUZZTYPE_TABLE);
buzzvm_push(vm, t);
buzzvm_pushs(vm, buzzvm_string_register(vm, "size"));
buzzvm_pushcc(vm, buzzvm_function_register(vm, buzzvm_vstig_size));
buzzvm_tput(vm);
buzzvm_push(vm, t);
buzzvm_pushs(vm, buzzvm_string_register(vm, "put"));
buzzvm_pushcc(vm, buzzvm_function_register(vm, buzzvm_vstig_put));
buzzvm_tput(vm);
buzzvm_push(vm, t);
buzzvm_pushs(vm, buzzvm_string_register(vm, "get"));
buzzvm_pushcc(vm, buzzvm_function_register(vm, buzzvm_vstig_get));
buzzvm_tput(vm);
buzzvm_push(vm, t);
buzzvm_pushs(vm, buzzvm_string_register(vm, "onconflict"));
buzzvm_pushcc(vm, buzzvm_function_register(vm, buzzvm_vstig_setonconflict));
buzzvm_tput(vm);
buzzvm_push(vm, t);
buzzvm_pushs(vm, buzzvm_string_register(vm, "onconflictlost"));
buzzvm_pushcc(vm, buzzvm_function_register(vm, buzzvm_vstig_setonconflictlost));
buzzvm_tput(vm);
buzzvm_push(vm, t);
buzzvm_pushs(vm, buzzvm_string_register(vm, "id"));
buzzvm_pushi(vm, id);
buzzvm_tput(vm);
/* Push the table on the stack */
buzzvm_push(vm, t);
/* Return */
return buzzvm_ret1(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 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);
}
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);
}
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);
}
}
}
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;
}
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;
}
}
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);
}
}
