// 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 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 buzzvstig_size(buzzvm_t vm) {
buzzvm_lnum_assert(vm, 0);
/* 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, return its size */
buzzvm_pushi(vm, buzzdict_size((*vs)->data));
}
else {
/* Virtual stigmergy not found, return 0 */
buzzvm_pushi(vm, 0);
}
/* 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);
}
void buzzvm_dump(buzzvm_t vm) {
int64_t i, j;
fprintf(stderr, "============================================================\n");
fprintf(stderr, "state: %d\terror: %d\n", vm->state, vm->error);
fprintf(stderr, "code size: %u\tpc: %d\n", vm->bcode_size, vm->pc);
fprintf(stderr, "stacks: %" PRId64 "\tcur elem: %" PRId64 " (size %" PRId64 ")\n", buzzdarray_size(vm->stacks), buzzvm_stack_top(vm), buzzvm_stack_top(vm));
for(i = buzzdarray_size(vm->stacks)-1; i >= 0 ; --i) {
fprintf(stderr, "===== stack: %" PRId64 " =====\n", i);
for(j = buzzdarray_size(buzzdarray_get(vm->stacks, i, buzzdarray_t)) - 1; j >= 0; --j) {
fprintf(stderr, "\t%" PRId64 "\t", j);
buzzobj_t o = buzzdarray_get(buzzdarray_get(vm->stacks, i, buzzdarray_t), j, buzzobj_t);
switch(o->o.type) {
case BUZZTYPE_NIL:
fprintf(stderr, "[nil]\n");
break;
case BUZZTYPE_INT:
fprintf(stderr, "[int] %d\n", o->i.value);
break;
case BUZZTYPE_FLOAT:
fprintf(stderr, "[float] %f\n", o->f.value);
break;
case BUZZTYPE_TABLE:
fprintf(stderr, "[table] %d elements\n", buzzdict_size(o->t.value));
break;
case BUZZTYPE_CLOSURE:
if(o->c.value.isnative) {
fprintf(stderr, "[n-closure] %d\n", o->c.value.ref);
}
else {
fprintf(stderr, "[c-closure] %d\n", o->c.value.ref);
}
break;
case BUZZTYPE_STRING:
fprintf(stderr, "[string] %d:'%s'\n", o->s.value.sid, o->s.value.str);
break;
default:
fprintf(stderr, "[TODO] type = %d\n", o->o.type);
}
}
}
fprintf(stderr, "============================================================\n\n");
}
int buzzvm_vstig_size(buzzvm_t vm) {
buzzvm_lnum_assert(vm, 0);
/* 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, return its size */
buzzvm_pushi(vm, buzzdict_size((*vs)->data));
}
else {
/* Virtual stigmergy not found, return 0 */
buzzvm_pushi(vm, 0);
}
/* Return */
return buzzvm_ret1(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 di_print(buzzdict_t di) {
fprintf(stdout, "size: %u\n", buzzdict_size(di));
buzzdict_foreach(di, di_print_elem, NULL);
fprintf(stdout, "\n");
}
void buzzswarm_members_print(buzzswarm_members_t m, uint16_t id) {
fprintf(stdout, "ROBOT %u -> Swarm member table size: %u\n", id, buzzdict_size(m));
buzzdict_foreach(m, print_swarm_elem, &id);
}
