/*
** 'read_basic' reads a Basic program into memory and sets the various
** pointers in 'basicvars' for it.
** The file is opened as a binary file as that appears to be the only
** case where the value returned by 'ftell' can be interpreted as the
** number of characters in the file.
*/
void read_basic(char *name) {
FILE *loadfile;
int32 length;
loadfile = open_file(name);
if (loadfile==NIL) error(ERR_NOTFOUND, name);
last_added = NIL;
if (identify(loadfile, name)==BBCFILE) { /* Acorn BBC Basic tokenised file */
clear_program();
length = read_bbcfile(loadfile, basicvars.top, basicvars.himem);
}
else { /* Plain text */
clear_program();
length = read_textfile(loadfile, basicvars.top, basicvars.himem, basicvars.runflags.loadngo);
}
basicvars.top+=length;
basicvars.misc_flags.badprogram = FALSE;
adjust_heaplimits();
if (basicvars.debug_flags.debug) {
fprintf(stderr, "Program is loaded at page=&%p, top=&%p\n", basicvars.page, basicvars.top);
}
}
void ExecutionManager::mode_callback(const tangible_msgs::Mode::ConstPtr& mode_msg)
{
mode = mode_msg->mode;
switch(mode)
{
case tangible_msgs::Mode::IDLE:
ROS_INFO("Idle Mode");
// stop all movements
stop_execution();
break;
case tangible_msgs::Mode::EDIT:
ROS_INFO("Edit Mode");
// stop all movements
stop_execution();
// clear the program. A new program should be obtained after the edit
// NOTE: this requires the compilation node to always hold on to the last valid program
clear_program();
break;
case tangible_msgs::Mode::EXECUTE:
ROS_INFO("Execution Mode");
// a program is a sequence of operations. If the program is not defined, obtain
// the program. Else, resume its execution from the first incompelete instruction.
// NOTE: instructions are the atomic units of normal program execution.
if(program.empty())
get_program();
start_execution();
break;
default:
ROS_ERROR("Invalid Mode");
break;
}
}
/*
** 'exec_new' clears away the program currently in memory. It can also be
** used to alter the amount of memory used by the interpreter in which
** to store and run programs
*/
static void exec_new(void) {
int32 oldsize, newsize;
boolean ok;
if (basicvars.runflags.running) error(ERR_COMMAND); /* Cannot edit a running program */
basicvars.current++;
if (!isateol(basicvars.current)) { /* New workspace size supplied */
newsize = get_number();
check_ateol();
oldsize = basicvars.worksize;
release_workspace(); /* Discard horrible, rusty old Basic workspace */
ok = init_workspace(ALIGN(newsize)); /* Obtain nice, shiny new one */
if (!ok) { /* Allocation failed - Should still be a block of the old size available */
(void) init_workspace(oldsize);
error(ERR_NOMEMORY);
}
error(WARN_NEWSIZE, basicvars.worksize);
}
clear_program();
init_expressions();
}
static void pmt_cb(MpegTSFilter *filter, const uint8_t *section, int section_len)
{
MpegTSContext *ts = filter->u.section_filter.opaque;
SectionHeader h1, *h = &h1;
PESContext *pes;
AVStream *st;
const uint8_t *p, *p_end, *desc_list_end, *desc_end;
int program_info_length, pcr_pid, pid, stream_type;
int desc_list_len, desc_len, desc_tag;
int comp_page = 0, anc_page = 0; /* initialize to kill warnings */
char language[4] = {0}; /* initialize to kill warnings */
int has_hdmv_descr = 0;
int has_dirac_descr = 0;
#ifdef DEBUG_SI
av_log(ts->stream, AV_LOG_DEBUG, "PMT: len %i\n", section_len);
av_hex_dump_log(ts->stream, AV_LOG_DEBUG, (uint8_t *)section, section_len);
#endif
p_end = section + section_len - 4;
p = section;
if (parse_section_header(h, &p, p_end) < 0)
return;
#ifdef DEBUG_SI
av_log(ts->stream, AV_LOG_DEBUG, "sid=0x%x sec_num=%d/%d\n",
h->id, h->sec_num, h->last_sec_num);
#endif
if (h->tid != PMT_TID)
return;
clear_program(ts, h->id);
pcr_pid = get16(&p, p_end) & 0x1fff;
if (pcr_pid < 0)
return;
add_pid_to_pmt(ts, h->id, pcr_pid);
#ifdef DEBUG_SI
av_log(ts->stream, AV_LOG_DEBUG, "pcr_pid=0x%x\n", pcr_pid);
#endif
program_info_length = get16(&p, p_end) & 0xfff;
if (program_info_length < 0)
return;
while(program_info_length >= 2) {
uint8_t tag, len;
tag = get8(&p, p_end);
len = get8(&p, p_end);
if(len > program_info_length - 2)
//something else is broken, exit the program_descriptors_loop
break;
program_info_length -= len + 2;
if(tag == REGISTRATION_DESCRIPTOR && len >= 4) {
uint8_t bytes[4];
bytes[0] = get8(&p, p_end);
bytes[1] = get8(&p, p_end);
bytes[2] = get8(&p, p_end);
bytes[3] = get8(&p, p_end);
len -= 4;
if(bytes[0] == 'H' && bytes[1] == 'D' &&
bytes[2] == 'M' && bytes[3] == 'V')
has_hdmv_descr = 1;
}
p += len;
}
p += program_info_length;
if (p >= p_end)
return;
for(;;) {
language[0] = 0;
st = 0;
stream_type = get8(&p, p_end);
if (stream_type < 0)
break;
pid = get16(&p, p_end) & 0x1fff;
if (pid < 0)
break;
desc_list_len = get16(&p, p_end) & 0xfff;
if (desc_list_len < 0)
break;
desc_list_end = p + desc_list_len;
if (desc_list_end > p_end)
break;
for(;;) {
desc_tag = get8(&p, desc_list_end);
if (desc_tag < 0)
break;
if (stream_type == STREAM_TYPE_PRIVATE_DATA) {
if((desc_tag == 0x6A) || (desc_tag == 0x7A)) {
/*assume DVB AC-3 Audio*/
stream_type = STREAM_TYPE_AUDIO_AC3;
} else if(desc_tag == 0x7B) {
/* DVB DTS audio */
stream_type = STREAM_TYPE_AUDIO_DTS;
}
}
desc_len = get8(&p, desc_list_end);
desc_end = p + desc_len;
if (desc_end > desc_list_end)
break;
#ifdef DEBUG_SI
av_log(ts->stream, AV_LOG_DEBUG, "tag: 0x%02x len=%d\n",
desc_tag, desc_len);
#endif
switch(desc_tag) {
case DVB_SUBT_DESCID:
if (stream_type == STREAM_TYPE_PRIVATE_DATA)
stream_type = STREAM_TYPE_SUBTITLE_DVB;
language[0] = get8(&p, desc_end);
language[1] = get8(&p, desc_end);
language[2] = get8(&p, desc_end);
language[3] = 0;
get8(&p, desc_end);
comp_page = get16(&p, desc_end);
anc_page = get16(&p, desc_end);
break;
case 0x0a: /* ISO 639 language descriptor */
language[0] = get8(&p, desc_end);
language[1] = get8(&p, desc_end);
language[2] = get8(&p, desc_end);
language[3] = 0;
break;
case REGISTRATION_DESCRIPTOR: /*MPEG-2 Registration descriptor */
{
uint8_t bytes[4];
bytes[0] = get8(&p, desc_end);
bytes[1] = get8(&p, desc_end);
bytes[2] = get8(&p, desc_end);
bytes[3] = get8(&p, desc_end);
if(bytes[0] == 'd' && bytes[1] == 'r' &&
bytes[2] == 'a' && bytes[3] == 'c')
has_dirac_descr = 1;
break;
}
default:
break;
}
p = desc_end;
}
p = desc_list_end;
#ifdef DEBUG_SI
av_log(ts->stream, AV_LOG_DEBUG, "stream_type=%d pid=0x%x\n",
stream_type, pid);
#endif
/* now create ffmpeg stream */
switch(stream_type) {
case STREAM_TYPE_AUDIO_MPEG1:
case STREAM_TYPE_AUDIO_MPEG2:
case STREAM_TYPE_VIDEO_MPEG1:
case STREAM_TYPE_VIDEO_MPEG2:
case STREAM_TYPE_VIDEO_MPEG4:
case STREAM_TYPE_VIDEO_H264:
case STREAM_TYPE_VIDEO_VC1:
case STREAM_TYPE_VIDEO_DIRAC:
case STREAM_TYPE_AUDIO_AAC:
case STREAM_TYPE_AUDIO_AC3:
case STREAM_TYPE_AUDIO_DTS:
case STREAM_TYPE_AUDIO_HDMV_DTS:
case STREAM_TYPE_SUBTITLE_DVB:
if((stream_type == STREAM_TYPE_AUDIO_HDMV_DTS && !has_hdmv_descr)
|| (stream_type == STREAM_TYPE_VIDEO_DIRAC && !has_dirac_descr))
break;
if(ts->pids[pid] && ts->pids[pid]->type == MPEGTS_PES){
pes= ts->pids[pid]->u.pes_filter.opaque;
st= pes->st;
}else{
if (ts->pids[pid]) mpegts_close_filter(ts, ts->pids[pid]); //wrongly added sdt filter probably
pes = add_pes_stream(ts, pid, pcr_pid, stream_type);
if (pes)
st = new_pes_av_stream(pes, 0);
}
add_pid_to_pmt(ts, h->id, pid);
if(st)
av_program_add_stream_index(ts->stream, h->id, st->index);
break;
default:
/* we ignore the other streams */
break;
}
if (st) {
if (language[0] != 0) {
memcpy(st->language, language, 4);
}
if (stream_type == STREAM_TYPE_SUBTITLE_DVB) {
st->codec->sub_id = (anc_page << 16) | comp_page;
}
}
}
/* all parameters are there */
ts->stop_parse++;
mpegts_close_filter(ts, filter);
}
static void pmt_cb(MpegTSFilter *filter, const uint8_t *section, int section_len)
{
MpegTSContext *ts = filter->u.section_filter.opaque;
SectionHeader h1, *h = &h1;
PESContext *pes;
AVStream *st;
const uint8_t *p, *p_end, *desc_list_end, *desc_end;
int program_info_length, pcr_pid, pid, stream_type;
int desc_list_len, desc_len, desc_tag;
int comp_page = 0, anc_page = 0; /* initialize to kill warnings */
char language[4] = {0}; /* initialize to kill warnings */
#ifdef DEBUG_SI
av_log(ts->stream, AV_LOG_DEBUG, "PMT: len %i\n", section_len);
av_hex_dump_log(ts->stream, AV_LOG_DEBUG, (uint8_t *)section, section_len);
#endif
p_end = section + section_len - 4;
p = section;
if (parse_section_header(h, &p, p_end) < 0)
return;
#ifdef DEBUG_SI
av_log(ts->stream, AV_LOG_DEBUG, "sid=0x%x sec_num=%d/%d\n",
h->id, h->sec_num, h->last_sec_num);
#endif
if (h->tid != PMT_TID)
return;
clear_program(ts, h->id);
pcr_pid = get16(&p, p_end) & 0x1fff;
if (pcr_pid < 0)
return;
add_pid_to_pmt(ts, h->id, pcr_pid);
#ifdef DEBUG_SI
av_log(ts->stream, AV_LOG_DEBUG, "pcr_pid=0x%x\n", pcr_pid);
#endif
program_info_length = get16(&p, p_end) & 0xfff;
if (program_info_length < 0)
return;
p += program_info_length;
if (p >= p_end)
return;
for(;;) {
language[0] = 0;
st = 0;
stream_type = get8(&p, p_end);
if (stream_type < 0)
break;
pid = get16(&p, p_end) & 0x1fff;
if (pid < 0)
break;
desc_list_len = get16(&p, p_end) & 0xfff;
if (desc_list_len < 0)
break;
desc_list_end = p + desc_list_len;
if (desc_list_end > p_end)
break;
for(;;) {
desc_tag = get8(&p, desc_list_end);
if (desc_tag < 0)
break;
if (stream_type == STREAM_TYPE_PRIVATE_DATA) {
if((desc_tag == 0x6A) || (desc_tag == 0x7A)) {
/*assume DVB AC-3 Audio*/
stream_type = STREAM_TYPE_AUDIO_AC3;
} else if(desc_tag == 0x7B) {
/* DVB DTS audio */
stream_type = STREAM_TYPE_AUDIO_DTS;
}
}
desc_len = get8(&p, desc_list_end);
desc_end = p + desc_len;
if (desc_end > desc_list_end)
break;
#ifdef DEBUG_SI
av_log(ts->stream, AV_LOG_DEBUG, "tag: 0x%02x len=%d\n",
desc_tag, desc_len);
#endif
switch(desc_tag) {
case DVB_SUBT_DESCID:
if (stream_type == STREAM_TYPE_PRIVATE_DATA)
stream_type = STREAM_TYPE_SUBTITLE_DVB;
language[0] = get8(&p, desc_end);
language[1] = get8(&p, desc_end);
language[2] = get8(&p, desc_end);
language[3] = 0;
get8(&p, desc_end);
comp_page = get16(&p, desc_end);
anc_page = get16(&p, desc_end);
break;
case 0x0a: /* ISO 639 language descriptor */
language[0] = get8(&p, desc_end);
language[1] = get8(&p, desc_end);
language[2] = get8(&p, desc_end);
language[3] = 0;
break;
default:
break;
}
p = desc_end;
}
p = desc_list_end;
#ifdef DEBUG_SI
av_log(ts->stream, AV_LOG_DEBUG, "stream_type=%d pid=0x%x\n",
stream_type, pid);
#endif
/* now create ffmpeg stream */
switch(stream_type) {
case STREAM_TYPE_AUDIO_MPEG1:
case STREAM_TYPE_AUDIO_MPEG2:
case STREAM_TYPE_VIDEO_MPEG1:
case STREAM_TYPE_VIDEO_MPEG2:
case STREAM_TYPE_VIDEO_MPEG4:
case STREAM_TYPE_VIDEO_H264:
case STREAM_TYPE_VIDEO_VC1:
case STREAM_TYPE_AUDIO_AAC:
case STREAM_TYPE_AUDIO_AC3:
case STREAM_TYPE_AUDIO_DTS:
case STREAM_TYPE_SUBTITLE_DVB:
if(ts->pids[pid]){
assert(ts->pids[pid]->type == MPEGTS_PES);
pes= ts->pids[pid]->u.pes_filter.opaque;
st= pes->st;
}else{
pes = add_pes_stream(ts, pid, pcr_pid, stream_type);
if (pes)
st = new_pes_av_stream(pes, 0);
}
add_pid_to_pmt(ts, h->id, pid);
break;
default:
/* we ignore the other streams */
break;
}
if (st) {
if (language[0] != 0) {
memcpy(st->language, language, 4);
}
if (stream_type == STREAM_TYPE_SUBTITLE_DVB) {
st->codec->sub_id = (anc_page << 16) | comp_page;
}
}
}
/* all parameters are there */
ts->stop_parse++;
mpegts_close_filter(ts, filter);
}
ExecutionManager::~ExecutionManager()
{
clear_program();
}
static void pmt_cb(MpegTSFilter *filter, const uint8_t *section, int section_len)
{
MpegTSContext *ts = filter->u.section_filter.opaque;
SectionHeader h1, *h = &h1;
PESContext *pes;
AVStream *st;
const uint8_t *p, *p_end, *desc_list_end, *desc_end;
int program_info_length, pcr_pid, pid, stream_type;
int desc_list_len, desc_len, desc_tag;
int comp_page, anc_page;
char language[4];
uint32_t prog_reg_desc = 0; /* registration descriptor */
#ifdef DEBUG
dprintf(ts->stream, "PMT: len %i\n", section_len);
av_hex_dump_log(ts->stream, AV_LOG_DEBUG, (uint8_t *)section, section_len);
#endif
p_end = section + section_len - 4;
p = section;
if (parse_section_header(h, &p, p_end) < 0)
return;
dprintf(ts->stream, "sid=0x%x sec_num=%d/%d\n",
h->id, h->sec_num, h->last_sec_num);
if (h->tid != PMT_TID)
return;
clear_program(ts, h->id);
pcr_pid = get16(&p, p_end) & 0x1fff;
if (pcr_pid < 0)
return;
add_pid_to_pmt(ts, h->id, pcr_pid);
dprintf(ts->stream, "pcr_pid=0x%x\n", pcr_pid);
program_info_length = get16(&p, p_end) & 0xfff;
if (program_info_length < 0)
return;
while(program_info_length >= 2) {
uint8_t tag, len;
tag = get8(&p, p_end);
len = get8(&p, p_end);
if(len > program_info_length - 2)
//something else is broken, exit the program_descriptors_loop
break;
program_info_length -= len + 2;
if(tag == 0x05 && len >= 4) { // registration descriptor
prog_reg_desc = bytestream_get_le32(&p);
len -= 4;
}
p += len;
}
p += program_info_length;
if (p >= p_end)
return;
for(;;) {
st = 0;
stream_type = get8(&p, p_end);
if (stream_type < 0)
break;
pid = get16(&p, p_end) & 0x1fff;
if (pid < 0)
break;
/* now create ffmpeg stream */
if (ts->pids[pid] && ts->pids[pid]->type == MPEGTS_PES) {
pes = ts->pids[pid]->u.pes_filter.opaque;
st = pes->st;
} else {
if (ts->pids[pid]) mpegts_close_filter(ts, ts->pids[pid]); //wrongly added sdt filter probably
pes = add_pes_stream(ts, pid, pcr_pid, stream_type);
if (pes)
st = new_pes_av_stream(pes, prog_reg_desc, 0);
}
if (!st)
return;
add_pid_to_pmt(ts, h->id, pid);
av_program_add_stream_index(ts->stream, h->id, st->index);
desc_list_len = get16(&p, p_end) & 0xfff;
if (desc_list_len < 0)
break;
desc_list_end = p + desc_list_len;
if (desc_list_end > p_end)
break;
for(;;) {
desc_tag = get8(&p, desc_list_end);
if (desc_tag < 0)
break;
desc_len = get8(&p, desc_list_end);
if (desc_len < 0)
break;
desc_end = p + desc_len;
if (desc_end > desc_list_end)
break;
dprintf(ts->stream, "tag: 0x%02x len=%d\n",
desc_tag, desc_len);
if (st->codec->codec_id == CODEC_ID_PROBE &&
stream_type == STREAM_TYPE_PRIVATE_DATA)
mpegts_find_stream_type(st, desc_tag, DESC_types);
switch(desc_tag) {
case 0x59: /* subtitling descriptor */
language[0] = get8(&p, desc_end);
language[1] = get8(&p, desc_end);
language[2] = get8(&p, desc_end);
language[3] = 0;
get8(&p, desc_end);
comp_page = get16(&p, desc_end);
anc_page = get16(&p, desc_end);
st->codec->sub_id = (anc_page << 16) | comp_page;
av_metadata_set(&st->metadata, "language", language);
break;
case 0x0a: /* ISO 639 language descriptor */
language[0] = get8(&p, desc_end);
language[1] = get8(&p, desc_end);
language[2] = get8(&p, desc_end);
language[3] = 0;
av_metadata_set(&st->metadata, "language", language);
break;
case 0x05: /* registration descriptor */
st->codec->codec_tag = bytestream_get_le32(&p);
dprintf(ts->stream, "reg_desc=%.4s\n", (char*)&st->codec->codec_tag);
if (st->codec->codec_id == CODEC_ID_PROBE &&
stream_type == STREAM_TYPE_PRIVATE_DATA)
mpegts_find_stream_type(st, st->codec->codec_tag, REGD_types);
break;
default:
break;
}
p = desc_end;
}
p = desc_list_end;
}
/* all parameters are there */
ts->stop_parse++;
mpegts_close_filter(ts, filter);
}