void ZombieGame::loadTerrain() {
auto entry = ZombieEntry(zombieEntry_.getDeepChildEntry("settings map").getString());
entry = entry.getDeepChildEntry("map objects object");
while (entry.hasData()) {
std::string geom(entry.getChildEntry("geom").getString());
if (entry.isAttributeEqual("type", "building")) {
auto v = loadPolygon(geom);
Building* b = buildings_.emplaceBack(v[0], v[1], v[2], v[3], wall_, wall_, wall_);
engine_.add(b);
b->setActive(true);
b->setAwake(true);
} else if (entry.isAttributeEqual("type", "water")) {
auto triangle = loadPolygon(geom);
water_.addTriangle(triangle[0], triangle[1], triangle[2]);
} else if (entry.isAttributeEqual("type", "grass")) {
auto triangle = loadPolygon(geom);
terrain_.addGrass(triangle[0], triangle[1], triangle[2]);
} else if (entry.isAttributeEqual("type", "tilepoint")) {
terrain_.addRoad(entry);
} else if (entry.isAttributeEqual("type", "tree")) {
engine_.add(new Tree2D(loadPoint(geom), tree_));
} else if (entry.isAttributeEqual("type", "spawningpoint")) {
spawningPoints_.push_back(loadPoint(geom));
} else if (entry.isAttributeEqual("type", "carSpawningpoint")) {
//carSpawningPoints_.push_back(loadPoint(geom));
}
entry = entry.getSibling("object");
}
}
void
UavcanNode::print_info()
{
if (!_instance) {
warnx("not running, start first");
}
(void)pthread_mutex_lock(&_node_mutex);
// ESC mixer status
printf("ESC actuators control groups: sub: %u / req: %u / fds: %u\n",
(unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);
printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK");
if (_outputs.noutputs != 0) {
printf("ESC output: ");
for (uint8_t i = 0; i < _outputs.noutputs; i++) {
printf("%d ", (int)(_outputs.output[i] * 1000));
}
printf("\n");
// ESC status
int esc_sub = orb_subscribe(ORB_ID(esc_status));
struct esc_status_s esc;
memset(&esc, 0, sizeof(esc));
orb_copy(ORB_ID(esc_status), esc_sub, &esc);
printf("ESC Status:\n");
printf("Addr\tV\tA\tTemp\tSetpt\tRPM\tErr\n");
for (uint8_t i = 0; i < _outputs.noutputs; i++) {
printf("%d\t", esc.esc[i].esc_address);
printf("%3.2f\t", (double)esc.esc[i].esc_voltage);
printf("%3.2f\t", (double)esc.esc[i].esc_current);
printf("%3.2f\t", (double)esc.esc[i].esc_temperature);
printf("%3.2f\t", (double)esc.esc[i].esc_setpoint);
printf("%d\t", esc.esc[i].esc_rpm);
printf("%d", esc.esc[i].esc_errorcount);
printf("\n");
}
orb_unsubscribe(esc_sub);
}
// Sensor bridges
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
printf("Sensor '%s':\n", br->get_name());
br->print_status();
printf("\n");
br = br->getSibling();
}
(void)pthread_mutex_unlock(&_node_mutex);
}
int UavcanNode::init(uavcan::NodeID node_id)
{
int ret = -1;
// Do regular cdev init
ret = CDev::init();
if (ret != OK) {
return ret;
}
_node.setName("org.pixhawk.pixhawk");
_node.setNodeID(node_id);
fill_node_info();
// Actuators
ret = _esc_controller.init();
if (ret < 0) {
return ret;
}
{
std::int32_t idle_throttle_when_armed = 0;
(void) param_get(param_find("UAVCAN_ESC_IDLT"), &idle_throttle_when_armed);
_esc_controller.enable_idle_throttle_when_armed(idle_throttle_when_armed > 0);
}
ret = _hardpoint_controller.init();
if (ret < 0) {
return ret;
}
// Sensor bridges
IUavcanSensorBridge::make_all(_node, _sensor_bridges);
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
ret = br->init();
if (ret < 0) {
warnx("cannot init sensor bridge '%s' (%d)", br->get_name(), ret);
return ret;
}
warnx("sensor bridge '%s' init ok", br->get_name());
br = br->getSibling();
}
/* Start the Node */
return _node.start();
}
UavcanNode::~UavcanNode()
{
fw_server(Stop);
if (_task != -1) {
/* tell the task we want it to go away */
_task_should_exit = true;
unsigned i = 10;
do {
/* wait 5ms - it should wake every 10ms or so worst-case */
usleep(5000);
/* if we have given up, kill it */
if (--i == 0) {
task_delete(_task);
break;
}
} while (_task != -1);
}
(void)::close(_armed_sub);
(void)::close(_test_motor_sub);
(void)::close(_actuator_direct_sub);
// Removing the sensor bridges
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
auto next = br->getSibling();
delete br;
br = next;
}
_instance = nullptr;
perf_free(_perfcnt_node_spin_elapsed);
perf_free(_perfcnt_esc_mixer_output_elapsed);
perf_free(_perfcnt_esc_mixer_total_elapsed);
pthread_mutex_destroy(&_node_mutex);
px4_sem_destroy(&_server_command_sem);
// Is it allowed to delete it like that?
if (_mixers != nullptr) {
delete _mixers;
}
}
int UavcanNode::init(uavcan::NodeID node_id)
{
int ret = -1;
// Do regular cdev init
ret = CDev::init();
if (ret != OK) {
return ret;
}
_node.setName("org.pixhawk.pixhawk");
_node.setNodeID(node_id);
fill_node_info();
// Actuators
ret = _esc_controller.init();
if (ret < 0) {
return ret;
}
ret = _hardpoint_controller.init();
if (ret < 0) {
return ret;
}
// Sensor bridges
IUavcanSensorBridge::make_all(_node, _sensor_bridges);
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
ret = br->init();
if (ret < 0) {
warnx("cannot init sensor bridge '%s' (%d)", br->get_name(), ret);
return ret;
}
warnx("sensor bridge '%s' init ok", br->get_name());
br = br->getSibling();
}
/* Start the Node */
return _node.start();
}
void DwarfVariableFinder::findVariables(const DWARFDie &die) {
for (auto child = die.getFirstChild(); child; child = child.getSibling()) {
switch(child.getTag()) {
case dwarf::DW_TAG_variable:
case dwarf::DW_TAG_formal_parameter:
case dwarf::DW_TAG_constant:
handleVariable(child);
break;
default:
if (child.hasChildren())
findVariables(child);
}
}
}
UavcanNode::~UavcanNode()
{
fw_server(Stop);
if (_task != -1) {
/* tell the task we want it to go away */
_task_should_exit = true;
unsigned i = 10;
do {
/* wait 5ms - it should wake every 10ms or so worst-case */
usleep(5000);
/* if we have given up, kill it */
if (--i == 0) {
task_delete(_task);
break;
}
} while (_task != -1);
}
/* clean up the alternate device node */
// unregister_driver(PWM_OUTPUT_DEVICE_PATH);
::close(_armed_sub);
// Removing the sensor bridges
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
auto next = br->getSibling();
delete br;
br = next;
}
_instance = nullptr;
perf_free(_perfcnt_node_spin_elapsed);
perf_free(_perfcnt_esc_mixer_output_elapsed);
perf_free(_perfcnt_esc_mixer_total_elapsed);
pthread_mutex_destroy(&_node_mutex);
sem_destroy(&_server_command_sem);
}
DwarfVariableFinder::DwarfVariableFinder(const DWARFDie &die, raw_ostream &os) : OS(os) {
if(!die.hasChildren()) {
outs() << "No child \n\n";
return;
}
for (auto child = die.getFirstChild(); child; child = child.getSibling()) {
//Go over all the top level sub_programs
if(child.isSubprogramDIE() || child.isSubroutineDIE()) {
getInfo(child);
//Look for variables among children of sub_program die
if(!child.hasChildren()) {
continue;
}
findVariables(child);
}
}
}
INode::node_t::SP Node::_rewindRange(Size& size) const {
const auto cs = _getCachedSize();
if(isExpanded()) {
if(size <= cs) {
// このノードを精査
auto cur = getChild();
while(auto next = cur->getSibling())
cur = next;
for(;;) {
if(auto ret = cur->rewindRange(size))
return ret;
if(auto next = cur->getPrevSibling())
cur = next;
else
break;
}
AssertP(Trap, size <= _getThisSize())
return const_cast<Node*>(this)->shared_from_this();
}
size -= cs;
} else {
void
UavcanNode::print_info()
{
if (!_instance) {
warnx("not running, start first");
}
(void)pthread_mutex_lock(&_node_mutex);
// Memory status
printf("Pool allocator status:\n");
printf("\tCapacity hard/soft: %u/%u blocks\n",
_pool_allocator.getBlockCapacityHardLimit(), _pool_allocator.getBlockCapacity());
printf("\tReserved: %u blocks\n", _pool_allocator.getNumReservedBlocks());
printf("\tAllocated: %u blocks\n", _pool_allocator.getNumAllocatedBlocks());
// UAVCAN node perfcounters
printf("UAVCAN node status:\n");
printf("\tInternal failures: %llu\n", _node.getInternalFailureCount());
printf("\tTransfer errors: %llu\n", _node.getDispatcher().getTransferPerfCounter().getErrorCount());
printf("\tRX transfers: %llu\n", _node.getDispatcher().getTransferPerfCounter().getRxTransferCount());
printf("\tTX transfers: %llu\n", _node.getDispatcher().getTransferPerfCounter().getTxTransferCount());
// CAN driver status
for (unsigned i = 0; i < _node.getDispatcher().getCanIOManager().getCanDriver().getNumIfaces(); i++) {
printf("CAN%u status:\n", unsigned(i + 1));
auto iface = _node.getDispatcher().getCanIOManager().getCanDriver().getIface(i);
printf("\tHW errors: %llu\n", iface->getErrorCount());
auto iface_perf_cnt = _node.getDispatcher().getCanIOManager().getIfacePerfCounters(i);
printf("\tIO errors: %llu\n", iface_perf_cnt.errors);
printf("\tRX frames: %llu\n", iface_perf_cnt.frames_rx);
printf("\tTX frames: %llu\n", iface_perf_cnt.frames_tx);
}
// ESC mixer status
printf("ESC actuators control groups: sub: %u / req: %u / fds: %u\n",
(unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);
printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK");
if (_outputs.noutputs != 0) {
printf("ESC output: ");
for (uint8_t i = 0; i < _outputs.noutputs; i++) {
printf("%d ", (int)(_outputs.output[i] * 1000));
}
printf("\n");
// ESC status
int esc_sub = orb_subscribe(ORB_ID(esc_status));
struct esc_status_s esc;
memset(&esc, 0, sizeof(esc));
orb_copy(ORB_ID(esc_status), esc_sub, &esc);
printf("ESC Status:\n");
printf("Addr\tV\tA\tTemp\tSetpt\tRPM\tErr\n");
for (uint8_t i = 0; i < _outputs.noutputs; i++) {
printf("%d\t", esc.esc[i].esc_address);
printf("%3.2f\t", (double)esc.esc[i].esc_voltage);
printf("%3.2f\t", (double)esc.esc[i].esc_current);
printf("%3.2f\t", (double)esc.esc[i].esc_temperature);
printf("%3.2f\t", (double)esc.esc[i].esc_setpoint);
printf("%d\t", esc.esc[i].esc_rpm);
printf("%d", esc.esc[i].esc_errorcount);
printf("\n");
}
orb_unsubscribe(esc_sub);
}
// Sensor bridges
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
printf("Sensor '%s':\n", br->get_name());
br->print_status();
printf("\n");
br = br->getSibling();
}
(void)pthread_mutex_unlock(&_node_mutex);
}
RBNode* RedBlackTree::getUncle(RBNode* node)
{
return getSibling(node->parent);
}
std::shared_ptr<TypeInfo> DwarfVariableFinder::makeType(const DWARFDie &die) {
if (!die.isValid()) {
return std::make_shared<TypeInfo>("", ~0u);
}
auto opSize = die.find(dwarf::DW_AT_byte_size);
unsigned size = 1;
if(opSize.hasValue()) {
size = opSize.getValue().getAsUnsignedConstant().getValue();
}
std::string type_encoding = "";
raw_string_ostream SS(type_encoding);
switch (die.getTag()) {
case dwarf::DW_TAG_base_type: {
auto opForm = die.find(dwarf::DW_AT_encoding);
auto opEnc = opForm->getAsUnsignedConstant();
assert(opEnc < HANDLE_DW_ATE_SIZE);
SS << HANDLE_DW_ATE[*opEnc];
opForm = die.find(dwarf::DW_AT_name);
opForm->dump(SS);
return std::make_shared<TypeInfo>(SS.str(), size);
}
case dwarf::DW_TAG_reference_type:
case dwarf::DW_TAG_rvalue_reference_type:
case dwarf::DW_TAG_pointer_type: {
auto baseType = getType(die.getAttributeValueAsReferencedDie(dwarf::DW_AT_type));
SS << "*" << baseType->getName();
return std::make_shared<TypeInfo>(SS.str(), size);
}
case dwarf::DW_TAG_array_type: {
auto baseType = getType(die.getAttributeValueAsReferencedDie(dwarf::DW_AT_type));
SS << baseType->getName();
size *= baseType->getSize();
for (auto childDie = die.getFirstChild(); childDie && childDie.getTag();
childDie = childDie.getSibling()) {
std::shared_ptr<TypeInfo> rangeInfo = makeType(childDie);
SS << "[";
SS << rangeInfo->getName();
SS << "]";
size *= rangeInfo->getSize();
}
return std::make_shared<TypeInfo>(SS.str(), size);
}
case dwarf::DW_TAG_subrange_type: {
uint64_t count = 0;
auto opCount = die.find(dwarf::DW_AT_count);
if(opCount.hasValue()) {
count = opCount.getValue().getAsUnsignedConstant().getValue();
} else {
opCount = die.find(dwarf::DW_AT_upper_bound);
assert(opCount.hasValue());
count = opCount.getValue().getAsUnsignedConstant().getValue() +1;
}
return std::make_shared<TypeInfo>(std::to_string(count), count);
}
case dwarf::DW_TAG_typedef: {
return getType(die.getAttributeValueAsReferencedDie(dwarf::DW_AT_type));
}
case dwarf::DW_TAG_structure_type:
case dwarf::DW_TAG_class_type:
case dwarf::DW_TAG_union_type: {
SS << "struct" << dwarf::toString(die.find(dwarf::DW_AT_name), "None");
auto structType = std::make_shared<TypeInfo>(SS.str(), size);
// Add subentries for various pieces of the struct.
for (auto childDie = die.getFirstChild(); childDie && childDie.getTag(); childDie = childDie.getSibling()) {
if (childDie.getTag() != dwarf::DW_TAG_inheritance &&
childDie.getTag() != dwarf::DW_TAG_member) {
continue;
}
uint64_t dataMemOffset = dwarf::toUnsigned(childDie.find(dwarf::DW_AT_data_member_location), ~0U);
structType->getFields().emplace_back(makeType(childDie), dataMemOffset);
}
return structType;
}
case dwarf::DW_TAG_inheritance:
case dwarf::DW_TAG_member: {
return getType(die.getAttributeValueAsReferencedDie(dwarf::DW_AT_type));
}
default: {
auto tagString = TagString(die.getTag());
if (tagString.empty()) {
llvm::errs() << format("DW_TAG_Unknown_%x", die.getTag());
}
die.dump(llvm::errs(), 10);
return std::make_shared<TypeInfo>("", ~0u);
}
}
}
void RedBlackTree::removeFixup(TreeNode * pNode)
{
TreeNode * pSibling = NULL;
while ((pNode != m_pRoot) && (pNode->color == black))
{
pSibling = getSibling(pNode);
if (pNode == pNode->parent->left) // left child node
{
if (pSibling->color == red)
{
// case 1, can change to case 2, 3, 4
pNode->parent->color = red;
pSibling->color = black;
rotateLeft(pNode->parent);
// change to new sibling,
pSibling = pNode->parent->right;
}
// case 2;
if ((black == pSibling->left->color) && (black == pSibling->right->color))
{
pSibling->color = red;
pNode = pNode->parent;
}
else
{
if (black == pSibling->right->color)
{
pSibling->color = red;
pSibling->left->color = black;
rotateRight(pSibling);
pSibling = pNode->parent->right;
}
pSibling->color = pNode->parent->color;
pNode->parent->color = black;
pSibling->right->color = black;
rotateLeft(pNode->parent);
break;
}
}
else
{
if (pSibling->color == red)
{
// case 1, can change to case 2, 3, 4
pNode->parent->color = red;
pSibling->color = black;
rotateRight(pNode->parent);
// change to new sibling,
pSibling = pNode->parent->left;
}
// case 2;
if ((black == pSibling->left->color) && (black == pSibling->right->color))
{
pSibling->color = red;
pNode = pNode->parent;
}
else
{
if (black == pSibling->left->color)
{
pSibling->color = red;
pSibling->right->color = black;
rotateLeft(pSibling);
pSibling = pNode->parent->left;
}
pSibling->color = pNode->parent->color;
pNode->parent->color = black;
pSibling->left->color = black;
rotateRight(pNode->parent);
break;
}
}
}
pNode->color = black;
}
void
UavcanNode::print_info()
{
if (!_instance) {
warnx("not running, start first");
}
(void)pthread_mutex_lock(&_node_mutex);
// Memory status
printf("Pool allocator status:\n");
printf("\tCapacity hard/soft: %u/%u blocks\n",
_pool_allocator.getBlockCapacityHardLimit(), _pool_allocator.getBlockCapacity());
printf("\tReserved: %u blocks\n", _pool_allocator.getNumReservedBlocks());
printf("\tAllocated: %u blocks\n", _pool_allocator.getNumAllocatedBlocks());
// UAVCAN node perfcounters
printf("UAVCAN node status:\n");
printf("\tInternal failures: %llu\n", _node.getInternalFailureCount());
printf("\tTransfer errors: %llu\n", _node.getDispatcher().getTransferPerfCounter().getErrorCount());
printf("\tRX transfers: %llu\n", _node.getDispatcher().getTransferPerfCounter().getRxTransferCount());
printf("\tTX transfers: %llu\n", _node.getDispatcher().getTransferPerfCounter().getTxTransferCount());
// CAN driver status
for (unsigned i = 0; i < _node.getDispatcher().getCanIOManager().getCanDriver().getNumIfaces(); i++) {
printf("CAN%u status:\n", unsigned(i + 1));
auto iface = _node.getDispatcher().getCanIOManager().getCanDriver().getIface(i);
printf("\tHW errors: %llu\n", iface->getErrorCount());
auto iface_perf_cnt = _node.getDispatcher().getCanIOManager().getIfacePerfCounters(i);
printf("\tIO errors: %llu\n", iface_perf_cnt.errors);
printf("\tRX frames: %llu\n", iface_perf_cnt.frames_rx);
printf("\tTX frames: %llu\n", iface_perf_cnt.frames_tx);
}
// ESC mixer status
printf("ESC actuators control groups: sub: %u / req: %u / fds: %u\n",
(unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);
printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK");
if (_outputs.noutputs != 0) {
printf("ESC output: ");
for (uint8_t i = 0; i < _outputs.noutputs; i++) {
printf("%d ", (int)(_outputs.output[i] * 1000));
}
printf("\n");
// ESC status
int esc_sub = orb_subscribe(ORB_ID(esc_status));
struct esc_status_s esc;
memset(&esc, 0, sizeof(esc));
orb_copy(ORB_ID(esc_status), esc_sub, &esc);
printf("ESC Status:\n");
printf("Addr\tV\tA\tTemp\tSetpt\tRPM\tErr\n");
for (uint8_t i = 0; i < _outputs.noutputs; i++) {
const float temp_celsius = (esc.esc[i].esc_temperature > 0) ?
(esc.esc[i].esc_temperature - 273.15F) : 0.0F;
printf("%d\t", esc.esc[i].esc_address);
printf("%3.2f\t", (double)esc.esc[i].esc_voltage);
printf("%3.2f\t", (double)esc.esc[i].esc_current);
printf("%3.2f\t", (double)temp_celsius);
printf("%3.2f\t", (double)esc.esc[i].esc_setpoint);
printf("%d\t", esc.esc[i].esc_rpm);
printf("%d", esc.esc[i].esc_errorcount);
printf("\n");
}
orb_unsubscribe(esc_sub);
}
// Sensor bridges
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
printf("Sensor '%s':\n", br->get_name());
br->print_status();
printf("\n");
br = br->getSibling();
}
// Printing all nodes that are online
std::printf("Online nodes (Node ID, Health, Mode):\n");
_node_status_monitor.forEachNode([](uavcan::NodeID nid, uavcan::NodeStatusMonitor::NodeStatus ns) {
static constexpr const char* HEALTH[] = {
"OK", "WARN", "ERR", "CRIT"
};
static constexpr const char* MODES[] = {
"OPERAT", "INIT", "MAINT", "SW_UPD", "?", "?", "?", "OFFLN"
};
std::printf("\t% 3d %-10s %-10s\n", int(nid.get()), HEALTH[ns.health], MODES[ns.mode]);
});
(void)pthread_mutex_unlock(&_node_mutex);
}
/*
* Builds the symbol table, creating scopes as needed, and linking them together.
* Adds variable and function identifiers to scopes appropriately.
*/
void build_symbol_table(ast_node root, int level, int sibno, symboltable_t *symtab) {
//calculate the scope for the variable/func declaration
//calculate the parent for that variable/func declaration
//need function to take as input
//printf("here \n");
symhashtable_t *hash;
/* Depending on node types, go deeper, create sibling scopes, add to hashtable,
* or take other appropriate action.
*/
switch (root->node_type) {
ast_node param;
int param_offset = 4;
int param_count = 0;
case SEQ_N: // change main level when see a new sequence
level++;
break;
case FORMAL_PARAMS_N:
level++;
param_count = 0;
insert_scope_info(root, level, sibno, MAX(level - 1, 0), getSibling(level) );
// for(param = root->left_child; param != NULL; param = param->right_sibling){
// if(param->node_type == ARRAY_TYPE_N || param->return_type == ARRAY_TYPE_N){
// param_count += DEFAULT_ARRAY_PARAM_SIZE;
// }
// else{
// param_count++;
// }
// }
// printf("PARAM COUNT!!!!! = %d\n", param_count);
//
// for(param = root->left_child; param != NULL; param = param->right_sibling){
// if(param->node_type == ARRAY_TYPE_N || param->return_type == ARRAY_TYPE_N){
// param->snode->offset = param_count * 4;
// param->snode->offset -= DEFAULT_ARRAY_PARAM_SIZE;
// }
// else{
// param->snode->offset = param_count-- * 4;
// }
// }
break;
case FUNC_DECLARATION_N: // function declaraions
//does hashtable exist with given lvl, siblvl (use find_hashtable)
check_if_redef(root, symtab ,level, sibno);
hash = find_hashtable(symtab->root, level, sibno);
if(hash == NULL) {
hash = make_insert_hashtable(symtab->root, level, sibno, MAX(level - 1, 0), getSibling(level) );
}
insert_into_symhashtable(hash, root); // will only insert if it is empty.
insert_scope_info(root, level, sibno, MAX(level - 1, 0), getSibling(level) );
break;
case FUNCTION_N:
check_if_declared(root, symtab ,level, sibno);
insert_scope_info(root, level, sibno, MAX(level - 1, 0), getSibling(level) );
break;
case ID_N: /* print the id */
check_if_redef(root, symtab ,level, sibno);
//if(root->return_type != 0) { // a non-zero value means that it is a declaration, since only declarations
// are assigned a return type when building the abstract syntax tree.
if(root->isDecl){
hash = find_hashtable(symtab->root, level, sibno);
if(hash == NULL) {
hash = make_insert_hashtable(symtab->root, level, sibno, MAX(level - 1, 0), getSibling(level) );
}
insert_into_symhashtable(hash, root);
}
else { // don't know if previously declared
check_if_declared(root, symtab , level, sibno);
}
insert_scope_info(root, level, sibno, MAX(level - 1, 0), getSibling(level) );
break;
case ARRAY_TYPE_N: // check for return types!
check_if_redef(root, symtab ,level, sibno);
//cif(root->return_type != 0) {
if(root->isDecl){
hash = find_hashtable(symtab->root, level, sibno);
if(hash == NULL) {
hash = make_insert_hashtable(symtab->root, level, sibno, MAX(level - 1, 0), getSibling(level) );
}
insert_into_symhashtable(hash, root);
}
else {
check_if_declared(root, symtab , level, sibno);
}
insert_scope_info(root, level, sibno, MAX(level - 1, 0), getSibling(level) );
break;
case RETURN_N:
insert_scope_info(root, level, sibno, MAX(level - 1, 0), getSibling(level) );
break;
default:
// printf("at default of switch\n");
assert(symtab->root != NULL);
hash = find_hashtable(symtab->root, level, sibno);
if(hash == NULL) {
hash = make_insert_hashtable(symtab->root, level, sibno, MAX(level - 1, 0), getSibling(level) );
}
//note: cannot use insert_scope_info here because siblings[level - 1] causes invalid read as level-1 can go negative
break;
}
if(arraylen == level) {
arraylen = arraylen + DELTA;
siblings = realloc(siblings, sizeof(int) * arraylen);
assert(siblings != NULL);
for(int k=0; k < DELTA; k++) {
siblings[arraylen - (DELTA-k)] = 0;
}
}
/* Recurse on each child of the subtree root, with a depth one
greater than the root's depth. */
ast_node child;
for (child = root->left_child; child != NULL; child = child->right_sibling)
build_symbol_table(child, level, siblings[level], symtab);
if(root->node_type == SEQ_N){//} || root->node_type == FORMAL_PARAMS_N){
siblings[level]++; // change sibling level after you're done printing all
// subtrees, i.e., after done recursing.
}
}
