/** execute_declared_subroutine_call Execute a call to a declared
* procedure or function.
*
* @param p_function_id : ptr to the subroutine name's symtab node
*
* @return: ptr to the call's type object
*/
cx_type *cx_executor::execute_declared_subroutine_call
(cx_symtab_node *p_function_id) {
int old_level = current_nesting_level; // level of caller
int new_level = p_function_id->level + 1; // level of callee's locals
// Set up a new stack frame for the callee.
cx_frame_header *p_new_frame_base = run_stack.push_frame_header
(old_level, new_level, p_icode);
// push actual parameter values onto the stack.
get_token();
if (token == tc_left_paren) {
execute_actual_parameters(p_function_id);
}
// )
get_token();
// Activate the new stack frame ...
current_nesting_level = new_level;
run_stack.activate_frame(p_new_frame_base, current_location() - 1);
// ... and execute the callee.
execute_routine(p_function_id);
// Return to the caller. Restore the current token.
current_nesting_level = old_level;
get_token();
return p_function_id->p_type;
}
/** execute_FOR Executes for statement.
* initialize condition increment
* for(<statement>; <expression>; <expression>)
* <statement>;
*
* @param p_function_id
*/
void cx_executor::execute_FOR(cx_symtab_node * p_function_id) {
bool condition = false;
get_token(); // for
// get the location of where to go to if <expr> is false.
int break_point = get_location_marker();
get_token();
int statement_location = get_location_marker();
get_token();
int condition_marker = get_location_marker();
get_token();
int increment_marker = get_location_marker();
get_token();
// (
get_token();
if (token != tc_semicolon) {
// declaration would go here //
execute_assignment(p_node);
}
do {
get_token(); // ;
if (token != tc_semicolon) {
// expr 2
execute_expression();
get_token(); // ;
} else get_token();
condition = top()->basic_types.bool__;
pop();
if (condition) {
go_to(statement_location);
get_token();
execute_statement(p_function_id);
if (break_loop) go_to(break_point);
} else {
go_to(break_point);
get_token();
break;
}
go_to(increment_marker);
get_token();
// expr 3
execute_expression();
go_to(condition_marker);
} while (current_location() == condition_marker);
break_loop = false;
}
static void rcc_aborting(int s)
{
location where;
signal(SIGABRT, 0);
fprintf(stderr, "nesC: Internal error. Please send a bug report to the nesC bug mailing list\nat [email protected]\n");
where = current_location();
if (where != dummy_location)
fprintf(stderr, "Current location (guess): %s:%lu\n", where->filename, where->lineno);
if (getenv("RCCDEBUG"))
abort();
else
exit(FATAL_EXIT_CODE);
}
static void rcc_aborting(int s)
{
location where;
signal(SIGABRT, 0);
fprintf(stderr, "nesC: Internal error.\n"
"Please submit an issue to the GitHub repository at https://github.com/tinyos/nesc\n");
where = current_location();
if (where != dummy_location)
fprintf(stderr, "Current location (guess): %s:%lu\n", where->filename, where->lineno);
if (getenv("RCCDEBUG"))
abort();
else
exit(FATAL_EXIT_CODE);
}
static int i386_intel_parse_name (const char *name, expressionS *e)
{
unsigned int j;
if (! strcmp (name, "$"))
{
current_location (e);
return 1;
}
for (j = 0; i386_types[j].name; ++j)
if (strcasecmp(i386_types[j].name, name) == 0)
{
e->X_op = O_constant;
e->X_add_number = i386_types[j].sz[flag_code];
e->X_add_symbol = NULL;
e->X_op_symbol = NULL;
return 1;
}
return 0;
}
void
compute_automount_point(char *buf, size_t l, host *hp, char *vn)
{
xsnprintf(buf, l, "%s/%s%s", autodir, hp->h_lochost, vn);
}
/*
* Data constructors..
*/
automount *
new_automount(char *name)
{
automount *ap = CALLOC(struct automount);
ap->a_ioloc = current_location();
ap->a_name = name;
ap->a_volname = NULL;
ap->a_mount = NULL;
ap->a_opts = NULL;
show_new("automount");
return ap;
}
auto_tree *
new_auto_tree(char *def, qelem *ap)
{
auto_tree *tp = CALLOC(struct auto_tree);
tp->t_ioloc = current_location();
int main(void)
{
m_clockdivide(0); // clock speed 16 MHz
sei(); // enable global interrups
int derivative = 0;
// initialize m_bus communications
// start wireless communications
// and open wii camera
m_bus_init();
m_wii_open();
m_usb_init();
m_rf_open(CHANNEL, RXADDRESS, PACKET_LENGTH);
setup(); // motor setup
int side; // integer to figure out which side we're on
while (1)
{
// USB print testing
m_usb_tx_string("testing: ");
m_usb_tx_int(testing);
m_usb_tx_string(" ");
m_usb_tx_string("\n");
// continue code if ply command is issued
if ((unsigned char)buffer1[0] == 0xA1){
break;
}
}
// turn red light on if play command is issued
m_red(ON);
// wait 10 seconds to let M_Wii start recording stars
m_wait(1000);
int position[3]; // array for robot position
int x1; // x position
int i;
// calculate initial positions
for(i = 0; i<1000; i++)
{
current_location(position);
x1 = position[0];
}
// figure out what side robot starts on
if (x1 > 0)
{
side = -1;
}
else
{
side = 1;
}
// array to hold constants
float constants[4];
//goal();
// main LOOP
while(1)
{
// calculate positions
int b = current_location(position);
int x1 = position[0];
int y1 = position[1];
int angle = position[2];
// usb prinitng
m_usb_tx_string("LOCALIZATION: ");
m_usb_tx_int(b);
m_usb_tx_string(" ");
m_usb_tx_string("X Position: ");
m_usb_tx_int(x1);
m_usb_tx_string(" ");
m_usb_tx_string("Y Position: ");
m_usb_tx_int(y1);
m_usb_tx_string(" ");
m_usb_tx_string("Angle: ");
m_usb_tx_int(angle);
m_usb_tx_string(" ");
m_usb_tx_string("\n");
// get constants
if (side>0){
get_constants1(constants, -115, 0, x1, y1, angle, side, derivative);
}
else
{
get_constants1(constants, 115, 0, x1, y1, angle, side, derivative);
}
float p = constants[0]; // speed constant
int d = (int)constants[1]; // direction constant
float j = constants[2]; // how much turn constant
derivative = constants[3];
turn_robot( d, 1, .9, j); // DRIVE THE BOT
}
}
//c7 red
/// e6 blue
int main(void)
{
m_disableJTAG(); // Turn off JTAG
//m_red(ON); // check code runs
m_clockdivide(0); // clock speed 16 MHz
m_bus_init(); // initialize m_bus communications
m_usb_init(); // USB COM
setup(); // motor setup
ADC_setup(); // setup anlog conversions
// start wireless communications
m_rf_open(CHANNEL, RXADDRESS, PACKET_LENGTH);
m_wii_open(); // and open wii camera
sei(); // enable global interrups
set(DDRC,7);
set(DDRB,7);
int position[3]; // array for robot position
int x_curr; // current x position
int y_curr; // current y position
int theta_curr; // current angle
int i;
int a;
// x, y and theta values
int x_pos[11];
int y_pos[11];
int theta[11];
char send[10];
int side;
int x1;
// calculate initial positions
int status;
// int x;
// int y;
// int theta1;
int hasPuck = 0;
// main LOOP
while(1)
{
if (flag)
{
m_rf_read(buffer1, PACKET_LENGTH);
testing = (unsigned char)buffer1[0];
a = state(testing);
// m_rf_read(buffer, PACKET_LENGTH);
// x = (unsigned char)buffer[0];
// y = (unsigned char)buffer[1];
// theta1 = (unsigned char)buffer[2];
if (flag1){
for(i = 0; i<10; i++)
{
current_location(position);
x1 = position[0];
}
// figure out what side robot starts on
if (x1 > 0)
{
side = -1;
}
else
{
side = 1;
}
}
flag = 0;
}
// m_rf_open(CHANNEL, RXADDRESS, PACKET_LENGTH);
// store 10 most recent position readings
for (i=0; i < 11; i++)
{
current_location(position);
x_pos[i] = position[0];
y_pos[i] = position[1];
theta[i] = position[2];
}
// filter position
filter(x_pos,y_pos,theta);
// current position
x_curr = x_pos[11];
y_curr = y_pos[11];
theta_curr = theta[11];
if (x_curr > 0)
{
m_red(ON);
}
else if (x_curr<0)
{
m_red(OFF);
}
if (y_curr > 0)
{
m_green(ON);
}
else if (y_curr<0)
{
m_green(OFF);
}
// send[0] = x_curr;//(char) x_curr;
// send[1] = y_curr;//(char) y_curr;
// send[2] = theta_curr;//(char) theta_curr;
// status = m_rf_send(TXaddress, send, PACKET_LENGTH);
// if (status){m_red(TOGGLE)};
// m_usb_tx_string("X Pos: ");
// m_usb_tx_int(x);
// m_usb_tx_string(" ");
// m_usb_tx_string("Y POSITION: ");
// m_usb_tx_int(y);
// m_usb_tx_string(" ");
// m_usb_tx_string("ANGLE: ");
// m_usb_tx_int(theta1);
// m_usb_tx_string(" ");
// m_usb_tx_string("\n");
a = 2;
// COMM TEST
if (a == 1)
{
// ADD CODE
// m_red(ON);
if (side == 1)
{
set(PORTC,7);
}
else {
set(PORTB,7);
}
}
// PLAY GAME
else if (a == 2) {
// m_red(OFF);
//int hasPuck = follow_puck();
//hasPuck = 1;
// goalie(x_curr, y_curr, theta_curr, side);
if(hasPuck)
{
//score_goal(x_curr, y_curr, theta_curr, side);
//turn_robot(0,0,0,0);
}
}
// GOAL R
else if (a == 3)
{
//side = 1;
//m_green(TOGGLE);
}
// GOAL B
else if ( a == 4)
{
//side = -1;
//m_green(TOGGLE);
}
else if(a == 5)
{
turn_robot(0,0,0,0);
// m_red(ON);
}
// PAUSE, HALF TIME, GAME OVER
if (a == 6 || a == 7)
{
// STOP ROBOT
turn_robot(0,0,0,0);
m_red(ON);
}
else
{}
// // COMM PROTOCOL INSTRUCTIONS
// m_usb_tx_string("STATE: ");
// m_usb_tx_int(a);
// m_usb_tx_string(" ");
// m_usb_tx_string("FLAG: ");
// m_usb_tx_int(flag);
// m_usb_tx_string(" ");
// m_usb_tx_string("TESTING: ");
// m_usb_tx_int(testing);
// m_usb_tx_string(" ");
// m_usb_tx_string("\n");
}
}
