static void* startThreadEntryPoint(void* _args) {
ThreadEntryPointArgs* args = (ThreadEntryPointArgs*) _args;
Env* env = args->env;
Thread* thread = args->thread;
JavaThread* threadObj = args->threadObj;
rvmLockThreadsList();
jboolean failure = TRUE;
setThreadEnv(env);
if (!rvmExceptionOccurred(env)) {
if (initThread(env, thread, threadObj)) {
if (rvmSetupSignals(env)) {
failure = FALSE;
thread->stackAddr = getStackAddress();
}
}
}
thread->status = THREAD_STARTING;
pthread_cond_broadcast(&threadStartCond);
while (thread->status != THREAD_VMWAIT) {
pthread_cond_wait(&threadStartCond, &threadsLock);
}
rvmUnlockThreadsList();
if (!failure) {
rvmChangeThreadStatus(env, thread, THREAD_RUNNING);
rvmChangeThreadPriority(env, thread, thread->threadObj->priority);
Method* run = rvmGetInstanceMethod2(env, java_lang_Thread, "run", "()V");
if (run) {
jvalue emptyArgs[0];
rvmCallVoidInstanceMethodA(env, (Object*) threadObj, run, emptyArgs);
}
}
detachThread(env, TRUE);
return NULL;
}
bool
Babuino::withInt32()
{
STACKPTR location, index;
int32_t rhs, lhs;
switch (_regs.opCode)
{
case OP_ASHIFT:
case OP_LSHIFT:
{
int8_t shift;
popUint8(_stack, (uint8_t*)&shift);
popUint32(_stack, (uint32_t*)&lhs);
if (shift >= 0)
pushUint32(_stack, (uint32_t)(lhs << shift));
else
pushUint32(_stack, (uint32_t)(lhs >> -shift));
return true;
}
case OP_SET:
//Serial.println("---set---");
popStackPtr(_stack, &location);
popUint32(_stack, (uint32_t*)&rhs);
setUint32(_stack, location, (uint32_t)rhs);
return true;
case OP_GET:
//Serial.println("---get---");
popStackPtr(_stack, &location);
getUint32(_stack, location, (uint32_t*)&rhs);
pushUint32(_stack, (uint32_t)rhs);
return true;
case OP_ASET:
//Serial.println("---aset---");
popStackPtr(_stack, &location);
popStackPtr(_stack, &index);
popUint32(_stack, (uint32_t*)&rhs);
setUint32(_stack, location + index * sizeof(int32_t), (uint32_t)rhs);
return true;
case OP_AGET:
//Serial.println("---aget---");
popStackPtr(_stack, &location);
popStackPtr(_stack, &index);
getUint32(_stack, location + index * sizeof(int32_t), (uint32_t*)&rhs);
pushUint32(_stack, (uint32_t)rhs);
return true;
case OP_OUTPUT:
{
//Serial.print("output ");
popUint32(_stack, (uint32_t*)&rhs); // The return value
// point to where the arguments size is on the stack.
location = getArgsLocation();
uint8_t argsSize;
getUint8(_stack, location - sizeof(uint8_t), &argsSize); // Get size of args.
// If the size > 0 then step over the size location too.
// Otherwise keep pointing to the same place because the return
// value should overwrite where the arguments size would be.
if (argsSize > 0)
argsSize += sizeof(uint8_t);
setUint32(_stack, location - (STACKPTR)argsSize - sizeof(int32_t), (uint32_t)rhs);
}
return true;
case OP_SEND:
{
//Serial.println("---send---");
popUint32(_stack, (uint32_t*)&rhs);
uint8_t buf[sizeof(int32_t)];
hton(rhs, buf);
//_defaultStream->write(nbuf, sizeof(int32_t)); // Replaced for debugging
_defaultStream->print(rhs);
}
return true;
case OP_SENDN:
{
//Serial.println("---sendn---");
uint8_t items;
uint8_t port;
STACKPTR bufLoc;
popUint8(_stack, &items);
popUint8(_stack, &port);
popStackPtr(_stack, &bufLoc);
int32_t* buf = (int32_t*)getStackAddress(_stack, bufLoc);
uint8_t nbuf[sizeof(int32_t)];
for (int i = 0; i < items; i++)
{
rhs = *buf;
hton(rhs, nbuf);
//_defaultStream->write(nbuf, sizeof(int32_t)); // Replaced for debugging
_defaultStream->print(rhs);
buf++;
}
}
return true;
#ifdef SUPPORT_STRING
case OP_TOSTR:
{
//Serial.println("---tostr---");
popUint32(_stack, (uint32_t*)&rhs);
// ***KLUDGE WARNING***
// Borrowing unused (hopefully) stack space as a buffer!
// just to avoid having to allocate another buffer.
char* psz = (char *)getTopAddress(_stack);
itoa((int) rhs, psz, 10);
// Logically this is wrong because I'm apparently
// pushing a string to a location that it already
// occupies. However, the stack implementation
// pushes strings onto a separate stack, then
// pushes the location onto the main stack. So
// the string doesn't get copied over itself, and
// is already copied before the first characters are
// overwritten by pushing the said location onto the
// main stack.
pushString(_stack, (uint8_t*)psz);
}
return true;
#endif
case OP_FOREACH:
{
//Serial.print("foreach ");
PROGPTR blockAddr;
popProgPtr(_stack, &blockAddr); // Block address
popStackPtr(_stack, &location); // Iterator variable location (Variable contains a 'pointer')
uint8_t itemsRemaining;
popUint8(_stack, &itemsRemaining); // Number of items remaining
// If we've gone through the block then we need to pop the
// previous list item off the stack
if (hasBlockExecuted())
{
uint32_t tmpUint32;
popUint32(_stack, &tmpUint32);
}
if (itemsRemaining > 0) // Any items remaining
{
// Set the value of the variable to the location on the
// stack of the next list item (ie the top)
setStackPtr(_stack, location, getTop(_stack) - sizeof(int32_t));
_regs.pc = blockAddr; // Point to the top of the block for the next iteration
itemsRemaining--; // Decrement the number of items remaining
pushUint8(_stack, itemsRemaining); // Save number of items remaining for next time
pushStackPtr(_stack, location); // Save iterator variable location for next time
pushProgPtr(_stack, blockAddr); // Save block address for next time
}
else
{
ascendBlock(); // Leaving. Pop the block.
}
}
return true;
}
popUint32(_stack, (uint32_t*)&rhs);
switch (_regs.opCode)
{
case OP_BITNOT:
pushUint32(_stack, (uint32_t)~rhs);
return true;
case OP_ABS:
pushUint32(_stack, (uint32_t)abs(rhs));
return true;
case OP_NEG:
pushUint32(_stack, (uint32_t)-rhs);
return true;
}
popUint32(_stack, (uint32_t*)&lhs);
switch (_regs.opCode)
{
case OP_ADD:
pushUint32(_stack, (uint32_t)(lhs + rhs));
return true;
case OP_SUB:
pushUint32(_stack, (uint32_t)(lhs - rhs));
return true;
case OP_MUL:
pushUint32(_stack, (uint32_t)(lhs * rhs));
return true;
case OP_DIV:
pushUint32(_stack, (uint32_t)(lhs / rhs));
return true;
case OP_MOD:
pushUint32(_stack, (uint32_t)(lhs % rhs));
return true;
case OP_EQ:
pushUint8(_stack, (uint8_t)(lhs == rhs));
return true;
case OP_GT:
pushUint8(_stack, (uint8_t)(lhs > rhs));
return true;
case OP_LT:
pushUint8(_stack, (uint8_t)(lhs < rhs));
return true;
case OP_LE:
pushUint8(_stack, (uint8_t)(lhs <= rhs));
return true;
case OP_GE:
pushUint8(_stack, (uint8_t)(lhs >= rhs));
return true;
case OP_NE:
pushUint8(_stack, (uint8_t)(lhs != rhs));
return true;
case OP_BITAND:
pushUint32(_stack, (uint32_t)(lhs & rhs));
return true;
case OP_BITOR:
pushUint32(_stack, (uint32_t)(lhs | rhs));
return true;
case OP_BITXOR:
pushUint32(_stack, (uint32_t)(lhs ^ rhs));
return true;
case OP_MIN:
pushUint32(_stack, (uint32_t)min(lhs, rhs));
return true;
case OP_MAX:
pushUint32(_stack, (uint32_t)max(lhs, rhs));
return true;
}
return false;
}
static jint attachThread(VM* vm, Env** envPtr, char* name, Object* group, jboolean daemon) {
Env* env = *envPtr; // env is NULL if rvmAttachCurrentThread() was called. If non NULL rvmInitThreads() was called.
if (!env) {
// If the thread was already attached there's an Env* associated with the thread.
env = (Env*) pthread_getspecific(tlsEnvKey);
if (env) {
env->attachCount++;
*envPtr = env;
return JNI_OK;
}
}
if (!env) {
env = rvmCreateEnv(vm);
if (!env) goto error;
}
setThreadEnv(env);
if (rvmExceptionOccurred(env)) goto error;
Thread* thread = allocThread(env);
if (!thread) goto error;
thread->stackAddr = getStackAddress();
thread->pThread = pthread_self();
env->currentThread = thread;
rvmChangeThreadStatus(env, thread, THREAD_RUNNING);
JavaThread* threadObj = (JavaThread*) rvmAllocateObject(env, java_lang_Thread);
if (!threadObj) goto error;
rvmLockThreadsList();
if (!initThread(env, thread, threadObj)) {
rvmUnlockThreadsList();
goto error;
}
if (!rvmSetupSignals(env)) {
rvmUnlockThreadsList();
goto error;
}
DL_PREPEND(threads, thread);
pthread_cond_broadcast(&threadsChangedCond);
rvmUnlockThreadsList();
Object* threadName = NULL;
if (name) {
threadName = rvmNewStringUTF(env, name, -1);
if (!threadName) goto error_remove;
}
Method* threadConstructor = rvmGetInstanceMethod2(env, java_lang_Thread, "<init>", "(JLjava/lang/String;Ljava/lang/ThreadGroup;Z)V");
if (!threadConstructor) goto error_remove;
rvmCallNonvirtualVoidInstanceMethod(env, (Object*) threadObj, threadConstructor, PTR_TO_LONG(thread), threadName, group, daemon);
if (rvmExceptionOccurred(env)) goto error_remove;
*envPtr = env;
return JNI_OK;
error_remove:
rvmLockThreadsList();
DL_DELETE(threads, thread);
pthread_cond_broadcast(&threadsChangedCond);
rvmTearDownSignals(env);
rvmUnlockThreadsList();
error:
if (env) env->currentThread = NULL;
clearThreadEnv();
return JNI_ERR;
}
//------------------------------------------------------------------------------
// An adaptation of a function of the same name in the original Babuino code.
//------------------------------------------------------------------------------
void
Babuino::code_exec()
{
//Serial.println("code_exec()");
if (!_storage.getReadyToRead())
{
// TO DO: What now? How do I report an error?
}
while (_states.getRunRequest() == RUNNING)
{
_storage.readByte(_regs.pc, _regs.opCode);
_regs.pc++;
switch (_regs.opCode)
{
case OP_CONFIG:
withConfig();
break;
case OP_MATH:
withMath();
break;
case OP_BYTE:
case OP_INT8:
case OP_SPAN:
{
//Serial.println("int8 ");
uint8_t value;
_regs.pc = _storage.readByte(_regs.pc, value);
pushUint8(_stack, value);
}
break;
case OP_SHORT:
case OP_UINT16:
{
//Serial.print("int16: ");
uint16_t value;
_regs.pc = _storage.read<uint16_t>(_regs.pc, value);
//Serial.println(value);
pushUint16(_stack, value);
}
break;
case OP_GLOBAL:
{
//Serial.print("global: ");
STACKPTR value;
_regs.pc = _storage.read<STACKPTR>(_regs.pc, value);
//Serial.println(value);
pushStackPtr(_stack, value); //_stack.push(_stack.getBottom() - value);
}
break;
case OP_INT32:
case OP_UINT32:
{
//Serial.print("int32 ");
uint32_t value;
_regs.pc = _storage.read<uint32_t>(_regs.pc, value);
#ifdef SUPPORT_32BIT
pushUint32(_stack, value);
#else
pushUint16(_stack, (value >> 16) & 0xFFFF); // High 16 bits
pushUint16(_stack, value & 0xFFFF); // Low 16 bits
#endif
}
break;
#ifdef SUPPORT_FLOAT
case OP_FLOAT:
{
//Serial.print("float ");
float value;
_regs.pc = _storage.read<float>(_regs.pc, value);
pushFloat(_stack, value);
}
break;
#endif
#ifdef SUPPORT_DOUBLE
case OP_DOUBLE:
{
//Serial.print("double ");
double value;
_regs.pc = _storage.read<double>(_regs.pc, value);
pushDouble(_stack, value);
}
break;
#endif
case OP_BOOL:
{
//Serial.print("bool ");
bool value;
_regs.pc = _storage.read<bool>(_regs.pc, value);
pushUint8(_stack, (uint8_t)value);
}
break;
case OP_CPTR:
{
//Serial.print("cptr ");
PROGPTR value;
_regs.pc = _storage.read<PROGPTR>(_regs.pc, value);
pushProgPtr(_stack, value);
}
break;
#ifdef SUPPORT_STRING
case OP_STRING:
{
//Serial.print("string: \"");
// ***KLUDGE WARNING***
// Borrowing unused (hopefully) stack space as a buffer!
// (To avoid having to allocate another buffer.
uint8_t* psz = (uint8_t*)getTopAddress(_stack);
uint8_t nextChar;
int16_t i = -1;
do
{
i++;
_regs.pc = _storage.readByte(_regs.pc, nextChar);
psz[i] = nextChar;
}
while (nextChar);
//Serial.print((char *)psz);
//Serial.print("\" ");
// Logically this is wrong because I'm apparently
// pushing a string to a location that it already
// occupies. However, the stack implementation
// pushes strings onto a separate stack, then
// pushes the location onto the main stack. So
// the string doesn't get copied over itself, and
// is already copied before the first characters are
// overwritten by pushing the said location onto the
// main stack.
//STACKSTATE state;
//getStackState(_stack, &state);
//Serial.print("[("); Serial.print(state.top); Serial.print(","); Serial.print(state.stringTop);Serial.print(") -> (");
pushString(_stack, psz);
//getStackState(_stack, &state);
//Serial.print(state.top); Serial.print(","); Serial.print(state.stringTop);Serial.println(")]");
}
break;
case OP_ASCII:
{
uint8_t* psz;
topString(_stack, &psz);
uint8_t ascii = psz[0];
popString(_stack);
pushUint8(_stack, ascii);
}
break;
case OP_STRLEN:
{
uint8_t* psz;
topString(_stack, &psz);
uint8_t len = strlen((char*)psz);
popString(_stack);
pushUint8(_stack, len);
}
break;
#endif
case OP_BEEP:
//Serial.println("---beep---");
beep();
break;
case OP_LEDON:
//Serial.println("---LED on---");
userLed(true); // set the correct bit
break;
case OP_LEDOFF:
//Serial.println("---LED off---");
userLed(false);
break;
case OP_WITHINT8:
case OP_WITHUINT8:
case OP_WITHINT16:
case OP_WITHUINT16:
case OP_WITHBOOL:
case OP_WITHPTR:
#ifdef SUPPORT_32BIT
case OP_WITHINT32:
case OP_WITHUINT32:
#endif
#ifdef SUPPORT_FLOAT
case OP_WITHFLOAT:
#endif
#ifdef SUPPORT_DOUBLE
case OP_WITHDOUBLE:
#endif
#ifdef SUPPORT_STRING
case OP_WITHSTRING:
#endif
_regs.withCode = _regs.opCode;
break;
case OP_LOCAL:
{
//Serial.print("local: local frame (");
//Serial.print(_regs.localFrame);
//Serial.print(") - ");
STACKPTR varOffset;
_regs.pc = _storage.read<uint16_t>(_regs.pc, (uint16_t&)varOffset);
pushStackPtr(_stack, (STACKPTR)_regs.localFrame.top + varOffset);
//Serial.print(varOffset);
//Serial.print(" = global ");
//Serial.println(_regs.localFrame + varOffset);
}
break;
case OP_PARAM:
{
//Serial.print("param: ");
STACKPTR varOffset;
_regs.pc = _storage.read<uint16_t>(_regs.pc, (uint16_t&)varOffset);
// We have an index into the parameters, which were put on
// the stack in reverse order before the function call.
// Calculate the absolute stack offset using the local
// stack frame offset.
// Also, the total size of the arguments was pushed last,
// so we need to step past that too.
// TODO: Check against the total argument size.
pushStackPtr(_stack,
getArgsLocation()
- sizeof(uint8_t) // Number of args
- varOffset // Offset to the required param
);
}
break;
case OP_BLOCK:
{
//Serial.print("block ");
descendBlock(); // Shift the flag to the next block bit
//char psz[10];
//utoa(_regs.blockDepthMask, psz, 2);
//Serial.println(psz);
uint16_t blockLength;
// Push address of next instruction (following the block
// length data)
pushProgPtr(_stack, (PROGPTR)_regs.pc + sizeof(uint16_t));
_storage.read<uint16_t>(_regs.pc, blockLength);
// Step past the block (tests there will bring execution back)
_regs.pc.increment(blockLength);
}
break;
case OP_EOB:
//Serial.println("--eob--");
setBlockExecuted(); // Set the bit to indicate that this block has executed
break;
case OP_DO:
{
//Serial.println("---do---");
// OP_DO is like OP_BLOCK except that execution falls through to
// the top of the block of code unconditionally rather than jump
// to the end where some condition is tested.
// Need to:
// - Push the address that the following OP_BLOCK would push
// - Step past the:
// - The OP_BLOCK code (uint8_t)
// - The block size (uint16_t)
// After going through the code block it should jump back to
// the beginning of the OP_BLOCK and loop as usual.
descendBlock(); // Shift the flag to the next block bit (normally done by OP_BLOCK)
PROGPTR startOfBlock = (PROGPTR)_regs.pc + sizeof(uint8_t) +sizeof(uint16_t);
pushProgPtr(_stack, startOfBlock);
_regs.pc.set(startOfBlock);
}
break;
case OP_WHILE:
{
//Serial.print("while ");
bool condition;
PROGPTR blockAddr;
popUint8(_stack, (uint8_t*)&condition);
//Serial.println(condition ? "true" : "false");
//_stack.pop(blockAddr);
if (condition) // if true then go to the block start address
{
topProgPtr(_stack, &blockAddr);
_regs.pc = blockAddr;
}
else
{
popProgPtr(_stack, &blockAddr); // Throw it away
ascendBlock(); // Finished with this block now
}
}
break;
case OP_REPEAT:
{
//Serial.print("repeat ");
PROGPTR blockAddr;
uint16_t max;
popProgPtr(_stack, &blockAddr);
popUint16(_stack, &max);
uint16_t repcount;
if (!hasBlockExecuted()) // First time around?
{
repcount = 1;
pushUint16(_stack, repcount);
// point to the counter we just pushed
STACKPTR slot = getTop(_stack);
// Save outer loop's repcount pointer
pushStackPtr(_stack, _regs.repcountLocation);
// Set it to ours
_regs.repcountLocation = slot;
}
else
{
getUint16(_stack, _regs.repcountLocation, &repcount); // Get counter value
repcount++;
}
//Serial.println(repcount);
if (repcount <= max)
{
setUint16(_stack, _regs.repcountLocation, repcount);
pushUint16(_stack, max);
pushProgPtr(_stack, blockAddr);
_regs.pc = blockAddr;
}
else
{
// Restore the outer loop's repcount pointer
popStackPtr(_stack, &_regs.repcountLocation);
popUint16(_stack, &repcount); // Dispose of counter
ascendBlock(); // Finished with this block now
}
}
break;
case OP_REPCOUNT:
{
uint16_t repcount;
getUint16(_stack, _regs.repcountLocation, &repcount);
pushUint16(_stack, repcount);
}
break;
case OP_FOR:
{
//Serial.println("for ");
// The counter variable has already been set to the from
// value, so the from value isn't on the stack.
PROGPTR blockAddr;
int16_t step, to, from;
STACKPTR counterOff;
int16_t counterVal;
popProgPtr(_stack, &blockAddr);
popUint16(_stack, (uint16_t*)&step);
popUint16(_stack, (uint16_t*)&to);
popUint16(_stack, (uint16_t*)&from);
popStackPtr(_stack, &counterOff);
getUint16(_stack, counterOff, (uint16_t*)&counterVal);
//Serial.print(counterVal);
//Serial.print(" ");
//Serial.print(to);
//Serial.print(" ");
//Serial.println(step);
bool keepGoing;
// See if this is the first time around
if (!hasBlockExecuted())
{
counterVal = from;
keepGoing = true;
}
else
{
// If step > 0 then assume from < to otherwise assume from > to
keepGoing = (step > 0) ? (counterVal < to) : (counterVal > to);
counterVal += step;
}
if (keepGoing)
{
setUint16(_stack, counterOff, (uint16_t)counterVal);
_regs.pc = blockAddr; // reiterate
pushStackPtr(_stack, counterOff); // Var offset
pushUint16(_stack, (uint16_t)from); // to
pushUint16(_stack, (uint16_t)to); // to
pushUint16(_stack, (uint16_t)step); // step
pushProgPtr(_stack, blockAddr);
}
else
{
ascendBlock();
}
}
break;
case OP_IF:
{
//Serial.print("if ");
// If it's the first time through then check the
// condition
if (!hasBlockExecuted())
{
PROGPTR blockAddr;
bool condition;
popProgPtr(_stack, &blockAddr); // Block initial address
popUint8(_stack, (uint8_t*)&condition); // argument to test
//Serial.println(condition ? "true" : "false");
if (condition)
{
_regs.pc = blockAddr;
}
else
{
ascendBlock();
}
}
else
{
ascendBlock();
}
}
break;
// IFELSE starts with address of THEN and ELSE lists (and
// CONDITIONAL) on the stack. CONDITIONAL is tested and
// appropriate list is run.
case OP_IFELSE:
{
//Serial.print("ifelse ");
PROGPTR elseBlock;
popProgPtr(_stack, &elseBlock); // ELSE block start
// Note that descendBlock() will have been called twice
// the first time around (once for each block).
ascendBlock(); // Remove the else block...
// ...and use the then block flag for both purposes
if (!hasBlockExecuted())
{
PROGPTR thenBlock;
bool condition;
popProgPtr(_stack, &thenBlock); // THEN block start
popUint8(_stack, (uint8_t*)&condition); // argument to test
if (condition)
{
//Serial.println("(then)");
_regs.pc = thenBlock;
// The ELSE address will get pushed again when
// execution falls into the ELSE block after
// exiting the THEN block.
// Another else block will be descended into
// as well, and ascended away again above.
// The eob code will be encountered at the end
// of the then block, and that will set the
// executed flag.
}
else
{
//Serial.println("(else)");
_regs.pc = elseBlock; // the "ELSE" list
pushProgPtr(_stack, (PROGPTR)0); // Push fake ELSE to balance
// Borrow the then block flag and set it now as
// executed since it won't actually be set
// otherwise.
setBlockExecuted();
// Descend the else block now, as
// this also won't be done in the block's code.
descendBlock();
}
}
else
{
//popProgPtr(_stack, &elseBlock); // dispose of unrequired address
ascendBlock(); // ie. the then block
}
}
break;
case OP_PUSH:
{
//Serial.print("push ");
uint8_t amount;
popUint8(_stack, &amount);
pushn(_stack, (STACKPTR)amount);
}
break;
case OP_POP:
{
//Serial.print("pop ");
uint8_t amount;
popUint8(_stack, &amount);
popn(_stack, (STACKPTR)amount);
}
break;
case OP_CHKPOINT:
getStackState(_stack, &_regs.checkPoint);
break;
case OP_ROLLBACK:
setStackState(_stack, &_regs.checkPoint);
break;
case OP_CALL:
{
//Serial.println("call");
PROGPTR procAddr;
popProgPtr(_stack, &procAddr); // Get the function location
// Save the args location used by the calling function, and
// set it to what was the stack top before it was pushed.
/*
_regs.argsLoc = _stack.push(_regs.argsLoc);
//Serial.print("args location: ");
//Serial.println(_regs.argsLoc);
*/
pushProgPtr(_stack, (PROGPTR)_regs.pc); // Save the current code location for the return
_regs.pc.set(procAddr); // Now jump to the function
}
break;
case OP_BEGIN:
//Serial.println("begin");
pushRegisters(); // Save state of the caller
_regs.blockDepthMask = 0;
_regs.blocksExecuted = 0;
getStackState(_stack, &_regs.localFrame); // = getTop(_stack);
//Serial.println(_regs.localFrame);
break;
case OP_RETURN:
{
//Serial.print("return ");
//Unwind the stack to the beginning of the local frame
setStackState(_stack, &_regs.localFrame);
popRegisters();
PROGPTR returnAddr;
popProgPtr(_stack, &returnAddr); // Get the return address
//_stack.pop(_regs.argsLoc); // Restore the param location for the calling function
_regs.pc.set(returnAddr);
}
break;
case OP_EXIT:
reset();
//Serial.println("---exit---");
break;
case OP_LOOP:
{
//Serial.println("---loop---");
PROGPTR blockAddr;
topProgPtr(_stack, &blockAddr);
_regs.pc.set(blockAddr);
}
break;
case OP_WAIT:
{
//Serial.println("---wait---");
uint16_t tenths;
popUint16(_stack, &tenths);
delay(100 * tenths);
}
break;
case OP_TIMER:
//Serial.print("timer ");
pushUint16(_stack, _timerCount); // TODO: implement timer!!
break;
case OP_RESETT:
//Serial.println("---resett---");
_timerCount = 0;
break;
case OP_RANDOM:
//Serial.print("random ");
pushUint16(_stack, (uint16_t)random(0, 32767));
break;
case OP_RANDOMXY:
{
//Serial.print("randomxy ");
int16_t x;
int16_t y;
popUint16(_stack, (uint16_t*)&y);
popUint16(_stack, (uint16_t*)&x);
pushUint16(_stack, (uint16_t)random(x, y));
}
break;
case OP_MOTORS:
{
//Serial.print("motors ");
uint8_t selected;
popUint8(_stack, &selected);
_selectedMotors = (Motors::Selected)selected;
}
break;
case OP_THISWAY:
//Serial.print("---thisway---");
_motors.setDirection(_selectedMotors, MotorBase::THIS_WAY);
break;
case OP_THATWAY:
//Serial.print("---thatway---");
_motors.setDirection(_selectedMotors, MotorBase::THAT_WAY);
break;
case OP_RD:
//Serial.print("---rd---");
_motors.reverseDirection(_selectedMotors);
break;
case OP_SETPOWER:
{
//Serial.print("setpower ");
uint8_t power;
popUint8(_stack, &power);
if (power > 7)
power = 7;
_motors.setPower(_selectedMotors, power);
}
break;
case OP_BRAKE:
//Serial.println("---brake---");
_motors.setBrake(_selectedMotors, MotorBase::BRAKE_ON);
break;
case OP_ON:
//Serial.println("---on---");
_motors.on(_selectedMotors);
break;
case OP_ONFOR:
{
//Serial.print("onfor");
uint16_t tenths;
popUint16(_stack, &tenths);
_motors.on(_selectedMotors);
delay(100 * tenths);
_motors.off(_selectedMotors);
}
break;
case OP_OFF:
//Serial.println("---off---");
_motors.off(_selectedMotors);
break;
case OP_SENSOR1:
case OP_SENSOR2:
case OP_SENSOR3:
case OP_SENSOR4:
case OP_SENSOR5:
case OP_SENSOR6:
case OP_SENSOR7:
case OP_SENSOR8:
//Serial.print("sensor ");
//Serial.print(_regs.opCode - OP_SENSOR1);
//Serial.print(" ");
pushUint16(_stack, (uint16_t)readAnalog(_regs.opCode - OP_SENSOR1));
break;
case OP_AIN:
{
//Serial.print("ain ");
uint8_t input;
popUint8(_stack, &input);
pushUint16(_stack, (uint16_t)readAnalog(input));
}
break;
case OP_AOUT:
{
//Serial.print("aout ");
uint8_t output;
uint8_t value;
popUint8(_stack, &output);
popUint8(_stack, &value);
writeAnalog(output, value);
}
break;
case OP_SWITCH1:
case OP_SWITCH2:
case OP_SWITCH3:
case OP_SWITCH4:
case OP_SWITCH5:
case OP_SWITCH6:
case OP_SWITCH7:
case OP_SWITCH8:
{
//Serial.print("switch ");
//Serial.print(_regs.opCode - OP_SWITCH1);
//Serial.print(" ");
int16_t val = readAnalog(_regs.opCode - OP_SWITCH1);
if (val < 0)
pushUint8(_stack, (uint8_t)false);
else
pushUint8(_stack, (uint8_t)!!(val >> 7));
}
break;
case OP_NOT:
break;
case OP_AND:
break;
case OP_OR:
break;
case OP_XOR:
break;
case OP_DIN:
{
//Serial.print("din ");
uint8_t input;
popUint8(_stack, &input);
pushUint8(_stack, (uint8_t)readDigital(input));
}
break;
case OP_DOUT:
{
//Serial.print("dout ");
uint8_t output;
bool value;
popUint8(_stack, &output);
popUint8(_stack, (uint8_t*)&value);
writeDigital(output, value);
}
break;
case OP_BTOS:
{
int8_t value;
popUint8(_stack, (uint8_t*)&value);
pushUint16(_stack,(uint16_t)value);
}
break;
case OP_UBTOS:
{
uint8_t value;
popUint8(_stack, &value);
pushUint16(_stack,(uint16_t)value);
}
break;
case OP_STOB: // and OP_USTOB
{
//Serial.print("stob: ");
uint16_t value;
popUint16(_stack, (uint16_t*)&value);
//Serial.println(value);
pushUint8(_stack, (uint8_t)value);
}
break;
#ifdef SUPPORT_32BIT
case OP_BTOI:
{
int8_t value;
popUint8(_stack, (uint8_t*)&value);
pushUint32(_stack,(uint32_t)value);
}
break;
case OP_UBTOI:
{
uint8_t value;
popUint8(_stack, &value);
pushUint32(_stack,(uint32_t)value);
}
break;
case OP_STOI:
{
int16_t value;
popUint16(_stack, (uint16_t*)&value);
pushUint32(_stack,(uint32_t)value);
}
break;
case OP_USTOI:
{
uint16_t value;
popUint16(_stack, &value);
pushUint32(_stack,(uint32_t)value);
}
break;
case OP_ITOB: // and OP_UITOB
{
int32_t value;
popUint32(_stack, (uint32_t*)&value);
pushUint8(_stack, (uint8_t)value);
}
break;
case OP_ITOS: //and OP_UITOS
{
int32_t value;
popUint32(_stack, (uint32_t*)&value);
pushUint16(_stack, (uint16_t)value);
}
break;
#endif
#ifdef SUPPORT_FLOAT
case OP_BTOF:
{
int8_t value;
popUint8(_stack, (uint8_t*)&value);
pushFloat(_stack, (float)value);
}
break;
case OP_UBTOF:
{
uint8_t value;
popUint8(_stack, &value);
pushFloat(_stack, (float)value);
}
break;
case OP_STOF:
{
int16_t value;
popUint16(_stack, (uint16_t*)&value);
pushFloat(_stack, (float)value);
}
break;
case OP_USTOF:
{
uint16_t value;
popUint16(_stack, &value);
pushFloat(_stack, (float)value);
}
break;
case OP_FTOB:
{
float value;
popFloat(_stack, &value);
pushUint8(_stack, (uint8_t)value);
}
break;
case OP_FTOS:
{
float value;
popFloat(_stack, &value);
pushUint16(_stack, (uint16_t)value);
}
break;
#endif
#ifdef SUPPORT_DOUBLE
case OP_BTOD:
{
int8_t value;
popUint8(_stack, (uint8_t*)&value);
pushDouble(_stack, (double)value);
}
break;
case OP_UBTOD:
{
uint8_t value;
popUint8(_stack, &value);
pushDouble(_stack, (double)value);
}
break;
case OP_STOD:
{
int16_t value;
popUint16(_stack, (uint16_t*)&value);
pushDouble(_stack, (double)value);
}
break;
case OP_USTOD:
{
uint16_t value;
popUint8(_stack, (uint8_t*)&value);
pushDouble(_stack, (double)value);
}
break;
case OP_DTOB:
{
double value;
popDouble(_stack, &value);
pushUint8(_stack, (uint8_t)value);
}
break;
case OP_DTOS:
{
double value;
popDouble(_stack, &value);
pushUint16(_stack, (uint16_t)value);
}
break;
#endif
#if defined(SUPPORT_DOUBLE) && defined(SUPPORT_32BIT)
case OP_ITOD:
{
int32_t value;
popUint32(_stack, (uint32_t*)&value);
pushDouble(_stack, (double)value);
}
break;
case OP_UITOD:
{
uint32_t value;
popUint32(_stack, &value);
pushDouble(_stack, (double)value);
}
break;
case OP_DTOI:
{
double value;
popDouble(_stack, &value);
pushUint32(_stack, (uint32_t)value);
}
break;
#endif
#if defined(SUPPORT_DOUBLE) && defined(SUPPORT_FLOAT)
case OP_FTOD:
{
float value;
popFloat(_stack, &value);
pushDouble(_stack, (double)value);
}
break;
case OP_DTOF:
{
double value;
popDouble(_stack, &value);
pushFloat(_stack, (float)value);
}
break;
#endif
#if defined(SUPPORT_FLOAT) && defined(SUPPORT_32BIT)
case OP_ITOF:
{
int32_t value;
popUint32(_stack, (uint32_t*)&value);
pushFloat(_stack, (float)value);
}
break;
case OP_UITOF:
{
uint32_t value;
popUint32(_stack, &value);
pushFloat(_stack, (float)value);
}
break;
case OP_FTOI:
{
float value;
popFloat(_stack, &value);
pushUint32(_stack, (uint32_t)value);
}
break;
#endif
case OP_I2CSTART:
i2cStart();
break;
case OP_I2CSTOP:
i2cStop();
break;
case OP_I2CTXRX:
{
uint16_t i2cAddr;
uint16_t txBuffOffset;
uint8_t txBuffLen;
uint16_t rxBuffOffset;
uint8_t rxBuffLen;
uint16_t timeout;
popUint16(_stack, &i2cAddr);
popUint16(_stack, &txBuffOffset);
popUint8(_stack, &txBuffLen);
popUint16(_stack, &rxBuffOffset);
popUint8(_stack, &rxBuffLen);
popUint16(_stack, &timeout);
i2cTxRx(i2cAddr,
(uint8_t*)getStackAddress(_stack, txBuffOffset),
txBuffLen,
(uint8_t*)getStackAddress(_stack, rxBuffOffset),
rxBuffLen,
timeout);
}
break;
case OP_I2CRX:
{
uint16_t addr;
uint16_t rxBuffOffset;
uint8_t rxBuffLen;
uint16_t timeout;
popUint16(_stack, &addr);
popUint16(_stack, &rxBuffOffset);
popUint8(_stack, &rxBuffLen);
popUint16(_stack, &timeout);
i2cRx(addr, (uint8_t*)getStackAddress(_stack, rxBuffOffset), rxBuffLen, timeout);
}
break;
#ifdef SUPPORT_32BIT
case OP_I2CERR:
{
//Serial.println("---i2cerr---");
uint32_t errors = i2cErrors();
pushUint32(_stack, errors);
}
break;
#endif
case OP_WAITUNTIL:
case OP_RECORD:
case OP_RECALL:
case OP_RESETDP:
case OP_SETDP:
case OP_ERASE:
case OP_SETSVH:
case OP_SVR:
case OP_SVL:
// TODO!!!
break;
default:
// All of the type specific codes are dealt with here
if (!withCurrentType())
{
//beep(); // Just an indication for now.
Serial.print("unrecognised opcode: ");
Serial.println(_regs.opCode);
}
break;
}
}
}
