TenshiRuntimeState TenshiRuntimeInit(void) {
TenshiRuntimeState ret;
ret = (TenshiRuntimeState)(malloc(sizeof(struct _TenshiRuntimeState)));
if (!ret) return NULL;
ret->L = luaL_newstate();
if (!ret->L) {
TenshiRuntimeDeinit(ret);
return NULL;
}
// Load libraries
TenshiRuntime_openlibs(ret->L);
// Load actor library. This is special because it loads into the global
// scope and not into a specific module.
tenshi_open_actor(ret->L);
// Load mailbox library. Similar thing.
tenshi_open_mbox(ret->L);
// Load get_device implementation.
tenshi_open_get_device(ret->L);
// Load install_trap_global implementation.
tenshi_open_trap_global(ret->L);
// Set up actor scheduler
lua_pushcfunction(ret->L, ActorSchedulerInit);
if (lua_pcall(ret->L, 0, 0, 0) != LUA_OK) {
TenshiRuntimeDeinit(ret);
return NULL;
}
// Set up preemption trick
threading_setup(ret->L);
// Store ourselves into the registry
lua_pushstring(ret->L, RIDX_RUNTIMESTATE);
lua_pushlightuserdata(ret->L, ret);
lua_settable(ret->L, LUA_REGISTRYINDEX);
return ret;
}
int main(int argc, char **argv) {
printf("Hello world!\n");
TenshiRuntimeState s = TenshiRuntimeInit();
printf("Allocated state: %p\n", s);
TenshiRegisterCFunctions(s, testprogram_runtimeentries);
const char studentcode[] =
"sensor = get_device('stestsensor')\n"
"actuator = get_device('atestactuator')\n"
"sensor_sampled = triggers.sampled(sensor)\n"
"\n"
"while true do\n"
" local val = sensor_sampled:recv()\n"
" print('sensor is ' .. tostring(val))\n"
" actuator:send({val})\n"
"end";
TenshiActorState a;
int ret = LoadStudentcode(s, studentcode, strlen(studentcode), &a);
printf("LoadStudentcode: %d, TenshiActorState: %p\n", ret, a);
ret = ActorSetRunnable(a, 1);
printf("ActorSetRunnable: %d\n", ret);
int i = 0;
while (i < 100) {
printf("-----> Sent into sensor: %d\n", i);
global_sensor_data = i;
ret = TenshiFlagSensor(s, hax_dev_sensor);
printf("TenshiFlagSensor: %d\n", ret);
ret = TenshiRunQuanta(s);
printf("Ran quanta %d, ret = %d\n", i, ret);
i++;
}
TenshiRuntimeDeinit(s);
printf("Done!\n");
return 0;
}
TenshiRuntimeState TenshiRuntimeInit(void) {
TenshiRuntimeState ret;
ret = (TenshiRuntimeState)(malloc(sizeof(struct _TenshiRuntimeState)));
if (!ret) return NULL;
ret->L = luaL_newstate();
if (!ret->L) {
TenshiRuntimeDeinit(ret);
return NULL;
}
// Register checkxip function on ARM
#ifdef __arm__
lua_setcheckxip(ret->L, lua_arm_checkxip);
#endif
// Load libraries
TenshiRuntime_openlibs_phase1(ret->L);
lua_gc(ret->L, LUA_GCCOLLECT, 0);
// Load actor library. This is special because it loads into the global
// scope and not into a specific module.
tenshi_open_actor(ret->L);
// Load mailbox library. Similar thing.
tenshi_open_mbox(ret->L);
// Load get_device implementation.
tenshi_open_get_device(ret->L);
// Load install_trap_global implementation.
tenshi_open_trap_global(ret->L);
TenshiRuntime_openlibs_phase2(ret->L);
// Set up actor scheduler
lua_pushcfunction(ret->L, ActorSchedulerInit);
if (lua_pcall(ret->L, 0, 0, 0) != LUA_OK) {
TenshiRuntimeDeinit(ret);
return NULL;
}
// Set up preemption trick
threading_setup(ret->L);
// Store ourselves into the registry
lua_pushstring(ret->L, RIDX_RUNTIMESTATE);
lua_pushlightuserdata(ret->L, ret);
lua_settable(ret->L, LUA_REGISTRYINDEX);
// Load the code for the actor that handles reading sensor updates and
// updating sensor mailboxes
ret->sensor_actor = ActorCreate(ret);
if (!ret->sensor_actor) {
TenshiRuntimeDeinit(ret);
return NULL;
}
int ret_ = luaL_loadbuffer(ret->sensor_actor->L,
sensor_actor_lc, sizeof(sensor_actor_lc), "sensor_actor.lua");
if (ret_ != LUA_OK) {
TenshiRuntimeDeinit(ret);
return NULL;
}
// Load the code for the actor that handles reading actuator mailboxes and
// updating actuators.
ret->actuator_actor = ActorCreate(ret);
if (!ret->actuator_actor) {
TenshiRuntimeDeinit(ret);
return NULL;
}
ret_ = luaL_loadbuffer(ret->actuator_actor->L,
actuator_actor_lc, sizeof(actuator_actor_lc), "actuator_actor.lua");
if (ret_ != LUA_OK) {
TenshiRuntimeDeinit(ret);
return NULL;
}
// Construct the RIDX_CHANGED_SENSORS table
lua_pushstring(ret->L, RIDX_CHANGED_SENSORS);
lua_newtable(ret->L);
lua_settable(ret->L, LUA_REGISTRYINDEX);
// Initialize RIDX_SENSORDEVMAP as a table with weak values that will be
// used to map lightuserdata to Lua objects
lua_pushstring(ret->L, RIDX_SENSORDEVMAP);
lua_newtable(ret->L);
lua_pushstring(ret->L, "__mode");
lua_pushstring(ret->L, "v");
lua_settable(ret->L, -3);
lua_pushvalue(ret->L, -1);
lua_setmetatable(ret->L, -2);
lua_settable(ret->L, LUA_REGISTRYINDEX);
lua_gc(ret->L, LUA_GCCOLLECT, 0);
return ret;
}