PRT_VALUE *P_FUN_CommanderMachine_SendCommandToPx4_IMPL(PRT_MACHINEINST *context)
{
PRT_MACHINEINST_PRIV *p_tmp_mach_priv = (PRT_MACHINEINST_PRIV *)context;
PRT_FUNSTACK_INFO p_tmp_frame;
PrtPopFrame(p_tmp_mach_priv, &p_tmp_frame);
PRT_VALUE* caller = p_tmp_frame.locals[0];
PRT_VALUE* cmdId = p_tmp_frame.locals[2];
int cmd = 0;
if (cmdId->discriminator == PRT_VALUE_KIND_INT)
{
cmd = PrtPrimGetInt(cmdId);
}
PRT_VALUE* confirmValue = p_tmp_frame.locals[1];
bool confirm = false;
if (confirmValue->discriminator == PRT_VALUE_KIND_BOOL)
{
confirm = (PrtPrimGetBool(confirmValue) == PRT_TRUE);
}
float floats[7] = { 0,0,0,0,0,0,0 };
// gray the remaining 7 arguments and convert them to float values.
for (int i = 3; i < 3 + 7; i++)
{
PRT_VALUE* arg = p_tmp_frame.locals[i];
float value = PrtGetFloat32(arg);
floats[i - 3] = value;
}
EventTrace(PProgram, 0, "Sending command: %d, with args (%f,%f,%f,%f,%f,%f,%f)\n", cmd, floats[0], floats[1], floats[2], floats[3], floats[4], floats[5], floats[6]);
SendCommand(cmd, confirm, floats[0], floats[1], floats[2], floats[3], floats[4], floats[5], floats[6]);
PrtFreeLocals(p_tmp_mach_priv, &p_tmp_frame);
return NULL;
}
static void PrtUserPrintValue(_In_ PRT_VALUE *value, _Inout_ char **buffer, _Inout_ PRT_UINT32 *bufferSize, _Inout_ PRT_UINT32 *numCharsWritten)
{
PRT_STRING frgnStr;
PRT_VALUE_KIND kind = value->discriminator;
switch (kind)
{
case PRT_VALUE_KIND_NULL:
PrtUserPrintString("null", buffer, bufferSize, numCharsWritten);
break;
case PRT_VALUE_KIND_BOOL:
PrtUserPrintString(PrtPrimGetBool(value) == PRT_TRUE ? "true" : "false", buffer, bufferSize, numCharsWritten);
break;
case PRT_VALUE_KIND_INT:
PrtUserPrintInt32(PrtPrimGetInt(value), buffer, bufferSize, numCharsWritten);
break;
case PRT_VALUE_KIND_EVENT:
PrtUserPrintString("<", buffer, bufferSize, numCharsWritten);
PrtUserPrintUint32(PrtPrimGetEvent(value), buffer, bufferSize, numCharsWritten);
PrtUserPrintString(">", buffer, bufferSize, numCharsWritten);
break;
case PRT_VALUE_KIND_MID:
PrtUserPrintMachineId(PrtPrimGetMachine(value), buffer, bufferSize, numCharsWritten);
break;
case PRT_VALUE_KIND_FORGN:
frgnStr = prtForeignTypeDecls[value->valueUnion.frgn->typeTag].toStringFun(value->valueUnion.frgn->value);
PrtUserPrintString(frgnStr, buffer, bufferSize, numCharsWritten);
PrtFree(frgnStr);
break;
case PRT_VALUE_KIND_MAP:
{
PRT_MAPVALUE *mval = value->valueUnion.map;
PRT_MAPNODE *next = mval->first;
PrtUserPrintString("{", buffer, bufferSize, numCharsWritten);
while (next != NULL)
{
PrtUserPrintValue(next->key, buffer, bufferSize, numCharsWritten);
PrtUserPrintString(" --> ", buffer, bufferSize, numCharsWritten);
PrtUserPrintValue(next->value, buffer, bufferSize, numCharsWritten);
if (next->bucketNext != NULL)
{
PrtUserPrintString("*", buffer, bufferSize, numCharsWritten);
}
if (next->insertNext != NULL)
{
PrtUserPrintString(", ", buffer, bufferSize, numCharsWritten);
}
next = next->insertNext;
}
PrtUserPrintString("} (", buffer, bufferSize, numCharsWritten);
PrtUserPrintUint32(mval->size, buffer, bufferSize, numCharsWritten);
PrtUserPrintString(" / ", buffer, bufferSize, numCharsWritten);
PrtUserPrintUint32(PrtMapCapacity(value), buffer, bufferSize, numCharsWritten);
PrtUserPrintString(")", buffer, bufferSize, numCharsWritten);
break;
}
case PRT_VALUE_KIND_SEQ:
{
PRT_UINT32 i;
PRT_SEQVALUE *sVal = value->valueUnion.seq;
PrtUserPrintString("[", buffer, bufferSize, numCharsWritten);
for (i = 0; i < sVal->size; ++i)
{
PrtUserPrintValue(sVal->values[i], buffer, bufferSize, numCharsWritten);
if (i < sVal->size - 1)
{
PrtUserPrintString(", ", buffer, bufferSize, numCharsWritten);
}
}
PrtUserPrintString("]", buffer, bufferSize, numCharsWritten);
break;
}
case PRT_VALUE_KIND_TUPLE:
{
PRT_UINT32 i;
PRT_TUPVALUE *tval = value->valueUnion.tuple;
PrtUserPrintString("(", buffer, bufferSize, numCharsWritten);
if (tval->size == 1)
{
PrtUserPrintValue(tval->values[0], buffer, bufferSize, numCharsWritten);
PrtUserPrintString(",)", buffer, bufferSize, numCharsWritten);
}
else
{
for (i = 0; i < tval->size; ++i)
{
PrtUserPrintValue(tval->values[i], buffer, bufferSize, numCharsWritten);
if (i < tval->size - 1)
{
PrtUserPrintString(", ", buffer, bufferSize, numCharsWritten);
}
else
{
PrtUserPrintString(")", buffer, bufferSize, numCharsWritten);
}
}
}
break;
}
default:
PrtAssert(PRT_FALSE, "PrtUserPrintValue: Invalid value");
break;
}
}
