int buzzneighbors_add(buzzvm_t vm, uint16_t robot, float distance, float azimuth, float elevation) { if(vm->state != BUZZVM_STATE_READY) return vm->state; /* Get "neighbors" table */ buzzvm_pushs(vm, buzzvm_string_register(vm, "neighbors", 1)); buzzvm_gload(vm); buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE); buzzobj_t nbr = buzzvm_stack_at(vm, 1); /* Get "data" field */ buzzvm_pushs(vm, buzzvm_string_register(vm, "data", 1)); buzzvm_tget(vm); if(buzzvm_stack_at(vm, 1)->o.type == BUZZTYPE_NIL) { /* Empty data, create a new table */ buzzvm_pop(vm); buzzvm_push(vm, nbr); buzzvm_pushs(vm, buzzvm_string_register(vm, "data", 1)); buzzvm_pusht(vm); buzzobj_t data = buzzvm_stack_at(vm, 1); buzzvm_tput(vm); buzzvm_push(vm, data); } /* When we get here, the "data" table is on top of the stack */ /* Push robot id */ buzzvm_pushi(vm, robot); /* Create entry table */ buzzobj_t entry = buzzheap_newobj(vm->heap, BUZZTYPE_TABLE); /* Insert distance */ buzzvm_push(vm, entry); buzzvm_pushs(vm, buzzvm_string_register(vm, "distance", 1)); buzzvm_pushf(vm, distance); buzzvm_tput(vm); /* Insert azimuth */ buzzvm_push(vm, entry); buzzvm_pushs(vm, buzzvm_string_register(vm, "azimuth", 1)); buzzvm_pushf(vm, azimuth); buzzvm_tput(vm); /* Insert elevation */ buzzvm_push(vm, entry); buzzvm_pushs(vm, buzzvm_string_register(vm, "elevation", 1)); buzzvm_pushf(vm, elevation); buzzvm_tput(vm); /* Save entry into data table */ buzzvm_push(vm, entry); buzzvm_tput(vm); return vm->state; }
buzzvm_state CBuzzController::Register(const std::string& str_key, Real f_value) { buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, str_key.c_str(), 1)); buzzvm_pushf(m_tBuzzVM, f_value); buzzvm_gstore(m_tBuzzVM); return m_tBuzzVM->state; }
buzzvm_state CBuzzController::TablePut(buzzobj_t t_table, const std::string& str_key, Real f_value) { buzzvm_push(m_tBuzzVM, t_table); buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, str_key.c_str(), 1)); buzzvm_pushf(m_tBuzzVM, f_value); buzzvm_tput(m_tBuzzVM); return m_tBuzzVM->state; }
buzzvm_state CBuzzController::TablePut(buzzobj_t t_table, SInt32 n_idx, Real f_value) { buzzvm_push(m_tBuzzVM, t_table); buzzvm_pushi(m_tBuzzVM, n_idx); buzzvm_pushf(m_tBuzzVM, f_value); buzzvm_tput(m_tBuzzVM); return m_tBuzzVM->state; }
int hook(buzzvm_t vm) { fprintf(stdout, "Hook called!\n\n"); buzzvm_pushf(vm, 17.0); return buzzvm_ret1(vm); }
buzzvm_state buzzvm_step(buzzvm_t vm) { /* buzzvm_dump(vm); */ /* Can't execute if not ready */ if(vm->state != BUZZVM_STATE_READY) return vm->state; /* Execute GC */ buzzheap_gc(vm); /* Fetch instruction and (potential) argument */ uint8_t instr = vm->bcode[vm->pc]; /* Execute instruction */ switch(instr) { case BUZZVM_INSTR_NOP: { inc_pc(); break; } case BUZZVM_INSTR_DONE: { buzzvm_done(vm); break; } case BUZZVM_INSTR_PUSHNIL: { inc_pc(); buzzvm_pushnil(vm); break; } case BUZZVM_INSTR_DUP: { inc_pc(); buzzvm_dup(vm); break; } case BUZZVM_INSTR_POP: { if(buzzvm_pop(vm) != BUZZVM_STATE_READY) return vm->state; inc_pc(); break; } case BUZZVM_INSTR_RET0: { if(buzzvm_ret0(vm) != BUZZVM_STATE_READY) return vm->state; assert_pc(vm->pc); break; } case BUZZVM_INSTR_RET1: { if(buzzvm_ret1(vm) != BUZZVM_STATE_READY) return vm->state; assert_pc(vm->pc); break; } case BUZZVM_INSTR_ADD: { buzzvm_add(vm); inc_pc(); break; } case BUZZVM_INSTR_SUB: { buzzvm_sub(vm); inc_pc(); break; } case BUZZVM_INSTR_MUL: { buzzvm_mul(vm); inc_pc(); break; } case BUZZVM_INSTR_DIV: { buzzvm_div(vm); inc_pc(); break; } case BUZZVM_INSTR_MOD: { buzzvm_mod(vm); inc_pc(); break; } case BUZZVM_INSTR_POW: { buzzvm_pow(vm); inc_pc(); break; } case BUZZVM_INSTR_UNM: { buzzvm_unm(vm); inc_pc(); break; } case BUZZVM_INSTR_AND: { buzzvm_and(vm); inc_pc(); break; } case BUZZVM_INSTR_OR: { buzzvm_or(vm); inc_pc(); break; } case BUZZVM_INSTR_NOT: { buzzvm_not(vm); inc_pc(); break; } case BUZZVM_INSTR_EQ: { buzzvm_eq(vm); inc_pc(); break; } case BUZZVM_INSTR_NEQ: { buzzvm_neq(vm); inc_pc(); break; } case BUZZVM_INSTR_GT: { buzzvm_gt(vm); inc_pc(); break; } case BUZZVM_INSTR_GTE: { buzzvm_gte(vm); inc_pc(); break; } case BUZZVM_INSTR_LT: { buzzvm_lt(vm); inc_pc(); break; } case BUZZVM_INSTR_LTE: { buzzvm_lte(vm); inc_pc(); break; } case BUZZVM_INSTR_GLOAD: { inc_pc(); buzzvm_gload(vm); break; } case BUZZVM_INSTR_GSTORE: { inc_pc(); if(buzzvm_gstore(vm) != BUZZVM_STATE_READY) return vm->state; break; } case BUZZVM_INSTR_PUSHT: { buzzvm_pusht(vm); inc_pc(); break; } case BUZZVM_INSTR_TPUT: { if(buzzvm_tput(vm) != BUZZVM_STATE_READY) return vm->state; inc_pc(); break; } case BUZZVM_INSTR_TGET: { if(buzzvm_tget(vm) != BUZZVM_STATE_READY) return vm->state; inc_pc(); break; } case BUZZVM_INSTR_CALLC: { inc_pc(); if(buzzvm_callc(vm) != BUZZVM_STATE_READY) return vm->state; assert_pc(vm->pc); break; } case BUZZVM_INSTR_CALLS: { inc_pc(); if(buzzvm_calls(vm) != BUZZVM_STATE_READY) return vm->state; assert_pc(vm->pc); break; } case BUZZVM_INSTR_PUSHF: { inc_pc(); get_arg(float); if(buzzvm_pushf(vm, arg) != BUZZVM_STATE_READY) return vm->state; break; } case BUZZVM_INSTR_PUSHI: { inc_pc(); get_arg(int32_t); if(buzzvm_pushi(vm, arg) != BUZZVM_STATE_READY) return vm->state; break; } case BUZZVM_INSTR_PUSHS: { inc_pc(); get_arg(int32_t); if(buzzvm_pushs(vm, arg) != BUZZVM_STATE_READY) return vm->state; break; } case BUZZVM_INSTR_PUSHCN: { inc_pc(); get_arg(uint32_t); if(buzzvm_pushcn(vm, arg) != BUZZVM_STATE_READY) return vm->state; break; } case BUZZVM_INSTR_PUSHCC: { inc_pc(); get_arg(uint32_t); if(buzzvm_pushcc(vm, arg) != BUZZVM_STATE_READY) return vm->state; break; } case BUZZVM_INSTR_PUSHL: { inc_pc(); get_arg(uint32_t); if(buzzvm_pushl(vm, arg) != BUZZVM_STATE_READY) return vm->state; break; } case BUZZVM_INSTR_LLOAD: { inc_pc(); get_arg(uint32_t); buzzvm_lload(vm, arg); break; } case BUZZVM_INSTR_LSTORE: { inc_pc(); get_arg(uint32_t); buzzvm_lstore(vm, arg); break; } case BUZZVM_INSTR_JUMP: { inc_pc(); get_arg(uint32_t); vm->pc = arg; assert_pc(vm->pc); break; } case BUZZVM_INSTR_JUMPZ: { inc_pc(); get_arg(uint32_t); buzzvm_stack_assert(vm, 1); if(buzzvm_stack_at(vm, 1)->o.type == BUZZTYPE_NIL || (buzzvm_stack_at(vm, 1)->o.type == BUZZTYPE_INT && buzzvm_stack_at(vm, 1)->i.value == 0)) { vm->pc = arg; assert_pc(vm->pc); } buzzvm_pop(vm); break; } case BUZZVM_INSTR_JUMPNZ: { inc_pc(); get_arg(uint32_t); buzzvm_stack_assert(vm, 1); if(buzzvm_stack_at(vm, 1)->o.type != BUZZTYPE_NIL && (buzzvm_stack_at(vm, 1)->o.type != BUZZTYPE_INT || buzzvm_stack_at(vm, 1)->i.value != 0)) { vm->pc = arg; assert_pc(vm->pc); } buzzvm_pop(vm); break; } default: buzzvm_seterror(vm, BUZZVM_ERROR_INSTR, NULL); break; } return vm->state; }