int blobsLoop()
{
BlobA *blobs;
BlobB *ccBlobs;
uint32_t numBlobs, numCCBlobs;
// create blobs
g_blobs->blobify();
// handle received data immediately
handleRecv();
// send blobs
g_blobs->getBlobs(&blobs, &numBlobs, &ccBlobs, &numCCBlobs);
cc_sendBlobs(g_chirpUsb, blobs, numBlobs, ccBlobs, numCCBlobs);
ser_getSerial()->update();
cc_setLED();
// deal with any latent received data until the next frame comes in
while(!g_qqueue->queued())
handleRecv();
return 0;
}
/**
* Entry function which will process the assembled code and perform the required actions
*/
void processAssembledCode(char * assembled, unsigned int length, unsigned short numberSymbols,
int coreId, int numberActiveCores, int baseHostPid) {
stopInterpreter=0;
currentSymbolEntries=0;
localCoreId=coreId;
numActiveCores=numberActiveCores;
symbolTable=initialiseSymbolTable(numberSymbols);
hostCoresBasePid=baseHostPid;
unsigned int i;
for (i=0;i<length;) {
unsigned short command=getUShort(&assembled[i]);
i+=sizeof(unsigned short);
if (command == LET_TOKEN) i=handleLet(assembled, i);
if (command == ARRAYSET_TOKEN) i=handleArraySet(assembled, i);
if (command == DIMARRAY_TOKEN) i=handleDimArray(assembled, i, 0);
if (command == DIMSHAREDARRAY_TOKEN) i=handleDimArray(assembled, i, 1);
if (command == PRINT_TOKEN) i=handlePrint(assembled, i);
if (command == STOP_TOKEN) return;
if (command == SYNC_TOKEN) i=handleSync(assembled, i);
if (command == IF_TOKEN) i=handleIf(assembled, i);
if (command == IFELSE_TOKEN) i=handleIf(assembled, i);
if (command == FOR_TOKEN) i=handleFor(assembled, i);
if (command == GOTO_TOKEN) i=handleGoto(assembled, i);
if (command == INPUT_TOKEN) i=handleInput(assembled, i);
if (command == INPUT_STRING_TOKEN) i=handleInputWithString(assembled, i);
if (command == SEND_TOKEN) i=handleSend(assembled, i);
if (command == RECV_TOKEN) i=handleRecv(assembled, i);
if (command == RECVTOARRAY_TOKEN) i=handleRecvToArray(assembled, i);
if (command == SENDRECV_TOKEN) i=handleSendRecv(assembled, i);
if (command == SENDRECVARRAY_TOKEN) i=handleSendRecvArray(assembled, i);
if (command == BCAST_TOKEN) i=handleBcast(assembled, i);
if (command == REDUCTION_TOKEN) i=handleReduction(assembled, i);
if (stopInterpreter) return;
}
}
exception_t
handleSyscall(syscall_t syscall)
{
exception_t ret;
irq_t irq;
#ifdef DEBUG
ksKernelEntry.path = Debug_Syscall;
ksKernelEntry.syscall_no = syscall;
#endif /* DEBUG */
switch (syscall) {
case SysSend:
ret = handleInvocation(false, true);
if (unlikely(ret != EXCEPTION_NONE)) {
irq = getActiveIRQ();
if (irq != irqInvalid) {
handleInterrupt(irq);
}
}
break;
case SysNBSend:
ret = handleInvocation(false, false);
if (unlikely(ret != EXCEPTION_NONE)) {
irq = getActiveIRQ();
if (irq != irqInvalid) {
handleInterrupt(irq);
}
}
break;
case SysCall:
ret = handleInvocation(true, true);
if (unlikely(ret != EXCEPTION_NONE)) {
irq = getActiveIRQ();
if (irq != irqInvalid) {
handleInterrupt(irq);
}
}
break;
case SysRecv:
handleRecv(true);
break;
case SysReply:
handleReply();
break;
case SysReplyRecv:
handleReply();
handleRecv(true);
break;
case SysNBRecv:
handleRecv(false);
break;
case SysYield:
handleYield();
break;
default:
fail("Invalid syscall");
}
schedule();
activateThread();
return EXCEPTION_NONE;
}
int blobsLoop()
{
#if 1
BlobA *blobs;
BlobB *ccBlobs;
uint32_t numBlobs, numCCBlobs;
static uint32_t drop = 0;
// create blobs
if (g_blobs->blobify()<0)
{
DBG("drop %d\n", drop++);
return 0;
}
// handle received data immediately
handleRecv();
// send blobs
g_blobs->getBlobs(&blobs, &numBlobs, &ccBlobs, &numCCBlobs);
cc_sendBlobs(g_chirpUsb, blobs, numBlobs, ccBlobs, numCCBlobs);
ser_getSerial()->update();
// if user isn't controlling LED, set it here, according to biggest detected object
if (!g_ledSet)
cc_setLED();
// deal with any latent received data until the next frame comes in
while(!g_qqueue->queued())
handleRecv();
#endif
#if 0
Qval qval;
static int i = 0;
while(1)
{
if (g_qqueue->dequeue(&qval) && qval.m_col==0xffff)
{
cprintf("%d\n", i++);
break;
}
}
#endif
#if 0
BlobA *blobs;
BlobB *ccBlobs;
uint32_t numBlobs, numCCBlobs;
static uint32_t drop = 0;
// create blobs
if (g_blobs->blobify()<0)
{
DBG("drop %d\n", drop++);
return 0;
}
g_blobs->getBlobs(&blobs, &numBlobs, &ccBlobs, &numCCBlobs);
cc_sendBlobs(g_chirpUsb, blobs, numBlobs, ccBlobs, numCCBlobs);
#endif
return 0;
}
exception_t
handleSyscall(syscall_t syscall)
{
exception_t ret;
irq_t irq;
#if defined(DEBUG) || defined(CONFIG_BENCHMARK_TRACK_KERNEL_ENTRIES)
ksKernelEntry.path = Entry_Syscall;
ksKernelEntry.syscall_no = syscall;
#endif /* DEBUG */
#ifdef CONFIG_BENCHMARK_TRACK_KERNEL_ENTRIES
benchmark_track_start();
#endif /* CONFIG_BENCHMARK_TRACK_KERNEL_ENTRIES */
switch (syscall) {
case SysSend:
ret = handleInvocation(false, true);
if (unlikely(ret != EXCEPTION_NONE)) {
irq = getActiveIRQ();
if (irq != irqInvalid) {
handleInterrupt(irq);
}
}
break;
case SysNBSend:
ret = handleInvocation(false, false);
if (unlikely(ret != EXCEPTION_NONE)) {
irq = getActiveIRQ();
if (irq != irqInvalid) {
handleInterrupt(irq);
}
}
break;
case SysCall:
ret = handleInvocation(true, true);
if (unlikely(ret != EXCEPTION_NONE)) {
irq = getActiveIRQ();
if (irq != irqInvalid) {
handleInterrupt(irq);
}
}
break;
case SysRecv:
handleRecv(true);
break;
case SysReply:
handleReply();
break;
case SysReplyRecv:
handleReply();
handleRecv(true);
break;
case SysNBRecv:
handleRecv(false);
break;
case SysYield:
handleYield();
break;
default:
fail("Invalid syscall");
}
schedule();
activateThread();
#ifdef CONFIG_BENCHMARK_TRACK_KERNEL_ENTRIES
benchmark_track_exit();
#endif /* CONFIG_BENCHMARK_TRACK_KERNEL_ENTRIES */
return EXCEPTION_NONE;
}
