static int BuzzSetWheels(buzzvm_t vm) {
buzzvm_lnum_assert(vm, 2);
/* Push speeds */
buzzvm_lload(vm, 1); /* Left speed */
buzzvm_lload(vm, 2); /* Right speed */
buzzvm_type_assert(vm, 2, BUZZTYPE_FLOAT);
buzzvm_type_assert(vm, 1, BUZZTYPE_FLOAT);
/* Get pointer to the controller */
buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1));
buzzvm_gload(vm);
/* Call function */
reinterpret_cast<CBuzzControllerFootBot*>(
buzzvm_stack_at(vm, 1)->u.value)->
SetWheels(buzzvm_stack_at(vm, 3)->f.value, /* Left speed */
buzzvm_stack_at(vm, 2)->f.value /* Right speed */
);
return buzzvm_ret0(vm);
}
int buzzneighbors_kin(buzzvm_t vm) {
buzzvm_lnum_assert(vm, 0);
/* Initialize the swarm id to 'unknown' */
int32_t swarmid = -1;
/* If the swarm stack is not empty, look for the swarm id */
if(!buzzdarray_isempty(vm->swarmstack)) {
/* Get position in swarm stack */
uint16_t sstackpos = 1;
if(buzzdarray_size(vm->lsyms->syms) > 1)
sstackpos = buzzdarray_get(vm->lsyms->syms, 1, buzzobj_t)->i.value;
/* Get swarm id */
if(sstackpos <= buzzdarray_size(vm->swarmstack))
swarmid = buzzdarray_get(vm->swarmstack,
buzzdarray_size(vm->swarmstack) - sstackpos,
uint16_t);
}
/* Get the self table */
buzzvm_lload(vm, 0);
buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE);
/* Get the data table */
buzzvm_pushs(vm, buzzvm_string_register(vm, "data", 1));
buzzvm_tget(vm);
buzzobj_t data = buzzvm_stack_at(vm, 1);
/* Create a new table as return value */
buzzobj_t t;
vm->state = make_table(vm, &t);
if(vm->state != BUZZVM_STATE_READY) return vm->state;
/* If data is available, filter it */
if(data->o.type == BUZZTYPE_TABLE) {
/* Create a new data table */
buzzobj_t kindata = buzzheap_newobj(vm->heap, BUZZTYPE_TABLE);
/* Filter the neighbors in data and add them to kindata */
struct neighbor_filter_s fdata = { .vm = vm, .swarm_id = swarmid, .result = kindata->t.value };
buzzdict_foreach(data->t.value, neighbor_filter_kin, &fdata);
/* Add kindata as the "data" field in t */
buzzvm_push(vm, t);
buzzvm_pushs(vm, buzzvm_string_register(vm, "data", 1));
buzzvm_push(vm, kindata);
buzzvm_tput(vm);
}
/* Return the table */
buzzvm_push(vm, t);
return buzzvm_ret1(vm);
}
int buzzvm_swarm_in(buzzvm_t vm) {
buzzvm_lnum_assert(vm, 0);
/* Get the id */
buzzvm_lload(vm, 0);
buzzvm_pushs(vm, buzzvm_string_register(vm, "id"));
buzzvm_tget(vm);
uint16_t id = buzzvm_stack_at(vm, 1)->i.value;
/* Get the swarm entry */
uint8_t* x = buzzdict_get(vm->swarms, &id, uint8_t);
if(!x) {
vm->state = BUZZVM_STATE_ERROR;
vm->error = BUZZVM_ERROR_SWARM;
return BUZZVM_STATE_ERROR;
}
/* Push the return value */
buzzvm_pushi(vm, *x);
/* Return */
return buzzvm_ret1(vm);
}
int buzzvstig_foreach(struct buzzvm_s* vm) {
/* Make sure you got one argument */
buzzvm_lnum_assert(vm, 1);
/* Get vstig id */
id_get();
/* Look for virtual stigmergy */
const buzzvstig_t* vs = buzzdict_get(vm->vstigs, &id, buzzvstig_t);
if(vs) {
/* Virtual stigmergy found */
/* Get closure */
buzzvm_lload(vm, 1);
buzzvm_type_assert(vm, 1, BUZZTYPE_CLOSURE);
buzzobj_t c = buzzvm_stack_at(vm, 1);
/* Go through the elements and apply the closure */
struct buzzvstig_foreach_params p = { .vm = vm, .fun = c };
buzzdict_foreach((*vs)->data, buzzvstig_foreach_entry, &p);
}
/* Return */
return buzzvm_ret0(vm);
}
int BuzzSetLEDsFb(buzzvm_t vm) {
buzzvm_lnum_assert(vm, 3);
/* Push the color components */
buzzvm_lload(vm, 1);
buzzvm_lload(vm, 2);
buzzvm_lload(vm, 3);
buzzvm_type_assert(vm, 3, BUZZTYPE_INT);
buzzvm_type_assert(vm, 2, BUZZTYPE_INT);
buzzvm_type_assert(vm, 1, BUZZTYPE_INT);
/* Create a new color with that */
CColor cColor(buzzvm_stack_at(vm, 3)->i.value,
buzzvm_stack_at(vm, 2)->i.value,
buzzvm_stack_at(vm, 1)->i.value);
/* Get pointer to the controller */
buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1));
buzzvm_gload(vm);
/* Call function */
reinterpret_cast<CBuzzControllerEFootBot*>(buzzvm_stack_at(vm, 1)->u.value)->SetLEDs(cColor);
return buzzvm_ret0(vm);
}
int buzzvm_vstig_size(buzzvm_t vm) {
buzzvm_lnum_assert(vm, 0);
/* Get vstig id */
buzzvm_lload(vm, 0);
buzzvm_pushs(vm, buzzvm_string_register(vm, "id"));
buzzvm_tget(vm);
uint16_t id = buzzvm_stack_at(vm, 1)->i.value;
/* Look for virtual stigmergy */
buzzvstig_t* vs = buzzdict_get(vm->vstigs, &id, buzzvstig_t);
if(vs) {
/* Virtual stigmergy found, return its size */
buzzvm_pushi(vm, buzzdict_size((*vs)->data));
}
else {
/* Virtual stigmergy not found, return 0 */
buzzvm_pushi(vm, 0);
}
/* Return */
return buzzvm_ret1(vm);
}
int BuzzSetPath(buzzvm_t vm){
buzzvm_lnum_assert(vm, 1);
/* Get the parameter */
buzzvm_lload(vm, 1);
buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE); // dictionary
buzzobj_t t = buzzvm_stack_at(vm, 1);
std::vector<CBuzzControllerFootBot::PathItem> pis;
for(int32_t i = 0; i < buzzdict_size(t->t.value); ++i) {
buzzvm_dup(vm);
buzzvm_pushi(vm, i);
buzzvm_tget(vm);
int id = 0; int parent = 0; float x = 0.0; float y = 0.0;
for(int32_t j = 0; j < buzzdict_size(buzzvm_stack_at(vm, 1)->t.value); ++j) {
buzzvm_dup(vm);
buzzvm_pushi(vm, j);
buzzvm_tget(vm);
if(j == 0){
id = (float)buzzvm_stack_at(vm, 1)->i.value;
} else if(j == 1){
parent = (float)buzzvm_stack_at(vm, 1)->i.value;
} else if (j == 2){
x = (float)buzzvm_stack_at(vm, 1)->f.value;
} else if (j == 3){
y = (float)buzzvm_stack_at(vm, 1)->f.value;
}
//fprintf(stdout, "%d %f \n", j, (float)buzzvm_stack_at(vm, 1)->f.value);
buzzvm_pop(vm);
}
pis.push_back(CBuzzControllerFootBot::PathItem(id, parent, x, y));
buzzvm_pop(vm);
}
/* Get a pointer to the controller */
buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1));
buzzvm_gload(vm);
/* Copy data into the controller */
reinterpret_cast<CBuzzControllerFootBot*>(buzzvm_stack_at(vm, 1)->u.value)->Done(pis);
/* Done with the function */
return buzzvm_ret0(vm);
}
int buzzvm_vstig_get(buzzvm_t vm) {
buzzvm_lnum_assert(vm, 1);
/* Get vstig id */
buzzvm_lload(vm, 0);
buzzvm_pushs(vm, buzzvm_string_register(vm, "id"));
buzzvm_tget(vm);
uint16_t id = buzzvm_stack_at(vm, 1)->i.value;
/* Get key */
buzzvm_lload(vm, 1);
buzzobj_t k = buzzvm_stack_at(vm, 1);
/* Look for virtual stigmergy */
buzzvstig_t* vs = buzzdict_get(vm->vstigs, &id, buzzvstig_t);
if(vs) {
/* Virtual stigmergy found */
/* Look for key and push result */
buzzvstig_elem_t* e = buzzvstig_fetch(*vs, &k);
if(e) {
/* Key found */
buzzvm_push(vm, (*e)->data);
/* Append the message to the out message queue */
buzzoutmsg_queue_append_vstig(vm->outmsgs, BUZZMSG_VSTIG_QUERY, id, k, *e);
}
else {
/* Key not found, add a new one containing nil */
buzzvm_pushnil(vm);
buzzvstig_elem_t x =
buzzvstig_elem_new(buzzvm_stack_at(vm, 1),
1, vm->robot);
/* Append the message to the out message queue */
buzzoutmsg_queue_append_vstig(vm->outmsgs, BUZZMSG_VSTIG_QUERY, id, k, x);
}
}
else {
/* No virtual stigmergy found, just push false */
/* If this happens, its a bug */
buzzvm_pushnil(vm);
fprintf(stderr, "[BUG] [ROBOT %u] Can't find virtual stigmergy %u\n", vm->robot, id);
}
/* Return the value found */
return buzzvm_ret1(vm);
}
int buzzvm_swarm_exec(buzzvm_t vm) {
buzzvm_lnum_assert(vm, 1);
/* Get the id */
buzzvm_lload(vm, 0);
buzzvm_pushs(vm, buzzvm_string_register(vm, "id"));
buzzvm_tget(vm);
uint16_t id = buzzvm_stack_at(vm, 1)->i.value;
/* Get the swarm entry */
uint8_t* x = buzzdict_get(vm->swarms, &id, uint8_t);
if(!x) {
vm->state = BUZZVM_STATE_ERROR;
vm->error = BUZZVM_ERROR_SWARM;
return BUZZVM_STATE_ERROR;
}
/* Check whether the robot is in the swarm */
if(*x) {
/* Get the closure */
buzzvm_lload(vm, 1);
buzzvm_type_assert(vm, 1, BUZZTYPE_CLOSURE);
buzzobj_t c = buzzvm_stack_at(vm, 1);
/* Get rid of the current call structure */
if(buzzvm_ret0(vm) != BUZZVM_STATE_READY) return vm->state;
/* Save the current stack depth */
uint32_t stacks = buzzdarray_size(vm->stacks);
/* Push the current swarm in the stack */
buzzdarray_push(vm->swarmstack, &id);
/* Call the closure */
buzzvm_push(vm, c);
int32_t numargs = 0;
buzzvm_pushi(vm, numargs);
buzzvm_calls(vm);
do if(buzzvm_step(vm) != BUZZVM_STATE_READY) return vm->state;
while(stacks < buzzdarray_size(vm->stacks));
return vm->state;
}
else {
/* Get rid of the current call structure */
return buzzvm_ret0(vm);
}
}
int BuzzDrawObstacles(buzzvm_t vm){
buzzvm_lnum_assert(vm, 1);
buzzvm_lload(vm, 1);
buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE); // dictionary
buzzobj_t t = buzzvm_stack_at(vm, 1);
std::vector<CBuzzControllerFootBot::Obstacle> obs;
for(int32_t i = 0; i < buzzdict_size(t->t.value); ++i) {
buzzvm_dup(vm);
buzzvm_pushi(vm, i);
buzzvm_tget(vm);
float x = 0.0; float y = 0.0; float radius = 0.0;
int type = 0;
for(int32_t j = 0; j < buzzdict_size(buzzvm_stack_at(vm, 1)->t.value); ++j) {
buzzvm_dup(vm);
buzzvm_pushi(vm, j);
buzzvm_tget(vm);
if(j == 0){
x = (float)buzzvm_stack_at(vm, 1)->f.value;
} else if(j == 1){
y = (float)buzzvm_stack_at(vm, 1)->f.value;
} else if (j == 2){
radius = (float)buzzvm_stack_at(vm, 1)->f.value;
} else if (j == 3){
type = (int) buzzvm_stack_at(vm, 1)->i.value;
}
//fprintf(stdout, "%d %f \n", j, (float)buzzvm_stack_at(vm, 1)->f.value);
buzzvm_pop(vm);
}
obs.push_back(CBuzzControllerFootBot::Obstacle(x, y, radius, type));
buzzvm_pop(vm);
}
buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1));
buzzvm_gload(vm);
reinterpret_cast<CBuzzControllerFootBot*>(buzzvm_stack_at(vm, 1)->u.value)->ArgosDrawObstacles(obs);
return buzzvm_ret0(vm);
}
int buzzvstig_get(buzzvm_t vm) {
buzzvm_lnum_assert(vm, 1);
/* Get vstig id */
id_get();
/* Get key */
buzzvm_lload(vm, 1);
buzzobj_t k = buzzvm_stack_at(vm, 1);
/* Look for virtual stigmergy */
const buzzvstig_t* vs = buzzdict_get(vm->vstigs, &id, buzzvstig_t);
if(vs) {
/* Virtual stigmergy found */
/* Look for key and push result */
const buzzvstig_elem_t* e = buzzvstig_fetch(*vs, &k);
if(e) {
/* Key found */
buzzvm_push(vm, (*e)->data);
/* Append the message to the out message queue */
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_QUERY, id, k, *e);
}
else {
/* Key not found, make a new one containing nil */
buzzvm_pushnil(vm);
buzzvstig_elem_t x =
buzzvstig_elem_new(buzzvm_stack_at(vm, 1), // nil value
0, // timestamp
vm->robot); // robot id
/* Append the message to the out message queue */
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_QUERY, id, k, x);
free(x);
}
}
else {
/* No virtual stigmergy found, just push false */
/* If this happens, its a bug */
buzzvm_pushnil(vm);
}
/* Return the value found */
return buzzvm_ret1(vm);
}
int BuzzShowCoordinateSystem(buzzvm_t vm) {
buzzvm_lnum_assert(vm, 5);
buzzvm_lload(vm, 1);
buzzvm_lload(vm, 2);
buzzvm_lload(vm, 3);
buzzvm_lload(vm, 4);
buzzvm_lload(vm, 5);
buzzvm_type_assert(vm, 5, BUZZTYPE_INT);
buzzvm_type_assert(vm, 4, BUZZTYPE_INT);
buzzvm_type_assert(vm, 3, BUZZTYPE_INT);
buzzvm_type_assert(vm, 2, BUZZTYPE_INT);
buzzvm_type_assert(vm, 1, BUZZTYPE_INT);
buzzvm_pushs(vm, buzzvm_string_register(vm, "controller", 1));
buzzvm_gload(vm);
reinterpret_cast<CBuzzControllerFootBot*>(buzzvm_stack_at(vm, 1)->u.value)->SetArgosCoordinateIDs(
buzzvm_stack_at(vm, 6)->i.value,
buzzvm_stack_at(vm, 5)->i.value,
buzzvm_stack_at(vm, 4)->i.value,
buzzvm_stack_at(vm, 3)->i.value,
buzzvm_stack_at(vm, 2)->i.value);
return buzzvm_ret0(vm);
}
int buzzvm_vstig_put(buzzvm_t vm) {
buzzvm_lnum_assert(vm, 2);
/* Get vstig id */
buzzvm_lload(vm, 0);
buzzvm_pushs(vm, buzzvm_string_register(vm, "id"));
buzzvm_tget(vm);
uint16_t id = buzzvm_stack_at(vm, 1)->i.value;
/* Get key */
buzzvm_lload(vm, 1);
buzzobj_t k = buzzvm_stack_at(vm, 1);
/* Get value */
buzzvm_lload(vm, 2);
buzzobj_t v = buzzvm_stack_at(vm, 1);
/* Look for virtual stigmergy */
buzzvstig_t* vs = buzzdict_get(vm->vstigs, &id, buzzvstig_t);
if(vs) {
/* Look for the element */
buzzvstig_elem_t* x = buzzvstig_fetch(*vs, &k);
if(x) {
/* Element found, update it */
(*x)->data = v;
++((*x)->timestamp);
(*x)->robot = vm->robot;
/* Append a PUT message to the out message queue */
buzzoutmsg_queue_append_vstig(vm->outmsgs, BUZZMSG_VSTIG_PUT, id, k, *x);
}
else {
/* Element not found, create a new one */
buzzvstig_elem_t y = buzzvstig_elem_new(v, 1, vm->robot);
buzzvstig_store(*vs, &k, &y);
/* Append a PUT message to the out message queue */
buzzoutmsg_queue_append_vstig(vm->outmsgs, BUZZMSG_VSTIG_PUT, id, k, y);
}
}
/* Return */
return buzzvm_ret0(vm);
}
int buzzvstig_onconflictlost(struct buzzvm_s* vm) {
buzzvm_lnum_assert(vm, 1);
/* Get vstig id */
id_get();
/* Look for virtual stigmergy */
const buzzvstig_t* vs = buzzdict_get(vm->vstigs, &id, buzzvstig_t);
if(vs) {
/* Virtual stigmergy found */
/* Get closure */
buzzvm_lload(vm, 1);
buzzvm_type_assert(vm, 1, BUZZTYPE_CLOSURE);
/* Clone the closure */
if((*vs)->onconflictlost) free((*vs)->onconflictlost);
(*vs)->onconflictlost = buzzheap_clone(vm, buzzvm_stack_at(vm, 1));
}
else {
/* No virtual stigmergy found, just push false */
/* If this happens, its a bug */
buzzvm_pushnil(vm);
fprintf(stderr, "[BUG] [ROBOT %u] Can't find virtual stigmergy %u\n", vm->robot, id);
}
/* Return the value found */
return buzzvm_ret0(vm);
}
int buzzvm_swarm_leave(buzzvm_t vm) {
buzzvm_lnum_assert(vm, 0);
/* Get the id */
buzzvm_lload(vm, 0);
buzzvm_pushs(vm, buzzvm_string_register(vm, "id"));
buzzvm_tget(vm);
uint16_t id = buzzvm_stack_at(vm, 1)->i.value;
/* Leave the swarm, if known */
if(buzzdict_exists(vm->swarms, &id)) {
/* Store membership */
uint8_t v = 0;
buzzdict_set(vm->swarms, &id, &v);
/* Send update */
buzzoutmsg_queue_append_swarm_joinleave(
vm->outmsgs, BUZZMSG_SWARM_LEAVE, id);
/* Return */
return buzzvm_ret0(vm);
}
else {
vm->state = BUZZVM_STATE_ERROR;
vm->error = BUZZVM_ERROR_SWARM;
return BUZZVM_STATE_ERROR;
}
}
