//------------------------------------------------------------------------------
// An adaptation of a function of the same name in the original Babuino code.
//------------------------------------------------------------------------------
void
Babuino::code_exec()
{
//Serial.println("code_exec()");
if (!_storage.getReadyToRead())
{
// TO DO: What now? How do I report an error?
}
while (_states.getRunRequest() == RUNNING)
{
_storage.readByte(_regs.pc, _regs.opCode);
_regs.pc++;
switch (_regs.opCode)
{
case OP_CONFIG:
withConfig();
break;
case OP_MATH:
withMath();
break;
case OP_BYTE:
case OP_INT8:
case OP_SPAN:
{
//Serial.println("int8 ");
uint8_t value;
_regs.pc = _storage.readByte(_regs.pc, value);
pushUint8(_stack, value);
}
break;
case OP_SHORT:
case OP_UINT16:
{
//Serial.print("int16: ");
uint16_t value;
_regs.pc = _storage.read<uint16_t>(_regs.pc, value);
//Serial.println(value);
pushUint16(_stack, value);
}
break;
case OP_GLOBAL:
{
//Serial.print("global: ");
STACKPTR value;
_regs.pc = _storage.read<STACKPTR>(_regs.pc, value);
//Serial.println(value);
pushStackPtr(_stack, value); //_stack.push(_stack.getBottom() - value);
}
break;
case OP_INT32:
case OP_UINT32:
{
//Serial.print("int32 ");
uint32_t value;
_regs.pc = _storage.read<uint32_t>(_regs.pc, value);
#ifdef SUPPORT_32BIT
pushUint32(_stack, value);
#else
pushUint16(_stack, (value >> 16) & 0xFFFF); // High 16 bits
pushUint16(_stack, value & 0xFFFF); // Low 16 bits
#endif
}
break;
#ifdef SUPPORT_FLOAT
case OP_FLOAT:
{
//Serial.print("float ");
float value;
_regs.pc = _storage.read<float>(_regs.pc, value);
pushFloat(_stack, value);
}
break;
#endif
#ifdef SUPPORT_DOUBLE
case OP_DOUBLE:
{
//Serial.print("double ");
double value;
_regs.pc = _storage.read<double>(_regs.pc, value);
pushDouble(_stack, value);
}
break;
#endif
case OP_BOOL:
{
//Serial.print("bool ");
bool value;
_regs.pc = _storage.read<bool>(_regs.pc, value);
pushUint8(_stack, (uint8_t)value);
}
break;
case OP_CPTR:
{
//Serial.print("cptr ");
PROGPTR value;
_regs.pc = _storage.read<PROGPTR>(_regs.pc, value);
pushProgPtr(_stack, value);
}
break;
#ifdef SUPPORT_STRING
case OP_STRING:
{
//Serial.print("string: \"");
// ***KLUDGE WARNING***
// Borrowing unused (hopefully) stack space as a buffer!
// (To avoid having to allocate another buffer.
uint8_t* psz = (uint8_t*)getTopAddress(_stack);
uint8_t nextChar;
int16_t i = -1;
do
{
i++;
_regs.pc = _storage.readByte(_regs.pc, nextChar);
psz[i] = nextChar;
}
while (nextChar);
//Serial.print((char *)psz);
//Serial.print("\" ");
// Logically this is wrong because I'm apparently
// pushing a string to a location that it already
// occupies. However, the stack implementation
// pushes strings onto a separate stack, then
// pushes the location onto the main stack. So
// the string doesn't get copied over itself, and
// is already copied before the first characters are
// overwritten by pushing the said location onto the
// main stack.
//STACKSTATE state;
//getStackState(_stack, &state);
//Serial.print("[("); Serial.print(state.top); Serial.print(","); Serial.print(state.stringTop);Serial.print(") -> (");
pushString(_stack, psz);
//getStackState(_stack, &state);
//Serial.print(state.top); Serial.print(","); Serial.print(state.stringTop);Serial.println(")]");
}
break;
case OP_ASCII:
{
uint8_t* psz;
topString(_stack, &psz);
uint8_t ascii = psz[0];
popString(_stack);
pushUint8(_stack, ascii);
}
break;
case OP_STRLEN:
{
uint8_t* psz;
topString(_stack, &psz);
uint8_t len = strlen((char*)psz);
popString(_stack);
pushUint8(_stack, len);
}
break;
#endif
case OP_BEEP:
//Serial.println("---beep---");
beep();
break;
case OP_LEDON:
//Serial.println("---LED on---");
userLed(true); // set the correct bit
break;
case OP_LEDOFF:
//Serial.println("---LED off---");
userLed(false);
break;
case OP_WITHINT8:
case OP_WITHUINT8:
case OP_WITHINT16:
case OP_WITHUINT16:
case OP_WITHBOOL:
case OP_WITHPTR:
#ifdef SUPPORT_32BIT
case OP_WITHINT32:
case OP_WITHUINT32:
#endif
#ifdef SUPPORT_FLOAT
case OP_WITHFLOAT:
#endif
#ifdef SUPPORT_DOUBLE
case OP_WITHDOUBLE:
#endif
#ifdef SUPPORT_STRING
case OP_WITHSTRING:
#endif
_regs.withCode = _regs.opCode;
break;
case OP_LOCAL:
{
//Serial.print("local: local frame (");
//Serial.print(_regs.localFrame);
//Serial.print(") - ");
STACKPTR varOffset;
_regs.pc = _storage.read<uint16_t>(_regs.pc, (uint16_t&)varOffset);
pushStackPtr(_stack, (STACKPTR)_regs.localFrame.top + varOffset);
//Serial.print(varOffset);
//Serial.print(" = global ");
//Serial.println(_regs.localFrame + varOffset);
}
break;
case OP_PARAM:
{
//Serial.print("param: ");
STACKPTR varOffset;
_regs.pc = _storage.read<uint16_t>(_regs.pc, (uint16_t&)varOffset);
// We have an index into the parameters, which were put on
// the stack in reverse order before the function call.
// Calculate the absolute stack offset using the local
// stack frame offset.
// Also, the total size of the arguments was pushed last,
// so we need to step past that too.
// TODO: Check against the total argument size.
pushStackPtr(_stack,
getArgsLocation()
- sizeof(uint8_t) // Number of args
- varOffset // Offset to the required param
);
}
break;
case OP_BLOCK:
{
//Serial.print("block ");
descendBlock(); // Shift the flag to the next block bit
//char psz[10];
//utoa(_regs.blockDepthMask, psz, 2);
//Serial.println(psz);
uint16_t blockLength;
// Push address of next instruction (following the block
// length data)
pushProgPtr(_stack, (PROGPTR)_regs.pc + sizeof(uint16_t));
_storage.read<uint16_t>(_regs.pc, blockLength);
// Step past the block (tests there will bring execution back)
_regs.pc.increment(blockLength);
}
break;
case OP_EOB:
//Serial.println("--eob--");
setBlockExecuted(); // Set the bit to indicate that this block has executed
break;
case OP_DO:
{
//Serial.println("---do---");
// OP_DO is like OP_BLOCK except that execution falls through to
// the top of the block of code unconditionally rather than jump
// to the end where some condition is tested.
// Need to:
// - Push the address that the following OP_BLOCK would push
// - Step past the:
// - The OP_BLOCK code (uint8_t)
// - The block size (uint16_t)
// After going through the code block it should jump back to
// the beginning of the OP_BLOCK and loop as usual.
descendBlock(); // Shift the flag to the next block bit (normally done by OP_BLOCK)
PROGPTR startOfBlock = (PROGPTR)_regs.pc + sizeof(uint8_t) +sizeof(uint16_t);
pushProgPtr(_stack, startOfBlock);
_regs.pc.set(startOfBlock);
}
break;
case OP_WHILE:
{
//Serial.print("while ");
bool condition;
PROGPTR blockAddr;
popUint8(_stack, (uint8_t*)&condition);
//Serial.println(condition ? "true" : "false");
//_stack.pop(blockAddr);
if (condition) // if true then go to the block start address
{
topProgPtr(_stack, &blockAddr);
_regs.pc = blockAddr;
}
else
{
popProgPtr(_stack, &blockAddr); // Throw it away
ascendBlock(); // Finished with this block now
}
}
break;
case OP_REPEAT:
{
//Serial.print("repeat ");
PROGPTR blockAddr;
uint16_t max;
popProgPtr(_stack, &blockAddr);
popUint16(_stack, &max);
uint16_t repcount;
if (!hasBlockExecuted()) // First time around?
{
repcount = 1;
pushUint16(_stack, repcount);
// point to the counter we just pushed
STACKPTR slot = getTop(_stack);
// Save outer loop's repcount pointer
pushStackPtr(_stack, _regs.repcountLocation);
// Set it to ours
_regs.repcountLocation = slot;
}
else
{
getUint16(_stack, _regs.repcountLocation, &repcount); // Get counter value
repcount++;
}
//Serial.println(repcount);
if (repcount <= max)
{
setUint16(_stack, _regs.repcountLocation, repcount);
pushUint16(_stack, max);
pushProgPtr(_stack, blockAddr);
_regs.pc = blockAddr;
}
else
{
// Restore the outer loop's repcount pointer
popStackPtr(_stack, &_regs.repcountLocation);
popUint16(_stack, &repcount); // Dispose of counter
ascendBlock(); // Finished with this block now
}
}
break;
case OP_REPCOUNT:
{
uint16_t repcount;
getUint16(_stack, _regs.repcountLocation, &repcount);
pushUint16(_stack, repcount);
}
break;
case OP_FOR:
{
//Serial.println("for ");
// The counter variable has already been set to the from
// value, so the from value isn't on the stack.
PROGPTR blockAddr;
int16_t step, to, from;
STACKPTR counterOff;
int16_t counterVal;
popProgPtr(_stack, &blockAddr);
popUint16(_stack, (uint16_t*)&step);
popUint16(_stack, (uint16_t*)&to);
popUint16(_stack, (uint16_t*)&from);
popStackPtr(_stack, &counterOff);
getUint16(_stack, counterOff, (uint16_t*)&counterVal);
//Serial.print(counterVal);
//Serial.print(" ");
//Serial.print(to);
//Serial.print(" ");
//Serial.println(step);
bool keepGoing;
// See if this is the first time around
if (!hasBlockExecuted())
{
counterVal = from;
keepGoing = true;
}
else
{
// If step > 0 then assume from < to otherwise assume from > to
keepGoing = (step > 0) ? (counterVal < to) : (counterVal > to);
counterVal += step;
}
if (keepGoing)
{
setUint16(_stack, counterOff, (uint16_t)counterVal);
_regs.pc = blockAddr; // reiterate
pushStackPtr(_stack, counterOff); // Var offset
pushUint16(_stack, (uint16_t)from); // to
pushUint16(_stack, (uint16_t)to); // to
pushUint16(_stack, (uint16_t)step); // step
pushProgPtr(_stack, blockAddr);
}
else
{
ascendBlock();
}
}
break;
case OP_IF:
{
//Serial.print("if ");
// If it's the first time through then check the
// condition
if (!hasBlockExecuted())
{
PROGPTR blockAddr;
bool condition;
popProgPtr(_stack, &blockAddr); // Block initial address
popUint8(_stack, (uint8_t*)&condition); // argument to test
//Serial.println(condition ? "true" : "false");
if (condition)
{
_regs.pc = blockAddr;
}
else
{
ascendBlock();
}
}
else
{
ascendBlock();
}
}
break;
// IFELSE starts with address of THEN and ELSE lists (and
// CONDITIONAL) on the stack. CONDITIONAL is tested and
// appropriate list is run.
case OP_IFELSE:
{
//Serial.print("ifelse ");
PROGPTR elseBlock;
popProgPtr(_stack, &elseBlock); // ELSE block start
// Note that descendBlock() will have been called twice
// the first time around (once for each block).
ascendBlock(); // Remove the else block...
// ...and use the then block flag for both purposes
if (!hasBlockExecuted())
{
PROGPTR thenBlock;
bool condition;
popProgPtr(_stack, &thenBlock); // THEN block start
popUint8(_stack, (uint8_t*)&condition); // argument to test
if (condition)
{
//Serial.println("(then)");
_regs.pc = thenBlock;
// The ELSE address will get pushed again when
// execution falls into the ELSE block after
// exiting the THEN block.
// Another else block will be descended into
// as well, and ascended away again above.
// The eob code will be encountered at the end
// of the then block, and that will set the
// executed flag.
}
else
{
//Serial.println("(else)");
_regs.pc = elseBlock; // the "ELSE" list
pushProgPtr(_stack, (PROGPTR)0); // Push fake ELSE to balance
// Borrow the then block flag and set it now as
// executed since it won't actually be set
// otherwise.
setBlockExecuted();
// Descend the else block now, as
// this also won't be done in the block's code.
descendBlock();
}
}
else
{
//popProgPtr(_stack, &elseBlock); // dispose of unrequired address
ascendBlock(); // ie. the then block
}
}
break;
case OP_PUSH:
{
//Serial.print("push ");
uint8_t amount;
popUint8(_stack, &amount);
pushn(_stack, (STACKPTR)amount);
}
break;
case OP_POP:
{
//Serial.print("pop ");
uint8_t amount;
popUint8(_stack, &amount);
popn(_stack, (STACKPTR)amount);
}
break;
case OP_CHKPOINT:
getStackState(_stack, &_regs.checkPoint);
break;
case OP_ROLLBACK:
setStackState(_stack, &_regs.checkPoint);
break;
case OP_CALL:
{
//Serial.println("call");
PROGPTR procAddr;
popProgPtr(_stack, &procAddr); // Get the function location
// Save the args location used by the calling function, and
// set it to what was the stack top before it was pushed.
/*
_regs.argsLoc = _stack.push(_regs.argsLoc);
//Serial.print("args location: ");
//Serial.println(_regs.argsLoc);
*/
pushProgPtr(_stack, (PROGPTR)_regs.pc); // Save the current code location for the return
_regs.pc.set(procAddr); // Now jump to the function
}
break;
case OP_BEGIN:
//Serial.println("begin");
pushRegisters(); // Save state of the caller
_regs.blockDepthMask = 0;
_regs.blocksExecuted = 0;
getStackState(_stack, &_regs.localFrame); // = getTop(_stack);
//Serial.println(_regs.localFrame);
break;
case OP_RETURN:
{
//Serial.print("return ");
//Unwind the stack to the beginning of the local frame
setStackState(_stack, &_regs.localFrame);
popRegisters();
PROGPTR returnAddr;
popProgPtr(_stack, &returnAddr); // Get the return address
//_stack.pop(_regs.argsLoc); // Restore the param location for the calling function
_regs.pc.set(returnAddr);
}
break;
case OP_EXIT:
reset();
//Serial.println("---exit---");
break;
case OP_LOOP:
{
//Serial.println("---loop---");
PROGPTR blockAddr;
topProgPtr(_stack, &blockAddr);
_regs.pc.set(blockAddr);
}
break;
case OP_WAIT:
{
//Serial.println("---wait---");
uint16_t tenths;
popUint16(_stack, &tenths);
delay(100 * tenths);
}
break;
case OP_TIMER:
//Serial.print("timer ");
pushUint16(_stack, _timerCount); // TODO: implement timer!!
break;
case OP_RESETT:
//Serial.println("---resett---");
_timerCount = 0;
break;
case OP_RANDOM:
//Serial.print("random ");
pushUint16(_stack, (uint16_t)random(0, 32767));
break;
case OP_RANDOMXY:
{
//Serial.print("randomxy ");
int16_t x;
int16_t y;
popUint16(_stack, (uint16_t*)&y);
popUint16(_stack, (uint16_t*)&x);
pushUint16(_stack, (uint16_t)random(x, y));
}
break;
case OP_MOTORS:
{
//Serial.print("motors ");
uint8_t selected;
popUint8(_stack, &selected);
_selectedMotors = (Motors::Selected)selected;
}
break;
case OP_THISWAY:
//Serial.print("---thisway---");
_motors.setDirection(_selectedMotors, MotorBase::THIS_WAY);
break;
case OP_THATWAY:
//Serial.print("---thatway---");
_motors.setDirection(_selectedMotors, MotorBase::THAT_WAY);
break;
case OP_RD:
//Serial.print("---rd---");
_motors.reverseDirection(_selectedMotors);
break;
case OP_SETPOWER:
{
//Serial.print("setpower ");
uint8_t power;
popUint8(_stack, &power);
if (power > 7)
power = 7;
_motors.setPower(_selectedMotors, power);
}
break;
case OP_BRAKE:
//Serial.println("---brake---");
_motors.setBrake(_selectedMotors, MotorBase::BRAKE_ON);
break;
case OP_ON:
//Serial.println("---on---");
_motors.on(_selectedMotors);
break;
case OP_ONFOR:
{
//Serial.print("onfor");
uint16_t tenths;
popUint16(_stack, &tenths);
_motors.on(_selectedMotors);
delay(100 * tenths);
_motors.off(_selectedMotors);
}
break;
case OP_OFF:
//Serial.println("---off---");
_motors.off(_selectedMotors);
break;
case OP_SENSOR1:
case OP_SENSOR2:
case OP_SENSOR3:
case OP_SENSOR4:
case OP_SENSOR5:
case OP_SENSOR6:
case OP_SENSOR7:
case OP_SENSOR8:
//Serial.print("sensor ");
//Serial.print(_regs.opCode - OP_SENSOR1);
//Serial.print(" ");
pushUint16(_stack, (uint16_t)readAnalog(_regs.opCode - OP_SENSOR1));
break;
case OP_AIN:
{
//Serial.print("ain ");
uint8_t input;
popUint8(_stack, &input);
pushUint16(_stack, (uint16_t)readAnalog(input));
}
break;
case OP_AOUT:
{
//Serial.print("aout ");
uint8_t output;
uint8_t value;
popUint8(_stack, &output);
popUint8(_stack, &value);
writeAnalog(output, value);
}
break;
case OP_SWITCH1:
case OP_SWITCH2:
case OP_SWITCH3:
case OP_SWITCH4:
case OP_SWITCH5:
case OP_SWITCH6:
case OP_SWITCH7:
case OP_SWITCH8:
{
//Serial.print("switch ");
//Serial.print(_regs.opCode - OP_SWITCH1);
//Serial.print(" ");
int16_t val = readAnalog(_regs.opCode - OP_SWITCH1);
if (val < 0)
pushUint8(_stack, (uint8_t)false);
else
pushUint8(_stack, (uint8_t)!!(val >> 7));
}
break;
case OP_NOT:
break;
case OP_AND:
break;
case OP_OR:
break;
case OP_XOR:
break;
case OP_DIN:
{
//Serial.print("din ");
uint8_t input;
popUint8(_stack, &input);
pushUint8(_stack, (uint8_t)readDigital(input));
}
break;
case OP_DOUT:
{
//Serial.print("dout ");
uint8_t output;
bool value;
popUint8(_stack, &output);
popUint8(_stack, (uint8_t*)&value);
writeDigital(output, value);
}
break;
case OP_BTOS:
{
int8_t value;
popUint8(_stack, (uint8_t*)&value);
pushUint16(_stack,(uint16_t)value);
}
break;
case OP_UBTOS:
{
uint8_t value;
popUint8(_stack, &value);
pushUint16(_stack,(uint16_t)value);
}
break;
case OP_STOB: // and OP_USTOB
{
//Serial.print("stob: ");
uint16_t value;
popUint16(_stack, (uint16_t*)&value);
//Serial.println(value);
pushUint8(_stack, (uint8_t)value);
}
break;
#ifdef SUPPORT_32BIT
case OP_BTOI:
{
int8_t value;
popUint8(_stack, (uint8_t*)&value);
pushUint32(_stack,(uint32_t)value);
}
break;
case OP_UBTOI:
{
uint8_t value;
popUint8(_stack, &value);
pushUint32(_stack,(uint32_t)value);
}
break;
case OP_STOI:
{
int16_t value;
popUint16(_stack, (uint16_t*)&value);
pushUint32(_stack,(uint32_t)value);
}
break;
case OP_USTOI:
{
uint16_t value;
popUint16(_stack, &value);
pushUint32(_stack,(uint32_t)value);
}
break;
case OP_ITOB: // and OP_UITOB
{
int32_t value;
popUint32(_stack, (uint32_t*)&value);
pushUint8(_stack, (uint8_t)value);
}
break;
case OP_ITOS: //and OP_UITOS
{
int32_t value;
popUint32(_stack, (uint32_t*)&value);
pushUint16(_stack, (uint16_t)value);
}
break;
#endif
#ifdef SUPPORT_FLOAT
case OP_BTOF:
{
int8_t value;
popUint8(_stack, (uint8_t*)&value);
pushFloat(_stack, (float)value);
}
break;
case OP_UBTOF:
{
uint8_t value;
popUint8(_stack, &value);
pushFloat(_stack, (float)value);
}
break;
case OP_STOF:
{
int16_t value;
popUint16(_stack, (uint16_t*)&value);
pushFloat(_stack, (float)value);
}
break;
case OP_USTOF:
{
uint16_t value;
popUint16(_stack, &value);
pushFloat(_stack, (float)value);
}
break;
case OP_FTOB:
{
float value;
popFloat(_stack, &value);
pushUint8(_stack, (uint8_t)value);
}
break;
case OP_FTOS:
{
float value;
popFloat(_stack, &value);
pushUint16(_stack, (uint16_t)value);
}
break;
#endif
#ifdef SUPPORT_DOUBLE
case OP_BTOD:
{
int8_t value;
popUint8(_stack, (uint8_t*)&value);
pushDouble(_stack, (double)value);
}
break;
case OP_UBTOD:
{
uint8_t value;
popUint8(_stack, &value);
pushDouble(_stack, (double)value);
}
break;
case OP_STOD:
{
int16_t value;
popUint16(_stack, (uint16_t*)&value);
pushDouble(_stack, (double)value);
}
break;
case OP_USTOD:
{
uint16_t value;
popUint8(_stack, (uint8_t*)&value);
pushDouble(_stack, (double)value);
}
break;
case OP_DTOB:
{
double value;
popDouble(_stack, &value);
pushUint8(_stack, (uint8_t)value);
}
break;
case OP_DTOS:
{
double value;
popDouble(_stack, &value);
pushUint16(_stack, (uint16_t)value);
}
break;
#endif
#if defined(SUPPORT_DOUBLE) && defined(SUPPORT_32BIT)
case OP_ITOD:
{
int32_t value;
popUint32(_stack, (uint32_t*)&value);
pushDouble(_stack, (double)value);
}
break;
case OP_UITOD:
{
uint32_t value;
popUint32(_stack, &value);
pushDouble(_stack, (double)value);
}
break;
case OP_DTOI:
{
double value;
popDouble(_stack, &value);
pushUint32(_stack, (uint32_t)value);
}
break;
#endif
#if defined(SUPPORT_DOUBLE) && defined(SUPPORT_FLOAT)
case OP_FTOD:
{
float value;
popFloat(_stack, &value);
pushDouble(_stack, (double)value);
}
break;
case OP_DTOF:
{
double value;
popDouble(_stack, &value);
pushFloat(_stack, (float)value);
}
break;
#endif
#if defined(SUPPORT_FLOAT) && defined(SUPPORT_32BIT)
case OP_ITOF:
{
int32_t value;
popUint32(_stack, (uint32_t*)&value);
pushFloat(_stack, (float)value);
}
break;
case OP_UITOF:
{
uint32_t value;
popUint32(_stack, &value);
pushFloat(_stack, (float)value);
}
break;
case OP_FTOI:
{
float value;
popFloat(_stack, &value);
pushUint32(_stack, (uint32_t)value);
}
break;
#endif
case OP_I2CSTART:
i2cStart();
break;
case OP_I2CSTOP:
i2cStop();
break;
case OP_I2CTXRX:
{
uint16_t i2cAddr;
uint16_t txBuffOffset;
uint8_t txBuffLen;
uint16_t rxBuffOffset;
uint8_t rxBuffLen;
uint16_t timeout;
popUint16(_stack, &i2cAddr);
popUint16(_stack, &txBuffOffset);
popUint8(_stack, &txBuffLen);
popUint16(_stack, &rxBuffOffset);
popUint8(_stack, &rxBuffLen);
popUint16(_stack, &timeout);
i2cTxRx(i2cAddr,
(uint8_t*)getStackAddress(_stack, txBuffOffset),
txBuffLen,
(uint8_t*)getStackAddress(_stack, rxBuffOffset),
rxBuffLen,
timeout);
}
break;
case OP_I2CRX:
{
uint16_t addr;
uint16_t rxBuffOffset;
uint8_t rxBuffLen;
uint16_t timeout;
popUint16(_stack, &addr);
popUint16(_stack, &rxBuffOffset);
popUint8(_stack, &rxBuffLen);
popUint16(_stack, &timeout);
i2cRx(addr, (uint8_t*)getStackAddress(_stack, rxBuffOffset), rxBuffLen, timeout);
}
break;
#ifdef SUPPORT_32BIT
case OP_I2CERR:
{
//Serial.println("---i2cerr---");
uint32_t errors = i2cErrors();
pushUint32(_stack, errors);
}
break;
#endif
case OP_WAITUNTIL:
case OP_RECORD:
case OP_RECALL:
case OP_RESETDP:
case OP_SETDP:
case OP_ERASE:
case OP_SETSVH:
case OP_SVR:
case OP_SVL:
// TODO!!!
break;
default:
// All of the type specific codes are dealt with here
if (!withCurrentType())
{
//beep(); // Just an indication for now.
Serial.print("unrecognised opcode: ");
Serial.println(_regs.opCode);
}
break;
}
}
}
void* ScmInterpreterImpl::eval(ScmEnv *env, ScmObject *exp) {
if (auto sym = exp->dynamicCast<ScmSymbol>()) {
return push(env->lookup(sym));
}
auto vec = exp->dynamicCast<ScmVector>();
if (vec == nullptr || vec->size() == 0) {
return push(exp);
}
auto& form = vec->getImmutableVec();
if (form[0]->equal(QUOTE)) {
push();
push(form[1]);
auto ret = &top(-2);
ScmVectorList::toPairList(mObjMgr, ret, ret + 2);
pop();
return ret;
} else if (form[0]->equal(IF)) {
eval(env, form[1]);
if (pop()->staticCast<ScmInt>()->number) {
return eval(env, form[2]);
} else {
return eval(env, form[3]);
}
} else if (form[0]->equal(BEGIN)) {
for (int i = 1; i < (int)form.size() - 1; ++i) {
eval(env, form[i]);
pop();
}
return eval(env, form.back());
} else if (form[0]->equal(LAMBDA)) {
ASSERT(form.size() == 3);
mObjMgr->create<ScmScriptFunction>(push(), env, form[1]->staticCast<ScmVector>(), form[2]);
return 0;
} else if (form[0]->equal(DEFINE)) {
eval(env, form[2]);
env->define(form[1]->staticCast<ScmSymbol>(), top());
top() = mVoid;
return 0;
} else if (form[0]->equal(SET)) {
eval(env, form[2]);
env->set(form[1]->staticCast<ScmSymbol>(), top());
top() = mVoid;
return 0;
} else {
for (auto e : form) {
eval(env, e);
}
auto func = &mEvalStack.back() - form.size() + 1;
if (auto cfunc = func[0]->dynamicCast<ScmCFunction>()) {
cfunc->func(mObjMgr, func, func + form.size());
popn(form.size() - 1);
return 0;
} else {
auto scriptFunc = func[0]->staticCast<ScmScriptFunction>();
mStackFrames.push_back(StackFrame{nullptr, scriptFunc});
auto &frame = mStackFrames.back();
{
auto dict = mObjMgr->create<ScmDictionary>(push());
mObjMgr->create<ScmEnv>(&frame.localEnv, scriptFunc->env, dict);
pop();
}
{
auto &formals = scriptFunc->formals->getImmutableVec();
ASSERT((formals.size() == form.size() - 1) && "Argument count mistmatch!");
for (int i = (int)formals.size() - 1; i >= 0; --i) {
frame.localEnv->define(formals[i]->staticCast<ScmSymbol>(), pop());
}
}
pop();
eval(frame.localEnv, scriptFunc->body);
mStackFrames.pop_back();
return 0;
}
}
}
void jinit_epi( struct JFunc* jf, struct machine_ops* mop, struct emitter* e, struct machine* m ){
// phoney frame
struct frame F = { .m = m, .nr_locals = 1, .nr_params = 0 };
struct frame *f = &F;
const operand sp = OP_TARGETREG( m->sp );
const operand fp = OP_TARGETREG( m->fp );
operand rargs[ RA_SIZE ];
prefer_nontemp_acquire_reg( mop, e, f->m, RA_SIZE, rargs );
// reset stack
// mop->move( e, m, sp, fp );
mop->add( e, m, sp, fp, OP_TARGETIMMED( -4 ) );
if( m->is_ra )
popn( mop, e, m , 3, rargs[ RA_DST ], fp, OP_TARGETREG( m->ra ) );
else
popn( mop, e, m, 2, rargs[ RA_DST ], fp );
// pop( mop, e, m, fp );
mop->ret( e, m );
prefer_nontemp_release_reg( mop, e, f->m, RA_SIZE );
}
/*
* Do the majority ( function independent ) part of the prologue. That is: store the frame section,
* update src and dst pointers and call the memcpy.
*
* The function specific code needs to set the number of params, update the stack ( requires # of locals )
* and then unspill params.
*/
void jinit_pro( struct JFunc* jf, struct machine_ops* mop, struct emitter* e, struct machine* m ){
// phoney frame
struct frame F = { .m = m, .nr_locals = 1, .nr_params = 0 };
struct frame *f = &F;
const operand sp = OP_TARGETREG( f->m->sp );
const operand fp = OP_TARGETREG( f->m->fp );
const vreg_operand basestack = vreg_to_operand( f, 0, true ); // destination is first local
const int maxstack = JFUNC_UNLIMITED_STACK;
operand rargs[ RA_SIZE ];
prefer_nontemp_acquire_reg( mop, e, f->m, RA_SIZE, rargs );
// push old frame pointer, closure addr / result start addr, expected nr or results
if( f->m->is_ra )
pushn( mop, e, f->m, 3, OP_TARGETREG( f->m->ra), fp, rargs[ RA_SRC ] );
else
pushn( mop, e, f->m, 2, fp, rargs[ RA_SRC ] );
// set ebp and update stack
mop->add( e, f->m, fp, sp, OP_TARGETIMMED( 4 ) ); // point to ebp so add 4
// set src ( always start after closure see Lua VM for reason )
mop->add( e, f->m, rargs[ RA_SRC ], rargs[ RA_SRC ], OP_TARGETIMMED( -8 ) );
mop->add( e, f->m, rargs[ RA_DST ], OP_TARGETREG( basestack.value.base ), OP_TARGETIMMED( basestack.value.offset ) );
/*
* Call the actual function, which is the closure. On RISC this will clobber
* temp hopefully this isn't a live reg or we will get exception. On CISC
* there is probably indirect direct address jmp instruction ( x86 does 0 ).
*/
mop->b( e, f->m, LBL_ABS( OP_TARGETDADDR( rargs[ RA_SRC ].reg, 8 ) ) );
prefer_nontemp_release_reg( mop, e, f->m, RA_SIZE );
}
/*
* The number of results is not know before hand. Need to update stack for future
* calls.
*/
void jinit_vresult_postcall( struct JFunc* jf, struct machine_ops* mop, struct emitter* e, struct machine* m ){
// phoney frame
struct frame F = { .m = m, .nr_locals = 1, .nr_params = 0 };
struct frame *f = &F;
operand rargs[ RA_SIZE ];
prefer_nontemp_acquire_reg( mop, e, f->m, RA_SIZE, rargs );
// max stack clobber
const int maxstack = 3; // prior frame has buffer of pushed return addr, frame pointer and closure
// consume as many results as available
mop->move( e, f->m, rargs[ RA_EXPECT ], rargs[ RA_EXIST ] );
// if register based remember return address
if( f->m->is_ra )
pushn( mop, e, f->m, 1, OP_TARGETREG( f->m->ra) ); // not safe cause of stack
// copy args across
jfunc_call( mop, e, f->m, JF_ARG_RES_CPY, 0, maxstack, 4, rargs[ RA_SRC ], rargs[ RA_DST ],
rargs[ RA_EXPECT ], rargs[ RA_EXIST ] );
if( f->m->is_ra )
popn( mop, e, f->m, 1, OP_TARGETREG( f->m->ra) );
/*
* this depends heavily on copy arg implementation, it assumes ptrs will point to
* the top of the stack after copying i.e. the last result copied.
*/
mop->add( e, m, OP_TARGETREG( f->m->sp ), rargs[ RA_DST ], OP_TARGETIMMED( 0 ) );
prefer_nontemp_release_reg( mop, e, f->m, RA_SIZE );
// return
mop->ret( e, m );
}
