void LoopScheduler()
{
// The heartbeat timer controls how often the green LED blinks
if(rdint(I_LSC_HEARTBEAT) <= 0)
{
wrint(I_LSC_HEARTBEAT, rdint(I_LSD_HEARTBEAT));
HeliosSetLED1(!HeliosReadLED1());
}
// the state data timer controls how often the state register data is
// sent to the GUI.
if(rdint(I_LSC_STATE_DATA) <= 0)
{
wrint(I_LSC_STATE_DATA, rdint(I_LSD_STATE_DATA));
wrchar(C_REQ_STATE_DATA,TRUE);
}
// The read button timer controls how often we read the button.
// This is done to "de-bounce" the button
if(rdint(I_LSC_READ_BUTTON) <= 0)
{
wrint(I_LSC_READ_BUTTON, 100); // Hard code to the button to be read every 100ms
if(HeliosReadBTN())
{
xil_printf("BUTTON!");
// Do something in response to button push
Game_Shoot(GAME_KILL_SHOT);
wrint(I_LSC_READ_BUTTON, 750); // if the button was pushed then we want to wait longer before reading it again to avoid double pushing
}
}
int stat = CameraStatus(XPAR_PLB_VISION_0_BASEADDR);
if(stat == 0xD1) //capture done but FIFO not empty
{
stallTimes++;
if(stallTimes > 1000)
{
//xil_printf("Reboot");
ResetCameraCore();
FT_StartCapture(g_capture_fte->next);
//StartFrameCapture(XPAR_PLB_VISION_0_BASEADDR);
stallTimes = 0;
}
}
//These should also be calculated every so many ms
// but i don't need them right now so i am not implementing them
//calculateSpeed();
//TruckControlInterruptRoutine();
}
static void wrtype(FILE *fd, Type *ty)
{
if (ty->tid >= Builtinmask)
die("Type id %d for %s too big", ty->tid, tystr(ty));
if (ty->vis == Visbuiltin)
wrint(fd, ty->type | Builtinmask);
else
wrint(fd, ty->tid);
}
static void wrucon(FILE *fd, Ucon *uc)
{
wrint(fd, uc->loc.line);
wrint(fd, uc->id);
wrbool(fd, uc->synth);
pickle(fd, uc->name);
wrbool(fd, uc->etype != NULL);
if (uc->etype)
wrtype(fd, uc->etype);
}
void
wrscore(void)
{
writel("Score: ");
writel(color[1]);
writec(' ');
wrint(rscore);
writel(", ");
writel(color[0]);
writec(' ');
wrint(wscore);
}
static void traitpickle(FILE *fd, Trait *tr)
{
size_t i;
wrint(fd, tr->uid);
wrbool(fd, tr->ishidden);
pickle(fd, tr->name);
typickle(fd, tr->param);
wrint(fd, tr->nmemb);
for (i = 0; i < tr->nmemb; i++)
wrsym(fd, tr->memb[i]);
wrint(fd, tr->nfuncs);
for (i = 0; i < tr->nfuncs; i++)
wrsym(fd, tr->funcs[i]);
}
void
wrhit(int i)
{
writel("Blot hit on ");
wrint(i);
writec('.');
writec('\n');
}
/* Writes the name and type of a variable,
* but only writes its intializer for things
* we want to inline cross-file (currently,
* the only cross-file inline is generics) */
static void wrsym(FILE *fd, Node *val)
{
/* sym */
wrint(fd, val->loc.line);
pickle(fd, val->decl.name);
wrtype(fd, val->decl.type);
/* symflags */
wrint(fd, val->decl.vis);
wrbool(fd, val->decl.isconst);
wrbool(fd, val->decl.isgeneric);
wrbool(fd, val->decl.isextern);
wrbool(fd, val->decl.ispkglocal);
wrbool(fd, val->decl.isnoret);
wrbool(fd, val->decl.isexportinit);
wrbool(fd, val->decl.isinit);
if (val->decl.isexportinit) {
pickle(fd, val->decl.init);
}
}
void
moverr(int i)
{
int j;
if (tflag)
curmove(20, 0);
else
writec('\n');
writel("Error: ");
for (j = 0; j <= i; j++) {
wrint(p[j]);
writec('-');
wrint(g[j]);
if (j < i)
writec(',');
}
writel("... ");
movback(i);
}
/* Outputs a symbol table to file in a way that can be
* read back usefully. Only writes declarations, types
* and sub-namespaces. Captured variables are ommitted. */
static void wrstab(FILE *fd, Stab *val)
{
size_t n, i;
void **keys;
wrstr(fd, val->name);
/* write decls */
keys = htkeys(val->dcl, &n);
wrint(fd, n);
for (i = 0; i < n; i++)
wrsym(fd, getdcl(val, keys[i]));
free(keys);
/* write types */
keys = htkeys(val->ty, &n);
wrint(fd, n);
for (i = 0; i < n; i++) {
pickle(fd, keys[i]); /* name */
wrtype(fd, gettype(val, keys[i])); /* type */
}
free(keys);
}
void
gwrite(void)
{
int r, c;
r = c = 0;
if (tflag) {
r = curr;
c = curc;
curmove(16, 0);
}
if (gvalue > 1) {
writel("Game value: ");
wrint(gvalue);
writel(". ");
if (dlast == -1)
writel(color[0]);
else
writel(color[1]);
writel(" doubled last.");
} else {
switch (pnum) {
case -1: /* player is red */
writel(plred);
break;
case 0: /* player is both colors */
writel(nocomp);
break;
case 1: /* player is white */
writel(plwhite);
}
}
if (rscore || wscore) {
writel(" ");
wrscore();
}
if (tflag) {
cline();
curmove(r, c);
}
}
/* Usefile format:
* U<pkgname>
* L<liblist>
* I<initlist>
* T<pickled-type>
* D<picled-decl>
* G<pickled-decl><pickled-initializer>
* Z
*/
void writeuse(FILE *f, Node *file)
{
Stab *st;
void **k;
Node *s, *u;
size_t i, n;
assert(file->type == Nfile);
st = file->file.globls;
/* usefile name */
wrbyte(f, 'U');
wrint(f, Abiversion); /* use version */
if (st->name)
wrstr(f, st->name);
else
wrstr(f, NULL);
/* library deps */
for (i = 0; i < file->file.nuses; i++) {
u = file->file.uses[i];
if (!u->use.islocal) {
wrbyte(f, 'L');
wrstr(f, u->use.name);
}
}
for (i = 0; i < file->file.nlibdeps; i++) {
wrbyte(f, 'L');
wrstr(f, file->file.libdeps[i]);
}
for (i = 0; i < file->file.nextlibs; i++) {
wrbyte(f, 'X');
wrstr(f, file->file.extlibs[i]);
}
/* source file name */
wrbyte(f, 'F');
wrstr(f, file->file.files[0]);
for (i = 0; i < ntypes; i++) {
if (types[i]->vis == Visexport || types[i]->vis == Vishidden) {
wrbyte(f, 'T');
wrint(f, types[i]->tid);
typickle(f, types[i]);
}
}
for (i = 0; i < ntraittab; i++) {
if (traittab[i]->vis == Visexport || traittab[i]->vis == Vishidden) {
wrbyte(f, 'R');
traitpickle(f, traittab[i]);
}
}
k = htkeys(st->impl, &n);
for (i = 0; i < n; i++) {
/* merging during inference should remove all protos */
s = getimpl(st, k[i]);
assert(!s->impl.isproto);
if (s->impl.vis == Visexport || s->impl.vis == Vishidden) {
wrbyte(f, 'I');
pickle(f, s);
}
}
free(k);
k = htkeys(st->dcl, &n);
for (i = 0; i < n; i++) {
s = getdcl(st, k[i]);
assert(s != NULL);
if (s->decl.vis == Visintern || s->decl.vis == Visbuiltin)
continue;
/* trait functions get written out with their traits */
if (s->decl.trait || s->decl.isinit)
continue;
else if (s->decl.isgeneric)
wrbyte(f, 'G');
else
wrbyte(f, 'D');
wrsym(f, s);
}
for (i = 0; i < file->file.ninit; i++) {
wrbyte(f, 'S');
pickle(f, file->file.init[i]);
}
if (file->file.localinit) {
wrbyte(f, 'S');
pickle(f, file->file.localinit->decl.name);
}
free(k);
}
/* Pickles a node to a file. The format
* is more or less equivalen to to
* simplest serialization of the
* in-memory representation. Minimal
* checking is done, so a bad type can
* crash the compiler */
static void pickle(FILE *fd, Node *n)
{
size_t i;
if (!n) {
wrbyte(fd, Nnone);
return;
}
wrbyte(fd, n->type);
wrint(fd, n->loc.line);
switch (n->type) {
case Nfile:
wrstr(fd, n->file.files[0]);
wrint(fd, n->file.nuses);
for (i = 0; i < n->file.nuses; i++)
pickle(fd, n->file.uses[i]);
wrint(fd, n->file.nstmts);
for (i = 0; i < n->file.nstmts; i++)
pickle(fd, n->file.stmts[i]);
wrstab(fd, n->file.globls);
break;
case Nexpr:
wrbyte(fd, n->expr.op);
wrtype(fd, n->expr.type);
wrbool(fd, n->expr.isconst);
pickle(fd, n->expr.idx);
wrint(fd, n->expr.nargs);
for (i = 0; i < n->expr.nargs; i++)
pickle(fd, n->expr.args[i]);
break;
case Nname:
wrbool(fd, n->name.ns != NULL);
if (n->name.ns) {
wrstr(fd, n->name.ns);
}
wrstr(fd, n->name.name);
break;
case Nuse:
wrbool(fd, n->use.islocal);
wrstr(fd, n->use.name);
break;
case Nlit:
wrbyte(fd, n->lit.littype);
wrtype(fd, n->lit.type);
wrint(fd, n->lit.nelt);
switch (n->lit.littype) {
case Lchr: wrint(fd, n->lit.chrval); break;
case Lint: wrint(fd, n->lit.intval); break;
case Lflt: wrflt(fd, n->lit.fltval); break;
case Lstr: wrlenstr(fd, n->lit.strval); break;
case Llbl: wrstr(fd, n->lit.lblval); break;
case Lbool: wrbool(fd, n->lit.boolval); break;
case Lfunc: pickle(fd, n->lit.fnval); break;
}
break;
case Nloopstmt:
pickle(fd, n->loopstmt.init);
pickle(fd, n->loopstmt.cond);
pickle(fd, n->loopstmt.step);
pickle(fd, n->loopstmt.body);
break;
case Niterstmt:
pickle(fd, n->iterstmt.elt);
pickle(fd, n->iterstmt.seq);
pickle(fd, n->iterstmt.body);
break;
case Nmatchstmt:
pickle(fd, n->matchstmt.val);
wrint(fd, n->matchstmt.nmatches);
for (i = 0; i < n->matchstmt.nmatches; i++)
pickle(fd, n->matchstmt.matches[i]);
break;
case Nmatch:
pickle(fd, n->match.pat);
pickle(fd, n->match.block);
break;
case Nifstmt:
pickle(fd, n->ifstmt.cond);
pickle(fd, n->ifstmt.iftrue);
pickle(fd, n->ifstmt.iffalse);
break;
case Nblock:
wrstab(fd, n->block.scope);
wrint(fd, n->block.nstmts);
for (i = 0; i < n->block.nstmts; i++)
pickle(fd, n->block.stmts[i]);
break;
case Ndecl:
/* sym */
pickle(fd, n->decl.name);
wrtype(fd, n->decl.type);
/* symflags */
wrbool(fd, n->decl.isconst);
wrbool(fd, n->decl.isgeneric);
wrbool(fd, n->decl.isextern);
wrbool(fd, n->decl.isnoret);
wrbool(fd, n->decl.ispkglocal);
/* init */
pickle(fd, n->decl.init);
break;
case Nfunc:
wrtype(fd, n->func.type);
wrstab(fd, n->func.scope);
wrint(fd, n->func.nargs);
for (i = 0; i < n->func.nargs; i++)
pickle(fd, n->func.args[i]);
pickle(fd, n->func.body);
break;
case Nimpl:
pickle(fd, n->impl.traitname);
wrint(fd, n->impl.trait->uid);
wrtype(fd, n->impl.type);
wrint(fd, n->impl.ndecls);
for (i = 0; i < n->impl.ndecls; i++)
wrsym(fd, n->impl.decls[i]);
break;
case Nnone:
die("Nnone should not be seen as node type!");
break;
}
}
/* Writes types to a file. Errors on
* internal only types like Tyvar that
* will not be meaningful in another file*/
static void typickle(FILE *fd, Type *ty)
{
size_t i;
if (!ty) {
die("trying to pickle null type\n");
return;
}
wrbyte(fd, ty->type);
wrbyte(fd, ty->vis);
/* tid is generated; don't write */
/* FIXME: since we only support hardcoded traits, we just write
* out the set of them. we should write out the trait list as
* well */
if (!ty->traits) {
wrint(fd, 0);
} else {
wrint(fd, bscount(ty->traits));
for (i = 0; bsiter(ty->traits, &i); i++) {
if (i < Ntraits)
wrint(fd, i | Builtinmask);
else
wrint(fd, i);
}
}
wrint(fd, ty->nsub);
switch (ty->type) {
case Tyunres:
pickle(fd, ty->name);
break;
case Typaram:
wrstr(fd, ty->pname);
break;
case Tystruct:
wrint(fd, ty->nmemb);
for (i = 0; i < ty->nmemb; i++)
pickle(fd, ty->sdecls[i]);
break;
case Tyunion:
wrint(fd, ty->nmemb);
for (i = 0; i < ty->nmemb; i++)
wrucon(fd, ty->udecls[i]);
break;
case Tyarray:
wrtype(fd, ty->sub[0]);
pickle(fd, ty->asize);
break;
case Tyslice:
wrtype(fd, ty->sub[0]);
break;
case Tyvar:
die("Attempting to pickle %s. This will not work.\n", tystr(ty));
break;
case Tyname:
pickle(fd, ty->name);
wrbool(fd, ty->issynth);
wrint(fd, ty->narg);
for (i = 0; i < ty->narg; i++)
wrtype(fd, ty->arg[i]);
wrtype(fd, ty->sub[0]);
break;
case Tygeneric:
pickle(fd, ty->name);
wrbool(fd, ty->issynth);
wrint(fd, ty->ngparam);
for (i = 0; i < ty->ngparam; i++)
wrtype(fd, ty->gparam[i]);
wrtype(fd, ty->sub[0]);
break;
default:
for (i = 0; i < ty->nsub; i++)
wrtype(fd, ty->sub[i]);
break;
}
}
/* zero if first move */
void
move(int okay)
{
int i; /* index */
int l; /* last man */
l = 0;
if (okay) {
/* see if comp should double */
if (gvalue < 64 && dlast != cturn && dblgood()) {
writel(*Colorptr);
dble(); /* double */
/* return if declined */
if (cturn != 1 && cturn != -1)
return;
}
roll();
}
race = 0;
for (i = 0; i < 26; i++) {
if (board[i] < 0)
l = i;
}
for (i = 0; i < l; i++) {
if (board[i] > 0)
break;
}
if (i == l)
race = 1;
/* print roll */
if (tflag)
curmove(cturn == -1 ? 18 : 19, 0);
writel(*Colorptr);
writel(" rolls ");
writec(D0 + '0');
writec(' ');
writec(D1 + '0');
/* make tty interruptable while thinking */
if (tflag)
cline();
fixtty(noech);
/* find out how many moves */
mvlim = movallow();
if (mvlim == 0) {
writel(" but cannot use it.\n");
nexturn();
fixtty(raw);
return;
}
/* initialize */
for (i = 0; i < 4; i++)
cp[i] = cg[i] = 0;
/* strategize */
trymove(0, 0);
pickmove();
/* print move */
writel(" and moves ");
for (i = 0; i < mvlim; i++) {
if (i > 0)
writec(',');
wrint(p[i] = cp[i]);
writec('-');
wrint(g[i] = cg[i]);
makmove(i);
}
writec('.');
/* print blots hit */
if (tflag)
curmove(20, 0);
else
writec('\n');
for (i = 0; i < mvlim; i++)
if (h[i])
wrhit(g[i]);
/* get ready for next move */
nexturn();
if (!okay) {
buflush();
sleep(3);
}
fixtty(raw); /* no more tty interrupt */
}
/* zero if first move */
void
move(struct move *mm, int okay)
{
int i; /* index */
int l; /* last man */
l = 0;
if (okay) {
/* see if comp should double */
if (gvalue < 64 && dlast != cturn && dblgood()) {
writel(*Colorptr);
dble(); /* double */
/* return if declined */
if (cturn != 1 && cturn != -1)
return;
}
roll(mm);
}
race = 0;
for (i = 0; i < 26; i++) {
if (board[i] < 0)
l = i;
}
for (i = 0; i < l; i++) {
if (board[i] > 0)
break;
}
if (i == l)
race = 1;
/* print roll */
if (tflag)
curmove(cturn == -1 ? 18 : 19, 0);
writel(*Colorptr);
writel(" rolls ");
writec(mm->D0 + '0');
writec(' ');
writec(mm->D1 + '0');
/* make tty interruptable while thinking */
if (tflag)
cline();
fixtty(&noech);
/* find out how many moves */
mm->mvlim = movallow(mm);
if (mm->mvlim == 0) {
writel(" but cannot use it.\n");
nexturn();
fixtty(&raw);
return;
}
/* initialize */
for (i = 0; i < 4; i++)
cp[i] = cg[i] = 0;
/* strategize */
trymove(mm, 0, 0);
pickmove(mm);
/* print move */
writel(" and moves ");
for (i = 0; i < mm->mvlim; i++) {
if (i > 0)
writec(',');
wrint(mm->p[i] = cp[i]);
writec('-');
wrint(mm->g[i] = cg[i]);
makmove(mm, i);
/*
* This assertion persuades gcc 4.5 that the loop
* doesn't result in signed overflow of i. mvlim
* isn't, or at least shouldn't be, changed by makmove
* at all.
*/
assert(mm->mvlim >= 0 && mm->mvlim <= 5);
}
writec('.');
/* print blots hit */
if (tflag)
curmove(20, 0);
else
writec('\n');
for (i = 0; i < mm->mvlim; i++)
if (mm->h[i])
wrhit(mm->g[i]);
/* get ready for next move */
nexturn();
if (!okay) {
buflush();
sleep(3);
}
fixtty(&raw); /* no more tty interrupt */
}
