void GBStackBrain::ExecuteInstruction(GBStackInstruction ins, GBRobot * robot, GBWorld * world) {
GBStackInstruction index = ins & kOpcodeIndexMask;
switch ( ins >> kOpcodeTypeShift ) {
case otPrimitive:
ExecutePrimitive(index, robot, world);
break;
case otConstantRead:
Push(spec->ReadConstant(index));
break;
case otVariableRead:
Push(ReadVariable(index));
break;
case otVariableWrite:
WriteVariable(index, Pop());
break;
case otVectorRead:
PushVector(ReadVectorVariable(index));
break;
case otVectorWrite:
WriteVectorVariable(index, PopVector());
break;
case otLabelRead:
Push(spec->ReadLabel(index));
break;
case otLabelCall:
ExecuteCall(spec->ReadLabel(index));
break;
case otHardwareRead:
Push(ReadHardware(index, robot, world));
break;
case otHardwareWrite:
WriteHardware(index, Pop(), robot, world);
break;
case otHardwareVectorRead:
PushVector(ReadHardwareVector(index, robot, world));
break;
case otHardwareVectorWrite:
WriteHardwareVector(index, PopVector(), robot, world);
break;
default:
throw GBUnknownInstructionError();
break;
}
}
/*
* Call a single event handler that was put on the stack with `Setup` and removes it from the stack.
*
* The caller is responsible for keeping track of how many times this should be called.
*/
int Eluna::CallOneFunction(int number_of_functions, int number_of_arguments, int number_of_results)
{
++number_of_arguments; // Caller doesn't know about `event_id`.
ASSERT(number_of_functions > 0 && number_of_arguments > 0 && number_of_results >= 0);
// Stack: event_id, [arguments], [functions]
int functions_top = lua_gettop(L);
int first_function_index = functions_top - number_of_functions + 1;
int arguments_top = first_function_index - 1;
int first_argument_index = arguments_top - number_of_arguments + 1;
// Copy the arguments from the bottom of the stack to the top.
for (int argument_index = first_argument_index; argument_index <= arguments_top; ++argument_index)
{
lua_pushvalue(L, argument_index);
}
// Stack: event_id, [arguments], [functions], event_id, [arguments]
ExecuteCall(number_of_arguments, number_of_results);
--functions_top;
// Stack: event_id, [arguments], [functions - 1], [results]
return functions_top + 1; // Return the location of the first result (if any exist).
}
void GBStackBrain::ExecutePrimitive(GBSymbolIndex index, GBRobot * robot, GBWorld * world) {
GBStackDatum temp, temp2, temp3;
long tempInt;
switch ( index ) {
case opNop: break;
// stack manipulation
case opDrop: Pop(); break;
case op2Drop: Pop(); Pop(); break;
case opNip: temp = Pop(); Pop(); Push(temp); break;
case opRDrop: PopReturn(); break;
case opDropN: {
int n = PopInteger();
if ( n > stackHeight ) throw GBBadArgumentError();
stackHeight -= n;
} break;
case opSwap: temp = Pop(); temp2 = Pop(); Push(temp); Push(temp2); break;
case op2Swap: { GBVector v1 = PopVector(); GBVector v2 = PopVector();
PushVector(v1); PushVector(v2); } break;
case opRotate: temp = Pop(); temp2 = Pop(); temp3 = Pop(); Push(temp2); Push(temp); Push(temp3); break;
case opReverseRotate: temp = Pop(); temp2 = Pop(); temp3 = Pop(); Push(temp); Push(temp3); Push(temp2); break;
case opDup: temp = Peek(); Push(temp); break;
case op2Dup: temp = Peek(2); temp2 = Peek(); Push(temp); Push(temp2); break;
case opTuck: temp = Pop(); temp2 = Pop(); Push(temp); Push(temp2); Push(temp); break;
case opOver: temp = Peek(2); Push(temp); break;
case op2Over: temp = Peek(4); temp2 = Peek(3); Push(temp); Push(temp2); break;
case opStackHeight: Push(stackHeight); break;
case opStackLimit: Push(kStackLimit); break;
case opPick: Push(Peek(PopInteger())); break;
case opToReturn: PushReturn(ToAddress(Pop())); break;
case opFromReturn: Push(PopReturn()); break;
// branches
case opJump: pc = ToAddress(Pop()); break;
case opCall: ExecuteCall(ToAddress(Pop())); break;
case opReturn: pc = PopReturn(); break;
case opIfGo: temp = Pop(); if ( Pop().Nonzero() ) pc = ToAddress(temp); break;
case opIfElseGo: temp = Pop(); temp2 = Pop();
if ( Pop().Nonzero() ) pc = ToAddress(temp2); else pc = ToAddress(temp); break;
case opIfCall: temp = Pop(); if ( Pop().Nonzero() ) ExecuteCall(ToAddress(temp)); break;
case opIfElseCall: temp = Pop(); temp2 = Pop();
if ( Pop().Nonzero() ) ExecuteCall(ToAddress(temp2)); else ExecuteCall(ToAddress(temp)); break;
case opIfReturn: if ( Pop().Nonzero() ) pc = PopReturn(); break;
case opNotIfGo: temp = Pop(); if ( ! Pop().Nonzero() ) pc = ToAddress(temp); break;
case opNotIfReturn: if ( ! Pop().Nonzero() ) pc = PopReturn(); break;
case opNotIfCall: temp = Pop(); if ( ! Pop().Nonzero() ) ExecuteCall(ToAddress(temp)); break;
// arithmetic
case opAdd: TwoNumberToNumberOp(&GBNumber::operator +); break;
case opSubtract: TwoNumberToNumberOp(&GBNumber::operator -); break;
case opNegate: NumberToNumberOp(&GBNumber::operator -); break;
// mult and divide are written out because of MrCpp internal error
case opMultiply: temp = Pop(); Push(Pop() * temp); break;
case opDivide: temp = Pop(); Push(Pop() / temp); break;
case opReciprocal: Push(GBNumber(1) / Pop()); break;
case opMod: TwoNumberToNumberOp(&GBNumber::Mod); break;
case opRem: TwoNumberToNumberOp(&GBNumber::Rem); break;
case opSqrt: NumberToNumberOp(&GBNumber::Sqrt); break;
case opExponent: TwoNumberToNumberOp(&GBNumber::Exponent); break;
case opIsInteger: PushBoolean(Pop().IsInteger()); break;
case opFloor: Push(Pop().Floor()); break;
case opCeiling: Push(Pop().Ceiling()); break;
case opRound: Push(Pop().Round()); break;
case opMin: TwoNumberToNumberOp(&GBNumber::Min); break;
case opMax: TwoNumberToNumberOp(&GBNumber::Max); break;
case opAbs: NumberToNumberOp(&GBNumber::Abs); break;
case opSignum: NumberToNumberOp(&GBNumber::Signum); break;
case opReorient: NumberToNumberOp(&GBNumber::Reorient); break;
case opSine: NumberToNumberOp(&GBNumber::Sin); break;
case opCosine: NumberToNumberOp(&GBNumber::Cos); break;
case opTangent: NumberToNumberOp(&GBNumber::Tan); break;
case opArcSine: NumberToNumberOp(&GBNumber::ArcSin); break;
case opArcCosine: NumberToNumberOp(&GBNumber::ArcCos); break;
case opArcTangent: NumberToNumberOp(&GBNumber::ArcTan); break;
case opRandom: temp = Pop(); Push(world->Randoms().InRange(Pop(), temp)); break;
case opRandomAngle: Push(world->Randoms().Angle()); break;
case opRandomInt: temp = Pop(); Push(world->Randoms().LongInRange(Pop().Ceiling(), temp.Floor())); break;
case opRandomBoolean: PushBoolean(world->Randoms().Boolean(Pop())); break;
// constants
case opPi: Push(GBNumber::pi); break;
case op2Pi: Push(GBNumber::pi * 2); break;
case opPiOver2: Push(GBNumber::pi / 2); break;
case opE: Push(GBNumber::e); break;
case opEpsilon: Push(GBNumber::epsilon); break;
case opInfinity: Push(GBNumber::infinity); break;
// vector operations
case opRectToPolar: { GBVector v = PopVector(); Push(v.Norm()); Push(v.Angle()); } break;
case opPolarToRect: temp = Pop(); temp2 = Pop(); PushVector(GBFinePoint::MakePolar(temp2, temp)); break;
case opVectorAdd: TwoVectorToVectorOp(&GBFinePoint::operator +); break;
case opVectorSubtract: TwoVectorToVectorOp(&GBFinePoint::operator -); break;
case opVectorNegate: VectorToVectorOp(&GBFinePoint::operator -); break;
case opVectorScalarMultiply: temp = Pop(); PushVector(PopVector() * temp); break;
case opVectorScalarDivide: temp = Pop(); PushVector(PopVector() / temp); break;
case opVectorNorm: VectorToScalarOp(&GBFinePoint::Norm); break;
case opVectorAngle: VectorToScalarOp(&GBFinePoint::Angle); break;
case opDotProduct: TwoVectorToScalarOp(&GBFinePoint::DotProduct); break;
case opProject: TwoVectorToVectorOp(&GBFinePoint::Projection); break;
case opCross: TwoVectorToScalarOp(&GBFinePoint::Cross); break;
case opUnitize: VectorToVectorOp(&GBFinePoint::Unit); break;
case opDistance: Push((PopVector() - PopVector()).Norm()); break;
case opInRange: temp = Pop(); PushBoolean(PopVector().InRange(PopVector(), temp)); break;
case opRestrictPosition: {
temp = Pop(); //wall distance
GBVector pos = PopVector();
Push(pos.x.Max(temp).Min(world->Size().x - temp));
Push(pos.y.Max(temp).Min(world->Size().y - temp));
} break;
case opVectorEqual: PushBoolean(PopVector() == PopVector()); break;
case opVectorNotEqual: PushBoolean(PopVector() != PopVector()); break;
// comparisons
case opEqual: PushBoolean(Pop() == Pop()); break;
case opNotEqual: PushBoolean(Pop() != Pop()); break;
case opLessThan: temp = Pop(); PushBoolean(Pop() < temp); break;
case opLessThanOrEqual: temp = Pop(); PushBoolean(Pop() <= temp); break;
case opGreaterThan: temp = Pop(); PushBoolean(Pop() > temp); break;
case opGreaterThanOrEqual: temp = Pop(); PushBoolean(Pop() >= temp); break;
// booleans
case opNot: PushBoolean(! Pop().Nonzero()); break;
case opAnd: temp = Pop(); temp2 = Pop(); PushBoolean(temp.Nonzero() && temp2.Nonzero()); break;
case opOr: temp = Pop(); temp2 = Pop(); PushBoolean(temp.Nonzero() || temp2.Nonzero()); break;
case opXor: temp = Pop(); temp2 = Pop();
PushBoolean(temp.Nonzero() && ! temp2.Nonzero() || ! temp.Nonzero() && temp2.Nonzero()); break;
case opNand: temp = Pop(); temp2 = Pop(); PushBoolean(! (temp.Nonzero() && temp2.Nonzero())); break;
case opNor: temp = Pop(); temp2 = Pop(); PushBoolean(! (temp.Nonzero() || temp2.Nonzero())); break;
case opValueConditional: temp = Pop(); temp2 = Pop();
if ( Pop().Nonzero() ) Push(temp2); else Push(temp);
break;
// misc external
case opPrint:
DoPrint(ToString(Pop()));
if ( world->reportPrints )
NonfatalError(robot->Description() + " prints: " + *lastPrint);
break;
case opPrintVector:
DoPrint(ToString(PopVector()));
if ( world->reportPrints )
NonfatalError(robot->Description() + " prints: " + *lastPrint);
break;
case opBeep: StartSound(siBeep); break;
case opStop: SetStatus(bsStopped); break;
case opPause: if ( world->reportErrors ) world->running = false; break;
case opSync: remaining = 0; break;
// basic hardware
case opSeekLocation: robot->EngineSeek(PopVector(), GBVector(0, 0)); break;
case opSeekMovingLocation: {
GBVector vel = PopVector();
robot->EngineSeek(PopVector(), vel);
} break;
case opDie: robot->Die(robot->Owner()); SetStatus(bsStopped); break;
case opWriteLocalMemory:
tempInt = PopInteger();
WriteLocalMemory(tempInt, Pop(), robot);
break;
case opReadLocalMemory:
tempInt = PopInteger();
Push(ReadLocalMemory(tempInt, robot));
break;
case opWriteLocalVector:
tempInt = PopInteger();
WriteLocalMemory(tempInt + 1, Pop(), robot);
WriteLocalMemory(tempInt, Pop(), robot);
break;
case opReadLocalVector:
tempInt = PopInteger();
Push(ReadLocalMemory(tempInt, robot));
Push(ReadLocalMemory(tempInt + 1, robot));
break;
case opWriteSharedMemory:
tempInt = PopInteger();
robot->hardware.radio.Write(Pop(), tempInt, robot->Owner());
break;
case opReadSharedMemory:
Push(robot->hardware.radio.Read(PopInteger(), robot->Owner()));
break;
case opWriteSharedVector:
tempInt = PopInteger();
robot->hardware.radio.Write(Pop(), tempInt + 1, robot->Owner());
robot->hardware.radio.Write(Pop(), tempInt, robot->Owner());
break;
case opReadSharedVector:
tempInt = PopInteger();
Push(robot->hardware.radio.Read(tempInt, robot->Owner()));
Push(robot->hardware.radio.Read(tempInt + 1, robot->Owner()));
break;
case opMessagesWaiting:
Push(robot->hardware.radio.MessagesWaiting(PopInteger(), robot->Owner()));
break;
case opSendMessage: {
GBMessage sendee;
tempInt = PopInteger(); //channel
int numArgs = ToInteger(Pop()); //number of numbers
for ( int i = 0; i < numArgs; i++ ) {
sendee.AddDatum(Pop()); //higher indices in message correspond with earlier numbers in stack. :(
}
if ( numArgs <= 0 )
throw GBGenericError("Cannot send message of non-positive length");
robot->hardware.radio.Send(sendee, tempInt, robot->Owner());
} break;
case opReceiveMessage: {
tempInt = PopInteger();
const GBMessage * received = robot->hardware.radio.Receive(tempInt, robot->Owner());
if ( received == 0 ) {
Push(0);
} else {
if ( received->Length() <= 0 ) {
throw GBGenericError("non-positive length message received");
}
for ( int i = received->Length() - 1; i >= 0; i-- )
Push(received->Datum(i));
Push(received->Length());
}
} break;
case opClearMessages:
robot->hardware.radio.ClearChannel(PopInteger(), robot->Owner());
break;
case opSkipMessages:
tempInt = PopInteger();
robot->hardware.radio.SkipMessages(tempInt, PopInteger(), robot->Owner());
break;
case opTypePopulation: {
GBRobotType * theType = robot->Owner()->GetType(PopInteger());
if (theType)
Push(theType->Population());
else
Push(-1);
} break;
case opAutoConstruct: {
GBConstructorState & ctor = robot->hardware.constructor;
if ( robot->Energy() > robot->hardware.MaxEnergy() * .9 ) {
if ( ! ctor.Type() ) ctor.Start(robot->Type());
ctor.SetRate(ctor.MaxRate());
} else
ctor.SetRate(ctor.Type() && robot->Energy() > ctor.Remaining() + 10 ? ctor.MaxRate() : GBNumber(0));
} break;
case opBalanceTypes: { // frac type --
GBRobotType * theType = robot->Owner()->GetType(PopInteger());
GBNumber fraction = Pop();
if (theType && GBNumber(theType->Population()) < fraction * robot->Owner()->Scores().Population())
robot->hardware.constructor.Start(theType); //FIXME don't abort?
} break;
// sensors
case opFireRobotSensor: robot->hardware.sensor1.Fire(); break;
case opFireFoodSensor: robot->hardware.sensor2.Fire(); break;
case opFireShotSensor: robot->hardware.sensor3.Fire(); break;
case opRobotSensorNext: Push(robot->hardware.sensor1.NextResult() ? 1 : 0); break;
case opFoodSensorNext: Push(robot->hardware.sensor2.NextResult() ? 1 : 0); break;
case opShotSensorNext: Push(robot->hardware.sensor3.NextResult() ? 1 : 0); break;
case opPeriodicRobotSensor:
FirePeriodic(robot->hardware.sensor1, world);
break;
case opPeriodicFoodSensor:
FirePeriodic(robot->hardware.sensor2, world);
break;
case opPeriodicShotSensor:
FirePeriodic(robot->hardware.sensor3, world);
break;
// weapons
case opFireBlaster: robot->hardware.blaster.Fire(Pop()); break;
case opFireGrenade: temp = Pop(); robot->hardware.grenades.Fire(Pop(), temp); break;
case opLeadBlaster: { //pos vel --
GBVelocity vel = PopVector() - robot->Velocity();
GBPosition pos = PopVector() - robot->Position();
GBPosition target = LeadShot(pos, vel, robot->hardware.blaster.Speed(), robot->Radius());
if ( target.Nonzero() && target.Norm() <= robot->hardware.blaster.MaxRange() + robot->Radius() )
robot->hardware.blaster.Fire(target.Angle());
} break;
case opLeadGrenade: { //pos vel --
GBVelocity vel = PopVector() - robot->Velocity();
GBPosition pos = PopVector() - robot->Position();
GBPosition target = LeadShot(pos, vel, robot->hardware.grenades.Speed(), robot->Radius());
if ( target.Nonzero() && target.Norm() <= robot->hardware.grenades.MaxRange() + robot->Radius() )
robot->hardware.grenades.Fire(target.Norm(), target.Angle()); //worry about short range?
} break;
case opSetForceField: { //pos angle --
temp = Pop();
GBPosition pos = PopVector() - robot->Position();
robot->hardware.forceField.SetDistance(pos.Norm());
robot->hardware.forceField.SetDirection(pos.Angle());
robot->hardware.forceField.SetAngle(temp);
robot->hardware.forceField.SetPower(robot->hardware.forceField.MaxPower());
} break;
// otherwise...
default:
throw GBUnknownInstructionError();
break;
}
}
int main( void )
{
WdtInit();
InterruptControllerInit();
EventLogInit();
GpioInit();
// Configure !RSN/NMI pin for NMI mode early
ConfigureRstNmi();
ConfigureFll();
V1( EventLogAdd( EVENTLOG_TIMER_INIT ) );
TimerInit();
WdtStartTimer();
V1( EventLogAdd( EVENTLOG_SPI_INIT ) );
SpiInit();
#if !defined( PLATFORM_RIMEVALBOARD )
HostCtrlPmicRegisterReset( RESET_LCD_IO );
#if defined( PROCESSOR_PMU430 )
//resetting the fuel gauge LDO
PmicClear( PMIC_VRTC, 1<<7 );
HwDelay(25000000); //25 ms delay
PmicSet( PMIC_VRTC, 1<<7 );
#endif
#endif
ApiInit();
#if defined( DEVID_UPDATER_SUPPORT )
CodeUpdateStateInit( );
#endif
V1( EventLogAdd( EVENTLOG_ADC_HW_INIT ) );
AdcInitHw();
V1( EventLogAdd( EVENTLOG_MSGQUE_INIT ) );
CallQueueInit();
V1( EventLogAdd( EVENTLOG_PMIC_INTCTRL_INIT ) );
PmicIntCtrlInit();
// configure charger interrupt handler
PmicRegisterIntHandler( INT_CHARGER_IRQ, ChargerHandler );
PmicInterruptEnable( INT_CHARGER_IRQ );
// enable battery insertion/removal interrupts
PmicWrite( PMIC_CHG_INT, 0x00 );
PmicClear( PMIC_CHG_INT_MASK, CHGINT_MASK_BAT );
PmicClear( PMIC_MIRQ, INT_MASK_CHARGER );
I2cInitInternalBus();
// Need to enable GIE (PoR default is OFF)
__enable_interrupt();
RegisterTimerExpiry( RTC_EXTERNAL_XTAL_TIMER, SwitchToXtal, 0 );
// switch to external xtal after 2 seconds
SetTimer( RTC_EXTERNAL_XTAL_TIMER, 0x10000 );
#if defined( PLATFORM_RIMEVALBOARD )
I2cInit();
#else
HostCtrlInit();
#endif
for (;;) {
WdtHit();
if( !ExecuteCall() ) {
// if there was nothing to call, enter sleep mode
SCSleep();
}
}
}
void Eluna::RunScripts()
{
LOCK_ELUNA;
if (!IsEnabled())
return;
uint32 oldMSTime = ElunaUtil::GetCurrTime();
uint32 count = 0;
ScriptList scripts;
lua_extensions.sort(ScriptPathComparator);
lua_scripts.sort(ScriptPathComparator);
scripts.insert(scripts.end(), lua_extensions.begin(), lua_extensions.end());
scripts.insert(scripts.end(), lua_scripts.begin(), lua_scripts.end());
std::unordered_map<std::string, std::string> loaded; // filename, path
lua_getglobal(L, "package");
// Stack: package
luaL_getsubtable(L, -1, "loaded");
// Stack: package, modules
int modules = lua_gettop(L);
for (ScriptList::const_iterator it = scripts.begin(); it != scripts.end(); ++it)
{
// Check that no duplicate names exist
if (loaded.find(it->filename) != loaded.end())
{
ELUNA_LOG_ERROR("[Eluna]: Error loading `%s`. File with same name already loaded from `%s`, rename either file", it->filepath.c_str(), loaded[it->filename].c_str());
continue;
}
loaded[it->filename] = it->filepath;
lua_getfield(L, modules, it->filename.c_str());
// Stack: package, modules, module
if (!lua_isnoneornil(L, -1))
{
lua_pop(L, 1);
ELUNA_LOG_DEBUG("[Eluna]: `%s` was already loaded or required", it->filepath.c_str());
continue;
}
lua_pop(L, 1);
// Stack: package, modules
if (luaL_loadfile(L, it->filepath.c_str()))
{
// Stack: package, modules, errmsg
ELUNA_LOG_ERROR("[Eluna]: Error loading `%s`", it->filepath.c_str());
Report(L);
// Stack: package, modules
continue;
}
// Stack: package, modules, filefunc
if (ExecuteCall(0, 1))
{
// Stack: package, modules, result
if (lua_isnoneornil(L, -1) || (lua_isboolean(L, -1) && !lua_toboolean(L, -1)))
{
// if result evaluates to false, change it to true
lua_pop(L, 1);
Push(L, true);
}
lua_setfield(L, modules, it->filename.c_str());
// Stack: package, modules
// successfully loaded and ran file
ELUNA_LOG_DEBUG("[Eluna]: Successfully loaded `%s`", it->filepath.c_str());
++count;
continue;
}
}
// Stack: package, modules
lua_pop(L, 2);
ELUNA_LOG_INFO("[Eluna]: Executed %u Lua scripts in %u ms", count, ElunaUtil::GetTimeDiff(oldMSTime));
OnLuaStateOpen();
}
