void buzzvm_vstig_onconflictlost(buzzvm_t vm,
buzzvstig_t vs,
buzzobj_t k,
buzzvstig_elem_t lv) {
/* Was a conflict manager defined? */
if(vs->onconflictlost) {
/* Push closure */
buzzvm_push(vm, vs->onconflictlost);
/* Push key */
buzzvm_push(vm, k);
/* Make table for local value */
buzzvm_pusht(vm);
buzzobj_t loc = buzzvm_stack_at(vm, 1);
buzzvm_pushs(vm, buzzvm_string_register(vm, "robot"));
buzzvm_pushi(vm, lv->robot);
buzzvm_tput(vm);
buzzvm_push(vm, loc);
buzzvm_pushs(vm, buzzvm_string_register(vm, "data"));
buzzvm_push(vm, lv->data);
buzzvm_tput(vm);
buzzvm_push(vm, loc);
buzzvm_pushs(vm, buzzvm_string_register(vm, "timestamp"));
buzzvm_pushi(vm, lv->timestamp);
buzzvm_tput(vm);
/* Call closure with 2 arguments */
buzzvm_push(vm, loc);
buzzvm_closure_call(vm, 2);
}
}
buzzvm_state CBuzzController::TablePut(buzzobj_t t_table,
SInt32 n_idx,
const CColor& c_color) {
buzzvm_push(m_tBuzzVM, t_table);
buzzvm_pushi(m_tBuzzVM, n_idx);
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tColorTable = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_tput(m_tBuzzVM);
TablePut(tColorTable, "red", c_color.GetRed());
TablePut(tColorTable, "green", c_color.GetGreen());
TablePut(tColorTable, "blue", c_color.GetBlue());
return m_tBuzzVM->state;
}
buzzvm_state CBuzzController::TablePut(buzzobj_t t_table,
const std::string& str_key,
const CVector3& c_vec) {
buzzvm_push(m_tBuzzVM, t_table);
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, str_key.c_str(), 1));
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tVecTable = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_tput(m_tBuzzVM);
TablePut(tVecTable, "x", c_vec.GetX());
TablePut(tVecTable, "y", c_vec.GetY());
TablePut(tVecTable, "z", c_vec.GetZ());
return m_tBuzzVM->state;
}
buzzvm_state CBuzzController::TablePut(buzzobj_t t_table,
SInt32 n_idx,
const CVector3& c_vec) {
buzzvm_push(m_tBuzzVM, t_table);
buzzvm_pushi(m_tBuzzVM, n_idx);
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tVecTable = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_tput(m_tBuzzVM);
TablePut(tVecTable, "x", c_vec.GetX());
TablePut(tVecTable, "y", c_vec.GetY());
TablePut(tVecTable, "z", c_vec.GetZ());
return m_tBuzzVM->state;
}
buzzvm_state CBuzzController::TablePut(buzzobj_t t_table,
const std::string& str_key,
const CColor& c_color) {
buzzvm_push(m_tBuzzVM, t_table);
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, str_key.c_str(), 1));
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tColorTable = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_tput(m_tBuzzVM);
TablePut(tColorTable, "red", c_color.GetRed());
TablePut(tColorTable, "green", c_color.GetGreen());
TablePut(tColorTable, "blue", c_color.GetBlue());
return m_tBuzzVM->state;
}
buzzvm_state buzzvm_pushs(buzzvm_t vm, uint16_t strid) {
if(!buzzstrman_get(vm->strings, strid)) {
buzzvm_seterror(vm,
BUZZVM_ERROR_STRING,
"id read = %" PRIu16,
strid);
return vm->state;
}
buzzobj_t o = buzzheap_newobj(vm, BUZZTYPE_STRING);
o->s.value.sid = (strid);
o->s.value.str = buzzstrman_get(vm->strings, strid);
buzzvm_push(vm, o);
return BUZZVM_STATE_READY;
}
buzzvm_state CBuzzController::TablePut(buzzobj_t t_table,
SInt32 n_idx,
const CQuaternion& c_quat) {
buzzvm_push(m_tBuzzVM, t_table);
buzzvm_pushi(m_tBuzzVM, n_idx);
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tQuatTable = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_tput(m_tBuzzVM);
CRadians cYaw, cPitch, cRoll;
c_quat.ToEulerAngles(cYaw, cPitch, cRoll);
TablePut(tQuatTable, "yaw", cYaw);
TablePut(tQuatTable, "pitch", cPitch);
TablePut(tQuatTable, "roll", cRoll);
return m_tBuzzVM->state;
}
buzzvm_state CBuzzController::TablePut(buzzobj_t t_table,
const std::string& str_key,
const CQuaternion& c_quat) {
buzzvm_push(m_tBuzzVM, t_table);
buzzvm_pushs(m_tBuzzVM, buzzvm_string_register(m_tBuzzVM, str_key.c_str(), 1));
buzzvm_pusht(m_tBuzzVM);
buzzobj_t tQuatTable = buzzvm_stack_at(m_tBuzzVM, 1);
buzzvm_tput(m_tBuzzVM);
CRadians cYaw, cPitch, cRoll;
c_quat.ToEulerAngles(cYaw, cPitch, cRoll);
TablePut(tQuatTable, "yaw", cYaw);
TablePut(tQuatTable, "pitch", cPitch);
TablePut(tQuatTable, "roll", cRoll);
return m_tBuzzVM->state;
}
int buzzneighbors_reset(buzzvm_t vm) {
if(vm->state != BUZZVM_STATE_READY) return vm->state;
/* Make new table */
buzzobj_t t;
vm->state = make_table(vm, &t);
if(vm->state != BUZZVM_STATE_READY) return vm->state;
/* Add extra methods */
function_register(t, "broadcast", buzzneighbors_broadcast);
function_register(t, "listen", buzzneighbors_listen);
function_register(t, "ignore", buzzneighbors_ignore);
/* Register table as global symbol */
buzzvm_pushs(vm, buzzvm_string_register(vm, "neighbors", 1));
buzzvm_push(vm, t);
buzzvm_gstore(vm);
return vm->state;
}
buzzvm_state buzzvm_tget(buzzvm_t vm) {
buzzvm_stack_assert(vm, 2);
buzzvm_type_assert(vm, 2, BUZZTYPE_TABLE);
buzzobj_t k = buzzvm_stack_at(vm, 1);
buzzobj_t t = buzzvm_stack_at(vm, 2);
buzzvm_pop(vm);
buzzvm_pop(vm);
if(k->o.type != BUZZTYPE_INT &&
k->o.type != BUZZTYPE_FLOAT &&
k->o.type != BUZZTYPE_STRING) {
buzzvm_seterror(vm, BUZZVM_ERROR_TYPE, "a %s value can't be used as table key", k->o.type);
return vm->state;
}
const buzzobj_t* v = buzzdict_get(t->t.value, &k, buzzobj_t);
if(v) buzzvm_push(vm, *v);
else buzzvm_pushnil(vm);
return BUZZVM_STATE_READY;
}
buzzvm_state buzzvm_pushl(buzzvm_t vm, int32_t addr) {
buzzobj_t o = buzzheap_newobj(vm, BUZZTYPE_CLOSURE);
o->c.value.isnative = 1;
o->c.value.ref = addr;
if(vm->lsyms) {
int i;
for(i = 0; i < buzzdarray_size(vm->lsyms->syms); ++i)
buzzdarray_push(o->c.value.actrec,
&buzzdarray_get(vm->lsyms->syms,
i, buzzobj_t));
}
else {
buzzobj_t nil = buzzheap_newobj(vm, BUZZTYPE_NIL);
buzzdarray_push(o->c.value.actrec,
&nil);
}
return buzzvm_push(vm, o);
}
int buzzvm_vstig_create(buzzvm_t vm) {
buzzvm_lnum_assert(vm, 1);
/* Get vstig id */
buzzvm_lload(vm, 1);
buzzvm_type_assert(vm, 1, BUZZTYPE_INT);
uint16_t id = buzzvm_stack_at(vm, 1)->i.value;
buzzvm_pop(vm);
/* Look for virtual stigmergy */
buzzvstig_t* vs = buzzdict_get(vm->vstigs, &id, buzzvstig_t);
if(vs)
/* Found, destroy it */
buzzdict_remove(vm->vstigs, &id);
/* Create a new virtual stigmergy */
buzzvstig_t nvs = buzzvstig_new();
buzzdict_set(vm->vstigs, &id, &nvs);
/* Create a table and add data and methods */
buzzobj_t t = buzzheap_newobj(vm->heap, BUZZTYPE_TABLE);
buzzvm_push(vm, t);
buzzvm_pushs(vm, buzzvm_string_register(vm, "size"));
buzzvm_pushcc(vm, buzzvm_function_register(vm, buzzvm_vstig_size));
buzzvm_tput(vm);
buzzvm_push(vm, t);
buzzvm_pushs(vm, buzzvm_string_register(vm, "put"));
buzzvm_pushcc(vm, buzzvm_function_register(vm, buzzvm_vstig_put));
buzzvm_tput(vm);
buzzvm_push(vm, t);
buzzvm_pushs(vm, buzzvm_string_register(vm, "get"));
buzzvm_pushcc(vm, buzzvm_function_register(vm, buzzvm_vstig_get));
buzzvm_tput(vm);
buzzvm_push(vm, t);
buzzvm_pushs(vm, buzzvm_string_register(vm, "onconflict"));
buzzvm_pushcc(vm, buzzvm_function_register(vm, buzzvm_vstig_setonconflict));
buzzvm_tput(vm);
buzzvm_push(vm, t);
buzzvm_pushs(vm, buzzvm_string_register(vm, "onconflictlost"));
buzzvm_pushcc(vm, buzzvm_function_register(vm, buzzvm_vstig_setonconflictlost));
buzzvm_tput(vm);
buzzvm_push(vm, t);
buzzvm_pushs(vm, buzzvm_string_register(vm, "id"));
buzzvm_pushi(vm, id);
buzzvm_tput(vm);
/* Push the table on the stack */
buzzvm_push(vm, t);
/* Return */
return buzzvm_ret1(vm);
}
int buzzneighbors_add(buzzvm_t vm,
uint16_t robot,
float distance,
float azimuth,
float elevation) {
if(vm->state != BUZZVM_STATE_READY) return vm->state;
/* Get "neighbors" table */
buzzvm_pushs(vm, buzzvm_string_register(vm, "neighbors", 1));
buzzvm_gload(vm);
buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE);
buzzobj_t nbr = buzzvm_stack_at(vm, 1);
/* Get "data" field */
buzzvm_pushs(vm, buzzvm_string_register(vm, "data", 1));
buzzvm_tget(vm);
if(buzzvm_stack_at(vm, 1)->o.type == BUZZTYPE_NIL) {
/* Empty data, create a new table */
buzzvm_pop(vm);
buzzvm_push(vm, nbr);
buzzvm_pushs(vm, buzzvm_string_register(vm, "data", 1));
buzzvm_pusht(vm);
buzzobj_t data = buzzvm_stack_at(vm, 1);
buzzvm_tput(vm);
buzzvm_push(vm, data);
}
/* When we get here, the "data" table is on top of the stack */
/* Push robot id */
buzzvm_pushi(vm, robot);
/* Create entry table */
buzzobj_t entry = buzzheap_newobj(vm->heap, BUZZTYPE_TABLE);
/* Insert distance */
buzzvm_push(vm, entry);
buzzvm_pushs(vm, buzzvm_string_register(vm, "distance", 1));
buzzvm_pushf(vm, distance);
buzzvm_tput(vm);
/* Insert azimuth */
buzzvm_push(vm, entry);
buzzvm_pushs(vm, buzzvm_string_register(vm, "azimuth", 1));
buzzvm_pushf(vm, azimuth);
buzzvm_tput(vm);
/* Insert elevation */
buzzvm_push(vm, entry);
buzzvm_pushs(vm, buzzvm_string_register(vm, "elevation", 1));
buzzvm_pushf(vm, elevation);
buzzvm_tput(vm);
/* Save entry into data table */
buzzvm_push(vm, entry);
buzzvm_tput(vm);
return vm->state;
}
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 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);
}
buzzvm_state buzzvm_pushf(buzzvm_t vm, float v) {
buzzobj_t o = buzzheap_newobj(vm, BUZZTYPE_FLOAT);
o->f.value = v;
buzzvm_push(vm, o);
return vm->state;
}
void buzzvm_process_inmsgs(buzzvm_t vm) {
/* Go through the messages */
while(!buzzinmsg_queue_isempty(vm->inmsgs)) {
/* Make sure the VM is in the right state */
if(vm->state != BUZZVM_STATE_READY) return;
/* Extract the message data */
uint16_t rid;
buzzmsg_payload_t msg;
buzzinmsg_queue_extract(vm, &rid, &msg);
/* Dispatch the message wrt its type in msg->payload[0] */
switch(buzzmsg_payload_get(msg, 0)) {
case BUZZMSG_BROADCAST: {
/* Deserialize the topic */
buzzobj_t topic;
int64_t pos = buzzobj_deserialize(&topic, msg, 1, vm);
/* Make sure there's a listener to call */
const buzzobj_t* l = buzzdict_get(vm->listeners, &topic->s.value.sid, buzzobj_t);
if(!l) {
/* No listener, ignore message */
break;
}
/* Deserialize value */
buzzobj_t value;
pos = buzzobj_deserialize(&value, msg, pos, vm);
/* Make an object for the robot id */
buzzobj_t rido = buzzheap_newobj(vm, BUZZTYPE_INT);
rido->i.value = rid;
/* Call listener */
buzzvm_push(vm, *l);
buzzvm_push(vm, topic);
buzzvm_push(vm, value);
buzzvm_push(vm, rido);
buzzvm_closure_call(vm, 3);
break;
}
case BUZZMSG_VSTIG_PUT: {
/* Deserialize the vstig id */
uint16_t id;
int64_t pos = buzzmsg_deserialize_u16(&id, msg, 1);
if(pos < 0) {
fprintf(stderr, "[WARNING] [ROBOT %u] Malformed BUZZMSG_VSTIG_PUT message received\n", vm->robot);
break;
}
/* Look for virtual stigmergy */
const buzzvstig_t* vs = buzzdict_get(vm->vstigs, &id, buzzvstig_t);
if(!vs) break;
/* Virtual stigmergy found */
/* Deserialize key and value from msg */
buzzobj_t k; // key
buzzvstig_elem_t v = // value
(buzzvstig_elem_t)malloc(sizeof(struct buzzvstig_elem_s));
if(buzzvstig_elem_deserialize(&k, &v, msg, pos, vm) < 0) {
fprintf(stderr, "[WARNING] [ROBOT %u] Malformed BUZZMSG_VSTIG_PUT message received\n", vm->robot);
free(v);
break;
}
/* Deserialization successful */
/* Fetch local vstig element */
const buzzvstig_elem_t* l = buzzvstig_fetch(*vs, &k);
if((!l) || /* Element not found */
((*l)->timestamp < v->timestamp)) { /* Local element is older */
/* Local element must be updated */
/* Store element */
buzzvstig_store(*vs, &k, &v);
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_PUT, id, k, v);
}
else if(((*l)->timestamp == v->timestamp) && /* Same timestamp */
((*l)->robot != v->robot)) { /* Different robot */
/* Conflict! */
/* Call conflict manager */
buzzvstig_elem_t c =
buzzvstig_onconflict_call(vm, *vs, k, *l, v);
if(!c) {
fprintf(stderr, "[WARNING] [ROBOT %u] Error resolving PUT conflict\n", vm->robot);
break;
}
/* Get rid of useless vstig element */
free(v);
/* Did this robot lose the conflict? */
if((c->robot != vm->robot) &&
((*l)->robot == vm->robot)) {
/* Yes */
/* Save current local entry */
buzzvstig_elem_t ol = buzzvstig_elem_clone(vm, *l);
/* Store winning value */
buzzvstig_store(*vs, &k, &c);
/* Call conflict lost manager */
buzzvstig_onconflictlost_call(vm, *vs, k, ol);
}
else {
/* This robot did not lose the conflict */
/* Just propagate the PUT message */
buzzvstig_store(*vs, &k, &c);
}
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_PUT, id, k, c);
}
else {
/* Remote element is older, ignore it */
/* Get rid of useless vstig element */
free(v);
}
break;
}
case BUZZMSG_VSTIG_QUERY: {
/* Deserialize the vstig id */
uint16_t id;
int64_t pos = buzzmsg_deserialize_u16(&id, msg, 1);
if(pos < 0) {
fprintf(stderr, "[WARNING] [ROBOT %u] Malformed BUZZMSG_VSTIG_QUERY message received (1)\n", vm->robot);
break;
}
/* Deserialize key and value from msg */
buzzobj_t k; // key
buzzvstig_elem_t v = // value
(buzzvstig_elem_t)malloc(sizeof(struct buzzvstig_elem_s));
if(buzzvstig_elem_deserialize(&k, &v, msg, pos, vm) < 0) {
fprintf(stderr, "[WARNING] [ROBOT %u] Malformed BUZZMSG_VSTIG_QUERY message received (2)\n", vm->robot);
free(v);
break;
}
/* Look for virtual stigmergy */
const buzzvstig_t* vs = buzzdict_get(vm->vstigs, &id, buzzvstig_t);
if(!vs) {
/* Virtual stigmergy not found, simply propagate the message */
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_QUERY, id, k, v);
free(v);
break;
}
/* Virtual stigmergy found */
/* Fetch local vstig element */
const buzzvstig_elem_t* l = buzzvstig_fetch(*vs, &k);
if(!l) {
/* Element not found */
if(v->data->o.type == BUZZTYPE_NIL) {
/* This robot knows nothing about the query, just propagate it */
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_QUERY, id, k, v);
free(v);
}
else {
/* Store element and propagate PUT message */
buzzvstig_store(*vs, &k, &v);
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_PUT, id, k, v);
}
break;
}
/* Element found */
if((*l)->timestamp < v->timestamp) {
/* Local element is older */
/* Store element */
buzzvstig_store(*vs, &k, &v);
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_PUT, id, k, v);
}
else if((*l)->timestamp > v->timestamp) {
/* Local element is newer */
/* Append a PUT message to the out message queue */
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_PUT, id, k, *l);
free(v);
}
else if(((*l)->timestamp == v->timestamp) && /* Same timestamp */
((*l)->robot != v->robot)) { /* Different robot */
/* Conflict! */
/* Call conflict manager */
buzzvstig_elem_t c =
buzzvstig_onconflict_call(vm, *vs, k, *l, v);
free(v);
/* Make sure conflict manager returned with an element to process */
if(!c) break;
/* Did this robot lose the conflict? */
if((c->robot != vm->robot) &&
((*l)->robot == vm->robot)) {
/* Yes */
/* Save current local entry */
buzzvstig_elem_t ol = buzzvstig_elem_clone(vm, *l);
/* Store winning value */
buzzvstig_store(*vs, &k, &c);
/* Call conflict lost manager */
buzzvstig_onconflictlost_call(vm, *vs, k, ol);
}
else {
/* This robot did not lose the conflict */
/* Just propagate the PUT message */
buzzvstig_store(*vs, &k, &c);
}
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_PUT, id, k, c);
}
else {
/* Remote element is same as local, ignore it */
/* Get rid of useless vstig element */
free(v);
}
break;
}
case BUZZMSG_SWARM_LIST: {
/* Deserialize number of swarm ids */
uint16_t nsids;
int64_t pos = buzzmsg_deserialize_u16(&nsids, msg, 1);
if(pos < 0) {
fprintf(stderr, "[WARNING] [ROBOT %u] Malformed BUZZMSG_SWARM_LIST message received\n", vm->robot);
break;
}
if(nsids < 1) break;
/* Deserialize swarm ids */
buzzdarray_t sids = buzzdarray_new(nsids, sizeof(uint16_t), NULL);
uint16_t i;
for(i = 0; i < nsids; ++i) {
pos = buzzmsg_deserialize_u16(buzzdarray_makeslot(sids, i), msg, pos);
if(pos < 0) {
fprintf(stderr, "[WARNING] [ROBOT %u] Malformed BUZZMSG_SWARM_LIST message received\n", vm->robot);
break;
}
}
/* Update the information */
buzzswarm_members_refresh(vm->swarmmembers, rid, sids);
break;
}
case BUZZMSG_SWARM_JOIN: {
/* Deserialize swarm id */
uint16_t sid;
int64_t pos = buzzmsg_deserialize_u16(&sid, msg, 1);
if(pos < 0) {
fprintf(stderr, "[WARNING] [ROBOT %u] Malformed BUZZMSG_SWARM_JOIN message received\n", vm->robot);
break;
}
/* Update the information */
buzzswarm_members_join(vm->swarmmembers, rid, sid);
break;
}
case BUZZMSG_SWARM_LEAVE: {
/* Deserialize swarm id */
uint16_t sid;
int64_t pos = buzzmsg_deserialize_u16(&sid, msg, 1);
if(pos < 0) {
fprintf(stderr, "[WARNING] [ROBOT %u] Malformed BUZZMSG_SWARM_LEAVE message received\n", vm->robot);
break;
}
/* Update the information */
buzzswarm_members_leave(vm->swarmmembers, rid, sid);
break;
}
}
/* Get rid of the message */
buzzmsg_payload_destroy(&msg);
}
/* Update swarm membership */
buzzswarm_members_update(vm->swarmmembers);
}
buzzvm_state buzzvm_pushi(buzzvm_t vm, int32_t v) {
buzzobj_t o = buzzheap_newobj(vm, BUZZTYPE_INT);
o->i.value = v;
buzzvm_push(vm, o);
return vm->state;
}
buzzvstig_elem_t buzzvm_vstig_onconflict(buzzvm_t vm,
buzzvstig_t vs,
buzzobj_t k,
buzzvstig_elem_t lv,
buzzvstig_elem_t rv) {
/* Was a conflict manager defined? */
if(vs->onconflict) {
/* Push closure */
buzzvm_push(vm, vs->onconflict);
/* Push key */
buzzvm_push(vm, k);
/* Make table for local value */
buzzvm_pusht(vm);
buzzobj_t loc = buzzvm_stack_at(vm, 1);
buzzvm_pushs(vm, buzzvm_string_register(vm, "robot"));
buzzvm_pushi(vm, lv->robot);
buzzvm_tput(vm);
buzzvm_push(vm, loc);
buzzvm_pushs(vm, buzzvm_string_register(vm, "data"));
buzzvm_push(vm, lv->data);
buzzvm_tput(vm);
buzzvm_push(vm, loc);
buzzvm_pushs(vm, buzzvm_string_register(vm, "timestamp"));
buzzvm_pushi(vm, lv->timestamp);
buzzvm_tput(vm);
/* Make table for remote value */
buzzvm_pusht(vm);
buzzobj_t rem = buzzvm_stack_at(vm, 1);
buzzvm_pushs(vm, buzzvm_string_register(vm, "robot"));
buzzvm_pushi(vm, rv->robot);
buzzvm_tput(vm);
buzzvm_push(vm, rem);
buzzvm_pushs(vm, buzzvm_string_register(vm, "data"));
buzzvm_push(vm, rv->data);
buzzvm_tput(vm);
buzzvm_push(vm, rem);
buzzvm_pushs(vm, buzzvm_string_register(vm, "timestamp"));
buzzvm_pushi(vm, rv->timestamp);
buzzvm_tput(vm);
/* Call closure with 3 arguments */
buzzvm_push(vm, loc);
buzzvm_push(vm, rem);
buzzvm_closure_call(vm, 3);
/* Make new entry with return value */
/* Make sure it's a table */
if(buzzvm_stack_at(vm, 1)->o.type != BUZZTYPE_TABLE) {
fprintf(stderr, "[WARNING] [ROBOT %u] Return value type is %d\n", vm->robot, buzzvm_stack_at(vm, 1)->o.type);
return NULL;
}
/* Get the robot id */
buzzobj_t ret = buzzvm_stack_at(vm, 1);
buzzvm_pushs(vm, buzzvm_string_register(vm, "robot"));
buzzvm_tget(vm);
if(buzzvm_stack_at(vm, 1)->o.type != BUZZTYPE_INT)
return NULL;
uint16_t robot = buzzvm_stack_at(vm, 1)->i.value;
buzzvm_pop(vm);
/* Get the data */
buzzvm_push(vm, ret);
buzzvm_pushs(vm, buzzvm_string_register(vm, "data"));
buzzvm_tget(vm);
buzzobj_t data = buzzvm_stack_at(vm, 1);
buzzvm_pop(vm);
/* Make new entry */
return buzzvstig_elem_new(data, lv->timestamp, robot);
}
else {
/* No conflict manager, use default behavior */
if(lv->robot > rv->robot) return buzzvstig_elem_clone(lv);
else return buzzvstig_elem_clone(rv);
}
}
buzzvm_state buzzvm_pushnil(buzzvm_t vm) {
buzzobj_t o = buzzheap_newobj(vm, BUZZTYPE_NIL);
buzzvm_push(vm, o);
return vm->state;
}
buzzvstig_elem_t buzzvstig_onconflict_call(buzzvm_t vm,
buzzvstig_t vs,
buzzobj_t k,
buzzvstig_elem_t lv,
buzzvstig_elem_t rv) {
/* Was a conflict manager defined? */
if(vs->onconflict) {
/* Push closure */
buzzvm_push(vm, vs->onconflict);
/* Push key */
buzzvm_push(vm, k);
/* Make table for local value */
buzzvm_pusht(vm);
add_field(robot, lv, pushi);
add_field(data, lv, push);
add_field(timestamp, lv, pushi);
/* Make table for remote value */
buzzvm_pusht(vm);
add_field(robot, rv, pushi);
add_field(data, rv, push);
add_field(timestamp, rv, pushi);
/* Call closure (key, lv, rv on the stack) */
buzzvm_closure_call(vm, 3);
/* Make new entry with return value */
/* Make sure it's a table */
if(buzzvm_stack_at(vm, 1)->o.type != BUZZTYPE_TABLE) {
fprintf(stderr, "[WARNING] [ROBOT %u] virtual stigmergy onconflict(): Return value type is %s, expected table\n", vm->robot, buzztype_desc[buzzvm_stack_at(vm, 1)->o.type]);
return NULL;
}
/* Get the robot id */
buzzobj_t ret = buzzvm_stack_at(vm, 1);
buzzvm_pushs(vm, buzzvm_string_register(vm, "robot", 1));
buzzvm_tget(vm);
if(buzzvm_stack_at(vm, 1)->o.type != BUZZTYPE_INT)
return NULL;
uint16_t robot = buzzvm_stack_at(vm, 1)->i.value;
buzzvm_pop(vm);
/* Get the data */
buzzvm_push(vm, ret);
buzzvm_pushs(vm, buzzvm_string_register(vm, "data", 1));
buzzvm_tget(vm);
buzzobj_t data = buzzvm_stack_at(vm, 1);
buzzvm_pop(vm);
/* Make new entry */
return buzzvstig_elem_new(data, lv->timestamp, robot);
}
else {
/* No conflict manager, use default behavior */
/* If both values are not nil, keep the value of the robot with the higher id */
if(((lv->data->o.type == BUZZTYPE_NIL) && (rv->data->o.type == BUZZTYPE_NIL)) ||
((lv->data->o.type != BUZZTYPE_NIL) && (rv->data->o.type != BUZZTYPE_NIL))) {
if(lv->robot > rv->robot)
return buzzvstig_elem_clone(vm, lv);
else
return buzzvstig_elem_clone(vm, rv);
}
/* If my value is not nil, keep mine */
if(lv->data->o.type != BUZZTYPE_NIL)
return buzzvstig_elem_clone(vm, lv);
/* If the other value is not nil, keep that one */
if(rv->data->o.type != BUZZTYPE_NIL)
return buzzvstig_elem_clone(vm, rv);
/* Otherwise nothing to do */
return NULL;
}
}
buzzvm_state buzzvm_pushu(buzzvm_t vm, void* v) {
buzzobj_t o = buzzheap_newobj(vm, BUZZTYPE_USERDATA);
o->u.value = v;
buzzvm_push(vm, o);
return vm->state;
}