/opt/ros/diamondback/stacks/ethzasl_aseba/asebaros/aseba/svn/common/consts.h

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/*
        Aseba - an event-based framework for distributed robot control
        Copyright (C) 2007--2009:
                Stephane Magnenat <stephane at magnenat dot net>
                (http://stephane.magnenat.net)
                and other contributors, see authors.txt for details
                Mobots group, Laboratory of Robotics Systems, EPFL, Lausanne
        
        This program is free software: you can redistribute it and/or modify
        it under the terms of the GNU General Public License as published by
        the Free Software Foundation, either version 3 of the License, or
        any other version as decided by the two original authors
        Stephane Magnenat and Valentin Longchamp.
        
        This program is distributed in the hope that it will be useful,
        but WITHOUT ANY WARRANTY; without even the implied warranty of
        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
        GNU General Public License for more details.
        
        You should have received a copy of the GNU General Public License
        along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef __ASEBA_CONSTS_H
#define __ASEBA_CONSTS_H


#define ASEBA_PROTOCOL_VERSION 4

#define ASEBA_DEFAULT_LISTEN_TARGET "tcpin:33333"

#define ASEBA_DEFAULT_TARGET "tcp:localhost;33333"

#define ASEBA_DEFAULT_HOST "localhost"

#define ASEBA_DEFAULT_PORT 33333


typedef enum
{
        ASEBA_BYTECODE_STOP = 0x0,
        ASEBA_BYTECODE_SMALL_IMMEDIATE = 0x1,
        ASEBA_BYTECODE_LARGE_IMMEDIATE = 0x2,
        ASEBA_BYTECODE_LOAD = 0x3,
        ASEBA_BYTECODE_STORE = 0x4,
        ASEBA_BYTECODE_LOAD_INDIRECT = 0x5,
        ASEBA_BYTECODE_STORE_INDIRECT = 0x6,
        ASEBA_BYTECODE_UNARY_ARITHMETIC = 0x7,
        ASEBA_BYTECODE_BINARY_ARITHMETIC = 0x8,
        ASEBA_BYTECODE_JUMP = 0x9,
        ASEBA_BYTECODE_CONDITIONAL_BRANCH = 0xA,
        ASEBA_BYTECODE_EMIT = 0xB,
        ASEBA_BYTECODE_NATIVE_CALL = 0xC,
        ASEBA_BYTECODE_SUB_CALL = 0xD,
        ASEBA_BYTECODE_SUB_RET = 0xE
} AsebaBytecodeId;

typedef enum
{
        // arithmetic
        ASEBA_OP_SHIFT_LEFT = 0x0,
        ASEBA_OP_SHIFT_RIGHT,
        ASEBA_OP_ADD,
        ASEBA_OP_SUB,
        ASEBA_OP_MULT,
        ASEBA_OP_DIV,
        ASEBA_OP_MOD,
        // binary arithmetic
        ASEBA_OP_BIT_OR,
        ASEBA_OP_BIT_XOR,
        ASEBA_OP_BIT_AND,
        // comparison
        ASEBA_OP_EQUAL,
        ASEBA_OP_NOT_EQUAL,
        ASEBA_OP_BIGGER_THAN,
        ASEBA_OP_BIGGER_EQUAL_THAN,
        ASEBA_OP_SMALLER_THAN,
        ASEBA_OP_SMALLER_EQUAL_THAN,
        // logic
        ASEBA_OP_OR,
        ASEBA_OP_AND
} AsebaBinaryOperator;

#define ASEBA_BINARY_OPERATOR_MASK 0xff

typedef enum
{
        ASEBA_UNARY_OP_SUB = 0x0,
        ASEBA_UNARY_OP_ABS,
        ASEBA_UNARY_OP_BIT_NOT,
        ASEBA_UNARY_OP_NOT      // < not used for the VM, only for parsing, reduced by compiler using de Morgan and comparison inversion
} AsebaUnaryOperator;

#define ASEBA_UNARY_OPERATOR_MASK 0xff

#define ASEBA_IF_IS_WHEN_BIT 8

#define ASEBA_IF_WAS_TRUE_BIT 9

typedef enum
{
        ASEBA_VM_EVENT_ACTIVE_MASK = 0x1,
        ASEBA_VM_STEP_BY_STEP_MASK = 0x2,
        ASEBA_VM_EVENT_RUNNING_MASK = 0x4
} AsebaExecutionStates;

typedef enum
{
        ASEBA_EVENT_INIT = 0xFFFF,
        ASEBA_EVENT_LOCAL_EVENTS_START = 0xFFFE,
} AsebaSpecialEventId;

#define AsebaBytecodeFromId(id) ((id) << 12)

typedef enum
{
        /* from bootloader control program to a specific node */
        ASEBA_MESSAGE_BOOTLOADER_RESET = 0x8000,
        ASEBA_MESSAGE_BOOTLOADER_READ_PAGE,
        ASEBA_MESSAGE_BOOTLOADER_WRITE_PAGE,
        ASEBA_MESSAGE_BOOTLOADER_PAGE_DATA_WRITE,
        
        /* from node to bootloader control program */
        ASEBA_MESSAGE_BOOTLOADER_DESCRIPTION,
        ASEBA_MESSAGE_BOOTLOADER_PAGE_DATA_READ,
        ASEBA_MESSAGE_BOOTLOADER_ACK,
        
        /* from a specific node */
        ASEBA_MESSAGE_DESCRIPTION = 0x9000,
        ASEBA_MESSAGE_NAMED_VARIABLE_DESCRIPTION,
        ASEBA_MESSAGE_LOCAL_EVENT_DESCRIPTION,
        ASEBA_MESSAGE_NATIVE_FUNCTION_DESCRIPTION,
        ASEBA_MESSAGE_DISCONNECTED,
        ASEBA_MESSAGE_VARIABLES,
        ASEBA_MESSAGE_ARRAY_ACCESS_OUT_OF_BOUNDS,
        ASEBA_MESSAGE_DIVISION_BY_ZERO,
        ASEBA_MESSAGE_EVENT_EXECUTION_KILLED,
        ASEBA_MESSAGE_NODE_SPECIFIC_ERROR,
        ASEBA_MESSAGE_EXECUTION_STATE_CHANGED,
        ASEBA_MESSAGE_BREAKPOINT_SET_RESULT,
        
        /* from IDE to all nodes */
        ASEBA_MESSAGE_GET_DESCRIPTION = 0xA000,
        
        /* from IDE to a specific node */
        ASEBA_MESSAGE_SET_BYTECODE,
        ASEBA_MESSAGE_RESET,
        ASEBA_MESSAGE_RUN,
        ASEBA_MESSAGE_PAUSE,
        ASEBA_MESSAGE_STEP,
        ASEBA_MESSAGE_STOP,
        ASEBA_MESSAGE_GET_EXECUTION_STATE,
        ASEBA_MESSAGE_BREAKPOINT_SET,
        ASEBA_MESSAGE_BREAKPOINT_CLEAR,
        ASEBA_MESSAGE_BREAKPOINT_CLEAR_ALL,
        ASEBA_MESSAGE_GET_VARIABLES,
        ASEBA_MESSAGE_SET_VARIABLES,
        ASEBA_MESSAGE_WRITE_BYTECODE,
        ASEBA_MESSAGE_REBOOT,
        ASEBA_MESSAGE_SUSPEND_TO_RAM,
        
        ASEBA_MESSAGE_INVALID = 0xFFFF
} AsebaSystemMessagesTypes;

typedef enum
{
        ASEBA_DEST_DEBUG = 0,
        ASEBA_DEST_INVALID = 0xFFFF
} AsebaMessagesDests;

typedef enum
{
        ASEBA_MAX_PACKET_SIZE = 512+6   
} AsebaLimits;

#define ASEBA_MAX_EVENT_ARG_SIZE ((ASEBA_MAX_PACKET_SIZE-6)/2)

#endif

---

asebaros
Author(s): $author
autogenerated on Mon Sep 5 08:41:53 2011