/opt/ros/diamondback/stacks/ethzasl_aseba/asebaros/aseba/svn/vm/vm.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_VM_H
#define __ASEBA_VM_H

#ifdef __cplusplus
extern "C" {
#endif

#include "../common/types.h"


enum
{
        ASEBA_MAX_BREAKPOINTS = 16              
};

typedef struct
{
        // node id
        uint16 nodeId;
        
        // bytecode
        uint16 bytecodeSize; 
        uint16 * bytecode; 
        // variables
        uint16 variablesSize; 
        sint16 * variables; 
        // execution stack
        uint16 stackSize; 
        sint16 * stack; 
        // execution
        uint16 flags;
        uint16 pc;
        sint16 sp;
        
        // breakpoint
        uint16 breakpoints[ASEBA_MAX_BREAKPOINTS];
        uint16 breakpointsCount;
} AsebaVMState;

// Macros to work with masks

#define AsebaMaskSet(v, m) ((v) |= (m))

#define AsebaMaskClear(v, m) ((v) &= (~(m)))

#define AsebaMaskIsSet(v, m) (((v) & (m)) != 0)

#define AsebaMaskIsClear(v, m) (((v) & (m)) == 0)


// Functions provided by aseba-core


void AsebaVMInit(AsebaVMState *vm);

uint16 AsebaVMGetEventAddress(AsebaVMState *vm, uint16 event);

uint16 AsebaVMSetupEvent(AsebaVMState *vm, uint16 event);

uint16 AsebaVMRun(AsebaVMState *vm, uint16 stepsLimit);

void AsebaVMDebugMessage(AsebaVMState *vm, uint16 id, uint16 *data, uint16 dataLength);

void AsebaVMEmitNodeSpecificError(AsebaVMState *vm, const char* message);

uint16 AsebaVMShouldDropPacket(AsebaVMState *vm, uint16 source, const uint8* data);

// Functions implemented outside by the glue/transport layer

void AsebaSendMessage(AsebaVMState *vm, uint16 id, void *data, uint16 size);

void AsebaSendVariables(AsebaVMState *vm, uint16 start, uint16 length);

void AsebaSendDescription(AsebaVMState *vm);

void AsebaNativeFunction(AsebaVMState *vm, uint16 id);

void AsebaWriteBytecode(AsebaVMState *vm);

void AsebaResetIntoBootloader(AsebaVMState *vm);

void AsebaPutVmToSleep(AsebaVMState *vm);

// Function optionally implemented

#ifdef ASEBA_ASSERT

typedef enum
{
        ASEBA_ASSERT_UNKNOWN = 0,
        ASEBA_ASSERT_UNKNOWN_UNARY_OPERATOR,
        ASEBA_ASSERT_UNKNOWN_BINARY_OPERATOR,
        ASEBA_ASSERT_UNKNOWN_BYTECODE,
        ASEBA_ASSERT_STACK_OVERFLOW,
        ASEBA_ASSERT_STACK_UNDERFLOW,
        ASEBA_ASSERT_OUT_OF_VARIABLES_BOUNDS,
        ASEBA_ASSERT_OUT_OF_BYTECODE_BOUNDS,
        ASEBA_ASSERT_STEP_OUT_OF_RUN,
        ASEBA_ASSERT_BREAKPOINT_OUT_OF_BYTECODE_BOUNDS,
        ASEBA_ASSERT_EMIT_BUFFER_TOO_LONG,
} AsebaAssertReason;

void AsebaAssert(AsebaVMState *vm, AsebaAssertReason reason);

#endif /* ASEBA_ASSERT */

#ifdef __cplusplus
} /* closing brace for extern "C" */
#endif

#endif

---

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