consts.h
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00001 /*
00002         Aseba - an event-based framework for distributed robot control
00003         Copyright (C) 2007--2012:
00004                 Stephane Magnenat <stephane at magnenat dot net>
00005                 (http://stephane.magnenat.net)
00006                 and other contributors, see authors.txt for details
00007         
00008         This program is free software: you can redistribute it and/or modify
00009         it under the terms of the GNU Lesser General Public License as published
00010         by the Free Software Foundation, version 3 of the License.
00011         
00012         This program is distributed in the hope that it will be useful,
00013         but WITHOUT ANY WARRANTY; without even the implied warranty of
00014         MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015         GNU Lesser General Public License for more details.
00016         
00017         You should have received a copy of the GNU Lesser General Public License
00018         along with this program. If not, see <http://www.gnu.org/licenses/>.
00019 */
00020 
00021 #ifndef __ASEBA_CONSTS_H
00022 #define __ASEBA_CONSTS_H
00023 
00028 
00030 #define ASEBA_VERSION "1.2.1"
00031 
00033 #define ASEBA_VERSION_INT 10201
00034 
00036 #define ASEBA_PROTOCOL_VERSION 4
00037 
00039 #define ASEBA_DEFAULT_LISTEN_TARGET "tcpin:33333"
00040 
00042 #define ASEBA_DEFAULT_TARGET "tcp:localhost;33333"
00043 
00045 #define ASEBA_DEFAULT_HOST "localhost"
00046 
00048 #define ASEBA_DEFAULT_PORT 33333
00049 
00050 
00052 typedef enum
00053 {
00054         ASEBA_BYTECODE_STOP = 0x0,
00055         ASEBA_BYTECODE_SMALL_IMMEDIATE = 0x1,
00056         ASEBA_BYTECODE_LARGE_IMMEDIATE = 0x2,
00057         ASEBA_BYTECODE_LOAD = 0x3,
00058         ASEBA_BYTECODE_STORE = 0x4,
00059         ASEBA_BYTECODE_LOAD_INDIRECT = 0x5,
00060         ASEBA_BYTECODE_STORE_INDIRECT = 0x6,
00061         ASEBA_BYTECODE_UNARY_ARITHMETIC = 0x7,
00062         ASEBA_BYTECODE_BINARY_ARITHMETIC = 0x8,
00063         ASEBA_BYTECODE_JUMP = 0x9,
00064         ASEBA_BYTECODE_CONDITIONAL_BRANCH = 0xA,
00065         ASEBA_BYTECODE_EMIT = 0xB,
00066         ASEBA_BYTECODE_NATIVE_CALL = 0xC,
00067         ASEBA_BYTECODE_SUB_CALL = 0xD,
00068         ASEBA_BYTECODE_SUB_RET = 0xE
00069 } AsebaBytecodeId;
00070 
00072 typedef enum
00073 {
00074         // arithmetic
00075         ASEBA_OP_SHIFT_LEFT = 0x0,
00076         ASEBA_OP_SHIFT_RIGHT,
00077         ASEBA_OP_ADD,
00078         ASEBA_OP_SUB,
00079         ASEBA_OP_MULT,
00080         ASEBA_OP_DIV,
00081         ASEBA_OP_MOD,
00082         // binary arithmetic
00083         ASEBA_OP_BIT_OR,
00084         ASEBA_OP_BIT_XOR,
00085         ASEBA_OP_BIT_AND,
00086         // comparison
00087         ASEBA_OP_EQUAL,
00088         ASEBA_OP_NOT_EQUAL,
00089         ASEBA_OP_BIGGER_THAN,
00090         ASEBA_OP_BIGGER_EQUAL_THAN,
00091         ASEBA_OP_SMALLER_THAN,
00092         ASEBA_OP_SMALLER_EQUAL_THAN,
00093         // logic
00094         ASEBA_OP_OR,
00095         ASEBA_OP_AND
00096 } AsebaBinaryOperator;
00097 
00099 #define ASEBA_BINARY_OPERATOR_MASK 0xff
00100 
00102 typedef enum
00103 {
00104         ASEBA_UNARY_OP_SUB = 0x0,
00105         ASEBA_UNARY_OP_ABS,
00106         ASEBA_UNARY_OP_BIT_NOT,
00107         ASEBA_UNARY_OP_NOT      // < not used for the VM, only for parsing, reduced by compiler using de Morgan and comparison inversion
00108 } AsebaUnaryOperator;
00109 
00111 #define ASEBA_UNARY_OPERATOR_MASK 0xff
00112 
00114 #define ASEBA_IF_IS_WHEN_BIT 8
00115 
00116 #define ASEBA_IF_WAS_TRUE_BIT 9
00117 
00119 typedef enum
00120 {
00122         ASEBA_VM_EVENT_ACTIVE_MASK = 0x1,
00124         ASEBA_VM_STEP_BY_STEP_MASK = 0x2,
00126         ASEBA_VM_EVENT_RUNNING_MASK = 0x4
00127 } AsebaExecutionStates;
00128 
00130 typedef enum
00131 {
00132         ASEBA_EVENT_INIT = 0xFFFF,
00133         ASEBA_EVENT_LOCAL_EVENTS_START = 0xFFFE,
00134 } AsebaSpecialEventId;
00135 
00137 #define AsebaBytecodeFromId(id) ((id) << 12)
00138 
00140 typedef enum
00141 {
00142         /* from bootloader control program to a specific node */
00143         ASEBA_MESSAGE_BOOTLOADER_RESET = 0x8000,
00144         ASEBA_MESSAGE_BOOTLOADER_READ_PAGE,
00145         ASEBA_MESSAGE_BOOTLOADER_WRITE_PAGE,
00146         ASEBA_MESSAGE_BOOTLOADER_PAGE_DATA_WRITE,
00147         
00148         /* from node to bootloader control program */
00149         ASEBA_MESSAGE_BOOTLOADER_DESCRIPTION,
00150         ASEBA_MESSAGE_BOOTLOADER_PAGE_DATA_READ,
00151         ASEBA_MESSAGE_BOOTLOADER_ACK,
00152         
00153         /* from a specific node */
00154         ASEBA_MESSAGE_DESCRIPTION = 0x9000,
00155         ASEBA_MESSAGE_NAMED_VARIABLE_DESCRIPTION,
00156         ASEBA_MESSAGE_LOCAL_EVENT_DESCRIPTION,
00157         ASEBA_MESSAGE_NATIVE_FUNCTION_DESCRIPTION,
00158         ASEBA_MESSAGE_DISCONNECTED,
00159         ASEBA_MESSAGE_VARIABLES,
00160         ASEBA_MESSAGE_ARRAY_ACCESS_OUT_OF_BOUNDS,
00161         ASEBA_MESSAGE_DIVISION_BY_ZERO,
00162         ASEBA_MESSAGE_EVENT_EXECUTION_KILLED,
00163         ASEBA_MESSAGE_NODE_SPECIFIC_ERROR,
00164         ASEBA_MESSAGE_EXECUTION_STATE_CHANGED,
00165         ASEBA_MESSAGE_BREAKPOINT_SET_RESULT,
00166         
00167         /* from IDE to all nodes */
00168         ASEBA_MESSAGE_GET_DESCRIPTION = 0xA000,
00169         
00170         /* from IDE to a specific node */
00171         ASEBA_MESSAGE_SET_BYTECODE,
00172         ASEBA_MESSAGE_RESET,
00173         ASEBA_MESSAGE_RUN,
00174         ASEBA_MESSAGE_PAUSE,
00175         ASEBA_MESSAGE_STEP,
00176         ASEBA_MESSAGE_STOP,
00177         ASEBA_MESSAGE_GET_EXECUTION_STATE,
00178         ASEBA_MESSAGE_BREAKPOINT_SET,
00179         ASEBA_MESSAGE_BREAKPOINT_CLEAR,
00180         ASEBA_MESSAGE_BREAKPOINT_CLEAR_ALL,
00181         ASEBA_MESSAGE_GET_VARIABLES,
00182         ASEBA_MESSAGE_SET_VARIABLES,
00183         ASEBA_MESSAGE_WRITE_BYTECODE,
00184         ASEBA_MESSAGE_REBOOT,
00185         ASEBA_MESSAGE_SUSPEND_TO_RAM,
00186         
00187         ASEBA_MESSAGE_INVALID = 0xFFFF
00188 } AsebaSystemMessagesTypes;
00189 
00191 typedef enum
00192 {
00193         ASEBA_DEST_DEBUG = 0,
00194         ASEBA_DEST_INVALID = 0xFFFF
00195 } AsebaMessagesDests;
00196 
00198 typedef enum
00199 {
00200         ASEBA_MAX_EVENT_ARG_COUNT = 258,        
00201 } AsebaLimits;
00202 
00204 #define ASEBA_MAX_EVENT_ARG_SIZE (ASEBA_MAX_EVENT_ARG_COUNT*2)
00205 
00207 #define ASEBA_MAX_INNER_PACKET_SIZE (ASEBA_MAX_EVENT_ARG_SIZE+2)
00208 
00210 #define ASEBA_MAX_OUTER_PACKET_SIZE (ASEBA_MAX_INNER_PACKET_SIZE+4) 
00211 
00213 #define ASEBA_MAX_PACKET_SIZE ASEBA_MAX_INNER_PACKET_SIZE
00214 
00217 #endif


aseba
Author(s): Stéphane Magnenat
autogenerated on Thu Jan 2 2014 11:17:16