consts.h

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/*
        Aseba - an event-based framework for distributed robot control
        Copyright (C) 2007--2012:
                Stephane Magnenat <stephane at magnenat dot net>
                (http://stephane.magnenat.net)
                and other contributors, see authors.txt for details
        
        This program is free software: you can redistribute it and/or modify
        it under the terms of the GNU Lesser General Public License as published
        by the Free Software Foundation, version 3 of the License.
        
        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 Lesser General Public License for more details.
        
        You should have received a copy of the GNU Lesser 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_VERSION "1.2.1"

#define ASEBA_VERSION_INT 10201

#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_EVENT_ARG_COUNT = 258,        
} AsebaLimits;

#define ASEBA_MAX_EVENT_ARG_SIZE (ASEBA_MAX_EVENT_ARG_COUNT*2)

#define ASEBA_MAX_INNER_PACKET_SIZE (ASEBA_MAX_EVENT_ARG_SIZE+2)

#define ASEBA_MAX_OUTER_PACKET_SIZE (ASEBA_MAX_INNER_PACKET_SIZE+4) 

#define ASEBA_MAX_PACKET_SIZE ASEBA_MAX_INNER_PACKET_SIZE

#endif