natives.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_NATIVES_H
#define __ASEBA_NATIVES_H

#ifdef __cplusplus
extern "C" {
#endif

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

#ifdef _MSC_VER
#pragma warning( disable: 4200) // disable 0 size arrays warning
#define inline __inline                 // msvc does not support the standart C99/C++ static inline construct
#endif


// data structures

typedef struct
{
        uint16 size;                    
        const char* name;               
} AsebaVariableDescription;

typedef struct
{
        const char* name;               
        AsebaVariableDescription variables[];   
} AsebaVMDescription;

typedef struct
{
        const char* name;       
        const char* doc;        
} AsebaLocalEventDescription;

typedef void (*AsebaNativeFunctionPointer)(AsebaVMState *vm);

typedef struct
{
        sint16 size;            
        const char* name;       
} AsebaNativeFunctionArgumentDescription;

typedef struct 
{
        const char* name;       
        const char* doc;        
        AsebaNativeFunctionArgumentDescription arguments[];     
} AsebaNativeFunctionDescription;

// support functions

static inline sint16 AsebaNativePopArg(AsebaVMState *vm)
{
        return vm->stack[vm->sp--];
}

// standard natives functions

void AsebaNative_veccopy(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_veccopy;

void AsebaNative_vecfill(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecfill;

void AsebaNative_vecaddscalar(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecaddscalar;

void AsebaNative_vecadd(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecadd;

void AsebaNative_vecsub(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecsub;

void AsebaNative_vecmul(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecmul;

void AsebaNative_vecdiv(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecdiv;

void AsebaNative_vecmin(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecmin;

void AsebaNative_vecmax(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecmax;

void AsebaNative_vecdot(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecdot;

void AsebaNative_vecstat(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecstat;

void AsebaNative_vecargbounds(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecargbounds;

void AsebaNative_vecsort(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecsort;

void AsebaNative_mathmuldiv(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathmuldiv;

void AsebaNative_mathatan2(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathatan2;

void AsebaNative_mathsin(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathsin;

void AsebaNative_mathcos(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathcos;

void AsebaNative_mathrot2(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathrot2;

void AsebaNative_mathsqrt(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathsqrt;

void AsebaNative_vecnonzerosequence(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecnonzerosequence;

void AsebaSetRandomSeed(uint16 seed);
uint16 AsebaGetRandom();
void AsebaNative_rand(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_rand;

#define ASEBA_NATIVES_STD_COUNT 21

#define ASEBA_NATIVES_STD_FUNCTIONS \
        AsebaNative_veccopy, \
        AsebaNative_vecfill, \
        AsebaNative_vecaddscalar, \
        AsebaNative_vecadd, \
        AsebaNative_vecsub, \
        AsebaNative_vecmul, \
        AsebaNative_vecdiv, \
        AsebaNative_vecmin, \
        AsebaNative_vecmax, \
        AsebaNative_vecdot, \
        AsebaNative_vecstat, \
        AsebaNative_vecargbounds, \
        AsebaNative_vecsort, \
        AsebaNative_mathmuldiv, \
        AsebaNative_mathatan2, \
        AsebaNative_mathsin, \
        AsebaNative_mathcos, \
        AsebaNative_mathrot2, \
        AsebaNative_mathsqrt, \
        AsebaNative_vecnonzerosequence, \
        AsebaNative_rand

#define ASEBA_NATIVES_STD_DESCRIPTIONS \
        &AsebaNativeDescription_veccopy, \
        &AsebaNativeDescription_vecfill, \
        &AsebaNativeDescription_vecaddscalar, \
        &AsebaNativeDescription_vecadd, \
        &AsebaNativeDescription_vecsub, \
        &AsebaNativeDescription_vecmul, \
        &AsebaNativeDescription_vecdiv, \
        &AsebaNativeDescription_vecmin, \
        &AsebaNativeDescription_vecmax, \
        &AsebaNativeDescription_vecdot, \
        &AsebaNativeDescription_vecstat, \
        &AsebaNativeDescription_vecargbounds, \
        &AsebaNativeDescription_vecsort, \
        &AsebaNativeDescription_mathmuldiv, \
        &AsebaNativeDescription_mathatan2, \
        &AsebaNativeDescription_mathsin, \
        &AsebaNativeDescription_mathcos, \
        &AsebaNativeDescription_mathrot2, \
        &AsebaNativeDescription_mathsqrt, \
        &AsebaNativeDescription_vecnonzerosequence, \
        &AsebaNativeDescription_rand

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

#endif