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skel.c

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/*
        Aseba - an event-based framework for distributed robot control
        Copyright (C) 2007--2010:
                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/>.
*/


#include <string.h>

// Molole includes
#include <can/can.h>
#include <dma/dma.h>
#include <gpio/gpio.h>
#include <types/types.h>
#include <error/error.h>
#include <flash/flash.h>

// Aseba includes 
#include <transport/can/can-net.h>
#include <vm/natives.h>
#include <vm/vm.h>
#include <common/consts.h>
#include <transport/buffer/vm-buffer.h>

#include "skel.h"


static AsebaNativeFunctionDescription AsebaNativeDescription__system_reboot =
{
        "_system.reboot",
        "Reboot the microcontroller",
        {
                { 0, 0 }
        }
};

void AsebaResetIntoBootloader(AsebaVMState *vm) {
        asm __volatile__ ("reset");
}

static AsebaNativeFunctionDescription AsebaNativeDescription__system_settings_read =
{
        "_system.settings.read",
        "Read a setting",
        {
                { 1, "address"},
                { 1, "value"},
                { 0, 0 }
        }
};

static void AsebaNative__system_settings_read(AsebaVMState *vm) {
        uint16 address = vm->variables[AsebaNativePopArg(vm)];
        uint16 destidx = AsebaNativePopArg(vm);

        if(address > sizeof(settings)/2 - 1) {
                AsebaVMEmitNodeSpecificError(vm, "Address out of settings");
                return;
        }
        vm->variables[destidx] = ((unsigned int *) &settings)[address];
}

static AsebaNativeFunctionDescription AsebaNativeDescription__system_settings_write =
{
        "_system.settings.write",
        "Write a setting",
        {
                { 1, "address"},
                { 1, "value"},
                { 0, 0 }
        }
};

static void AsebaNative__system_settings_write(AsebaVMState *vm) {
        uint16 address = vm->variables[AsebaNativePopArg(vm)];
        uint16 sourceidx = AsebaNativePopArg(vm);
        if(address > sizeof(settings)/2 - 1) {
                AsebaVMEmitNodeSpecificError(vm, "Address out of settings");
                return;
        }
        ((unsigned int *) &settings)[address] = vm->variables[sourceidx];
}


static AsebaNativeFunctionDescription AsebaNativeDescription__system_settings_flash =
{
        "_system.settings.flash",
        "Write the settings into flash",
        {
                { 0, 0 }
        }
};

static void AsebaNative__system_settings_flash(AsebaVMState *vm);



#include <skel-user.c>


unsigned int events_flags = 0;



struct private_settings __attribute__((aligned(2))) settings;
// Nice hack to do a compilation assert with 
#define COMPILATION_ASSERT(e) do { enum { assert_static__ = 1/(e) };} while(0)

const AsebaLocalEventDescription * AsebaGetLocalEventsDescriptions(AsebaVMState *vm)
{
        return localEvents;
}








/* buffers for can-net */
static __attribute((far)) CanFrame sendQueue[SEND_QUEUE_SIZE];

static __attribute((far)) CanFrame recvQueue[RECV_QUEUE_SIZE];


/* VM */
struct __attribute((far)) _vmVariables vmVariables;

static __attribute((far))  uint16 vmBytecode[VM_BYTECODE_SIZE];

static __attribute((far))  sint16 vmStack[VM_STACK_SIZE];

AsebaVMState vmState = {
        0,
        
        VM_BYTECODE_SIZE,
        vmBytecode,
        
        sizeof(vmVariables) / sizeof(sint16),
        (sint16*)&vmVariables,

        VM_STACK_SIZE,
        vmStack
};



/* Callbacks */

void AsebaIdle(void) {
        Idle();
}

void AsebaPutVmToSleep(AsebaVMState *vm) {
}

void AsebaNativeFunction(AsebaVMState *vm, uint16 id)
{
        nativeFunctions[id](vm);
}


static void received_packet_dropped(void)
{
        /* ---- PUT HERE SOME LED STATE OUTPUT ----- */
}

static void sent_packet_dropped(void)
{
        /* ---- PUT HERE SOME LED STATE OUTPUT ----- */
}

const AsebaVMDescription * AsebaGetVMDescription(AsebaVMState *vm) {
        return &vmDescription;
}

uint16 AsebaShouldDropPacket(uint16 source, const uint8* data) {
        return AsebaVMShouldDropPacket(&vmState, source, data);
}

        
const AsebaNativeFunctionDescription * const * AsebaGetNativeFunctionsDescriptions(AsebaVMState *vm) {
        return nativeFunctionsDescription;
}


// START of Bytecode into Flash section -----

// A chunk is a bytecode image 
#define PAGE_PER_CHUNK ((VM_BYTECODE_SIZE*2+3 + INSTRUCTIONS_PER_PAGE*3 - 1) / (INSTRUCTIONS_PER_PAGE*3))
#if PAGE_PER_CHUNK == 0
#undef PAGE_PER_CHUNK
#define PAGE_PER_CHUNK 1
#endif

/* noload will tell the linker to allocate the space but NOT to initialise it. (left unprogrammed)*/
/* I cannot delare it as an array since it's too large ( > 65535 ) */

// Put everything in the same section, so we are 100% sure that the linker will put them contiguously.
// Force the address, since the linker sometimes put it in the middle of the code 
#define NUMBER_OF_CHUNK 26
unsigned char  aseba_flash[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode"), address(0x15800 - 0x800 /* bootloader */ - 0x400 /* settings */ - NUMBER_OF_CHUNK*0x400L*PAGE_PER_CHUNK)/*, noload*/));
unsigned char aseba_flash1[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash2[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash3[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash4[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash5[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash6[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash7[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash8[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash9[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash10[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash11[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash12[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash13[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash14[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/)); 
unsigned char aseba_flash15[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash16[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash17[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash18[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash19[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash20[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash21[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash22[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash23[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash24[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));
unsigned char aseba_flash25[PAGE_PER_CHUNK][INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), aligned(INSTRUCTIONS_PER_PAGE * 2), section(".aseba_bytecode")/*, noload*/));

// Saveguard the bootloader (2 pages)
unsigned char __bootloader[INSTRUCTIONS_PER_PAGE * 2 * 2] __attribute((space(prog), section(".boot"), noload, address(0x15800 - 0x800)));

// Put the settings page at a fixed position so it's independant of linker mood. 
unsigned char aseba_settings_flash[INSTRUCTIONS_PER_PAGE * 2] __attribute__ ((space(prog), section(".aseba_settings"), noload, address(0x15800 - 0x800 - 0x400)));
#warning "the settings page is NOT initialised"


unsigned long aseba_flash_ptr;
unsigned long aseba_settings_ptr;

void AsebaWriteBytecode(AsebaVMState *vm) {
        // Look for the lowest number of use
        unsigned long min = 0xFFFFFFFF;
        unsigned long min_addr = 0;
        unsigned long count;
        unsigned int i;
        unsigned long temp_addr = aseba_flash_ptr;
        unsigned int instr_count;
        unsigned char * bcptr = (unsigned char *) vm->bytecode;
        // take the first minimum value
        for (i = 0; i < NUMBER_OF_CHUNK; i++, temp_addr += INSTRUCTIONS_PER_PAGE * 2 * PAGE_PER_CHUNK) {
                count = flash_read_instr(temp_addr);
                if(count < min) {
                        min = count;
                        min_addr = temp_addr;
                }
        }
        if(min == 0xFFFFFFFF) {
                AsebaVMEmitNodeSpecificError(vm, "Error: min == 0xFFFFFFFF !");
                return;
        }
        min++;
        
        // Now erase the pages
        for(i = 0; i < PAGE_PER_CHUNK; i++) 
                flash_erase_page(min_addr + i*INSTRUCTIONS_PER_PAGE * 2);
                
        // Then write the usage count and the bytecode
        flash_prepare_write(min_addr);
        flash_write_instruction(min);
        flash_write_buffer((unsigned char *) vm->bytecode, VM_BYTECODE_SIZE*2);
        flash_complete_write();
        
        
        // Now, check the data
        
        if(min != flash_read_instr(min_addr)) {
                AsebaVMEmitNodeSpecificError(vm, "Error: Unable to flash bytecode (1) !");
                return;
        }       
        min_addr += 2;
        instr_count = (VM_BYTECODE_SIZE*2) / 3;

        for(i = 0; i < instr_count; i++) {
                unsigned char data[3];
                flash_read_chunk(min_addr, 3, data);

                if(memcmp(data, bcptr, 3)) {
                        AsebaVMEmitNodeSpecificError(vm, "Error: Unable to flash bytecode (2) !");
                        return;
                }
                bcptr += 3;
                min_addr += 2;
        }
        
        i = (VM_BYTECODE_SIZE * 2) % 3;
        
        if(i != 0) {
                unsigned char data[2];
                flash_read_chunk(min_addr, i, data);
                if(memcmp(data, bcptr, i)) {
                        AsebaVMEmitNodeSpecificError(vm, "Error: Unable to flash bytecode (3) !");
                        return;
                }
        }
        
        AsebaVMEmitNodeSpecificError(vm, "Flashing OK");
        
}

const static unsigned int _magic_[8] = {0xDE, 0xAD, 0xCA, 0xFE, 0xBE, 0xEF, 0x04, 0x02};
static void AsebaNative__system_settings_flash(AsebaVMState *vm) {
        // Look for the last "Magic" we know, this is the most up to date conf
        // Then write the next row with the correct magic.
        // If no magic is found, erase the page, and then write the first one
        // If the last magic is found, erase the page and then write the first one
        
        unsigned long setting_addr = aseba_settings_ptr;
        int i = 0;
        unsigned int mag;
        unsigned long temp;
        for(i = 0; i < 8; i++) { 
                mag = flash_read_low(setting_addr + INSTRUCTIONS_PER_ROW * 2 * i);
                if(mag != _magic_[i]) 
                        break;
        }
        
        if(i == 0 || i == 8) {
                flash_erase_page(setting_addr);
                i = 0;
        }
        
        setting_addr += INSTRUCTIONS_PER_ROW * 2 * i;
        
        flash_prepare_write(setting_addr);
        temp = (((unsigned long) *((unsigned char * ) &settings)) << 16) | _magic_[i];
        
        flash_write_instruction(temp);
        flash_write_buffer(((unsigned char *) &settings) + 1, sizeof(settings) - 1);
        flash_complete_write();
}

static void load_code_from_flash(AsebaVMState *vm) {
        // Find the last maximum value
        unsigned long max = 0;
        unsigned long max_addr = 0;
        unsigned long temp_addr = aseba_flash_ptr;
        unsigned long count;
        unsigned int i;
        // take the last maximum value
        for (i = 0; i < NUMBER_OF_CHUNK; i++, temp_addr += INSTRUCTIONS_PER_PAGE * 2 * PAGE_PER_CHUNK) {
                count = flash_read_instr(temp_addr);
                if(count >= max) {
                        max = count;
                        max_addr = temp_addr;
                }
        }
        if(!max)  
                // Nothing to load
                return;
                
        flash_read_chunk(max_addr + 2, VM_BYTECODE_SIZE*2, (unsigned char *) vm->bytecode);
        
        // Tell the VM to init
        AsebaVMSetupEvent(vm, ASEBA_EVENT_INIT);
}

int load_settings_from_flash(void) {
        
        // Max size 95 int, min 1 int
        COMPILATION_ASSERT(sizeof(settings) < ((INSTRUCTIONS_PER_ROW*3) - 2));
        COMPILATION_ASSERT(sizeof(settings) > 1);
        
        // The the last "known" magic found
        unsigned long temp = aseba_settings_ptr;
        int i = 0;
        unsigned int mag;


        
        for(i = 0; i < 8; i++) { 
                mag = flash_read_low(temp + INSTRUCTIONS_PER_ROW * 2 * i);
                if(mag != _magic_[i]) 
                        break;
        }
        if(i == 0)
                // No settings found 
                return -1;
        i--;
        temp += INSTRUCTIONS_PER_ROW * 2 * i;
        *((unsigned char *) &settings) = (unsigned char) (flash_read_high(temp) & 0xFF);
        flash_read_chunk(temp + 2, sizeof(settings) - 1, ((unsigned char *) &settings) + 1);
        
        return 0;       
}
// END of bytecode into flash section


#ifdef ASEBA_ASSERT
void AsebaAssert(AsebaVMState *vm, AsebaAssertReason reason) {
        AsebaVMEmitNodeSpecificError(vm, "VM ASSERT !");
}
#endif

static unsigned int ui2str(char *str, unsigned int value) {
        unsigned div;
        unsigned int i = 0;
        bool hasSent = false;
        for (div = 10000; div > 0; div /= 10)
        {
                unsigned disp = value / div;
                value %= div;

                if ((disp != 0) || (hasSent) || (div == 1))
                {
                        hasSent = true;
                        str[i++] =  '0' + disp;
                }
        }
        str[i] = 0;
        return i;
}

static unsigned int ui2strhex(char * str, unsigned int id) {
        int shift;
        bool hasSent = false;
        unsigned int i = 0;
        for (shift = 12; shift >= 0; shift -= 4)
        {
                unsigned disp = ((id & (0xF << shift)) >> shift);

                if ((disp != 0) || (hasSent) || (shift == 0))
                {
                        hasSent = true;
                        if(disp > 9) 
                                str[i++] = 'A' + disp - 0xA;
                        else
                                str[i++] = '0' + disp;
                }
        }
        str[i] = 0;
        return i;
}

static void __attribute__((noreturn)) error_handler(const char * file, int line, int id, void* __attribute((unused)) arg) {
        char error_string[255];
        char number[10];
        strcpy(error_string, "Molole error 0x");
        ui2strhex(number, (unsigned int) id);
        strcat(error_string, number);
        strcat(error_string, " in file: ");
        strncat(error_string, file, 200);
        strcat(error_string, ":");
        ui2str(number, line);
        strcat(error_string, number);
        
        
        AsebaVMEmitNodeSpecificError(&vmState, error_string);
        
        AsebaCanFlushQueue();
        
        asm __volatile__ ("reset");
        
        for(;;); // Shutup GCC 
}

#define FUID3 0xF80016

void init_aseba_and_can(void) {
        unsigned int low, high;
        // Read the Device ID at _FUID3

        vmState.nodeId = flash_read_low(FUID3);
        
        // Get the section start pointer. Cannot get it in C, so use the assember-style
        asm ("mov #tbloffset(.startof.(.aseba_bytecode)), %[l]" : [l] "=r" (low));
        asm ("mov #tblpage(.startof.(.aseba_bytecode)), %[h]" : [h] "=r" (high));
        aseba_flash_ptr = (unsigned long) high << 16 | low;
        
        asm ("mov #tbloffset(.startof.(.aseba_settings)), %[l]" : [l] "=r" (low));
        asm ("mov #tblpage(.startof.(.aseba_settings)), %[h]" : [h] "=r" (high));
        aseba_settings_ptr = (unsigned long) high << 16 | low;



        can_init((can_frame_received_callback)AsebaCanFrameReceived, AsebaCanFrameSent, DMA_CAN_RX, DMA_CAN_TX, CAN_SELECT_MODE, 1000, PRIO_CAN);
        AsebaCanInit(vmState.nodeId, (AsebaCanSendFrameFP)can_send_frame, can_is_frame_room, received_packet_dropped, sent_packet_dropped, sendQueue, SEND_QUEUE_SIZE, recvQueue, RECV_QUEUE_SIZE);
        AsebaVMInit(&vmState);
        vmVariables.id = vmState.nodeId;
        
        load_code_from_flash(&vmState);
        
        error_register_callback(error_handler);

}

void __attribute((noreturn)) run_aseba_main_loop(void) {
        while(1)
        {
                update_aseba_variables_read();
                
                AsebaVMRun(&vmState, 1000);
                
                AsebaProcessIncomingEvents(&vmState);
                
                update_aseba_variables_write();

                // Either we are in step by step, so we go to sleep until further commands, or we are not executing an event,
                // and so we have nothing to do.
                if (AsebaMaskIsSet(vmState.flags, ASEBA_VM_STEP_BY_STEP_MASK) || AsebaMaskIsClear(vmState.flags, ASEBA_VM_EVENT_ACTIVE_MASK))
                {
                        unsigned i;
                        // Find first bit from right (LSB), check if some CAN packets are pending
                        // Atomically, do an Idle() if nothing is found
                        // Warning, I'm doing some nasty things with the IPL bits (forcing the value, without safeguard)
                        // Second warning: It doesn't disable level 7 interrupt. So if you set an event inside a level 7 interrupt
                        // It may get delayed until next interrupt
                        asm __volatile__ ("mov #SR, w0 \r\n"
                                                        "mov #0xC0, w1\r\n"
                                                        "ior.b w1, [w0], [w0]\r\n" // Disable all interrupts
                                                        "ff1r [%[word]], %[b]\r\n"
                                                        "bra nc, 1f\r\n"
                                                        "rcall _AsebaCanRecvBufferEmpty\r\n"
                                                        "cp0 w0\r\n"
                                                        "bra z, 1f \r\n"
                                                        "rcall _clock_idle\r\n"  // Powersave WITH interrupt disabled. It works, read section 6.2.5 of dsPIC manual
                                                        "1: \r\n"
                                                        "mov #SR, w0 \r\n"
                                                        "mov #0x1F, w1\r\n"
                                                        "and.b w1, [w0],[w0] \r\n" // enable interrupts
                                                         : [b] "=x" (i) : [word] "r" (&events_flags) : "cc", "w0", "w1", "w2", "w3", "w4", "w5", "w6", "w7");
                                                        // Why putting "x" as constrain register. Because it's w8-w9, so it's preserved accross function call
                                                        // we do a rcall, so we must clobber w0-w7
                                                        
                        // If a local event is pending, then execute it.
                        // Else, we waked up from idle because of an interrupt, so re-execute the whole thing
                        // FIXME: do we want to kill execution upon local events? that would be consistant so Steph votes yes, but
                        // we may discuss further
                        if(i && !(AsebaMaskIsSet(vmState.flags, ASEBA_VM_STEP_BY_STEP_MASK) &&  AsebaMaskIsSet(vmState.flags, ASEBA_VM_EVENT_ACTIVE_MASK))) {
                        // that is the same as (thx de Morgan)
                        //if(i && (AsebaMaskIsClear(vmState.flags, ASEBA_VM_STEP_BY_STEP_MASK) ||  AsebaMaskIsClear(vmState.flags, ASEBA_VM_EVENT_ACTIVE_MASK))) {
                                i--;
                                CLEAR_EVENT(i);
                                vmVariables.source = vmState.nodeId;
                                AsebaVMSetupEvent(&vmState, ASEBA_EVENT_LOCAL_EVENTS_START - i);
                        }
                }
        }
}

        

---

aseba
Author(s): Stéphane Magnenat
autogenerated on Sat Mar 2 12:31:37 2013