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vm-buffer.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 "vm-buffer.h"
#include "../../common/consts.h"
#include "../../common/types.h"
#include <string.h>
#include <assert.h>

static unsigned char buffer[ASEBA_MAX_INNER_PACKET_SIZE];
static unsigned buffer_pos;

static void buffer_add(const uint8* data, const uint16 len)
{
        uint16 i = 0;
        while (i < len)
        {
                /* uncomment this to check for buffer overflow in sent packets
                if (buffer_pos >= ASEBA_MAX_INNER_PACKET_SIZE)
                {
                        printf("buffer pos %d max size %d\n", buffer_pos, ASEBA_MAX_INNER_PACKET_SIZE);
                        abort();
                }*/
                buffer[buffer_pos++] = data[i++];
        }
}

static void buffer_add_uint8(const uint8 value)
{
        buffer_add(&value, 1);
}

static void buffer_add_uint16(const uint16 value)
{
        const uint16 temp = bswap16(value);
        buffer_add((const unsigned char *) &temp, 2);
}

static void buffer_add_sint16(const sint16 value)
{
        const uint16 temp = bswap16(value);
        buffer_add((const unsigned char *) &temp, 2);
}

static void buffer_add_string(const char* s)
{
        uint16 len = strlen(s);
        buffer_add_uint8((uint8)len);
        while (*s)
                buffer_add_uint8(*s++);
}

/* implementation of vm hooks */

void AsebaSendMessage(AsebaVMState *vm, uint16 type, const void *data, uint16 size)
{
        uint16 i;

        buffer_pos = 0;
        buffer_add_uint16(type);
        for (i = 0; i < size; i++)
                buffer_add_uint8(((const unsigned char*)data)[i]);

        AsebaSendBuffer(vm, buffer, buffer_pos);
}

#ifdef __BIG_ENDIAN__
void AsebaSendMessageWords(AsebaVMState *vm, uint16 type, const uint16* data, uint16 count)
{
        uint16 i;
        
        buffer_pos = 0;
        buffer_add_uint16(type);
        for (i = 0; i < count; i++)
                buffer_add_uint16(data[i]);
        
        AsebaSendBuffer(vm, buffer, buffer_pos);
}
#endif

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

        buffer_pos = 0;
        buffer_add_uint16(ASEBA_MESSAGE_VARIABLES);
        buffer_add_uint16(start);
        for (i = start; i < start + length; i++)
                buffer_add_uint16(vm->variables[i]);

        AsebaSendBuffer(vm, buffer, buffer_pos);
}

void AsebaSendDescription(AsebaVMState *vm)
{
        const AsebaVMDescription *vmDescription = AsebaGetVMDescription(vm);
        const AsebaVariableDescription* namedVariables = vmDescription->variables;
        const AsebaNativeFunctionDescription* const * nativeFunctionsDescription = AsebaGetNativeFunctionsDescriptions(vm);
        const AsebaLocalEventDescription* localEvents = AsebaGetLocalEventsDescriptions(vm);
        
        uint16 i = 0;
        buffer_pos = 0;
        
        buffer_add_uint16(ASEBA_MESSAGE_DESCRIPTION);

        buffer_add_string(vmDescription->name);
        
        buffer_add_uint16(ASEBA_PROTOCOL_VERSION);

        buffer_add_uint16(vm->bytecodeSize);
        buffer_add_uint16(vm->stackSize);
        buffer_add_uint16(vm->variablesSize);

        // compute the number of variables descriptions
        for (i = 0; namedVariables[i].size; i++)
                ;
        buffer_add_uint16(i);
        
        // compute the number of local event functions
        for (i = 0; localEvents[i].name; i++)
                ;
        buffer_add_uint16(i);
        
        // compute the number of native functions
        for (i = 0; nativeFunctionsDescription[i]; i++)
                ;
        buffer_add_uint16(i);
        
        // send buffer
        AsebaSendBuffer(vm, buffer, buffer_pos);
        
        // send named variables description
        for (i = 0; namedVariables[i].name; i++)
        {
                buffer_pos = 0;
                
                buffer_add_uint16(ASEBA_MESSAGE_NAMED_VARIABLE_DESCRIPTION);
                
                buffer_add_uint16(namedVariables[i].size);
                buffer_add_string(namedVariables[i].name);
                
                // send buffer
                AsebaSendBuffer(vm, buffer, buffer_pos);
        }
        
        // send local events description
        for (i = 0; localEvents[i].name; i++)
        {
                buffer_pos = 0;
                
                buffer_add_uint16(ASEBA_MESSAGE_LOCAL_EVENT_DESCRIPTION);
                
                buffer_add_string(localEvents[i].name);
                buffer_add_string(localEvents[i].doc);
                
                // send buffer
                AsebaSendBuffer(vm, buffer, buffer_pos);
        }
        
        // send native functions description
        for (i = 0; nativeFunctionsDescription[i]; i++)
        {
                uint16 j;

                buffer_pos = 0;
                
                buffer_add_uint16(ASEBA_MESSAGE_NATIVE_FUNCTION_DESCRIPTION);
                
                
                buffer_add_string(nativeFunctionsDescription[i]->name);
                buffer_add_string(nativeFunctionsDescription[i]->doc);
                for (j = 0; nativeFunctionsDescription[i]->arguments[j].size; j++)
                        ;
                buffer_add_uint16(j);
                for (j = 0; nativeFunctionsDescription[i]->arguments[j].size; j++)
                {
                        buffer_add_sint16(nativeFunctionsDescription[i]->arguments[j].size);
                        buffer_add_string(nativeFunctionsDescription[i]->arguments[j].name);
                }
                
                // send buffer
                AsebaSendBuffer(vm, buffer, buffer_pos);
        }
}

void AsebaProcessIncomingEvents(AsebaVMState *vm)
{
        uint16 source;
        const AsebaVMDescription *desc = AsebaGetVMDescription(vm);
        
        uint16 amount = AsebaGetBuffer(vm, buffer, ASEBA_MAX_INNER_PACKET_SIZE, &source);

        if (amount > 0)
        {
                uint16 type = bswap16(((uint16*)buffer)[0]);
                uint16* payload = (uint16*)(buffer+2);
                uint16 payloadSize = (amount-2)/2;
                if (type < 0x8000)
                {
                        // user message, only process if we are not stepping inside an event
                        if (AsebaMaskIsClear(vm->flags, ASEBA_VM_STEP_BY_STEP_MASK) || AsebaMaskIsClear(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK))
                        {
                                // by convention. the source begin at variables, address 1
                                // then it's followed by the args
                                uint16 argPos = desc->variables[1].size;
                                uint16 argsSize = desc->variables[2].size;
                                uint16 i;
                                vm->variables[argPos++] = source;
                                for (i = 0; (i < argsSize) && (i < payloadSize); i++)
                                        vm->variables[argPos + i] = bswap16(payload[i]);
                                AsebaVMSetupEvent(vm, type);
                        }
                }
                else
                {
                        // debug message
                        AsebaVMDebugMessage(vm, type, payload, payloadSize);
                }
        }
}

---

aseba
Author(s): Stéphane Magnenat
autogenerated on Sat Mar 2 12:31:38 2013