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


// TODO: potentially replace by more efficient native asm instruction
#define GET_BIT(v, b) (((v) >> (b)) & 0x1)

#define BIT_SET(v, b) ((v) |= (1 << (b)))

#define BIT_CLR(v, b) ((v) &= (~(1 << (b))))

void AsebaVMSendExecutionStateChanged(AsebaVMState *vm);

void AsebaVMInit(AsebaVMState *vm)
{
        vm->pc = 0;
        vm->flags = 0;
        vm->breakpointsCount = 0;
        
        // fill with no event
        vm->bytecode[0] = 0;
        memset(vm->variables, 0, vm->variablesSize*sizeof(sint16));
}

uint16 AsebaVMGetEventAddress(AsebaVMState *vm, uint16 event)
{
        uint16 eventVectorSize = vm->bytecode[0];
        uint16 i;

        // look into event vectors and if event match execute corresponding bytecode
        for (i = 1; i < eventVectorSize; i += 2)
                if (vm->bytecode[i] == event)
                        return vm->bytecode[i + 1];
        return 0;
}


uint16 AsebaVMSetupEvent(AsebaVMState *vm, uint16 event)
{
        uint16 address = AsebaVMGetEventAddress(vm, event);
        if (address)
        {
                // if currently executing a thread, notify kill
                if (AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK))
                {
                        AsebaSendMessageWords(vm, ASEBA_MESSAGE_EVENT_EXECUTION_KILLED, &vm->pc, 1);
                }
                
                vm->pc = address;
                vm->sp = -1;
                AsebaMaskSet(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK);
                
                // if we are in step by step, notify
                if (AsebaMaskIsSet(vm->flags, ASEBA_VM_STEP_BY_STEP_MASK))
                        AsebaVMSendExecutionStateChanged(vm);
        }
        return address;
}

static sint16 AsebaVMDoBinaryOperation(AsebaVMState *vm, sint16 valueOne, sint16 valueTwo, uint16 op)
{
        switch (op)
        {
                case ASEBA_OP_SHIFT_LEFT: return valueOne << valueTwo;
                case ASEBA_OP_SHIFT_RIGHT: return valueOne >> valueTwo;
                case ASEBA_OP_ADD: return valueOne + valueTwo;
                case ASEBA_OP_SUB: return valueOne - valueTwo;
                case ASEBA_OP_MULT: return valueOne * valueTwo;
                case ASEBA_OP_DIV:
                        // check division by zero
                        if (valueTwo == 0)
                        {
                                if(AsebaVMErrorCB)
                                        AsebaVMErrorCB(vm,NULL);
                                vm->flags = ASEBA_VM_STEP_BY_STEP_MASK;
                                AsebaSendMessageWords(vm, ASEBA_MESSAGE_DIVISION_BY_ZERO, &vm->pc, 1);
                                return 0;
                        }
                        else
                        {
                                return valueOne / valueTwo;
                        }
                case ASEBA_OP_MOD: return valueOne % valueTwo;
                
                case ASEBA_OP_BIT_OR: return valueOne | valueTwo;
                case ASEBA_OP_BIT_XOR: return valueOne ^ valueTwo;
                case ASEBA_OP_BIT_AND: return valueOne & valueTwo;
                
                case ASEBA_OP_EQUAL: return valueOne == valueTwo;
                case ASEBA_OP_NOT_EQUAL: return valueOne != valueTwo;
                case ASEBA_OP_BIGGER_THAN: return valueOne > valueTwo;
                case ASEBA_OP_BIGGER_EQUAL_THAN: return valueOne >= valueTwo;
                case ASEBA_OP_SMALLER_THAN: return valueOne < valueTwo;
                case ASEBA_OP_SMALLER_EQUAL_THAN: return valueOne <= valueTwo;
                
                case ASEBA_OP_OR: return valueOne || valueTwo;
                case ASEBA_OP_AND: return valueOne && valueTwo;
                
                default:
                #ifdef ASEBA_ASSERT
                AsebaAssert(vm, ASEBA_ASSERT_UNKNOWN_BINARY_OPERATOR);
                #endif
                return 0;
        }
}

static sint16 AsebaVMDoUnaryOperation(AsebaVMState *vm, sint16 value, uint16 op)
{
        switch (op)
        {
                case ASEBA_UNARY_OP_SUB: return -value;
                case ASEBA_UNARY_OP_ABS: return value >= 0 ? value : -value;
                case ASEBA_UNARY_OP_BIT_NOT: return ~value;
                
                default:
                #ifdef ASEBA_ASSERT
                AsebaAssert(vm, ASEBA_ASSERT_UNKNOWN_UNARY_OPERATOR);
                #endif
                return 0;
        }
}

void AsebaVMStep(AsebaVMState *vm)
{
        uint16 bytecode = vm->bytecode[vm->pc];
        
        #ifdef ASEBA_ASSERT
        if (AsebaMaskIsClear(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK))
                AsebaAssert(vm, ASEBA_ASSERT_STEP_OUT_OF_RUN);
        #endif
        
        switch (bytecode >> 12)
        {
                // Bytecode: Stop
                case ASEBA_BYTECODE_STOP:
                {
                        AsebaMaskClear(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK);
                }
                break;
                
                // Bytecode: Small Immediate
                case ASEBA_BYTECODE_SMALL_IMMEDIATE:
                {
                        sint16 value = ((sint16)(bytecode << 4)) >> 4;
                        
                        // check sp
                        #ifdef ASEBA_ASSERT
                        if (vm->sp + 1 >= vm->stackSize)
                                AsebaAssert(vm, ASEBA_ASSERT_STACK_OVERFLOW);
                        #endif
                        
                        // push value in stack
                        vm->stack[++vm->sp] = value;
                        
                        // increment PC
                        vm->pc ++;
                }
                break;
                
                // Bytecode: Large Immediate
                case ASEBA_BYTECODE_LARGE_IMMEDIATE:
                {
                        // check sp
                        #ifdef ASEBA_ASSERT
                        if (vm->sp + 1 >= vm->stackSize)
                                AsebaAssert(vm, ASEBA_ASSERT_STACK_OVERFLOW);
                        #endif
                        
                        // push value in stack
                        vm->stack[++vm->sp] = vm->bytecode[vm->pc + 1];
                        
                        // increment PC
                        vm->pc += 2;
                }
                break;
                
                // Bytecode: Load
                case ASEBA_BYTECODE_LOAD:
                {
                        uint16 variableIndex = bytecode & 0x0fff;
                        
                        // check sp and variable index
                        #ifdef ASEBA_ASSERT
                        if (vm->sp + 1 >= vm->stackSize)
                                AsebaAssert(vm, ASEBA_ASSERT_STACK_OVERFLOW);
                        if (variableIndex >= vm->variablesSize)
                                AsebaAssert(vm, ASEBA_ASSERT_OUT_OF_VARIABLES_BOUNDS);
                        #endif
                        
                        // push value in stack
                        vm->stack[++vm->sp] = vm->variables[variableIndex];
                        
                        // increment PC
                        vm->pc ++;
                }
                break;
                
                // Bytecode: Store
                case ASEBA_BYTECODE_STORE:
                {
                        uint16 variableIndex = bytecode & 0x0fff;
                        
                        // check sp and variable index
                        #ifdef ASEBA_ASSERT
                        if (vm->sp < 0)
                                AsebaAssert(vm, ASEBA_ASSERT_STACK_UNDERFLOW);
                        if (variableIndex >= vm->variablesSize)
                                AsebaAssert(vm, ASEBA_ASSERT_OUT_OF_VARIABLES_BOUNDS);
                        #endif
                        
                        // pop value from stack
                        vm->variables[variableIndex] = vm->stack[vm->sp--];
                        
                        // increment PC
                        vm->pc ++;
                }
                break;
                
                // Bytecode: Load Indirect
                case ASEBA_BYTECODE_LOAD_INDIRECT:
                {
                        uint16 arrayIndex;
                        uint16 arraySize;
                        uint16 variableIndex;
                        
                        // check sp
                        #ifdef ASEBA_ASSERT
                        if (vm->sp < 0)
                                AsebaAssert(vm, ASEBA_ASSERT_STACK_UNDERFLOW);
                        #endif
                        
                        // get indexes
                        arrayIndex = bytecode & 0x0fff;
                        arraySize = vm->bytecode[vm->pc + 1];
                        variableIndex = vm->stack[vm->sp];
                        
                        // check variable index
                        if (variableIndex >= arraySize)
                        {
                                uint16 buffer[3];
                                buffer[0] = vm->pc;
                                buffer[1] = arraySize;
                                buffer[2] = variableIndex;
                                vm->flags = ASEBA_VM_STEP_BY_STEP_MASK;
                                AsebaSendMessageWords(vm, ASEBA_MESSAGE_ARRAY_ACCESS_OUT_OF_BOUNDS, buffer, 3);
                                if(AsebaVMErrorCB)
                                        AsebaVMErrorCB(vm,NULL);
                                break;
                        }
                        
                        // load variable
                        vm->stack[vm->sp] = vm->variables[arrayIndex + variableIndex];
                        
                        // increment PC
                        vm->pc += 2;
                }
                break;
                
                // Bytecode: Store Indirect
                case ASEBA_BYTECODE_STORE_INDIRECT:
                {
                        uint16 arrayIndex;
                        uint16 arraySize;
                        uint16 variableIndex;
                        sint16 variableValue;
                        
                        // check sp
                        #ifdef ASEBA_ASSERT
                        if (vm->sp < 1)
                                AsebaAssert(vm, ASEBA_ASSERT_STACK_UNDERFLOW);
                        #endif
                        
                        // get value and indexes
                        arrayIndex = bytecode & 0x0fff;
                        arraySize = vm->bytecode[vm->pc + 1];
                        variableValue = vm->stack[vm->sp - 1];
                        variableIndex = (uint16)vm->stack[vm->sp];
                        
                        // check variable index
                        if (variableIndex >= arraySize)
                        {
                                uint16 buffer[3];
                                buffer[0] = vm->pc;
                                buffer[1] = arraySize;
                                buffer[2] = variableIndex;
                                vm->flags = ASEBA_VM_STEP_BY_STEP_MASK;
                                AsebaSendMessageWords(vm, ASEBA_MESSAGE_ARRAY_ACCESS_OUT_OF_BOUNDS, buffer, 3);
                                if(AsebaVMErrorCB)
                                        AsebaVMErrorCB(vm,NULL);
                                break;
                        }
                        
                        // store variable and change sp
                        vm->variables[arrayIndex + variableIndex] = variableValue;
                        vm->sp -= 2;
                        
                        // increment PC
                        vm->pc += 2;
                }
                break;
                
                // Bytecode: Unary Arithmetic
                case ASEBA_BYTECODE_UNARY_ARITHMETIC:
                {
                        sint16 value, opResult;
                        
                        // check sp
                        #ifdef ASEBA_ASSERT
                        if (vm->sp < 0)
                                AsebaAssert(vm, ASEBA_ASSERT_STACK_UNDERFLOW);
                        #endif
                        
                        // get operand
                        value = vm->stack[vm->sp];
                        
                        // do operation
                        opResult = AsebaVMDoUnaryOperation(vm, value, bytecode & ASEBA_UNARY_OPERATOR_MASK);
                        
                        // write result
                        vm->stack[vm->sp] = opResult;
                        
                        // increment PC
                        vm->pc ++;
                }
                break;
                
                // Bytecode: Binary Arithmetic
                case ASEBA_BYTECODE_BINARY_ARITHMETIC:
                {
                        sint16 valueOne, valueTwo, opResult;
                        
                        // check sp
                        #ifdef ASEBA_ASSERT
                        if (vm->sp < 1)
                                AsebaAssert(vm, ASEBA_ASSERT_STACK_UNDERFLOW);
                        #endif
                        
                        // get operands
                        valueOne = vm->stack[vm->sp - 1];
                        valueTwo = vm->stack[vm->sp];
                        
                        // do operation
                        opResult = AsebaVMDoBinaryOperation(vm, valueOne, valueTwo, bytecode & ASEBA_BINARY_OPERATOR_MASK);
                        
                        // write result
                        vm->sp--;
                        vm->stack[vm->sp] = opResult;
                        
                        // increment PC
                        vm->pc ++;
                }
                break;
                
                // Bytecode: Jump
                case ASEBA_BYTECODE_JUMP:
                {
                        sint16 disp = ((sint16)(bytecode << 4)) >> 4;
                        
                        // check pc
                        #ifdef ASEBA_ASSERT
                        if ((vm->pc + disp < 0) || (vm->pc + disp >=  vm->bytecodeSize))
                                AsebaAssert(vm, ASEBA_ASSERT_OUT_OF_BYTECODE_BOUNDS);
                        #endif
                        
                        // do jump
                        vm->pc += disp;
                }
                break;
                
                // Bytecode: Conditional Branch
                case ASEBA_BYTECODE_CONDITIONAL_BRANCH:
                {
                        sint16 conditionResult;
                        sint16 valueOne, valueTwo;
                        sint16 disp;
                        
                        // check sp
                        #ifdef ASEBA_ASSERT
                        if (vm->sp < 1)
                                AsebaAssert(vm, ASEBA_ASSERT_STACK_OVERFLOW);
                        #endif
                        
                        // evaluate condition
                        valueOne = vm->stack[vm->sp - 1];
                        valueTwo = vm->stack[vm->sp];
                        conditionResult = AsebaVMDoBinaryOperation(vm, valueOne, valueTwo, bytecode & ASEBA_BINARY_OPERATOR_MASK);
                        vm->sp -= 2;
                        
                        // is the condition really true ?
                        if (conditionResult && !(GET_BIT(bytecode, ASEBA_IF_IS_WHEN_BIT) && GET_BIT(bytecode, ASEBA_IF_WAS_TRUE_BIT)))
                        {
                                // if true disp
                                disp = 2;
                        }
                        else
                        {
                                // if false disp
                                disp = (sint16)vm->bytecode[vm->pc + 1];
                        }
                        
                        // write back condition result
                        if (conditionResult)
                                BIT_SET(vm->bytecode[vm->pc], ASEBA_IF_WAS_TRUE_BIT);
                        else
                                BIT_CLR(vm->bytecode[vm->pc], ASEBA_IF_WAS_TRUE_BIT);
                        
                        // check pc
                        #ifdef ASEBA_ASSERT
                        if ((vm->pc + disp < 0) || (vm->pc + disp >=  vm->bytecodeSize))
                                AsebaAssert(vm, ASEBA_ASSERT_OUT_OF_BYTECODE_BOUNDS);
                        #endif
                        
                        // do branch
                        vm->pc += disp;
                }
                break;
                
                // Bytecode: Emit
                case ASEBA_BYTECODE_EMIT:
                {
                        // emit event
                        uint16 start = vm->bytecode[vm->pc + 1];
                        uint16 length = vm->bytecode[vm->pc + 2];
                        
                        #ifdef ASEBA_ASSERT
                        if (length > ASEBA_MAX_EVENT_ARG_SIZE)
                                AsebaAssert(vm, ASEBA_ASSERT_EMIT_BUFFER_TOO_LONG);
                        #endif
                        AsebaSendMessageWords(vm, bytecode & 0x0fff, vm->variables + start, length);
                        
                        // increment PC
                        vm->pc += 3;
                }
                break;
                
                // Bytecode: Call
                case ASEBA_BYTECODE_NATIVE_CALL:
                {
                        // call native function
                        AsebaNativeFunction(vm, bytecode & 0x0fff);
                        
                        // increment PC
                        vm->pc ++;
                }
                break;
                
                // Bytecode: Subroutine call
                case ASEBA_BYTECODE_SUB_CALL:
                {
                        uint16 dest = bytecode & 0x0fff;
                        
                        // store return value on stack
                        vm->stack[++vm->sp] = vm->pc + 1;
                        
                        // jump
                        vm->pc = dest;
                }
                break;
                
                // Bytecode: Subroutine return
                case ASEBA_BYTECODE_SUB_RET:
                {
                        // do return
                        vm->pc = vm->stack[vm->sp--];
                }
                break;
                
                default:
                #ifdef ASEBA_ASSERT
                AsebaAssert(vm, ASEBA_ASSERT_UNKNOWN_BYTECODE);
                #endif
                break;
        } // switch bytecode...
}

void AsebaVMEmitNodeSpecificError(AsebaVMState *vm, const char* message)
{
        uint16 msgLen = strlen(message);
#if defined(__GNUC__)
        uint8 buffer[msgLen+3];
#elif defined(_MSC_VER)
        uint8 * buffer = _alloca(msgLen+3);
#else
        #error "Please provide a stack memory allocator for your compiler"
#endif
        
        if (AsebaVMErrorCB)
                AsebaVMErrorCB(vm, message);
        
        vm->flags = ASEBA_VM_STEP_BY_STEP_MASK;
        
        ((uint16*)buffer)[0] = bswap16(vm->pc);
        buffer[2] = (uint8)msgLen;
        memcpy(buffer+3, message, msgLen);
        
        AsebaSendMessage(vm, ASEBA_MESSAGE_NODE_SPECIFIC_ERROR, buffer, msgLen+3);
}

uint16 AsebaVMCheckBreakpoint(AsebaVMState *vm)
{
        uint16 i;
        for (i = 0; i < vm->breakpointsCount; i++)
        {
                if (vm->breakpoints[i] == vm->pc)
                {
                        AsebaMaskSet(vm->flags, ASEBA_VM_STEP_BY_STEP_MASK);
                        return 1;
                }
        }
        
        return 0;
}

void AsebaDebugBareRun(AsebaVMState *vm, uint16 stepsLimit)
{
        AsebaMaskSet(vm->flags, ASEBA_VM_EVENT_RUNNING_MASK);
        
        if (stepsLimit > 0)
        {
                // no breakpoint, still poll the mask and check stepsLimit
                while (AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK) &&
                        AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_RUNNING_MASK) &&
                        stepsLimit
                )
                {
                        AsebaVMStep(vm);
                        stepsLimit--;
                        // TODO : send exception event on step limits overflow
                }
        }
        else
        {
                // no breakpoint, only poll the mask
                while (AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK) &&
                        AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_RUNNING_MASK) 
                )
                        AsebaVMStep(vm);
        }
        
        AsebaMaskClear(vm->flags, ASEBA_VM_EVENT_RUNNING_MASK);
}

void AsebaDebugBreakpointRun(AsebaVMState *vm, uint16 stepsLimit)
{
        AsebaMaskSet(vm->flags, ASEBA_VM_EVENT_RUNNING_MASK);
        
        if (stepsLimit > 0)
        {
                // breakpoints, check before each step, poll the mask, and check stepsLimit
                while (AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK) &&
                        AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_RUNNING_MASK) &&
                        stepsLimit
                )
                {
                        if (AsebaVMCheckBreakpoint(vm) != 0)
                        {
                                AsebaMaskSet(vm->flags, ASEBA_VM_STEP_BY_STEP_MASK);
                                AsebaVMSendExecutionStateChanged(vm);
                                return;
                        }
                        AsebaVMStep(vm);
                        stepsLimit--;
                        // TODO : send exception event on step limits overflow
                }
        }
        else
        {
                // breakpoints, check before each step and poll the mask
                while (AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK) &&
                        AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_RUNNING_MASK)
                )
                {
                        if (AsebaVMCheckBreakpoint(vm) != 0)
                        {
                                AsebaMaskSet(vm->flags, ASEBA_VM_STEP_BY_STEP_MASK);
                                AsebaVMSendExecutionStateChanged(vm);
                                return;
                        }
                        AsebaVMStep(vm);
                }
        }
        
        AsebaMaskClear(vm->flags, ASEBA_VM_EVENT_RUNNING_MASK);
}

uint16 AsebaVMRun(AsebaVMState *vm, uint16 stepsLimit)
{
        // if there is nothing to execute, just return
        if (AsebaMaskIsClear(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK))
                return 0;
        
        // if we are running step by step, just return either
        if (AsebaMaskIsSet(vm->flags, ASEBA_VM_STEP_BY_STEP_MASK))
                return 0;
        
        // run until something stops the vm
        if (vm->breakpointsCount)
                AsebaDebugBreakpointRun(vm, stepsLimit);
        else
                AsebaDebugBareRun(vm, stepsLimit);
        
        return 1;
}


uint8 AsebaVMSetBreakpoint(AsebaVMState *vm, uint16 pc)
{
        #ifdef ASEBA_ASSERT
        if (pc >= vm->bytecodeSize)
                AsebaAssert(vm, ASEBA_ASSERT_BREAKPOINT_OUT_OF_BYTECODE_BOUNDS);
        #endif
        
        if (vm->breakpointsCount < ASEBA_MAX_BREAKPOINTS)
        {
                vm->breakpoints[vm->breakpointsCount++] = pc;
                return 1;
        }
        else
                return 0;
}

uint16 AsebaVMClearBreakpoint(AsebaVMState *vm, uint16 pc)
{
        uint16 i;
        for (i = 0; i < vm->breakpointsCount; i++)
        {
                if (vm->breakpoints[i] == pc)
                {
                        uint16 j;
                        // displace
                        vm->breakpointsCount--;
                        for (j = i; j < vm->breakpointsCount; j++)
                                vm->breakpoints[j] = vm->breakpoints[j+1];
                        return 1;
                }
        }
        return 0;
}

void AsebaVMClearBreakpoints(AsebaVMState *vm)
{
        vm->breakpointsCount = 0;
}

void AsebaVMSendExecutionStateChanged(AsebaVMState *vm)
{
        uint16 buffer[2];
        buffer[0] = vm->pc;
        buffer[1] = vm->flags;
        AsebaSendMessageWords(vm, ASEBA_MESSAGE_EXECUTION_STATE_CHANGED, buffer, 2);
}

void AsebaVMDebugMessage(AsebaVMState *vm, uint16 id, uint16 *data, uint16 dataLength)
{
        
        // react to global presence
        if (id == ASEBA_MESSAGE_GET_DESCRIPTION)
        {
                AsebaSendDescription(vm);
                return;
        }
        
        // check if we are the destination, return otherwise
        if (bswap16(data[0]) != vm->nodeId)
                return;

        data++;
        dataLength--;
        
        switch (id)
        {
                case ASEBA_MESSAGE_SET_BYTECODE:
                {
                        uint16 start = bswap16(data[0]);
                        uint16 length = dataLength - 1;
                        uint16 i;
                        #ifdef ASEBA_ASSERT
                        if (start + length > vm->bytecodeSize)
                                AsebaAssert(vm, ASEBA_ASSERT_OUT_OF_BYTECODE_BOUNDS);
                        #endif
                        for (i = 0; i < length; i++)
                                vm->bytecode[start+i] = bswap16(data[i+1]);
                }
                // There is no break here because we want to do a reset after a set bytecode
                
                case ASEBA_MESSAGE_RESET:
                vm->flags = ASEBA_VM_STEP_BY_STEP_MASK;
                // try to setup event, if it fails, return the execution state anyway
                if (AsebaVMSetupEvent(vm, ASEBA_EVENT_INIT) == 0)
                        AsebaVMSendExecutionStateChanged(vm);
                break;
                
                case ASEBA_MESSAGE_RUN:
                AsebaMaskClear(vm->flags, ASEBA_VM_STEP_BY_STEP_MASK);
                AsebaVMSendExecutionStateChanged(vm);
                if(AsebaVMRunCB)
                        AsebaVMRunCB(vm);
                break;
                
                case ASEBA_MESSAGE_PAUSE:
                AsebaMaskSet(vm->flags, ASEBA_VM_STEP_BY_STEP_MASK);
                AsebaVMSendExecutionStateChanged(vm);
                break;
                
                case ASEBA_MESSAGE_STEP:
                if (AsebaMaskIsSet(vm->flags, ASEBA_VM_EVENT_ACTIVE_MASK))
                {
                        AsebaVMStep(vm);
                        AsebaVMSendExecutionStateChanged(vm);
                }
                break;
                
                case ASEBA_MESSAGE_STOP:
                vm->flags = ASEBA_VM_STEP_BY_STEP_MASK;
                AsebaVMSendExecutionStateChanged(vm);
                break;
                
                case ASEBA_MESSAGE_GET_EXECUTION_STATE:
                AsebaVMSendExecutionStateChanged(vm);
                break;
                
                case ASEBA_MESSAGE_BREAKPOINT_SET:
                {
                        uint16 buffer[2];
                        buffer[0] = bswap16(data[0]);
                        buffer[1] = AsebaVMSetBreakpoint(vm, buffer[0]);
                        AsebaSendMessageWords(vm, ASEBA_MESSAGE_BREAKPOINT_SET_RESULT, buffer, 2);
                }
                break;
                
                case ASEBA_MESSAGE_BREAKPOINT_CLEAR:
                AsebaVMClearBreakpoint(vm, bswap16(data[0]));
                break;
                
                case ASEBA_MESSAGE_BREAKPOINT_CLEAR_ALL:
                AsebaVMClearBreakpoints(vm);
                break;
                
                case ASEBA_MESSAGE_GET_VARIABLES:
                {
                        uint16 start = bswap16(data[0]);
                        uint16 length = bswap16(data[1]);
                        #ifdef ASEBA_ASSERT
                        if (start + length > vm->variablesSize)
                                AsebaAssert(vm, ASEBA_ASSERT_OUT_OF_VARIABLES_BOUNDS);
                        #endif
                        AsebaSendVariables(vm, start, length);
                }
                break;
                
                case ASEBA_MESSAGE_SET_VARIABLES:
                {
                        uint16 start = bswap16(data[0]);
                        uint16 length = dataLength - 1;
                        uint16 i;
                        #ifdef ASEBA_ASSERT
                        if (start + length > vm->variablesSize)
                                AsebaAssert(vm, ASEBA_ASSERT_OUT_OF_VARIABLES_BOUNDS);
                        #endif
                        for (i = 0; i < length; i++)
                                vm->variables[start+i] = bswap16(data[i+1]);
                }
                break;
                
                case ASEBA_MESSAGE_WRITE_BYTECODE:
                AsebaWriteBytecode(vm);
                break;
                
                case ASEBA_MESSAGE_REBOOT:
                AsebaResetIntoBootloader(vm);
                break;
                
                case ASEBA_MESSAGE_SUSPEND_TO_RAM:
                AsebaPutVmToSleep(vm);
                break;
                
                default:
                break;
        }
}

uint16 AsebaVMShouldDropPacket(AsebaVMState *vm, uint16 source, const uint8* data)
{
        uint16 type = bswap16(((const uint16*)data)[0]);
        if (type < 0x8000)
        {
                // user message
                return !AsebaVMGetEventAddress(vm, type);
        }
        else if (type >= 0xA000)
        {
                // debug message
                uint16 dest = bswap16(((const uint16*)data)[1]);
                if (type == ASEBA_MESSAGE_GET_DESCRIPTION)
                        return 0;
                
                // check it is for us
                return dest != vm->nodeId;
        }
        return 1;
}       

---

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