#include <stdio.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <signal.h>
+#include <string.h>
+#include <unistd.h>
+#include <stdint.h>
#include "mTaskSymbols.h"
+#define MAXTASKS 5
+#define MAXTASKSIZE 1024
+#define MAXSDS 50
#define STACKSIZE 1024
-#define PROGRAMSIZE 1024
#define DEBUG
#ifdef DEBUG
#define debug(s, ...) ;
#endif
-#define die(s, ...) {fprintf(stderr, s, ##__VA_ARGS__); return 1;}
+#define pdie(s) {perror(s); exit(1);}
+#define die(s, ...) {fprintf(stderr, s, ##__VA_ARGS__); exit(1);}
-char program[PROGRAMSIZE+1] = {0};
-int stack[STACKSIZE+1] = {0};
+char tasks[MAXTASKS][MAXTASKSIZE] = {0};
+bool tasks_used[MAXTASKS] = {0};
-int main(void)
+void killHandler(int i)
{
- char c;
- int pl, sp, pc;
+ printf("%s caught, Bye...\n", strsignal(i));
+ exit(1);
+}
- //Read program
- pc = 0;
- while ((c = getchar()) != EOF && pc < PROGRAMSIZE)
- program[pc++] = c;
- if (pc >= PROGRAMSIZE)
- die("Max program size: %d\n", PROGRAMSIZE);
- pl = pc;
- debug("Done reading, program length: %d\n", pl);
+bool input_available(int fd){
+ struct timeval tv;
+ fd_set fds;
+ tv.tv_sec = 0;
+ tv.tv_usec = 0;
+ FD_ZERO(&fds);
+ FD_SET(fd, &fds);
+ if (select(fd+1, &fds, NULL, NULL, &tv) == -1)
+ pdie("select");
+ return FD_ISSET(fd, &fds);
+}
- //Evaluate program
- //Reset program counter and stack counter
- pc = 0;
- sp = 0;
- while(pc != pl){
+void read_message(int fd_in, int fd_out)
+{
+ //Find next task
+ uint8_t c, ct;
+ uint16_t tasklen;
+
+ for(ct = 0; ct<MAXTASKS; ct++)
+ if(!tasks_used[ct])
+ break;
+ if(ct == MAXTASKS)
+ die("Trying to add too much tasks...\n");
+
+ debug("Receiving input for task %d\n", ct);
+ read(fd_in, &c, 1);
+ if(c == 's') {
+ debug("Receiving an sds\n");
+ } else if(c == 't'){
+ read(fd_in, &c, 1);
+ tasklen = 256*c;
+ read(fd_in, &c, 1);
+ tasklen += c;
+ if(tasklen > MAXTASKSIZE)
+ die("Task is too long: %d\n", tasklen);
+ for(int i = 0; i<tasklen; i++){
+ debug("Read %d\n", i);
+ read(fd_in, tasks[ct]+i, 1);
+ debug("t[][%i]: %d\n", i,
+ tasks[ct][i]);
+ }
+ //Return the task number for later removal
+ write(fd_out, (void *)&ct, 1);
+ debug("Received a task of length %d\n", tasklen);
+ tasks_used[ct] = true;
+ } else {
+ debug("Unknown message: %X?\n", c);
+ }
+}
+
+void run_task(char *program)
+{
+ int pc = 0;
+ int sp = 0;
+ int plen = strlen(program);
+ char stack[1024] = {0};
+ while(pc != plen){
switch(program[pc++]){
- case BCNop:;
+ case BCNOP:
break;
- case BCPush:
+ case BCPUSH:
stack[sp++] = program[pc++];
break;
- case BCPop:
+ case BCPOP:
sp--;
break;
- case BCNot:
+ case BCNOT:
stack[sp] = stack[sp] > 0 ? 0 : 1;
break;
- case BCAdd:
+ case BCADD:
stack[sp-1] = stack[sp] + stack[sp-1];
sp -= 1;
break;
- case BCSub:
+ case BCSUB:
stack[sp-1] = stack[sp] - stack[sp-1];
sp -= 1;
break;
- case BCMul:
+ case BCMUL:
stack[sp-1] = stack[sp] * stack[sp-1];
sp -= 1;
break;
- case BCDiv:
+ case BCDIV:
stack[sp-1] = stack[sp] / stack[sp-1];
sp -= 1;
break;
- case BCAnd:
+ case BCAND:
stack[sp-1] = stack[sp] && stack[sp-1];
sp -= 1;
break;
- case BCOr:
+ case BCOR:
stack[sp-1] = stack[sp] || stack[sp-1];
sp -= 1;
break;
- case BCEq:
+ case BCEQ:
stack[sp-1] = stack[sp] == stack[sp-1];
sp -= 1;
break;
- case BCNeq:
+ case BCNEQ:
stack[sp-1] = stack[sp] != stack[sp-1];
sp -= 1;
break;
- case BCLes:
- stack[sp-1] = stack[sp] < stack[sp-1];
+ case BCLES: stack[sp-1] = stack[sp] < stack[sp-1];
sp -= 1;
break;
- case BCGre:
+ case BCGRE:
stack[sp-1] = stack[sp] > stack[sp-1];
sp -= 1;
break;
- case BCLeq:
+ case BCLEQ:
stack[sp-1] = stack[sp] <= stack[sp-1];
sp -= 1;
break;
- case BCGeq:
+ case BCGEQ:
stack[sp-1] = stack[sp] >= stack[sp-1];
sp -= 1;
break;
- case BCJmp:
+ case BCJMP:
pc = pc + program[pc];
break;
- case BCJmpT:
+ case BCJMPT:
pc += stack[sp] ? program[pc] : 1;
break;
- case BCJmpF:
+ case BCJMPF:
pc += stack[sp] ? 1 : program[pc];
break;
case BCSERIALAVAIL:
case BCSERIALPARSEINT:
printf("SerialParseInt()\n");
break;
+ case BCANALOGREAD:
+ printf("AnalogRead(%d)\n", program[pc++]);
+ break;
+ case BCANALOGWRITE:
+ printf("AnalogWrite(%d)\n", program[pc++]);
+ break;
+ case BCDIGITALREAD:
+ printf("DigitalRead(%d)\n", program[pc++]);
+ break;
+ case BCDIGITALWRITE:
+ printf("DigitalWrite(%d)\n", program[pc++]);
+ break;
default:
- die("Unrecognized command: %X\n", program[--pc]);
+ die("Unrecognized command: %d\n", program[--pc]);
}
}
+}
+
+int main(void)
+{
+ int fd_in, fd_out;
+ int ct;
+
+ fd_in = fileno(stdin);
+ fd_out = fileno(stdout);
+
+ //Register signal handler
+ if(signal(SIGINT, killHandler) == SIG_ERR){
+ die("Couldn't register signal handler...\n");
+ }
+ if(signal(SIGTERM, killHandler) == SIG_ERR){
+ die("Couldn't register signal handler...\n");
+ }
+
+ while(true){
+ //Check for new tasks
+ if(input_available(fd_in)){
+ read_message(fd_in, fd_out);
+ }
+ //Run tasks
+ for(ct = 0; ct<MAXTASKS; ct++){
+ if(!tasks_used[ct]){
+ debug("Task %d not implemented\n", ct);
+ continue;
+ }
+ debug("Going to execute task %d\n", ct);
+ run_task(tasks[ct]);
+ exit(1);
+ }
+// exit(1);
+ usleep(10);
+ }
+
+/* //Read program
+ pc = 0;
+ while ((c = getchar()) != EOF && pc < PROGRAMSIZE)
+ program[pc++] = c;
+ if (pc >= PROGRAMSIZE)
+ die("Max program size: %d\n", PROGRAMSIZE);
+ pl = pc;
+ debug("Done reading, program length: %d\n", pl);
+
+ //Evaluate program
+ //Reset program counter and stack counter
+ pc = 0;
+ sp = 0;
+ while(pc != pl){
+ }
+*/
return 0;
}