#include <string.h>
#include <sys/socket.h>
#include <sys/types.h>
+#include <sys/time.h>
#include <unistd.h>
#include "mTaskSymbols.h"
#define MAXSDS 50
#define STACKSIZE 1024
+#define MSG_TASK 't'
+#define MSG_DELTASK 'd'
+#define MSG_SDS 's'
+
#define DEBUG
+
#ifdef DEBUG
#define debug(s, ...) printf(s, ##__VA_ARGS__);
+#define trace(op, ...) printf("pc: %d, sp: %d, op: " op, pc, sp, ##__VA_ARGS__);
#else
#define debug(s, ...) ;
+#define trace(pc, sp, op) ;
#endif
#define pdie(s) {perror(s); exit(1);}
#define die(s, ...) {fprintf(stderr, s, ##__VA_ARGS__); exit(1);}
-char tasks[MAXTASKS][MAXTASKSIZE] = {0};
-bool tasks_used[MAXTASKS] = {0};
+struct task {
+ uint8_t bc[MAXTASKSIZE];
+ uint16_t tlen;
+ uint16_t interval;
+ long lastrun;
+ bool used;
+};
+
+struct timeval tv1;
+struct task tasks[MAXTASKS] = {0};
int sock_fd = -1;
int fd = -1;
+int port = 8123;
void killHandler(int i)
{
return FD_ISSET(fd, &fds);
}
+long millis() {
+ if (gettimeofday(&tv1, NULL) == -1)
+ pdie("gettimeofday");
+ return tv1.tv_sec*1000 + tv1.tv_usec/1000;
+}
+
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])
+ if(!tasks[ct].used)
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') {
+ switch(c){
+ case MSG_SDS:
debug("Receiving an sds\n");
- } else if(c == 't'){
+ break;
+ case MSG_DELTASK:
+ debug("Receiving a delete task request\n");
+ //Read task number and set unused
+ read(fd_in, &c, 1);
+ tasks[ct].used = false;
+ break;
+ case MSG_TASK:
+ debug("Receiving a task\n");
+ bzero(&tasks[ct], sizeof(struct task));
+ //Read interval
+ read(fd_in, &c, 1);
+ tasks[ct].interval = 256*c;
read(fd_in, &c, 1);
- tasklen = 256*c;
+ tasks[ct].interval += c;
+ //Read tasklength
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++){
+ tasks[ct].tlen = 256*c;
+ read(fd_in, &c, 1);
+ tasks[ct].tlen += c;
+ if(tasks[ct].tlen > MAXTASKSIZE)
+ die("Task is too long: %d\n", tasks[ct].tlen);
+ //Read task bytecode
+ for(int i = 0; i<tasks[ct].tlen; i++){
debug("Read %d\n", i);
- read(fd_in, tasks[ct]+i, 1);
+ read(fd_in, tasks[ct].bc+i, 1);
debug("t[][%i]: %d\n", i,
- tasks[ct][i]);
+ tasks[ct].bc[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("Received a task of length %d\n", tasks[ct].tlen);
+ tasks[ct].used = true;
+ break;
+ default:
debug("Unknown message: %X?\n", c);
}
}
-void run_task(char *program)
+void run_task(int tasknum)
{
+ uint8_t *program = tasks[tasknum].bc;
+ int plen = tasks[tasknum].tlen;
int pc = 0;
int sp = 0;
- int plen = strlen(program);
- char stack[1024] = {0};
+ char stack[STACKSIZE] = {0};
+ printf("Running task: %d\nWith length: %d\n", tasknum, plen);
while(pc != plen){
+ printf("program: %x\n", program[pc]);
switch(program[pc++]){
- case BCNOP:
+ case BCNOP: trace("nop\n");
break;
- case BCPUSH:
+ case BCPUSH: trace("push %d\n", program[pc]);
stack[sp++] = program[pc++];
break;
- case BCPOP:
+ case BCPOP: trace("pop\n");
sp--;
break;
- case BCNOT:
+ case BCSDSSTORE: trace("sds store\n");
+ break;
+ case BCSDSFETCH: trace("sds fetch\n");
+ break;
+ case BCSDSPUBLISH: trace("sds publish\n");
+ break;
+ case BCNOT: trace("not\n");
stack[sp] = stack[sp] > 0 ? 0 : 1;
break;
- case BCADD:
+ case BCADD: trace("add\n");
stack[sp-1] = stack[sp] + stack[sp-1];
sp -= 1;
break;
- case BCSUB:
+ case BCSUB: trace("sub\n");
stack[sp-1] = stack[sp] - stack[sp-1];
sp -= 1;
break;
- case BCMUL:
+ case BCMUL: trace("mul\n");
stack[sp-1] = stack[sp] * stack[sp-1];
sp -= 1;
break;
- case BCDIV:
+ case BCDIV: trace("div\n");
stack[sp-1] = stack[sp] / stack[sp-1];
sp -= 1;
break;
- case BCAND:
+ case BCAND: trace("and\n");
stack[sp-1] = stack[sp] && stack[sp-1];
sp -= 1;
break;
- case BCOR:
+ case BCOR: trace("or\n");
stack[sp-1] = stack[sp] || stack[sp-1];
sp -= 1;
break;
- case BCEQ:
+ case BCEQ: trace("eq\n");
stack[sp-1] = stack[sp] == stack[sp-1];
sp -= 1;
break;
- case BCNEQ:
+ case BCNEQ: trace("neq\n");
stack[sp-1] = stack[sp] != stack[sp-1];
sp -= 1;
break;
- case BCLES: stack[sp-1] = stack[sp] < stack[sp-1];
+ case BCLES: trace("les\n");
+ stack[sp-1] = stack[sp] < stack[sp-1];
sp -= 1;
break;
- case BCGRE:
+ case BCGRE: trace("gre\n");
stack[sp-1] = stack[sp] > stack[sp-1];
sp -= 1;
break;
- case BCLEQ:
+ case BCLEQ: trace("leq\n");
stack[sp-1] = stack[sp] <= stack[sp-1];
sp -= 1;
break;
- case BCGEQ:
+ case BCGEQ: trace("geq\n");
stack[sp-1] = stack[sp] >= stack[sp-1];
sp -= 1;
break;
- case BCJMP:
+ case BCJMP: trace("jmp to %d\n", program[pc]);
pc = pc + program[pc];
break;
- case BCJMPT:
+ case BCJMPT: trace("jmpt to %d\n", program[pc]);
pc += stack[sp] ? program[pc] : 1;
break;
- case BCJMPF:
+ case BCJMPF: trace("jmpf to %d\n", program[pc]);
pc += stack[sp] ? 1 : program[pc];
break;
- case BCSERIALAVAIL:
- printf("SerialAvailable()\n");
+ case BCSERIALAVAIL: trace("SerialAvailable()\n");
break;
- case BCSERIALPRINT:
- printf("SerialPrint()\n");
+ case BCSERIALPRINT: trace("SerialPrint()\n");
break;
- case BCSERIALPRINTLN:
- printf("SerialPrintln()\n");
+ case BCSERIALPRINTLN: trace("SerialPrintln()\n");
break;
- case BCSERIALREAD:
- printf("SerialRead()\n");
+ case BCSERIALREAD: trace("SerialRead()\n");
break;
- case BCSERIALPARSEINT:
- printf("SerialParseInt()\n");
+ case BCSERIALPARSEINT: trace("SerialParseInt()\n");
break;
- case BCANALOGREAD:
- printf("AnalogRead(%d)\n", program[pc++]);
+ case BCANALOGREAD: trace("AnalogRead(%d)\n", program[pc]);
+ pc++;
break;
- case BCANALOGWRITE:
- printf("AnalogWrite(%d)\n", program[pc++]);
+ case BCANALOGWRITE: trace("AnalogWrite(%d)\n", program[pc]);
+ pc++;
break;
- case BCDIGITALREAD:
- printf("DigitalRead(%d)\n", program[pc++]);
+ case BCDIGITALREAD: trace("DigitalRead(%d)\n", program[pc]);
+ pc++;
break;
- case BCDIGITALWRITE:
- printf("DigitalWrite(%d)\n", program[pc++]);
+ case BCDIGITALWRITE: trace("DigitalWrite(%d)\n", program[pc]);
+ pc++;
break;
default:
die("Unrecognized command: %d\n", program[--pc]);
}
}
+ debug("Task %d terminated\n", tasknum);
}
void open_filedescriptors()
bzero((char *) &sa, sizeof(sa));
sa.sin_family = AF_INET;
sa.sin_addr.s_addr = INADDR_ANY;
- sa.sin_port = htons(8124);
+ sa.sin_port = htons(port);
if((sock_fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
pdie("socket");
if(listen(sock_fd, 10) == -1)
pdie("bind\n");
- printf("Listinging on 8123\n");
+ printf("Listening on %d\n", port);
fflush(stdout);
if((fd = accept(sock_fd, (struct sockaddr*)NULL, NULL)) == -1)
pdie("accept");
}
-int main(void)
+void usage(FILE *o, char *arg0){
+ fprintf(o,
+ "Usage: %s [opts]\n"
+ "\n"
+ "Options\n"
+ "-p PORT Custom port number, default: 8123\n"
+ , arg0);
+}
+
+int main(int argc, char *argv[])
{
int ct;
die("Couldn't register signal handler...\n");
}
+ //Command line arguments
+ int opt;
+ while((opt = getopt(argc, argv, "hp:")) != -1){
+ switch(opt){
+ case 'p':
+ port = atoi(optarg);
+ if(port < 1)
+ die("Port numbers are > 1\n");
+ break;
+ case 'h':
+ usage(stdout, argv[0]);
+ exit(EXIT_SUCCESS);
+ default:
+ usage(stderr, argv[0]);
+ exit(EXIT_FAILURE);
+ }
+
+ }
+
open_filedescriptors();
+ long cyclestart;
while(true){
//Check for new tasks
- if(input_available(fd)){
+ if(input_available(fd))
read_message(fd, fd);
- }
//Run tasks
+ cyclestart = millis();
for(ct = 0; ct<MAXTASKS; ct++){
- if(!tasks_used[ct]){
+ //See whether the task is even in use
+ if(!tasks[ct].used){
debug("Task %d not implemented\n", ct);
continue;
}
- debug("Going to execute task %d\n", ct);
- run_task(tasks[ct]);
- exit(1);
+ //See whether the task interval has passed
+ if(cyclestart-tasks[ct].lastrun < tasks[ct].interval){
+ debug("Task %d not scheduled\n", ct);
+ continue;
+ }
+#ifdef DEBUG
+ printf("Current task to run: %d\n", ct);
+ printf("Enter to continue, s to step\n");
+ switch(getchar()){
+ case 'd':
+ die("Killed\n");
+ case 's':
+ printf("step\n");
+ break;
+ default:
+ break;
+ }
+#endif
+ run_task(ct);
}
-// 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;
}
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