X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=int%2Fint.c;h=c89a6a89561498dca52ea887b243003a0c7b4c01;hb=73d6866bdbab8f393b53c9951b05b62005a5423a;hp=71d3b4c5253e2ec4f4f022d80998d5ed0f01ce16;hpb=48dfd7ad2f104321657a3ea44d33340761c95c2e;p=mTask.git

diff --git a/int/int.c b/int/int.c
index 71d3b4c..c89a6a8 100644
--- a/int/int.c
+++ b/int/int.c
@@ -1,120 +1,345 @@
+#include <netdb.h>
+#include <netinet/in.h>
+#include <signal.h>
+#include <stdbool.h>
+#include <stdint.h>
 #include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/socket.h>
+#include <sys/types.h>
+#include <sys/time.h>
+#include <unistd.h>
 
 #include "mTaskSymbols.h"
 
+#define MAXTASKS 5
+#define MAXTASKSIZE 1024
+#define MAXSDS 50
 #define STACKSIZE 1024
-#define PROGRAMSIZE 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 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);}
+
+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)
+{
+	printf("%s caught, Bye...\n", strsignal(i));
+	exit(1);
+}
+
+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);
+}
 
-char program[PROGRAMSIZE+1] = {0};
-int stack[STACKSIZE+1] = {0};
+long millis() {
+	if (gettimeofday(&tv1, NULL) == -1)
+		pdie("gettimeofday");
+	return tv1.tv_sec*1000 + tv1.tv_usec/1000;
+}
 
-int main(void)
+void read_message(int fd_in, int fd_out)
 {
-	//
-	char c;
-	int pl, sp, pc;
-
-	//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){
+	//Find next task
+	uint8_t c, ct;
+
+	for(ct = 0; ct<MAXTASKS; 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);
+	switch(c){
+	case MSG_SDS:
+		debug("Receiving an sds\n");
+		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);
+		tasks[ct].interval += c;
+		//Read tasklength
+		read(fd_in, &c, 1);
+		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].bc+i, 1);
+			debug("t[][%i]: %d\n", 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", tasks[ct].tlen);
+		tasks[ct].used = true;
+		break;
+	default:
+		debug("Unknown message: %X?\n", c);
+	}
+}
+
+void run_task(int tasknum)
+{
+	uint8_t *program = tasks[tasknum].bc;
+	int plen = tasks[tasknum].tlen;
+	int pc = 0;
+	int sp = 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:
+		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:
-			if (stack[sp])
-				pc = pc + program[pc];
-			else
-				pc++;
+		case BCJMPT: trace("jmpt to %d\n", program[pc]);
+			pc += stack[sp] ? program[pc] : 1;
+			break;
+		case BCJMPF: trace("jmpf to %d\n", program[pc]);
+			pc += stack[sp] ? 1 : program[pc];
+			break;
+		case BCSERIALAVAIL: trace("SerialAvailable()\n");
+			break;
+		case BCSERIALPRINT: trace("SerialPrint()\n");
+			break;
+		case BCSERIALPRINTLN: trace("SerialPrintln()\n");
+			break;
+		case BCSERIALREAD: trace("SerialRead()\n");
+			break;
+		case BCSERIALPARSEINT: trace("SerialParseInt()\n");
 			break;
-		case BCJmpF:
-			if (stack[sp])
-				pc++;
-			else
-				pc = pc + program[pc];
+		case BCANALOGREAD: trace("AnalogRead(%d)\n", program[pc]);
+			pc++;
+			break;
+		case BCANALOGWRITE: trace("AnalogWrite(%d)\n", program[pc]);
+			pc++;
+			break;
+		case BCDIGITALREAD: trace("DigitalRead(%d)\n", program[pc]);
+			pc++;
+			break;
+		case BCDIGITALWRITE: trace("DigitalWrite(%d)\n", program[pc]);
+			pc++;
 			break;
 		default:
-			die("Unrecognized command: %X\n", program[--pc]);
+			die("Unrecognized command: %d\n", program[--pc]);
+		}
+	}
+	debug("Task %d terminated\n", tasknum);
+}
+
+void open_filedescriptors()
+{
+	struct sockaddr_in sa;
+
+	bzero((char *) &sa, sizeof(sa));
+	sa.sin_family = AF_INET;
+	sa.sin_addr.s_addr = INADDR_ANY;
+	sa.sin_port = htons(port);
+
+	if((sock_fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
+		pdie("socket");
+	if(bind(sock_fd, (struct sockaddr*)&sa, sizeof(sa)) == -1)
+		pdie("bind\n");
+	if(listen(sock_fd, 10) == -1)
+		pdie("bind\n");
+
+	printf("Listening on %d\n", port);
+	fflush(stdout);
+	if((fd = accept(sock_fd, (struct sockaddr*)NULL, NULL)) == -1)
+		pdie("accept");
+}
+
+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;
+
+	//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");
+	}
+
+	//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))
+			read_message(fd, fd);
+		//Run tasks
+		cyclestart = millis();
+		for(ct = 0; ct<MAXTASKS; ct++){
+			//See whether the task is even in use
+			if(!tasks[ct].used){
+				debug("Task %d not implemented\n", ct);
+				continue;
+			}
+			//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);
 		}
+		usleep(10);
 	}
 	return 0;
 }