X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=int%2Fint.c;h=c89a6a89561498dca52ea887b243003a0c7b4c01;hb=73d6866bdbab8f393b53c9951b05b62005a5423a;hp=9d6fde38bcdaab97bbc1667aac94376a53a97491;hpb=48bddd6acbfceed71f699e937c750f0994cc00fc;p=mTask.git

diff --git a/int/int.c b/int/int.c
index 9d6fde3..c89a6a8 100644
--- a/int/int.c
+++ b/int/int.c
@@ -8,18 +8,18 @@
 #include <string.h>
 #include <sys/socket.h>
 #include <sys/types.h>
+#include <sys/time.h>
 #include <unistd.h>
 
 #include "mTaskSymbols.h"
 
-#define PORT 8123
-
 #define MAXTASKS 5
 #define MAXTASKSIZE 1024
 #define MAXSDS 50
 #define STACKSIZE 1024
 
 #define MSG_TASK 't'
+#define MSG_DELTASK 'd'
 #define MSG_SDS 's'
 
 #define DEBUG
@@ -38,12 +38,16 @@
 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)
 {
@@ -63,6 +67,12 @@ bool input_available(int fd){
 	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
@@ -80,13 +90,28 @@ void read_message(int fd_in, int fd_out)
 	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);
@@ -114,122 +139,100 @@ void run_task(int tasknum)
 	while(pc != plen){
 		printf("program: %x\n", program[pc]);
 		switch(program[pc++]){
-		case BCNOP:
-			trace("nop\n");
+		case BCNOP: trace("nop\n");
 			break;
-		case BCPUSH:
-			trace("push %d\n", program[pc]);
+		case BCPUSH: trace("push %d\n", program[pc]);
 			stack[sp++] = program[pc++];
 			break;
-		case BCPOP:
-			trace("pop\n");
+		case BCPOP: trace("pop\n");
 			sp--;
 			break;
-		case BCNOT:
-			trace("not\n");
+		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:
-			trace("add\n");
+		case BCADD: trace("add\n");
 			stack[sp-1] = stack[sp] + stack[sp-1];
 			sp -= 1;
 			break;
-		case BCSUB:
-			trace("sub\n");
+		case BCSUB: trace("sub\n");
 			stack[sp-1] = stack[sp] - stack[sp-1];
 			sp -= 1;
 			break;
-		case BCMUL:
-			trace("mul\n");
+		case BCMUL: trace("mul\n");
 			stack[sp-1] = stack[sp] * stack[sp-1];
 			sp -= 1;
 			break;
-		case BCDIV:
-			trace("div\n");
+		case BCDIV: trace("div\n");
 			stack[sp-1] = stack[sp] / stack[sp-1];
 			sp -= 1;
 			break;
-		case BCAND:
-			trace("and\n");
+		case BCAND: trace("and\n");
 			stack[sp-1] = stack[sp] && stack[sp-1];
 			sp -= 1;
 			break;
-		case BCOR:
-			trace("or\n");
+		case BCOR: trace("or\n");
 			stack[sp-1] = stack[sp] || stack[sp-1];
 			sp -= 1;
 			break;
-		case BCEQ:
-			trace("eq\n");
+		case BCEQ: trace("eq\n");
 			stack[sp-1] = stack[sp] == stack[sp-1];
 			sp -= 1;
 			break;
-		case BCNEQ:
-			trace("neq\n");
+		case BCNEQ: trace("neq\n");
 			stack[sp-1] = stack[sp] != stack[sp-1];
 			sp -= 1;
 			break;
-		case BCLES:
-			trace("les\n");
+		case BCLES: trace("les\n");
 			stack[sp-1] = stack[sp] < stack[sp-1];
 			sp -= 1;
 			break;
-		case BCGRE:
-			trace("gre\n");
+		case BCGRE: trace("gre\n");
 			stack[sp-1] = stack[sp] > stack[sp-1];
 			sp -= 1;
 			break;
-		case BCLEQ:
-			trace("leq\n");
+		case BCLEQ: trace("leq\n");
 			stack[sp-1] = stack[sp] <= stack[sp-1];
 			sp -= 1;
 			break;
-		case BCGEQ:
-			trace("geq\n");
+		case BCGEQ: trace("geq\n");
 			stack[sp-1] = stack[sp] >= stack[sp-1];
 			sp -= 1;
 			break;
-		case BCJMP:
-			trace("jmp to %d\n", program[pc]);
+		case BCJMP: trace("jmp to %d\n", program[pc]);
 			pc = pc + program[pc];
 			break;
-		case BCJMPT:
-			trace("jmpt to %d\n", program[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]);
+		case BCJMPF: trace("jmpf to %d\n", program[pc]);
 			pc += stack[sp] ? 1 : program[pc];
 			break;
-		case BCSERIALAVAIL:
-			trace("SerialAvailable()\n");
+		case BCSERIALAVAIL: trace("SerialAvailable()\n");
 			break;
-		case BCSERIALPRINT:
-			trace("SerialPrint()\n");
+		case BCSERIALPRINT: trace("SerialPrint()\n");
 			break;
-		case BCSERIALPRINTLN:
-			trace("SerialPrintln()\n");
+		case BCSERIALPRINTLN: trace("SerialPrintln()\n");
 			break;
-		case BCSERIALREAD:
-			trace("SerialRead()\n");
+		case BCSERIALREAD: trace("SerialRead()\n");
 			break;
-		case BCSERIALPARSEINT:
-			trace("SerialParseInt()\n");
+		case BCSERIALPARSEINT: trace("SerialParseInt()\n");
 			break;
-		case BCANALOGREAD:
-			trace("AnalogRead(%d)\n", program[pc]);
+		case BCANALOGREAD: trace("AnalogRead(%d)\n", program[pc]);
 			pc++;
 			break;
-		case BCANALOGWRITE:
-			trace("AnalogWrite(%d)\n", program[pc]);
+		case BCANALOGWRITE: trace("AnalogWrite(%d)\n", program[pc]);
 			pc++;
 			break;
-		case BCDIGITALREAD:
-			trace("DigitalRead(%d)\n", program[pc]);
+		case BCDIGITALREAD: trace("DigitalRead(%d)\n", program[pc]);
 			pc++;
 			break;
-		case BCDIGITALWRITE:
-			trace("DigitalWrite(%d)\n", program[pc]);
+		case BCDIGITALWRITE: trace("DigitalWrite(%d)\n", program[pc]);
 			pc++;
 			break;
 		default:
@@ -246,7 +249,7 @@ void open_filedescriptors()
 	bzero((char *) &sa, sizeof(sa));
 	sa.sin_family = AF_INET;
 	sa.sin_addr.s_addr = INADDR_ANY;
-	sa.sin_port = htons(PORT);
+	sa.sin_port = htons(port);
 
 	if((sock_fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
 		pdie("socket");
@@ -255,13 +258,22 @@ void open_filedescriptors()
 	if(listen(sock_fd, 10) == -1)
 		pdie("bind\n");
 
-	printf("Listening on %d\n", PORT);
+	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;
 
@@ -273,18 +285,45 @@ int main(void)
 		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");