src/sim/kernel_extension.cpp

   1 /* Simulator's extensions to the kernel
   2 Copyright (C) 2005-2008, Jonathan Bachrach, Jacob Beal, and contributors
   3 listed in the AUTHORS file in the MIT Proto distribution's top directory.
   4
   5 This file is part of MIT Proto, and is distributed under the terms of
   6 the GNU General Public License, with a linking exception, as described
   7 in the file LICENSE in the MIT Proto distribution's top directory. */
   8
   9 #include "config.h"
  10 #include <stdlib.h>
  11 #include "proto.h"
  12 #include "proto_vm.h"
  13 #include "platform_ops.h"
  14
  15 INLINE void slider_exec (VOID) {
  16   int     dkey = (int)NUM_PEEK(5);
  17   int     ikey = (int)NUM_PEEK(4);
  18   NUM_VAL init = NUM_PEEK(3);
  19   NUM_VAL incr = NUM_PEEK(2);
  20   NUM_VAL min  = NUM_PEEK(1);
  21   NUM_VAL max  = NUM_PEEK(0);
  22   NPOP(6); NUM_PUSH(read_slider(dkey, ikey, init, incr, min, max));
  23 }
  24
  25 #define CLIP(x, min, max) MAX(min, MIN(max, x))
  26
  27 static void hsv_to_rgb (flo h, flo s, flo v, flo *r, flo *g, flo *b) {
  28   flo rt = 0, gt = 0, bt = 0;
  29   s = CLIP(s, 0, 1);
  30   if (s == 0.0) {
  31     rt = gt = bt = v;
  32   } else {
  33     int i;
  34     flo h_temp = (h == 360.0) ? 0.0 : h;
  35     flo f, p, q, t;
  36     h_temp /= 60.0;
  37     i = (int)h_temp;
  38     f = h_temp - i;
  39     p = v*(1-s);
  40     q = v*(1-(s*f));
  41     t = v*(1-(s*(1-f)));
  42     switch (i) {
  43     case 0: rt = v; gt = t; bt = p; break;
  44     case 1: rt = q; gt = v; bt = p; break;
  45     case 2: rt = p; gt = v; bt = t; break;
  46     case 3: rt = p; gt = q; bt = v; break;
  47     case 4: rt = t; gt = p; bt = v; break;
  48     case 5: rt = v; gt = p; bt = q; break;
  49     }
  50   }
  51   *r = rt; *g = gt; *b = bt;
  52 }
  53
  54 MAYBE_INLINE DATA *vec_elt (VEC_VAL *vec, int i) {
  55   if (i < 0 || i >= vec->n)
  56     uerror("UNBOUND VEC ELT %d > %d\n", i, vec->n);
  57   return &vec->elts[i];
  58 }
  59
  60 INLINE NUM_VAL num_vec_elt (VEC_VAL *v, int i) { return NUM_GET(vec_elt(v, i)); }
  61 INLINE NUM_VAL num_vec_elt_set (VEC_VAL *v, int i, NUM_VAL x) { return NUM_SET(vec_elt(v, i), x); }
  62
  63 void hsv_exec (int off) {
  64   VEC_VAL *rgb = VEC_GET(GLO_GET(off));
  65   VEC_VAL *hsv = VEC_PEEK(0);
  66   flo r, g, b;
  67   hsv_to_rgb
  68     (num_vec_elt(hsv, 0), num_vec_elt(hsv, 1), num_vec_elt(hsv, 2), &r, &g, &b);
  69   num_vec_elt_set(rgb, 0, r);
  70   num_vec_elt_set(rgb, 1, g);
  71   num_vec_elt_set(rgb, 2, b);
  72   NPOP(1); VEC_PUSH(rgb);
  73 }
  74
  75 void my_platform_operation(uint8_t op) {
  76   MACHINE *m = machine;
  77   switch(op) {
  78   case DIE_OP:
  79     die(NUM_PEEK(0)); break;
  80   case CLONE_OP:
  81     clone_machine(NUM_PEEK(0)); break;
  82   case COORD_OP:
  83     VEC_PUSH(read_coord_sensor()); break;
  84   case RANGER_OP:
  85     VEC_PUSH(read_ranger()); break;
  86   case SENSE_OP:
  87     NUM_PUSH(read_sensor((int)NUM_POP())); break;
  88   case BUTTON_OP:
  89     NUM_PUSH(read_button((int)NUM_POP())); break;
  90   case SLIDER_OP:
  91     slider_exec(); break;
  92   case LIGHT_OP:
  93     NUM_PUSH(read_light_sensor()); break;
  94   case SOUND_OP:
  95     NUM_PUSH(read_microphone()); break;
  96   case SPEAK_OP:
  97     set_speak(NUM_PEEK(0)); break;
  98   case TEMP_OP:
  99     NUM_PUSH(read_temp()); break;
 100   case MOUSE_OP:
 101     VEC_PUSH(read_mouse_sensor()); break;
 102   case CONDUCTIVE_OP:
 103     NUM_PUSH(read_short()); break;
 104   case LOCAL_FOLD_OP: {
 105     int k = (int)NUM_PEEK(0);
 106     int val = (BOOL)NUM_PEEK(1);
 107     set_is_folding((int)NUM_PEEK(1), k);
 108     NPOP(2); NUM_PUSH(val); break; }
 109   case FOLD_COMPLETE_OP: {
 110     int k = (int)NUM_PEEK(0);
 111     NPOP(1); NUM_PUSH(read_fold_complete(k)); break; }
 112   case LEDS_OP: {
 113     NUM_VAL val = NUM_PEEK(0);
 114     set_b_led((val > 0.25) != 0 ? 1.0 : 0);
 115     set_g_led((val > 0.50) != 0 ? 1.0 : 0);
 116     set_r_led((val > 0.75) != 0 ? 1.0 : 0);
 117     break; }
 118   case RED_OP:
 119     set_r_led(NUM_PEEK(0)); break;
 120   case GREEN_OP:
 121     set_g_led(NUM_PEEK(0)); break;
 122   case BLUE_OP:
 123     set_b_led(NUM_PEEK(0)); break;
 124   case RGB_OP: {
 125     VEC_VAL *vec = VEC_PEEK(0);
 126     set_r_led(num_vec_elt(vec, 0));
 127     set_g_led(num_vec_elt(vec, 1));
 128     set_b_led(num_vec_elt(vec, 2));
 129     break; }
 130   case HSV_OP:
 131     hsv_exec(NXT_OP(m)); break;
 132   case RADIUS_SET_OP:
 133     radius_set(NUM_PEEK(0)); break;
 134   case RADIUS_OP:
 135     NUM_PUSH(radius_get()); break;
 136   case BUMP_OP:
 137     NUM_PUSH(read_bump()); break;
 138   case CHANNEL_OP: {
 139     int n = NXT_OP(m);
 140     set_channel(NUM_POP(), n); NUM_PUSH(n); break; }
 141   case DRIP_OP: {
 142     NUM_VAL a = NUM_PEEK(1);
 143     NUM_VAL c = NUM_PEEK(0);
 144     NPOP(2); NUM_PUSH(drip_channel(a, (int)c));
 145     break; }
 146   case CONCENTRATION_OP:
 147     NUM_PUSH(read_channel((int)NUM_POP())); break;
 148   case CHANNEL_GRAD_OP:
 149     VEC_PUSH(grad_channel((int)NUM_POP())); break;
 150   case CAM_OP:
 151     NUM_PUSH(cam_get((int)NUM_POP())); break;
 152   default:
 153     uerror("UNKNOWN OPCODE %d\n", op);
 154   }
 155 }