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-rw-r--r--AT91SAM7S256/Source/c_cmd.c7992
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diff --git a/AT91SAM7S256/Source/c_cmd.c b/AT91SAM7S256/Source/c_cmd.c
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+//
+// Date init 14.12.2004
+//
+// Revision date $Date: 24-06-09 8:53 $
+//
+// Filename $Workfile:: c_cmd.c $
+//
+// Version $Revision: 14 $
+//
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_cmd. $
+//
+// Platform C
+//
+
+//
+// File Description:
+// This file contains the virtual machine implementation to run bytecode
+// programs compatible with LEGO MINDSTORMS NXT Software 2.0.
+//
+// This module (c_cmd) is also responsible for reading the system timer
+// (d_timer) and returning on 1 ms timer boundaries.
+//
+
+#include "stdconst.h"
+#include "modules.h"
+
+#include "c_cmd.iom"
+#include "c_output.iom"
+#include "c_input.iom"
+#include "c_loader.iom"
+#include "c_ui.iom"
+#include "c_sound.iom"
+#include "c_button.iom"
+#include "c_display.iom"
+#include "c_comm.iom"
+#include "c_lowspeed.iom"
+#include "m_sched.h"
+
+#include "c_cmd.h"
+#include "c_cmd_bytecodes.h"
+#include "d_timer.h"
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <math.h> // for sqrt, abs, and trig stuff
+
+#define VMProfilingCode 0
+
+static IOMAPCMD IOMapCmd;
+static VARSCMD VarsCmd;
+static HEADER **pHeaders;
+static ULONG gInstrsToExecute;
+static SLONG gPCDelta;
+#define NUM_INTERP_FUNCS 16
+#define NUM_SHORT_INTERP_FUNCS 8
+#define VAR_INSTR_SIZE 0xE
+// important to cast since most args are assigned from signed value, and locals may be ULONG
+#define GetDataArg(arg) ((UWORD)(arg))
+#if VMProfilingCode
+static ULONG ExecutedInstrs= 0, CmdCtrlTime= 0, OverheadTime= 0, CmdCtrlCalls= 0, LeaveTime= 0, NotFirstCall= 0, LastAvgCount= 0;
+static ULONG CmdCtrlClumpTime[256];
+typedef struct {
+ ULONG Time;
+ ULONG Count;
+ ULONG Avg;
+ ULONG Max;
+} VMInstrProfileInfo;
+static VMInstrProfileInfo InstrProfile[OPCODE_COUNT];
+static VMInstrProfileInfo SysCallProfile[SYSCALL_COUNT];
+static VMInstrProfileInfo InterpFuncProfile[NUM_INTERP_FUNCS];
+static VMInstrProfileInfo ShortInstrProfile[NUM_SHORT_OPCODE_COUNT];
+#endif
+
+#define cCmdDSType(Arg) (VarsCmd.pDataspaceTOC[(Arg)].TypeCode)
+#define cCmdDSScalarPtr(DSElementID, Offset) (VarsCmd.pDataspace + VarsCmd.pDataspaceTOC[DSElementID].DSOffset + Offset)
+#define cCmdSizeOf(TC) (TC_Size_Table[(TC)])
+
+#define scalarBinopDispatchMask 0x1
+#define scalarUnop2DispatchMask 0x2
+
+const HEADER cCmd =
+{
+ 0x00010001L,
+ "Command",
+ cCmdInit,
+ cCmdCtrl,
+ cCmdExit,
+ (void *)&IOMapCmd,
+ (void *)&VarsCmd,
+ (UWORD)sizeof(IOMapCmd),
+ (UWORD)sizeof(VarsCmd),
+ 0x0000 //Code size - not used so far
+};
+
+#if ENABLE_VM
+
+// c_cmd_drawing.inc is just another C source file
+// (the graphics implementation was split off for practical file management reasons)
+#include "c_cmd_drawing.inc"
+
+//
+//Function pointers to sub-interpreters
+//This table is indexed by instr size
+//Unary operations can have arity of 1 or 2 (some need a destination)
+//All instructions taking 4 or more operands are handled as "Other"
+// Table uses NoArg for illegal instr sizes such as zero and odd sizes
+//
+static pInterp InterpFuncs[NUM_INTERP_FUNCS] =
+{
+ cCmdInterpNoArg,
+ cCmdInterpNoArg,
+ cCmdInterpNoArg, // size 2
+ cCmdInterpNoArg,
+ cCmdInterpUnop1, // size 4
+ cCmdInterpNoArg,
+ cCmdInterpUnop2, // size 6 general poly is cCmdInterpUnop2, scalar is cCmdInterpScalarUnop2
+ cCmdInterpNoArg,
+ cCmdInterpBinop, // size 8, general poly is cCmdInterpBinop, scalar is cCmdInterpScalarBinop
+ cCmdInterpNoArg,
+ cCmdInterpOther, // size 10
+ cCmdInterpNoArg,
+ cCmdInterpOther, // size 12
+ cCmdInterpNoArg,
+ cCmdInterpOther, // size 14
+ cCmdInterpNoArg
+};
+
+static pInterpShort ShortInterpFuncs[NUM_SHORT_INTERP_FUNCS] =
+{
+ cCmdInterpShortMove,
+ cCmdInterpShortAcquire,
+ cCmdInterpShortRelease,
+ cCmdInterpShortSubCall,
+ cCmdInterpShortError,
+ cCmdInterpShortError,
+ cCmdInterpShortError,
+ cCmdInterpShortError
+};
+
+ULONG TC_Size_Table[]= {
+ 0, // void
+ SIZE_UBYTE,
+ SIZE_SBYTE,
+ SIZE_UWORD,
+ SIZE_SWORD,
+ SIZE_ULONG,
+ SIZE_SLONG,
+ SIZE_UWORD, // array
+ 0, // cluster
+ SIZE_MUTEX,
+ SIZE_FLOAT
+};
+
+
+//
+//Function pointers to SysCall implementations
+//See interpreter for OP_SYSCALL
+//
+static pSysCall SysCallFuncs[SYSCALL_COUNT] =
+{
+ cCmdWrapFileOpenRead,
+ cCmdWrapFileOpenWrite,
+ cCmdWrapFileOpenAppend,
+ cCmdWrapFileRead,
+ cCmdWrapFileWrite,
+ cCmdWrapFileClose, // 5
+ cCmdWrapFileResolveHandle,
+ cCmdWrapFileRename,
+ cCmdWrapFileDelete,
+ cCmdWrapSoundPlayFile,
+ cCmdWrapSoundPlayTone, // 10
+ cCmdWrapSoundGetState,
+ cCmdWrapSoundSetState,
+ cCmdWrapDrawText,
+ cCmdWrapDrawPoint,
+ cCmdWrapDrawLine, // 15
+ cCmdWrapDrawCircle,
+ cCmdWrapDrawRect,
+ cCmdWrapDrawPicture,
+ cCmdWrapSetScreenMode,
+ cCmdWrapReadButton, // 20
+ cCmdWrapCommLSWrite,
+ cCmdWrapCommLSRead,
+ cCmdWrapCommLSCheckStatus,
+ cCmdWrapRandomNumber,
+ cCmdWrapGetStartTick, // 25
+ cCmdWrapMessageWrite,
+ cCmdWrapMessageRead,
+ cCmdWrapCommBTCheckStatus,
+ cCmdWrapCommBTWrite,
+ cCmdWrapCommBTRead, // 30
+ cCmdWrapKeepAlive,
+ cCmdWrapIOMapRead,
+ cCmdWrapIOMapWrite,
+ cCmdWrapColorSensorRead,
+ cCmdWrapCommBTOnOff, // 35
+ cCmdWrapCommBTConnection,
+ cCmdWrapCommHSWrite,
+ cCmdWrapCommHSRead,
+ cCmdWrapCommHSCheckStatus,
+ cCmdWrapReadSemData, //40
+ cCmdWrapWriteSemData,
+ cCmdWrapComputeCalibValue,
+ cCmdWrapUpdateCalibCacheInfo,
+ cCmdWrapDatalogWrite,
+ cCmdWrapDatalogGetTimes, //45
+ cCmdWrapSetSleepTimeout,
+ cCmdWrapListFiles //47
+
+ // don't forget to update SYSCALL_COUNT in c_cmd.h
+};
+
+//
+//Next set of arrays are lookup tables for IOM access bytecodes
+//
+TYPE_CODE IO_TYPES_IN[IO_IN_FIELD_COUNT] =
+{
+ //IO_IN0
+ TC_UBYTE, //IO_IN_TYPE
+ TC_UBYTE, //IO_IN_MODE
+ TC_UWORD, //IO_IN_ADRAW
+ TC_UWORD, //IO_IN_NORMRAW
+ TC_SWORD, //IO_IN_SCALED_VAL
+ TC_UBYTE, //IO_IN_INVALID_DATA
+
+ //IO_IN1
+ TC_UBYTE, //IO_IN_TYPE
+ TC_UBYTE, //IO_IN_MODE
+ TC_UWORD, //IO_IN_ADRAW
+ TC_UWORD, //IO_IN_NORMRAW
+ TC_SWORD, //IO_IN_SCALED_VAL
+ TC_UBYTE, //IO_IN_INVALID_DATA
+
+ //IO_IN2
+ TC_UBYTE, //IO_IN_TYPE
+ TC_UBYTE, //IO_IN_MODE
+ TC_UWORD, //IO_IN_ADRAW
+ TC_UWORD, //IO_IN_NORMRAW
+ TC_SWORD, //IO_IN_SCALED_VAL
+ TC_UBYTE, //IO_IN_INVALID_DATA
+
+ //IO_IN3
+ TC_UBYTE, //IO_IN_TYPE
+ TC_UBYTE, //IO_IN_MODE
+ TC_UWORD, //IO_IN_ADRAW
+ TC_UWORD, //IO_IN_NORMRAW
+ TC_SWORD, //IO_IN_SCALED_VAL
+ TC_UBYTE, //IO_IN_INVALID_DATA
+};
+
+TYPE_CODE IO_TYPES_OUT[IO_OUT_FIELD_COUNT] =
+{
+ //IO_OUT0
+ TC_UBYTE, //IO_OUT_FLAGS
+ TC_UBYTE, //IO_OUT_MODE
+ TC_SBYTE, //IO_OUT_SPEED
+ TC_SBYTE, //IO_OUT_ACTUAL_SPEED
+ TC_SLONG, //IO_OUT_TACH_COUNT
+ TC_ULONG, //IO_OUT_TACH_LIMIT
+ TC_UBYTE, //IO_OUT_RUN_STATE
+ TC_SBYTE, //IO_OUT_TURN_RATIO
+ TC_UBYTE, //IO_OUT_REG_MODE
+ TC_UBYTE, //IO_OUT_OVERLOAD
+ TC_UBYTE, //IO_OUT_REG_P_VAL
+ TC_UBYTE, //IO_OUT_REG_I_VAL
+ TC_UBYTE, //IO_OUT_REG_D_VAL
+ TC_SLONG, //IO_OUT_BLOCK_TACH_COUNT
+ TC_SLONG, //IO_OUT_ROTATION_COUNT
+
+ //IO_OUT1
+ TC_UBYTE, //IO_OUT_FLAGS
+ TC_UBYTE, //IO_OUT_MODE
+ TC_SBYTE, //IO_OUT_SPEED
+ TC_SBYTE, //IO_OUT_ACTUAL_SPEED
+ TC_SLONG, //IO_OUT_TACH_COUNT
+ TC_ULONG, //IO_OUT_TACH_LIMIT
+ TC_UBYTE, //IO_OUT_RUN_STATE
+ TC_SBYTE, //IO_OUT_TURN_RATIO
+ TC_UBYTE, //IO_OUT_REG_MODE
+ TC_UBYTE, //IO_OUT_OVERLOAD
+ TC_UBYTE, //IO_OUT_REG_P_VAL
+ TC_UBYTE, //IO_OUT_REG_I_VAL
+ TC_UBYTE, //IO_OUT_REG_D_VAL
+ TC_SLONG, //IO_OUT_BLOCK_TACH_COUNT
+ TC_SLONG, //IO_OUT_ROTATION_COUNT
+
+ //IO_OUT2
+ TC_UBYTE, //IO_OUT_FLAGS
+ TC_UBYTE, //IO_OUT_MODE
+ TC_SBYTE, //IO_OUT_SPEED
+ TC_SBYTE, //IO_OUT_ACTUAL_SPEED
+ TC_SLONG, //IO_OUT_TACH_COUNT
+ TC_ULONG, //IO_OUT_TACH_LIMIT
+ TC_UBYTE, //IO_OUT_RUN_STATE
+ TC_SBYTE, //IO_OUT_TURN_RATIO
+ TC_UBYTE, //IO_OUT_REG_MODE
+ TC_UBYTE, //IO_OUT_OVERLOAD
+ TC_UBYTE, //IO_OUT_REG_P_VAL
+ TC_UBYTE, //IO_OUT_REG_I_VAL
+ TC_UBYTE, //IO_OUT_REG_D_VAL
+ TC_SLONG, //IO_OUT_BLOCK_TACH_COUNT
+ TC_SLONG, //IO_OUT_ROTATION_COUNT
+};
+
+
+TYPE_CODE * IO_TYPES[2] =
+{
+ IO_TYPES_IN,
+ IO_TYPES_OUT
+};
+
+//Actual pointers filled in during cCmdInit()
+void * IO_PTRS_IN[IO_IN_FIELD_COUNT];
+void * IO_PTRS_OUT[IO_OUT_FIELD_COUNT];
+
+void ** IO_PTRS[2] =
+{
+ IO_PTRS_IN,
+ IO_PTRS_OUT
+};
+
+// Data used to indicate usage of motor ports, or usage requests
+UBYTE gUsageSemData, gRequestSemData;
+
+UBYTE cCmdBTGetDeviceType(UBYTE *pCOD)
+{
+ ULONG COD;
+ UBYTE Result;
+ UBYTE Tmp;
+
+ COD = 0;
+ for (Tmp = 0;Tmp < SIZE_OF_CLASS_OF_DEVICE;Tmp++)
+ {
+ COD <<= 8;
+ COD |= (ULONG)*pCOD;
+ pCOD++;
+ }
+
+ Result = DEVICETYPE_UNKNOWN;
+ if ((COD & 0x00001FFF) == 0x00000804)
+ {
+ Result = DEVICETYPE_NXT;
+ }
+ if ((COD & 0x00001F00) == 0x00000200)
+ {
+ Result = DEVICETYPE_PHONE;
+ }
+ if ((COD & 0x00001F00) == 0x00000100)
+ {
+ Result = DEVICETYPE_PC;
+ }
+
+ return (Result);
+}
+
+//cCmdHandleRemoteCommands is the registered handler for "direct" command protocol packets
+//It is only intended to be called via c_comm's main protocol handler
+UWORD cCmdHandleRemoteCommands(UBYTE * pInBuf, UBYTE * pOutBuf, UBYTE * pLen)
+{
+ NXT_STATUS RCStatus = NO_ERR;
+ //Response packet length. Always includes RCStatus byte.
+ ULONG ResponseLen = 1;
+ //Boolean flag to send a response. TRUE unless overridden below.
+ ULONG SendResponse = TRUE;
+ //Boolean flag if we are handling a reply telegram. FALSE unless overridden.
+ ULONG IncomingReply = FALSE;
+ ULONG i, FirstPort, LastPort;
+ UWORD LStatus;
+ UWORD Count, QueueID;
+ UBYTE * pData;
+
+ //Illegal call, give up
+ if (pInBuf == NULL || pLen == NULL)
+ {
+ NXT_BREAK;
+ return (0xFFFF);
+ }
+
+ //No output buffer provided, so skip any work related to returning a response
+ if (pOutBuf == NULL)
+ SendResponse = FALSE;
+
+ //If first byte identifies this as a reply telegram, we have different work to do.
+ if (pInBuf[0] == 0x02)
+ {
+ IncomingReply = TRUE;
+ //Reply telegrams never get responses, even if caller provided a buffer.
+ SendResponse = FALSE;
+ }
+
+ //Advance pInBuf past command type byte
+ pInBuf++;
+
+ if (!IncomingReply)
+ {
+ switch(pInBuf[0])
+ {
+ case RC_START_PROGRAM:
+ {
+ //Check that file exists. If not, return error
+ //!!! Should return standard loader file error in cases like this??
+ //!!! Proper solution would also check file mode to avoid confusing errors
+ if (LOADER_ERR(LStatus = pMapLoader->pFunc(FINDFIRST, (&pInBuf[1]), NULL, NULL)) != SUCCESS)
+ {
+ RCStatus = ERR_RC_ILLEGAL_VAL;
+ break;
+ }
+
+ //Close file handle returned by FINDFIRST
+ pMapLoader->pFunc(CLOSE, LOADER_HANDLE_P(LStatus), NULL, NULL);
+
+ //File must exist, so inform UI to attempt execution in the usual way (enables consistent feedback)
+ pMapUi->Flags |= UI_EXECUTE_LMS_FILE;
+ strncpy((PSZ)(pMapUi->LMSfilename), (PSZ)(&pInBuf[1]), FILENAME_LENGTH + 1);
+ }
+ break;
+
+ case RC_STOP_PROGRAM:
+ {
+ if (VarsCmd.ActiveProgHandle == NOT_A_HANDLE)
+ {
+ RCStatus = ERR_NO_PROG;
+ break;
+ }
+
+ IOMapCmd.DeactivateFlag = TRUE;
+ }
+ break;
+
+ case RC_PLAY_SOUND_FILE:
+ {
+ if (LOADER_ERR(LStatus = pMapLoader->pFunc(FINDFIRST, (&pInBuf[2]), NULL, NULL)) != SUCCESS)
+ {
+ RCStatus = ERR_RC_ILLEGAL_VAL;
+ break;
+ }
+
+ //Close file handle returned by FINDFIRST
+ pMapLoader->pFunc(CLOSE, LOADER_HANDLE_P(LStatus), NULL, NULL);
+
+ if (pInBuf[1] == FALSE)
+ pMapSound->Mode = SOUND_ONCE;
+ else //Any non-zero value treated as TRUE
+ pMapSound->Mode = SOUND_LOOP;
+
+ strncpy((PSZ)pMapSound->SoundFilename, (PSZ)(&pInBuf[2]), FILENAME_LENGTH + 1);
+ pMapSound->Flags |= SOUND_UPDATE;
+ }
+ break;
+
+ case RC_PLAY_TONE:
+ {
+ pMapSound->Mode = SOUND_TONE;
+ //!!! Range check valid values?
+ memcpy((PSZ)(&(pMapSound->Freq)), (PSZ)(&pInBuf[1]), 2);
+ memcpy((PSZ)(&(pMapSound->Duration)), (PSZ)(&pInBuf[3]), 2);
+
+ pMapSound->Flags |= SOUND_UPDATE;
+ }
+ break;
+
+ case RC_SET_OUT_STATE:
+ {
+ //Don't do anything if illegal port specification is made
+ if (pInBuf[1] >= NO_OF_OUTPUTS && pInBuf[1] != 0xFF)
+ {
+ RCStatus = ERR_RC_ILLEGAL_VAL;
+ break;
+ }
+
+ //0xFF is protocol defined to mean "all ports".
+ if (pInBuf[1] == 0xFF)
+ {
+ FirstPort = 0;
+ LastPort = NO_OF_OUTPUTS - 1;
+ }
+ else
+ FirstPort = LastPort = pInBuf[1];
+
+ for (i = FirstPort; i <= LastPort; i++)
+ {
+ pMapOutPut->Outputs[i].Speed = pInBuf[2];
+ pMapOutPut->Outputs[i].Mode = pInBuf[3];
+ pMapOutPut->Outputs[i].RegMode = pInBuf[4];
+ pMapOutPut->Outputs[i].SyncTurnParameter = pInBuf[5];
+ pMapOutPut->Outputs[i].RunState = pInBuf[6];
+ memcpy((PSZ)(&(pMapOutPut->Outputs[i].TachoLimit)), (PSZ)(&pInBuf[7]), 4);
+
+ pMapOutPut->Outputs[i].Flags |= UPDATE_MODE | UPDATE_SPEED | UPDATE_TACHO_LIMIT;
+ }
+ }
+ break;
+
+ case RC_SET_IN_MODE:
+ {
+ i = pInBuf[1];
+
+ //Don't do anything if illegal port specification is made
+ //!!! Should check against legal Types and Modes? (bitmask for Modes?)
+ if (i >= NO_OF_INPUTS)
+ {
+ RCStatus = ERR_RC_ILLEGAL_VAL;
+ break;
+ }
+
+ pMapInput->Inputs[i].SensorType = pInBuf[2];
+ pMapInput->Inputs[i].SensorMode = pInBuf[3];
+
+ //Set InvalidData flag automatically since type may have changed
+ pMapInput->Inputs[i].InvalidData = TRUE;
+ }
+ break;
+
+ case RC_GET_OUT_STATE:
+ {
+ if (SendResponse == TRUE)
+ {
+ i = pInBuf[1];
+
+ //Return error and all zeros if illegal port specification is made
+ if (i >= NO_OF_OUTPUTS)
+ {
+ RCStatus = ERR_RC_ILLEGAL_VAL;
+ memset(&(pOutBuf[ResponseLen]), 0, 22);
+ ResponseLen += 22;
+ break;
+ }
+
+ //Echo port
+ pOutBuf[ResponseLen] = i;
+ ResponseLen++;
+
+ //Power
+ pOutBuf[ResponseLen] = pMapOutPut->Outputs[i].Speed;
+ ResponseLen++;
+
+ //Mode
+ pOutBuf[ResponseLen] = pMapOutPut->Outputs[i].Mode;
+ ResponseLen++;
+
+ //RegMode
+ pOutBuf[ResponseLen] = pMapOutPut->Outputs[i].RegMode;
+ ResponseLen++;
+
+ //TurnRatio
+ pOutBuf[ResponseLen] = pMapOutPut->Outputs[i].SyncTurnParameter;
+ ResponseLen++;
+
+ //RunState
+ pOutBuf[ResponseLen] = pMapOutPut->Outputs[i].RunState;
+ ResponseLen++;
+
+ //TachoLimit ULONG
+ memcpy((PSZ)&(pOutBuf[ResponseLen]), (PSZ)(&(pMapOutPut->Outputs[i].TachoLimit)), 4);
+ ResponseLen += 4;
+
+ //TachoCount SLONG
+ memcpy((PSZ)&(pOutBuf[ResponseLen]), (PSZ)(&(pMapOutPut->Outputs[i].TachoCnt)), 4);
+ ResponseLen += 4;
+
+ //BlockTachoCount SLONG
+ memcpy((PSZ)&(pOutBuf[ResponseLen]), (PSZ)(&(pMapOutPut->Outputs[i].BlockTachoCount)), 4);
+ ResponseLen += 4;
+
+ //RotationCount SLONG
+ memcpy((PSZ)&(pOutBuf[ResponseLen]), (PSZ)(&(pMapOutPut->Outputs[i].RotationCount)), 4);
+ ResponseLen += 4;
+
+ NXT_ASSERT(ResponseLen == 23);
+ }
+ }
+ break;
+
+ case RC_GET_IN_VALS:
+ {
+ if (SendResponse == TRUE)
+ {
+ i = pInBuf[1];
+
+ //Return error and all zeros if illegal port specification is made
+ if (i >= NO_OF_INPUTS)
+ {
+ RCStatus = ERR_RC_ILLEGAL_VAL;
+ memset(&(pOutBuf[ResponseLen]), 0, 13);
+ ResponseLen += 13;
+ break;
+ }
+
+ //Echo port
+ pOutBuf[ResponseLen] = i;
+ ResponseLen++;
+
+ //Set "Valid?" boolean
+ if (pMapInput->Inputs[i].InvalidData)
+ pOutBuf[ResponseLen] = FALSE;
+ else
+ pOutBuf[ResponseLen] = TRUE;
+
+ ResponseLen++;
+
+ //Set "Calibrated?" boolean
+ //!!! "Calibrated?" is a placeholder in the protocol. Always FALSE for now.
+ pOutBuf[ResponseLen] = FALSE;
+ ResponseLen++;
+
+ pOutBuf[ResponseLen] = pMapInput->Inputs[i].SensorType;
+ ResponseLen++;
+
+ pOutBuf[ResponseLen] = pMapInput->Inputs[i].SensorMode;
+ ResponseLen++;
+
+ //Set Raw, Normalized, and Scaled values
+ memcpy((PSZ)&(pOutBuf[ResponseLen]), (PSZ)(&(pMapInput->Inputs[i].ADRaw)), 2);
+ ResponseLen += 2;
+
+ memcpy((PSZ)&(pOutBuf[ResponseLen]), (PSZ)(&(pMapInput->Inputs[i].SensorRaw)), 2);
+ ResponseLen += 2;
+
+ memcpy((PSZ)&(pOutBuf[ResponseLen]), (PSZ)(&(pMapInput->Inputs[i].SensorValue)), 2);
+ ResponseLen += 2;
+
+ //!!! Return normalized raw value in place of calibrated value for now -- see comment above
+ memcpy((PSZ)&(pOutBuf[ResponseLen]), (PSZ)(&(pMapInput->Inputs[i].SensorRaw)), 2);
+ ResponseLen += 2;
+
+ NXT_ASSERT(ResponseLen == 14);
+ }
+ }
+ break;
+
+ case RC_RESET_IN_VAL:
+ {
+ i = pInBuf[1];
+
+ //Don't do anything if illegal port specification is made
+ if (i >= NO_OF_INPUTS)
+ {
+ RCStatus = ERR_RC_ILLEGAL_VAL;
+ break;
+ }
+
+ //Clear SensorValue to zero. Leave Raw and Normalized as-is, since they never accumulate running values.
+ pMapInput->Inputs[i].SensorValue = 0;
+ }
+ break;
+
+ case RC_MESSAGE_WRITE:
+ {
+ QueueID = pInBuf[1];
+ Count = pInBuf[2];
+ pData = &(pInBuf[3]);
+
+ //If Count is illegal or MsgData is not null-terminated,
+ // we can't accept it as a valid string
+ if (Count == 0 || Count > MAX_MESSAGE_SIZE || pData[Count - 1] != 0x00)
+ {
+ RCStatus = ERR_RC_ILLEGAL_VAL;
+ break;
+ }
+
+ RCStatus = cCmdMessageWrite(QueueID, pData, Count);
+
+ //ERR_MEM here means we must compact the dataspace and retry message write
+ if (RCStatus == ERR_MEM)
+ {
+ cCmdDSCompact();
+ RCStatus = cCmdMessageWrite(QueueID, pData, Count);
+ }
+ }
+ break;
+
+ case RC_RESET_POSITION:
+ {
+ i = pInBuf[1];
+
+ //Don't do anything if illegal port specification is made
+ if (i >= NO_OF_OUTPUTS)
+ {
+ RCStatus = ERR_RC_ILLEGAL_VAL;
+ break;
+ }
+
+ //pInBuf[2] is a selector
+ //FALSE: Position relative to start of last program
+ //TRUE: Position relative to start of last motor control block
+ if (pInBuf[2] == FALSE)
+ {
+ pMapOutPut->Outputs[i].Flags |= UPDATE_RESET_ROTATION_COUNT;
+ }
+ else
+ {
+ pMapOutPut->Outputs[i].Flags |= UPDATE_RESET_BLOCK_COUNT;
+ }
+ }
+ break;
+
+ case RC_GET_BATT_LVL:
+ {
+ if (SendResponse == TRUE)
+ {
+ //Return BatteryVoltage directly from IOMapUI, in mV
+ memcpy((PSZ)&(pOutBuf[ResponseLen]), (PSZ)&(pMapUi->BatteryVoltage), 2);
+ ResponseLen += 2;
+ }
+ }
+ break;
+
+ case RC_STOP_SOUND:
+ {
+ //Tell sound module to stop playback, no questions asked
+ pMapSound->State = SOUND_STOP;
+ }
+ break;
+
+ case RC_KEEP_ALIVE:
+ {
+ pMapUi->Flags |= UI_RESET_SLEEP_TIMER;
+
+ if (SendResponse == TRUE)
+ {
+ //Convert to milliseconds to match external conventions
+ i = (pMapUi->SleepTimeout * 60 * 1000);
+ memcpy((PSZ)&(pOutBuf[ResponseLen]), (PSZ)&i, 4);
+ ResponseLen += 4;
+ }
+ }
+ break;
+
+ case RC_LS_GET_STATUS:
+ {
+ if (SendResponse == TRUE)
+ {
+ i = pInBuf[1];
+
+ //Don't do anything if illegal port specification is made
+ if (i >= NO_OF_LOWSPEED_COM_CHANNEL)
+ {
+ RCStatus = ERR_RC_ILLEGAL_VAL;
+ break;
+ }
+
+ RCStatus = cCmdLSCheckStatus(i);
+
+ pOutBuf[ResponseLen] = cCmdLSCalcBytesReady(i);
+ ResponseLen++;
+ }
+ }
+ break;
+
+ case RC_LS_WRITE:
+ {
+ i = pInBuf[1];
+ Count = pInBuf[2];
+
+ //Don't do anything if illegal port specification is made
+ if (i >= NO_OF_LOWSPEED_COM_CHANNEL)
+ {
+ RCStatus = ERR_RC_ILLEGAL_VAL;
+ break;
+ }
+
+ RCStatus = cCmdLSWrite(i, Count, &(pInBuf[4]), pInBuf[3]);
+ }
+ break;
+
+ case RC_LS_READ:
+ {
+ if (SendResponse == TRUE)
+ {
+ i = pInBuf[1];
+
+ //Don't do anything if illegal port specification is made
+ if (i >= NO_OF_LOWSPEED_COM_CHANNEL)
+ {
+ RCStatus = ERR_RC_ILLEGAL_VAL;
+ break;
+ }
+
+ //Get channel status and number of bytes available to read
+ RCStatus = cCmdLSCheckStatus(i);
+ Count = cCmdLSCalcBytesReady(i);
+
+ pOutBuf[ResponseLen] = (UBYTE)Count;
+ ResponseLen++;
+
+ //If channel is ready and has data ready for us, put the data into outgoing buffer
+ if (!IS_ERR(RCStatus) && Count > 0)
+ {
+ RCStatus = cCmdLSRead(i, (UBYTE)Count, &(pOutBuf[ResponseLen]));
+ ResponseLen += Count;
+ }
+
+ //Pad remaining data bytes with zeroes
+ Count = 16 - Count;
+ memset(&(pOutBuf[ResponseLen]), 0, Count);
+ ResponseLen += Count;
+ }
+ }
+ break;
+
+ case RC_GET_CURR_PROGRAM:
+ {
+ if (SendResponse == TRUE)
+ {
+ //If there's no active program, return error and empty name buffer
+ if (VarsCmd.ActiveProgHandle == NOT_A_HANDLE)
+ {
+ RCStatus = ERR_NO_PROG;
+ memset(&(pOutBuf[ResponseLen]), 0, FILENAME_LENGTH + 1);
+ }
+ //Else, copy out stashed program name
+ else
+ {
+ strncpy((PSZ)(&(pOutBuf[ResponseLen])), (PSZ)(VarsCmd.ActiveProgName), FILENAME_LENGTH + 1);
+ }
+
+ //Regardless, we've copied out a filename's worth of bytes...
+ ResponseLen += FILENAME_LENGTH + 1;
+ }
+ }
+ break;
+
+ case RC_MESSAGE_READ:
+ {
+ if (SendResponse == TRUE)
+ {
+ QueueID = pInBuf[1];
+
+ //Fill in response with remote mailbox number so remote device knows where to store this message.
+ pOutBuf[ResponseLen] = pInBuf[2];
+ ResponseLen++;
+
+ RCStatus = cCmdMessageGetSize(QueueID, &Count);
+ pOutBuf[ResponseLen] = Count;
+ ResponseLen++;
+
+ if (!IS_ERR(RCStatus) && Count > 0)
+ {
+ pData = &(pOutBuf[ResponseLen]);
+ RCStatus = cCmdMessageRead(QueueID, pData, Count, (pInBuf[3]));
+ //If cCmdMessageRead encountered an error, there is no real data in the buffer, so clear it out (below)
+ if (IS_ERR(RCStatus))
+ Count = 0;
+ else
+ ResponseLen += Count;
+ }
+
+ //Pad remaining data bytes with zeroes
+ Count = MAX_MESSAGE_SIZE - Count;
+ memset(&(pOutBuf[ResponseLen]), 0, Count);
+ ResponseLen += Count;
+ }
+ }
+ break;
+
+ // remote-only command to read from datalog buffer
+ // pInBuf[1] = Remove? (bool)
+ case RC_DATALOG_READ:
+ {
+ if (SendResponse == TRUE)
+ {
+ RCStatus = cCmdDatalogGetSize(&Count);
+ pOutBuf[ResponseLen] = Count;
+ ResponseLen++;
+
+ if (!IS_ERR(RCStatus) && Count > 0)
+ {
+ pData = &(pOutBuf[ResponseLen]);
+ RCStatus = cCmdDatalogRead(pData, Count, (pInBuf[1]));
+ //If cCmdDatalogRead encountered an error, there is no real data in the buffer, so clear it out (below)
+ if (IS_ERR(RCStatus))
+ Count = 0;
+ else
+ ResponseLen += Count;
+ }
+
+ //Pad remaining data bytes with zeroes
+ Count = MAX_DATALOG_SIZE - Count;
+ memset(&(pOutBuf[ResponseLen]), 0, Count);
+ ResponseLen += Count;
+ }
+ }
+ break;
+ case RC_DATALOG_SET_TIMES:
+ {
+ //SyncTime SLONG
+ memcpy((PSZ)&IOMapCmd.SyncTime, (PSZ)&(pInBuf[1]), 4);
+ IOMapCmd.SyncTick= dTimerReadNoPoll();
+ }
+ break;
+
+ case RC_BT_GET_CONN_COUNT:
+ if (SendResponse == TRUE) {
+ pOutBuf[ResponseLen]= SIZE_OF_BT_CONNECT_TABLE;
+ ResponseLen++;
+ }
+ break;
+ case RC_BT_GET_CONN_NAME: // param in is index, param out is name
+ if (SendResponse == TRUE) { // get index from inbuf
+ i = pInBuf[1];
+ if(i < SIZE_OF_BT_CONNECT_TABLE) { // unsigned, so guaranteed >= 0
+ pOutBuf[ResponseLen] = cCmdBTGetDeviceType(pMapComm->BtConnectTable[i].ClassOfDevice);
+ memcpy((PSZ)(&(pOutBuf[ResponseLen+1])), (PSZ)(pMapComm->BtConnectTable[i].Name), SIZE_OF_BT_NAME + 1);
+ ResponseLen += SIZE_OF_BT_NAME + 2;
+ }
+ else {
+ pOutBuf[ResponseLen] = 0;
+ ResponseLen += SIZE_OF_BT_NAME + 2;
+ }
+ }
+ break;
+ case RC_BT_GET_CONTACT_COUNT:
+ if (SendResponse == TRUE) {
+ pOutBuf[ResponseLen]= SIZE_OF_BT_DEVICE_TABLE;
+ ResponseLen++;
+ }
+ break;
+ case RC_BT_GET_CONTACT_NAME:
+ if (SendResponse == TRUE) { // get index from inbuf
+ i = pInBuf[1];
+ if(i < SIZE_OF_BT_DEVICE_TABLE && (pMapComm->BtDeviceTable[i].DeviceStatus & BT_DEVICE_KNOWN)) { // unsigned, so guaranteed >= 0
+ (pOutBuf[ResponseLen])= cCmdBTGetDeviceType(pMapComm->BtDeviceTable[i].ClassOfDevice);
+ memcpy((PSZ)(&(pOutBuf[ResponseLen+1])), (PSZ)(pMapComm->BtDeviceTable[i].Name), SIZE_OF_BT_NAME + 1);
+ ResponseLen += SIZE_OF_BT_NAME + 2;
+ }
+ else
+ {
+ pOutBuf[ResponseLen] = 0;
+ memset((PSZ)(&(pOutBuf[ResponseLen+1])), 0, SIZE_OF_BT_NAME + 1);
+ ResponseLen += SIZE_OF_BT_NAME + 2;
+ }
+ }
+ break;
+ case RC_SET_PROPERTY: // label/value pairs
+ i = pInBuf[1];
+ switch(i) {
+ case RC_PROP_BTONOFF: {
+ UWORD retVal, status;
+ if(pInBuf[2])
+ status= pMapComm->pFunc(BTON, 0, 0, 0, NULL, &retVal);
+ else
+ status= pMapComm->pFunc(BTOFF, 0, 0, 0, NULL, &retVal);
+
+ RCStatus= (status == SUCCESS) ? retVal : status;
+ }
+ break;
+ case RC_PROP_SOUND_LEVEL: {
+ UBYTE volume= pInBuf[2];
+ if(volume > 4)
+ volume= 4;
+ pMapSound->Volume= volume; // apparently stored in two places
+ pMapUi->Volume= volume;
+ }
+ break;
+ case RC_PROP_SLEEP_TIMEOUT: { // ulong millisecs to sleep
+ ULONG value;
+ memcpy((PSZ)&value, (PSZ)&(pInBuf[2]), 4);
+ pMapUi->SleepTimeout= value / 60000;
+ }
+ break;
+ default:
+ //Unknown property -- still inform client to not expect any response bytes
+ NXT_BREAK;
+ RCStatus = ERR_RC_UNKNOWN_CMD;
+ break;
+ }
+ break;
+ case RC_GET_PROPERTY: // label/value pairs
+ if (SendResponse == TRUE) { // get index from inbuf
+ i = pInBuf[1];
+ switch(i) {
+ case RC_PROP_BTONOFF:
+ pOutBuf[ResponseLen]= pMapUi->BluetoothState != BT_STATE_OFF;
+ ResponseLen++;
+ break;
+ case RC_PROP_SOUND_LEVEL: {
+ pOutBuf[ResponseLen]= pMapSound->Volume;
+ ResponseLen++;
+ }
+ break;
+ case RC_PROP_SLEEP_TIMEOUT: {
+ ULONG value= (pMapUi->SleepTimeout * 60 * 1000);
+ memcpy((PSZ)&(pOutBuf[ResponseLen]), (PSZ)&value, 4);
+ ResponseLen += 4;
+ }
+ break;
+ default:
+ //Unknown property -- still inform client to not expect any response bytes
+ NXT_BREAK;
+ RCStatus = ERR_RC_UNKNOWN_CMD;
+ break;
+ }
+ }
+ break;
+ case RC_UPDATE_RESET_COUNT:
+ {
+ i = pInBuf[1];
+
+ //Don't do anything if illegal port specification is made
+ if (i >= NO_OF_OUTPUTS)
+ {
+ RCStatus = ERR_RC_ILLEGAL_VAL;
+ break;
+ }
+
+ pMapOutPut->Outputs[i].Flags |= UPDATE_RESET_COUNT;
+ }
+ break;
+ default:
+ {
+ //Unknown remote command -- still inform client to not expect any response bytes
+ NXT_BREAK;
+ RCStatus = ERR_RC_UNKNOWN_CMD;
+ }
+ break;
+ };
+ }
+ //Handle reply telegrams
+ else
+ {
+ switch(pInBuf[0])
+ {
+ case RC_MESSAGE_READ:
+ {
+ QueueID = pInBuf[2];
+ Count = pInBuf[3];
+ pData = &(pInBuf[4]);
+
+ //This is a response to our request to read a message from a remote mailbox.
+ //If telegram looks valid, write the resulting message into our local mailbox.
+ //(If MsgData is not null-terminated, we can't accept it as a valid string.)
+ if (!IS_ERR((SBYTE)(pInBuf[1]))
+ && Count > 0
+ && Count <= MAX_MESSAGE_SIZE
+ && pData[Count - 1] == 0x00)
+ {
+ RCStatus = cCmdMessageWrite(QueueID, pData, Count);
+
+ //ERR_MEM here means we must compact the dataspace
+ if (RCStatus == ERR_MEM)
+ {
+ cCmdDSCompact();
+ RCStatus = cCmdMessageWrite(QueueID, pData, Count);
+ }
+ }
+
+ //If telegram doesn't check out, do nothing. No errors are ever returned for reply telegrams.
+ }
+ break;
+
+ default:
+ {
+ //Unhandled reply telegram. Do nothing.
+ //!!! Could/should stash unhandled/all replies somewhere so a syscall could read them
+ }
+ break;
+ };
+ }
+
+ if (SendResponse == TRUE)
+ {
+ //Return response length (pointer checked above)
+ *pLen = (UBYTE)ResponseLen;
+ //Fill in status byte
+ pOutBuf[0] = (UBYTE)(RCStatus);
+ }
+ else
+ *pLen = 0;
+
+ return (0);
+}
+
+
+//
+// Standard interface functions
+//
+
+void cCmdInit(void* pHeader)
+{
+ ULONG i;
+
+ pHeaders = pHeader;
+
+ IOMapCmd.pRCHandler = &cCmdHandleRemoteCommands;
+
+#if defined(ARM_DEBUG)
+ //Init run-time assert tracking variables
+ VarsCmd.AssertFlag = FALSE;
+ VarsCmd.AssertLine = 0;
+#endif
+
+ //Initialize IO_PTRS_OUT
+ for (i = 0; i < NO_OF_OUTPUTS; i++)
+ {
+ IO_PTRS_OUT[IO_OUT_FLAGS + i * IO_OUT_FPP] = (void*)&(pMapOutPut->Outputs[i].Flags);
+ IO_PTRS_OUT[IO_OUT_MODE + i * IO_OUT_FPP] = (void*)&(pMapOutPut->Outputs[i].Mode);
+ IO_PTRS_OUT[IO_OUT_SPEED + i * IO_OUT_FPP] = (void*)&(pMapOutPut->Outputs[i].Speed);
+ IO_PTRS_OUT[IO_OUT_ACTUAL_SPEED + i * IO_OUT_FPP] = (void*)&(pMapOutPut->Outputs[i].ActualSpeed);
+ IO_PTRS_OUT[IO_OUT_TACH_COUNT + i * IO_OUT_FPP] = (void*)&(pMapOutPut->Outputs[i].TachoCnt);
+ IO_PTRS_OUT[IO_OUT_TACH_LIMIT + i * IO_OUT_FPP] = (void*)&(pMapOutPut->Outputs[i].TachoLimit);
+ IO_PTRS_OUT[IO_OUT_RUN_STATE + i * IO_OUT_FPP] = (void*)&(pMapOutPut->Outputs[i].RunState);
+ IO_PTRS_OUT[IO_OUT_TURN_RATIO + i * IO_OUT_FPP] = (void*)&(pMapOutPut->Outputs[i].SyncTurnParameter);
+ IO_PTRS_OUT[IO_OUT_REG_MODE + i * IO_OUT_FPP] = (void*)&(pMapOutPut->Outputs[i].RegMode);
+ IO_PTRS_OUT[IO_OUT_OVERLOAD + i * IO_OUT_FPP] = (void*)&(pMapOutPut->Outputs[i].Overloaded);
+ IO_PTRS_OUT[IO_OUT_REG_P_VAL + i * IO_OUT_FPP] = (void*)&(pMapOutPut->Outputs[i].RegPParameter);
+ IO_PTRS_OUT[IO_OUT_REG_I_VAL + i * IO_OUT_FPP] = (void*)&(pMapOutPut->Outputs[i].RegIParameter);
+ IO_PTRS_OUT[IO_OUT_REG_D_VAL + i * IO_OUT_FPP] = (void*)&(pMapOutPut->Outputs[i].RegDParameter);
+ IO_PTRS_OUT[IO_OUT_BLOCK_TACH_COUNT + i * IO_OUT_FPP] = (void*)&(pMapOutPut->Outputs[i].BlockTachoCount);
+ IO_PTRS_OUT[IO_OUT_ROTATION_COUNT + i * IO_OUT_FPP] = (void*)&(pMapOutPut->Outputs[i].RotationCount);
+ }
+
+ //Initialize IO_PTRS_IN
+ for (i = 0; i < NO_OF_INPUTS; i++)
+ {
+ IO_PTRS_IN[IO_IN_TYPE + i * IO_IN_FPP] = (void*)&(pMapInput->Inputs[i].SensorType);
+ IO_PTRS_IN[IO_IN_MODE + i * IO_IN_FPP] = (void*)&(pMapInput->Inputs[i].SensorMode);
+ IO_PTRS_IN[IO_IN_ADRAW + i * IO_IN_FPP] = (void*)&(pMapInput->Inputs[i].ADRaw);
+ IO_PTRS_IN[IO_IN_NORMRAW + i * IO_IN_FPP] = (void*)&(pMapInput->Inputs[i].SensorRaw);
+ IO_PTRS_IN[IO_IN_SCALEDVAL + i * IO_IN_FPP] = (void*)&(pMapInput->Inputs[i].SensorValue);
+ IO_PTRS_IN[IO_IN_INVALID_DATA + i * IO_IN_FPP] = (void*)&(pMapInput->Inputs[i].InvalidData);
+ }
+
+ //Clear memory pool and initialize VarsCmd (cCmdDeactivateProgram effectively re-inits VarsCmd)
+ cCmdInitPool();
+ cCmdDeactivateProgram();
+
+ //Global state variables for BlueTooth communication.
+ VarsCmd.CommStat = (SWORD)SUCCESS;
+ VarsCmd.CommStatReset = (SWORD)BTBUSY;
+ VarsCmd.CommCurrConnection = 1;
+
+ //Global flags for various reset and bookkeeping scenarios
+ VarsCmd.DirtyComm = FALSE;
+ VarsCmd.DirtyDisplay = FALSE;
+
+ VarsCmd.VMState = VM_IDLE;
+
+#if defined (ARM_NXT)
+ //Make sure Pool is long-aligned
+ NXT_ASSERT(!((ULONG)(POOL_START) % SIZE_SLONG));
+#endif
+
+ IOMapCmd.ProgStatus = PROG_IDLE;
+ IOMapCmd.ActivateFlag = FALSE;
+ IOMapCmd.Awake = TRUE;
+
+ //Default offsets explicitly chosen to cause an error if used with IOMAPREAD/IOMAPWRITE
+ //Real values will be set when programs run and/or the DS is re-arranged.
+ IOMapCmd.OffsetDVA = 0xFFFF;
+ IOMapCmd.OffsetDS = 0xFFFF;
+
+ //Initialize format string and clear out FileName string
+ strncpy((PSZ)(IOMapCmd.FormatString), VM_FORMAT_STRING, VM_FORMAT_STRING_SIZE);
+ memset(IOMapCmd.FileName, 0, sizeof(IOMapCmd.FileName));
+
+ dTimerInit();
+ IOMapCmd.Tick = dTimerRead();
+ IOMapCmd.SyncTime= 0;
+ IOMapCmd.SyncTick= 0;
+
+ return;
+}
+
+
+void cCmdCtrl(void)
+{
+ NXT_STATUS Status = NO_ERR;
+
+ switch (VarsCmd.VMState)
+ {
+ case VM_RUN_FREE:
+ case VM_RUN_SINGLE:
+ {
+ #if VMProfilingCode
+ ULONG EnterTime= dTimerReadHiRes(), FinishTime;
+ CmdCtrlCalls ++;
+#endif
+ ULONG Continue;
+
+#if VM_BENCHMARK
+ //IOMapCmd.Tick currently holds the tick from the end of last cCmdCtrl call.
+ //If we don't come back here before dTimerRead() increments, the m_sched loop has taken *at least* 1 ms.
+ if (IOMapCmd.Tick != dTimerRead())
+ {
+ VarsCmd.OverTimeCount++;
+ //Record maximum magnitude of schedule loop overage, in millisecs
+ if (dTimerRead() - IOMapCmd.Tick > VarsCmd.MaxOverTimeLength)
+ VarsCmd.MaxOverTimeLength = dTimerRead() - IOMapCmd.Tick;
+ }
+ VarsCmd.CmdCtrlCount++;
+#endif
+ //Abort current program if cancel button is pressed
+ if (IOMapCmd.DeactivateFlag == TRUE || pMapButton->State[BTN1] & PRESSED_EV)
+ {
+ IOMapCmd.DeactivateFlag = FALSE;
+
+ //Clear pressed event so it doesn't get double-counted by UI
+ pMapButton->State[BTN1] &= ~PRESSED_EV;
+
+ //Go to VM_RESET1 state and report abort
+ VarsCmd.VMState = VM_RESET1;
+ IOMapCmd.ProgStatus = PROG_ABORT;
+ break;
+ }
+
+ //Assert that we have an active program
+ NXT_ASSERT(VarsCmd.ActiveProgHandle != NOT_A_HANDLE);
+
+ //Handle any resting clumps that are ready to awaken
+ cCmdCheckRestQ(IOMapCmd.Tick); // not using result, yet
+ //Execute from at least one clump
+ do
+ {
+ //Execute instructions from a clump up to INSTR_MAX, to end of millisec,
+ //Finishing/suspending a clump, BREAKOUT_REQ, or any errors will cause a return
+#if VMProfilingCode
+ ULONG ClumpEnterTime= dTimerReadHiRes();
+ CLUMP_ID clump= VarsCmd.RunQ.Head;
+#endif
+ Status = cCmdInterpFromClump();
+#if VMProfilingCode
+ CmdCtrlClumpTime[clump] += dTimerReadHiRes() - ClumpEnterTime;
+#endif
+
+ //If RunQ and RestQ are empty, program is done, or wacko
+ if (!cCmdIsClumpIDSane(VarsCmd.RunQ.Head)) {
+ Continue = FALSE;
+ if(!cCmdIsClumpIDSane(VarsCmd.RestQ.Head)) {
+ VarsCmd.VMState = VM_RESET1;
+ IOMapCmd.ProgStatus = PROG_OK;
+ }
+ }
+ else if (Status == CLUMP_SUSPEND || Status == CLUMP_DONE)
+ Continue = TRUE; // queue isn't empty, didn't timeout
+ //Only rotate RunQ on a "normal" finish, i.e. no error, clump end, or breakout request
+ else if (Status == ROTATE_QUEUE) { // done and suspend do their own
+ cCmdRotateQ();
+ Continue= TRUE;
+ }
+ else if (Status == TIMES_UP) {
+ cCmdRotateQ();
+ Continue = FALSE;
+ }
+ else if (IS_ERR(Status)) // mem error is handled in InterpFromClump if possible
+ {
+ Continue = FALSE;
+ VarsCmd.VMState = VM_RESET1;
+ IOMapCmd.ProgStatus = PROG_ERROR;
+ }
+ else if (Status == STOP_REQ)
+ {
+ Continue = FALSE;
+ VarsCmd.VMState = VM_RESET1;
+ IOMapCmd.ProgStatus = PROG_OK;
+ }
+ else if (Status == BREAKOUT_REQ)
+ {
+ Continue = FALSE;
+ }
+ } while (Continue == TRUE);
+#if VMProfilingCode
+ FinishTime= dTimerReadHiRes();
+ if(NotFirstCall)
+ OverheadTime += EnterTime - LeaveTime;
+ else
+ NotFirstCall= 1;
+ CmdCtrlTime += FinishTime - EnterTime;
+ LeaveTime= FinishTime;
+#endif
+ // May busy wait to postpone to 1ms schedule
+ while (IOMapCmd.Tick == dTimerRead());
+ }
+ break;
+ case VM_IDLE:
+ {
+ //If there's a new program to activate...
+ if (IOMapCmd.ActivateFlag == TRUE)
+ {
+ //Clear flag so we only activate once per new file
+ IOMapCmd.ActivateFlag = FALSE;
+
+ Status = cCmdActivateProgram(IOMapCmd.FileName);
+
+ //If we hit an activation error:
+ //1. Set PROG_ERROR status
+ //2. Proceed to VM_RESET1 (some unneeded work, yes, but preserves contract with UI
+ if (IS_ERR(Status))
+ {
+ IOMapCmd.ProgStatus = PROG_ERROR;
+ VarsCmd.VMState = VM_RESET1;
+ }
+ //Else start running program
+ else
+ {
+ VarsCmd.VMState = VM_RUN_FREE;
+ IOMapCmd.ProgStatus = PROG_RUNNING;
+ VarsCmd.StartTick = IOMapCmd.Tick;
+ if(VarsCmd.VMState == VM_RUN_FREE)
+ gInstrsToExecute = 20;
+ else
+ gInstrsToExecute= 1;
+
+#if VM_BENCHMARK
+ //Re-init benchmark
+ VarsCmd.InstrCount = 0;
+ VarsCmd.Average = 0;
+ VarsCmd.OverTimeCount = 0;
+ VarsCmd.MaxOverTimeLength = 0;
+ VarsCmd.CmdCtrlCount = 0;
+ VarsCmd.CompactionCount = 0;
+ VarsCmd.LastCompactionTick = 0;
+ VarsCmd.MaxCompactionTime = 0;
+ memset(VarsCmd.OpcodeBenchmarks, 0, sizeof(VarsCmd.OpcodeBenchmarks));
+ memset(VarsCmd.SyscallBenchmarks, 0, sizeof(VarsCmd.SyscallBenchmarks));
+#endif
+ //Reset devices to a known state before we begin running
+ cCmdResetDevices();
+
+ pMapUi->Flags |= (UI_DISABLE_LEFT_RIGHT_ENTER | UI_DISABLE_EXIT);
+ }
+ }
+ while (IOMapCmd.Tick == dTimerRead()); // delay until scheduled time
+ }
+ break;
+
+ //Initialize VM internal state data and devices which must respond immediately to program ending
+ case VM_RESET1:
+ {
+ //If we aborted a program, reset devices (specifically, motors) immediately
+ //Otherwise, wait for UI to put us into PROG_RESET (gives motors a chance to brake before setting to coast)
+ //!!! This means cCmdResetDevices will get called twice on abort. Should not be a big deal.
+ if (IOMapCmd.ProgStatus == PROG_ABORT)
+ cCmdResetDevices();
+
+ //Reenable UI access to buttons
+ pMapUi->Flags &= ~(UI_DISABLE_LEFT_RIGHT_ENTER | UI_DISABLE_EXIT);
+
+#if VM_BENCHMARK
+ if (IOMapCmd.Tick != VarsCmd.StartTick)
+ VarsCmd.Average = VarsCmd.InstrCount / (IOMapCmd.Tick - VarsCmd.StartTick);
+ else
+ //It appears that we finished in 0 milliseconds. Very unlikely on ARM, so set a flag value.
+ VarsCmd.Average = 0xFFFFFFFF;
+
+ cCmdWriteBenchmarkFile();
+#endif
+
+ //Re-initialize program state data (contents of memory pool preserved)
+ //!!! Skip this step in simulator builds so helper access methods still work
+#ifndef SIM_NXT
+ cCmdDeactivateProgram();
+#endif //SIM_NXT
+
+ //If this program has taken over the display, reset it for the UI
+ cCmdRestoreDefaultScreen();
+
+ //Stop any currently playing sound and re-init volume according to UI prefs
+ pMapSound->State = SOUND_STOP;
+ pMapSound->Volume = pMapUi->Volume;
+
+ //Artificially set CommStatReset to BTBUSY to force at least one SETCMDMODE call (see VM_RESET2 case)
+ VarsCmd.CommStatReset = (SWORD)BTBUSY;
+
+ VarsCmd.VMState = VM_RESET2;
+ while (IOMapCmd.Tick == dTimerRead()); // delay until scheduled time
+ }
+ break;
+
+ case VM_RESET2:
+ {
+ //Reset BlueCore into "command mode" (close any open streams)
+ //Since SETCMDMODE subject to BTBUSY, we may need to make multiple calls
+ //Any CommStatReset value other than BTBUSY means our request was accepted
+ //Assumptions:
+ //Process should never take longer than UI timeout (see below), but if it does,
+ // we could be left with the stream open to an NXT peer and block out the PC.
+ //Also assuming that once SETCMDMODE request is accepted, it never fails.
+ if (VarsCmd.CommStatReset == (SWORD)BTBUSY && VarsCmd.DirtyComm == TRUE)
+ pMapComm->pFunc(SETCMDMODE, 0, 0, 0, NULL, (UWORD*)&(VarsCmd.CommStatReset));
+
+ //If UI is done displaying ending program status, move on.
+ if (IOMapCmd.ProgStatus == PROG_RESET)
+ {
+ //Reset devices whenever a program ends for any reason
+ cCmdResetDevices();
+
+ VarsCmd.DirtyComm = FALSE;
+
+ //Go to VM_IDLE state
+ VarsCmd.VMState = VM_IDLE;
+ IOMapCmd.ProgStatus = PROG_IDLE;
+ }
+ while (IOMapCmd.Tick == dTimerRead()); // delay until scheduled time
+ }
+ break;
+ }//END state machine switch
+
+ //Set tick to new value for next time 'round
+ IOMapCmd.Tick = dTimerReadNoPoll();
+
+ return;
+}
+
+
+void cCmdExit(void)
+{
+ dTimerExit();
+
+ return;
+}
+
+
+NXT_STATUS cCmdReadFileHeader(UBYTE* pData, ULONG DataSize,
+ PROG_FILE_OFFSETS* pFileOffsets)
+{
+ ULONG i;
+ UBYTE * pCursor;
+ UWORD CurrOffset = 0;
+ UBYTE DepCount;
+ UWORD DopeVectorOffset;
+ UWORD FileClumpCount;
+ UBYTE FileMajor, FileMinor,
+ CompatibleMinor, CompatibleMajor,
+ CurrentMajor;
+
+ NXT_ASSERT(pData != NULL);
+
+ if (strncmp((PSZ)pData, "NXTBINARY", VM_FORMAT_STRING_SIZE) == 0)
+ {
+ ULONG NativeOffset;
+ pCursor = (pData + 12);
+ NativeOffset = (ULONG)(*pCursor);
+ void (*native)(ULONG, ULONG) = (void (*)())(pData + NativeOffset);
+ (*native)((ULONG)pData, DataSize);
+ NXT_BREAK;
+ return (ERR_VER);
+ }
+ //Assign pCursor to point to version word inside file header
+ pCursor = (pData + VM_FORMAT_STRING_SIZE - 2);
+
+ //Decode version numbers into comparable bytes
+ FileMajor = *pCursor;
+ FileMinor = *(pCursor + 1);
+ CompatibleMajor = (UBYTE)(VM_OLDEST_COMPATIBLE_VERSION >> 8);
+ CompatibleMinor = (UBYTE)(VM_OLDEST_COMPATIBLE_VERSION);
+ CurrentMajor = (UBYTE)(FIRMWAREVERSION >> 8);
+ //CurrentMinor = (UBYTE)(FIRMWAREVERSION);
+
+ //Return ERR_VER if file lacks proper format string or version number
+ //!!! Only checking major version recommended for future development
+ if (strncmp((PSZ)pData, VM_FORMAT_STRING, VM_FORMAT_STRING_SIZE)
+ || FileMajor < CompatibleMajor || FileMinor < CompatibleMinor
+ || FileMajor > CurrentMajor)
+ {
+ NXT_BREAK;
+ return (ERR_VER);
+ }
+
+ //Advance CurrOffset past header information
+ CurrOffset += VM_FORMAT_STRING_SIZE;
+
+ //
+ //Initialize bookkeeping variables
+ //
+ VarsCmd.DataspaceCount = *((UWORD*)(pData + CurrOffset));
+ CurrOffset += 2;
+
+ VarsCmd.DataspaceSize = *((UWORD*)(pData + CurrOffset));
+ CurrOffset += 2;
+
+ VarsCmd.DSStaticSize = *((UWORD*)(pData + CurrOffset));
+ CurrOffset += 2;
+
+ pFileOffsets->DSDefaultsSize = *((UWORD*)(pData + CurrOffset));
+ CurrOffset += 2;
+
+ pFileOffsets->DynamicDefaults = *((UWORD*)(pData + CurrOffset));
+ CurrOffset += 2;
+
+ pFileOffsets->DynamicDefaultsSize = *((UWORD*)(pData + CurrOffset));
+ CurrOffset += 2;
+
+ VarsCmd.MemMgr.Head = *((UWORD*)(pData + CurrOffset));
+ CurrOffset += 2;
+
+ VarsCmd.MemMgr.Tail = *((UWORD*)(pData + CurrOffset));
+ CurrOffset += 2;
+
+ DopeVectorOffset = *((UWORD*)(pData + CurrOffset));
+ CurrOffset += 2;
+
+ //!!! Odd code here to deal with type mismatch between file format and CLUMP_ID typedef.
+ //Neither is trivial to change, so it's best to just check the data for consistency here.
+ FileClumpCount = *((UWORD*)(pData + CurrOffset));
+ CurrOffset += 2;
+
+ //Must have at least one clump and count can't exceed the NOT_A_CLUMP sentinel
+ if (FileClumpCount == 0 || FileClumpCount >= NOT_A_CLUMP)
+ return (ERR_FILE);
+ else
+ VarsCmd.AllClumpsCount = (CLUMP_ID)FileClumpCount;
+
+ VarsCmd.CodespaceCount = *((UWORD*)(pData + CurrOffset));
+ CurrOffset += 2;
+
+ //Can't have a valid program with no code
+ if (VarsCmd.CodespaceCount == 0)
+ return (ERR_FILE);
+
+ //
+ // Now, calculate offsets for each data segment in the file
+ //
+
+ CurrOffset += CurrOffset % 2;
+ pFileOffsets->DSTOC = CurrOffset;
+ CurrOffset += VarsCmd.DataspaceCount * sizeof(DS_TOC_ENTRY);
+
+ CurrOffset += CurrOffset % 2;
+ pFileOffsets->DSDefaults = CurrOffset;
+ CurrOffset += pFileOffsets->DSDefaultsSize;
+
+ //ClumpRecs must be aligned on even boundaries
+ CurrOffset += CurrOffset % 2;
+ pFileOffsets->Clumps = CurrOffset;
+
+ //Set cursor to start of clump records
+ pCursor = pData + CurrOffset;
+
+ //Set CurrOffset to start of dependent lists
+ CurrOffset += VarsCmd.AllClumpsCount * VM_FILE_CLUMP_REC_SIZE;
+
+ //Read dependent count from each clump record, advancing CurrOffset accordingly
+ for (i = 0; i < VarsCmd.AllClumpsCount; i++)
+ {
+ DepCount = *(pCursor + 1);
+ CurrOffset += DepCount;
+ pCursor += VM_FILE_CLUMP_REC_SIZE;
+ }
+
+ //Codespace must be aligned on even boundary
+ CurrOffset += CurrOffset % 2;
+ pFileOffsets->Codespace = CurrOffset;
+
+ //No need to read through codespace, but make sure CurrOffset ended up sane
+ //If not, something went wrong reading the header information
+ if (CurrOffset != (DataSize - VarsCmd.CodespaceCount * 2))
+ {
+ NXT_BREAK;
+ return (ERR_FILE);
+ }
+
+ //
+ // Finally, update VarsCmd fields
+ //
+
+ VarsCmd.RunQ.Head = NOT_A_CLUMP;
+ VarsCmd.RunQ.Tail = NOT_A_CLUMP;
+ VarsCmd.RestQ.Head = NOT_A_CLUMP;
+ VarsCmd.RestQ.Tail = NOT_A_CLUMP;
+
+ //Reset codespace pointer
+ VarsCmd.pCodespace = (CODE_WORD*)(pData + pFileOffsets->Codespace);
+
+ //...placing clump records first...
+ VarsCmd.pAllClumps = (CLUMP_REC*)(VarsCmd.Pool + VarsCmd.PoolSize);
+ VarsCmd.PoolSize += VarsCmd.AllClumpsCount * sizeof(CLUMP_REC);
+
+ //...then DSTOC...
+ VarsCmd.pDataspaceTOC = (DS_TOC_ENTRY*)(pData + pFileOffsets->DSTOC);
+
+ //...then the dataspace itself
+ ALIGN_TO_MOD(VarsCmd.PoolSize, POOL_ALIGN);
+ VarsCmd.pDataspace = (VarsCmd.Pool + VarsCmd.PoolSize);
+ IOMapCmd.OffsetDS = (UWORD)((ULONG)(VarsCmd.pDataspace) - (ULONG)&(IOMapCmd));
+ VarsCmd.PoolSize += VarsCmd.DataspaceSize;
+
+ //init rest of MemMgr
+ VarsCmd.MemMgr.pDopeVectorArray = (DOPE_VECTOR *)(VarsCmd.pDataspace + DopeVectorOffset);
+ IOMapCmd.OffsetDVA = (UWORD)((ULONG)(VarsCmd.MemMgr.pDopeVectorArray) - (ULONG)&(IOMapCmd));
+ VarsCmd.MemMgr.FreeHead = NOT_A_DS_ID;
+
+
+ if (VarsCmd.PoolSize > POOL_MAX_SIZE)
+ {
+ NXT_BREAK;
+ return (ERR_FILE);
+ }
+
+ return (NO_ERR);
+}
+
+
+//!!! Recursive function
+NXT_STATUS cCmdInflateDSDefaults(UBYTE* pDSDefaults, UWORD *pDefaultsOffset, DS_ELEMENT_ID DSElementID)
+{
+ NXT_STATUS Status = NO_ERR;
+ TYPE_CODE TypeCode;
+ UWORD i, Count;
+ UBYTE *pVal;
+
+ NXT_ASSERT(cCmdIsDSElementIDSane(DSElementID));
+
+ TypeCode = cCmdDSType(DSElementID);
+
+ if (TypeCode > TC_LAST_VALID)
+ return ERR_INSTR;
+ else if (TypeCode == TC_CLUSTER)
+ {
+ Count = cCmdClusterCount(DSElementID);
+ //Advance DSElementID to sub-type
+ DSElementID = INC_ID(DSElementID);
+ //Loop through sub-types, inflate recursively
+ for (i = 0; i < Count; i++)
+ {
+ Status = cCmdInflateDSDefaults(pDSDefaults, pDefaultsOffset, DSElementID);
+ if (IS_ERR(Status))
+ return Status;
+ DSElementID = cCmdNextDSElement(DSElementID);
+ }
+ }
+ else
+ {
+ if (TypeCode == TC_ARRAY)
+ {
+ //Resolve pointer to DVIndex
+ pVal = VarsCmd.pDataspace + VarsCmd.pDataspaceTOC[DSElementID].DSOffset;
+ }
+ else
+ {
+ pVal = cCmdResolveDataArg(DSElementID, 0, NULL);
+ }
+
+ //Check if the element has the "default default"
+ if (VarsCmd.pDataspaceTOC[DSElementID].Flags & DS_DEFAULT_DEFAULT)
+ {
+ //Fill element with the "default default" of zero
+ memset(pVal, 0, cCmdSizeOf(TypeCode));
+ }
+ else
+ {
+ //Get default from stream
+ memmove(pVal, pDSDefaults + *pDefaultsOffset, cCmdSizeOf(TypeCode));
+ *pDefaultsOffset += cCmdSizeOf(TypeCode);
+ }
+ }
+
+ //!!! Currently will always return NO_ERR
+ return Status;
+}
+
+void cCmdRefreshActiveClump(CLUMP_ID CurrID)
+{
+ CLUMP_REC * clumpRecPtr= &(VarsCmd.pAllClumps[CurrID]);
+
+ if(clumpRecPtr->clumpScalarDispatchHints & scalarBinopDispatchMask)
+ InterpFuncs[8]= cCmdInterpScalarBinop;
+ else
+ InterpFuncs[8]= cCmdInterpBinop;
+ if(clumpRecPtr->clumpScalarDispatchHints & scalarUnop2DispatchMask)
+ InterpFuncs[6]= cCmdInterpScalarUnop2;
+ else
+ InterpFuncs[6]= cCmdInterpUnop2;
+}
+
+NXT_STATUS cCmdActivateProgram(UBYTE * pFileName)
+{
+ UWORD i, j;
+ UBYTE * pCursor;
+
+ NXT_STATUS Status = NO_ERR;
+ PROG_FILE_OFFSETS FileOffsets;
+
+ LOADER_STATUS LStatus;
+ ULONG DataSize;
+ UBYTE * pData;
+ ULONG pDataHolder;
+ UWORD DefaultsOffset;
+
+ LStatus = pMapLoader->pFunc(OPENREADLINEAR, pFileName, (UBYTE*)(&pDataHolder), &DataSize);
+ pData = (UBYTE*)(pDataHolder);
+
+ //If Loader returned error or bad file pointer, bail out
+ if (LOADER_ERR(LStatus) != SUCCESS || pData == NULL || DataSize == 0)
+ return (ERR_FILE);
+
+ //Deactivate current program and re-initialize memory pool
+ cCmdDeactivateProgram();
+ cCmdInitPool();
+
+ //Stash this program's handle since we hold it open while running
+ VarsCmd.ActiveProgHandle = LOADER_HANDLE(LStatus);
+
+ //Stash this program's name for easy reference later
+ strncpy((PSZ)(VarsCmd.ActiveProgName), (PSZ)(pFileName), FILENAME_LENGTH + 1);
+
+ //Consume activation record data stream.
+ //See TargettingVIs/NXT.PackAR.vi for data stream packing details
+
+ //Read header portion of the file, calculating offsets and initializing VarsCmd
+ Status = cCmdReadFileHeader(pData, DataSize, &FileOffsets);
+ if (IS_ERR(Status))
+ return Status;
+
+ //Do some spot checks to make sure bad file contents didn't leave us with obviously insane VarsCmd contents
+ //!!! Should add alignment checks on these pointers to avoid data abort exceptions later
+ if (((UBYTE*)(VarsCmd.pCodespace) < pData)
+ || ((UBYTE*)(VarsCmd.pCodespace) >= (pData + DataSize))
+ || ((UBYTE*)(VarsCmd.pAllClumps) < POOL_START)
+ || ((UBYTE*)(VarsCmd.pAllClumps) >= POOL_SENTINEL)
+ || ((UBYTE*)(VarsCmd.pDataspace) < POOL_START)
+ || ((UBYTE*)(VarsCmd.pDataspace) >= POOL_SENTINEL)
+ || (VarsCmd.DataspaceSize == 0) )
+ {
+ NXT_BREAK;
+ return ERR_FILE;
+ }
+
+ //Initialize CLUMP_RECs as contiguous list in RAM
+ pCursor = (pData + FileOffsets.Clumps);
+ for (i = 0; i < VarsCmd.AllClumpsCount; i++)
+ {
+ CLUMP_REC *clumpPtr= &VarsCmd.pAllClumps[i];
+ clumpPtr->InitFireCount = *(UBYTE*)(pCursor + i * VM_FILE_CLUMP_REC_SIZE);
+ clumpPtr->DependentCount = *(UBYTE*)(pCursor + (i * VM_FILE_CLUMP_REC_SIZE) + 1);
+ clumpPtr->CodeStart = *(UWORD*)(pCursor + (i * VM_FILE_CLUMP_REC_SIZE) + 2) + VarsCmd.pCodespace;
+
+ //Initialize remaining CLUMP_REC fields
+ clumpPtr->PC = clumpPtr->CodeStart;
+ clumpPtr->Link = NOT_A_CLUMP;
+
+ //Activate any clumps with CurrFireCount of 0
+ clumpPtr->CurrFireCount = clumpPtr->InitFireCount;
+ if (clumpPtr->CurrFireCount == 0)
+ cCmdEnQClump(&(VarsCmd.RunQ), (CLUMP_ID)i);
+ }
+
+ //Patch up dependents in separate pass (reuse of pCursor)
+ pCursor += VarsCmd.AllClumpsCount * VM_FILE_CLUMP_REC_SIZE;
+ for (i = 0; i < VarsCmd.AllClumpsCount; i++)
+ {
+ CLUMP_REC *clumpPtr= &VarsCmd.pAllClumps[i];
+ if (clumpPtr->DependentCount > 0)
+ {
+ clumpPtr->pDependents = (CLUMP_ID*)(pCursor);
+
+ pCursor += (clumpPtr->DependentCount * sizeof(CLUMP_ID));
+ }
+ else
+ clumpPtr->pDependents = NULL;
+
+ //Patch up CodeEnd value based on CodeStart of next clump or last overall codeword
+ if (i < (VarsCmd.AllClumpsCount - 1))
+ clumpPtr->CodeEnd = (clumpPtr+1)->CodeStart - 1;
+ else
+ clumpPtr->CodeEnd = VarsCmd.CodespaceCount - 1 + VarsCmd.pCodespace;
+
+ //Test for empty/insane clump code definitions
+ NXT_ASSERT(clumpPtr->CodeStart < clumpPtr->CodeEnd);
+ }
+
+ // Check if the instructions within a clump are polymorphic and mark which table to dispatch from
+ for (i = 0; i < VarsCmd.AllClumpsCount; i++)
+ { // Check type on Boolean, math, ArrInit and ArrIndex, ingore GetSet I/O as these are always scalar
+ // do we need to check for DataArg encodings to I/O map??? GM
+ // Get Opcode and size of each instr, if ^^, check Arg types for Array or Cluster
+ CLUMP_REC *clumpPtr= &VarsCmd.pAllClumps[i];
+ CODE_WORD *pInstr = clumpPtr->CodeStart, *lastPC = clumpPtr->CodeEnd;
+ ULONG InstrSize, opCode, shortOp, isT2Agg, isT3Agg, isScalarBinop= TRUE, isScalarUnop2= TRUE;
+ TYPE_CODE t1, t2, t3;
+ ULONG instrWord;
+ do
+ {
+ instrWord= *(UWORD*)pInstr;
+ opCode= OP_CODE(pInstr);
+ shortOp= (instrWord>>8) & 0x0F;
+ InstrSize = INSTR_SIZE(instrWord);
+ if (InstrSize == VAR_INSTR_SIZE)
+ InstrSize = ((UWORD*)pInstr)[1];
+ if(shortOp <= 7) // no shorts are binOps
+ {
+ t2= cCmdDSType(pInstr[2]);
+ isT2Agg= IS_AGGREGATE_TYPE(t2);
+ if(InstrSize == 8) {
+ t3= cCmdDSType(pInstr[3]);
+ isT3Agg= IS_AGGREGATE_TYPE(t3);
+ if(isT2Agg || isT3Agg) {
+ if(opCode == OP_CMP) {
+ UBYTE isString2, isString3;
+ isString2= (t2 == TC_ARRAY) && cCmdDSType(INC_ID(pInstr[2])) == TC_UBYTE;
+ isString3= (t3 == TC_ARRAY) && cCmdDSType(INC_ID(pInstr[3])) == TC_UBYTE;
+ t1= cCmdDSType(pInstr[1]);
+ if((!isString2 || !isString3) || t1 == TC_ARRAY) // allow strings to go scalar, don't let through element compares of bytes or Bools
+ isScalarBinop= FALSE;
+ }
+ else if(opCode == OP_BRCMP)
+ isScalarBinop= FALSE;
+ }
+ }
+ else if(InstrSize == 6 && isT2Agg && (opCode == OP_NOT || opCode == OP_BRTST))
+ isScalarUnop2= FALSE;
+ }
+ pInstr += InstrSize/2;
+ } while((isScalarBinop || isScalarUnop2) && pInstr < lastPC);
+ if(isScalarBinop)
+ clumpPtr->clumpScalarDispatchHints |= scalarBinopDispatchMask;
+ else
+ clumpPtr->clumpScalarDispatchHints &= ~scalarBinopDispatchMask;
+
+ if(isScalarUnop2)
+ clumpPtr->clumpScalarDispatchHints |= scalarUnop2DispatchMask;
+ else
+ clumpPtr->clumpScalarDispatchHints &= ~scalarUnop2DispatchMask;
+
+ }
+ //Programs with no active clumps constitutes an activation error
+ if (VarsCmd.RunQ.Head == NOT_A_CLUMP)
+ return (ERR_FILE);
+ else
+ {
+ // now that we know which clumps are scalar and poly, refresh dispatch table to match head
+ cCmdRefreshActiveClump(VarsCmd.RunQ.Head);
+
+ }
+
+ //Initialize dataspace with default values from file
+ //!!! This would be a good place to enforce check against potentially
+ // unsafe nested types (deeply nested types mean deep recursive calls)
+ DefaultsOffset = 0;
+ for (i = 0; i != NOT_A_DS_ID; i = cCmdNextDSElement(i))
+ {
+
+ Status = cCmdInflateDSDefaults(pData + FileOffsets.DSDefaults, &DefaultsOffset, i);
+ if (IS_ERR(Status))
+ return Status;
+ }
+
+ if ((DefaultsOffset != FileOffsets.DynamicDefaults)
+ || (DefaultsOffset + FileOffsets.DynamicDefaultsSize != FileOffsets.DSDefaultsSize))
+ {
+ NXT_BREAK;
+ return (ERR_FILE);
+ }
+
+ //Copy Dynamic defaults from file
+ memmove(VarsCmd.pDataspace + VarsCmd.DSStaticSize, pData + FileOffsets.DSDefaults + FileOffsets.DynamicDefaults, FileOffsets.DynamicDefaultsSize);
+
+ // fix memmgr links. old files contain unused backPtrs, we now use these to store backLink
+ DV_INDEX prev= NOT_A_DS_ID;
+ for (i = VarsCmd.MemMgr.Head; i != NOT_A_DS_ID; i = DV_ARRAY[i].Link) {
+ DV_ARRAY[i].BackLink= prev;
+ prev= i;
+ }
+
+ //Verify the MemMgr ended up where we said it would
+ if ((UBYTE *)VarsCmd.MemMgr.pDopeVectorArray != VarsCmd.pDataspace + DV_ARRAY[0].Offset)
+ {
+ NXT_BREAK;
+ return (ERR_FILE);
+ }
+
+ //Initialize message queues
+ for (i = 0; i < MESSAGE_QUEUE_COUNT; i++)
+ {
+ VarsCmd.MessageQueues[i].ReadIndex = 0;
+ VarsCmd.MessageQueues[i].WriteIndex = 0;
+
+ for (j = 0; j < MESSAGES_PER_QUEUE; j++)
+ {
+ VarsCmd.MessageQueues[i].Messages[j] = NOT_A_DS_ID;
+ }
+ }
+
+ //Initialize datalog queue
+ VarsCmd.DatalogBuffer.ReadIndex = 0;
+ VarsCmd.DatalogBuffer.WriteIndex = 0;
+ for (j = 0; j < DATALOG_QUEUE_DEPTH; j++)
+ {
+ VarsCmd.DatalogBuffer.Datalogs[j] = NOT_A_DS_ID;
+ }
+
+ // now that we've loaded program, prime memmgr dopevectors based upon number of handles in ds.
+ ULONG numHandles= DV_ARRAY[0].Count/2;
+ if(numHandles > 200)
+ numHandles= 200;
+ Status = cCmdGrowDopeVectorArray(numHandles);
+
+ if (cCmdVerifyMemMgr() != TRUE)
+ return (ERR_FILE);
+
+ gUsageSemData= 0;
+ gRequestSemData= 0;
+ // preload all calibration coefficients into mem
+ cCmdLoadCalibrationFiles();
+ return (Status);
+}
+
+
+void cCmdDeactivateProgram()
+{
+ UBYTE i, tmp;
+
+ //Wipe away all references into the pool and clear all run-time data
+ VarsCmd.pCodespace = NULL;
+ VarsCmd.CodespaceCount = 0;
+
+ VarsCmd.pAllClumps = NULL;
+ VarsCmd.AllClumpsCount = 0;
+
+ VarsCmd.DataspaceCount = 0;
+ VarsCmd.pDataspaceTOC = NULL;
+ VarsCmd.pDataspace = NULL;
+ VarsCmd.DataspaceSize = 0;
+ VarsCmd.DSStaticSize = 0;
+
+ VarsCmd.MemMgr.Head = NOT_A_DS_ID;
+ VarsCmd.MemMgr.Tail = NOT_A_DS_ID;
+ VarsCmd.MemMgr.FreeHead = NOT_A_DS_ID;
+ VarsCmd.MemMgr.pDopeVectorArray = NULL;
+
+ VarsCmd.RunQ.Head = NOT_A_CLUMP;
+ VarsCmd.RunQ.Tail = NOT_A_CLUMP;
+
+ if (VarsCmd.ActiveProgHandle != NOT_A_HANDLE)
+ {
+ //Close handle that we've kept open for this program
+ pMapLoader->pFunc(CLOSE, &(VarsCmd.ActiveProgHandle), NULL, NULL);
+ VarsCmd.ActiveProgHandle = NOT_A_HANDLE;
+
+ //Clear internal stashed name
+ memset(VarsCmd.ActiveProgName, 0, FILENAME_LENGTH + 1);
+ }
+
+ //Close any files we had opened programatically
+ for (i = 0; i < MAX_HANDLES; i++)
+ {
+ //Copy i to tmp, because we pass a pointer to it to pFunc
+ tmp = i;
+ //Close file
+ if (*(VarsCmd.FileHandleTable[i]) != 0)
+ pMapLoader->pFunc(CROPDATAFILE, &tmp, NULL, NULL);
+ }
+
+ //Clear FileHandleTable
+ memset(VarsCmd.FileHandleTable, 0, sizeof(VarsCmd.FileHandleTable));
+
+ return;
+}
+
+
+void cCmdResetDevices(void)
+{
+ UBYTE i;
+
+ //Clear NXT button counts so 'bumped' will work on first run
+ for (i = 0; i < NO_OF_BTNS; i++)
+ {
+ pMapButton->BtnCnt[i].RelCnt = 0;
+ //Need to clear short and long counts too, because RelCnt depends on them. No known side effects.
+ pMapButton->BtnCnt[i].ShortRelCnt = 0;
+ pMapButton->BtnCnt[i].LongRelCnt = 0;
+ }
+
+ for (i = 0; i < NO_OF_INPUTS; i++)
+ {
+ //Clear type and mode to defaults
+ pMapInput->Inputs[i].SensorType = NO_SENSOR;
+ pMapInput->Inputs[i].SensorMode = RAWMODE;
+
+ //Reset input values to 0 prior to running (clear things like stale rotation counts)
+ pMapInput->Inputs[i].ADRaw = 0;
+ pMapInput->Inputs[i].SensorRaw = 0;
+ pMapInput->Inputs[i].SensorValue = 0;
+
+ //Assert invalid data flag so future code is aware of these changes
+ pMapInput->Inputs[i].InvalidData = TRUE;
+ }
+
+ for (i = 0; i < NO_OF_OUTPUTS; i++)
+ {
+ //Coast and reset all motor parameters
+ pMapOutPut->Outputs[i].Mode = 0;
+ pMapOutPut->Outputs[i].RegMode = REGULATION_MODE_IDLE;
+ pMapOutPut->Outputs[i].RunState = MOTOR_RUN_STATE_IDLE;
+ pMapOutPut->Outputs[i].Speed = 0;
+ pMapOutPut->Outputs[i].TachoLimit = 0;
+ pMapOutPut->Outputs[i].SyncTurnParameter = 0;
+ pMapOutPut->Outputs[i].Flags = UPDATE_MODE | UPDATE_SPEED | UPDATE_TACHO_LIMIT | UPDATE_RESET_COUNT | UPDATE_RESET_BLOCK_COUNT | UPDATE_RESET_ROTATION_COUNT;
+ }
+
+ //Lowspeed init, INSERT CODE !!!
+ for (i = 0; i < NO_OF_LOWSPEED_COM_CHANNEL; i++)
+ {
+ pMapLowSpeed->InBuf[i].InPtr = 0;
+ pMapLowSpeed->InBuf[i].OutPtr = 0;
+ pMapLowSpeed->InBuf[i].BytesToRx = 0;
+ pMapLowSpeed->OutBuf[i].InPtr = 0;
+ pMapLowSpeed->OutBuf[i].OutPtr = 0;
+ if (pMapLowSpeed->ChannelState[i] != LOWSPEED_IDLE)
+ {
+ pMapLowSpeed->ChannelState[i] = LOWSPEED_DONE;
+ pMapLowSpeed->State |= (0x01<<i);
+ }
+ }
+
+}
+
+
+//Add NewClump to end, updating Queue's head/tail as needed
+void cCmdEnQClump(CLUMP_Q * Queue, CLUMP_ID NewClump)
+{
+ //Make sure NewClump's ID is valid and not already on Q
+ NXT_ASSERT(cCmdIsClumpIDSane(NewClump));
+ NXT_ASSERT(cCmdIsQSane(Queue) == TRUE);
+ NXT_ASSERT(!cCmdIsClumpOnQ(Queue, NewClump));
+
+ VarsCmd.pAllClumps[NewClump].Link = NOT_A_CLUMP;
+
+ //If queue is empty, NewClump becomes both head and tail
+ if (Queue->Head == NOT_A_CLUMP)
+ {
+ NXT_ASSERT(Queue->Tail == NOT_A_CLUMP);
+
+ Queue->Head = NewClump;
+ Queue->Tail = NewClump;
+ if(Queue == &(VarsCmd.RunQ))
+ cCmdRefreshActiveClump(NewClump);
+ }
+ //Otherwise, tack onto the end
+ else
+ {
+ VarsCmd.pAllClumps[Queue->Tail].Link = NewClump;
+ Queue->Tail = NewClump;
+ }
+
+ return;
+}
+
+//Dequeue specified clump
+//Normal usage is to dequeue only from the head (i.e. pass Queue.Head as arg)
+void cCmdDeQClump(CLUMP_Q * Queue, CLUMP_ID Clump)
+{
+ CLUMP_ID CurrID, LinkID;
+
+ //Make sure Clump's ID is valid and is already on Queue
+ NXT_ASSERT(cCmdIsClumpIDSane(Clump));
+ NXT_ASSERT(cCmdIsQSane(Queue) == TRUE);
+ NXT_ASSERT(cCmdIsClumpOnQ(Queue, Clump));
+
+ CurrID = Queue->Head;
+
+ //If our clump is the head, move up the next and disconnect
+ if (CurrID == Clump)
+ {
+ Queue->Head = VarsCmd.pAllClumps[Clump].Link;
+ VarsCmd.pAllClumps[Clump].Link = NOT_A_CLUMP;
+
+ //If we just removed the last clump, patch up the queue's tail
+ if (Queue->Head == NOT_A_CLUMP)
+ Queue->Tail = NOT_A_CLUMP;
+ else if(Queue == &(VarsCmd.RunQ))
+ cCmdRefreshActiveClump(Queue->Head);
+ }
+ //Else, look through rest of list looking for a link to our clump
+ else
+ {
+ do
+ {
+ CLUMP_REC *clumpPtr= &VarsCmd.pAllClumps[CurrID];
+ LinkID = clumpPtr->Link;
+
+ //If we find a link to our clump, patch up predecessor's link
+ if (clumpPtr->Link == Clump)
+ {
+ clumpPtr->Link = VarsCmd.pAllClumps[Clump].Link;
+ VarsCmd.pAllClumps[Clump].Link = NOT_A_CLUMP;
+
+ //If we just removed the tail, patch tail
+ if (Clump == Queue->Tail)
+ Queue->Tail = CurrID;
+ }
+
+ CurrID = LinkID;
+ } while (CurrID != NOT_A_CLUMP);
+ }
+
+ return;
+}
+
+
+//Rotate head to tail and advance head for given Queue
+void cCmdRotateQ()
+{
+ CLUMP_ID CurrID;
+ CLUMP_REC * pClumpRec;
+ CLUMP_Q * Queue = &VarsCmd.RunQ;
+
+ //Make sure Queue is sane
+ NXT_ASSERT(cCmdIsQSane(Queue) == TRUE);
+
+ //If queue has at least two clumps
+ if (Queue->Head != Queue->Tail)
+ {
+ CurrID = Queue->Head;
+ pClumpRec = &(VarsCmd.pAllClumps[CurrID]);
+
+ //Disconnect head
+ Queue->Head = pClumpRec->Link;
+ pClumpRec->Link = NOT_A_CLUMP;
+
+ //Reconnect head as tail
+ pClumpRec = &(VarsCmd.pAllClumps[Queue->Tail]);
+ pClumpRec->Link = CurrID;
+ Queue->Tail = CurrID;
+
+ // reinit clump info
+ CurrID= Queue->Head;
+ cCmdRefreshActiveClump(Queue->Head);
+
+ //Make sure we didn't make any really stupid mistakes
+ NXT_ASSERT(cCmdIsQSane(Queue) == TRUE);
+ }
+
+ return;
+}
+
+
+UBYTE cCmdIsClumpOnQ(CLUMP_Q * Queue, CLUMP_ID Clump)
+{
+ CLUMP_ID CurrID;
+
+ //Make sure Clump's ID is valid and is already on Queue
+ NXT_ASSERT(cCmdIsClumpIDSane(Clump));
+ NXT_ASSERT(cCmdIsQSane(Queue) == TRUE);
+
+ CurrID = Queue->Head;
+
+ while (CurrID != NOT_A_CLUMP)
+ {
+ if (CurrID == Clump)
+ return TRUE;
+
+ CurrID = VarsCmd.pAllClumps[CurrID].Link;
+ }
+
+ return FALSE;
+}
+
+
+UBYTE cCmdIsQSane(CLUMP_Q * Queue)
+{
+ CLUMP_ID Head, Tail;
+ CLUMP_REC * pHead;
+
+ if (Queue == NULL)
+ {
+ NXT_BREAK;
+ return FALSE;
+ }
+
+ Head = Queue->Head;
+ Tail = Queue->Tail;
+
+ if (Head == NOT_A_CLUMP && cCmdIsClumpIDSane(Tail))
+ return FALSE;
+
+ if (cCmdIsClumpIDSane(Head) && Tail == NOT_A_CLUMP)
+ return FALSE;
+
+ if (cCmdIsClumpIDSane(Head) && cCmdIsClumpIDSane(Tail))
+ {
+ pHead = &(VarsCmd.pAllClumps[Head]);
+
+ //!!! More comprehensive queue tests could go here
+
+ //Check for mislinked head if there are at least two queue members
+ if (Head != Tail && pHead->Link == NOT_A_CLUMP)
+ return FALSE;
+ }
+
+ return TRUE;
+}
+
+//
+// Mutex queuing functions
+//
+
+NXT_STATUS cCmdAcquireMutex(MUTEX_Q * Mutex)
+{
+ NXT_STATUS Status = NO_ERR;
+ CLUMP_ID Clump= VarsCmd.RunQ.Head; // save off before queue changes below
+
+ NXT_ASSERT(Mutex != NULL && cCmdIsClumpIDSane(Clump));
+
+ if (Mutex->Owner == NOT_A_CLUMP)
+ {
+ //Mutex is open, so just take it
+ Mutex->Owner = Clump;
+
+ NXT_ASSERT(Mutex->WaitQ.Head == NOT_A_CLUMP && Mutex->WaitQ.Tail == NOT_A_CLUMP);
+ }
+ else
+ {
+ //Mutex is reserved by someone else, take self off RunQ and add to WaitQ
+ cCmdDeQClump(&(VarsCmd.RunQ), Clump);
+ cCmdEnQClump(&(Mutex->WaitQ), Clump);
+ Status = CLUMP_SUSPEND;
+ }
+
+ NXT_ASSERT(cCmdIsQSane(&(Mutex->WaitQ)));
+
+ return (Status);
+}
+
+
+NXT_STATUS cCmdReleaseMutex(MUTEX_Q * Mutex)
+{
+#if WIN_DEBUG || defined(ARM_DEBUG)
+ CLUMP_ID Clump= VarsCmd.RunQ.Head;
+#endif
+ NXT_ASSERT(Mutex != NULL);
+ //!!! don't actually need to pass in Owner clump, but provides nice error checking for now
+ // Might want to return an error/warning if we see a Release on an free mutex, though...
+ NXT_ASSERT(Clump != NOT_A_CLUMP && Mutex->Owner == Clump);
+
+ //Always set new Owner to WaitQ's Head, since NOT_A_CLUMP means mutex is free
+ Mutex->Owner = Mutex->WaitQ.Head;
+
+ if (Mutex->Owner != NOT_A_CLUMP)
+ {
+ cCmdDeQClump(&(Mutex->WaitQ), Mutex->Owner);
+ cCmdEnQClump(&(VarsCmd.RunQ), Mutex->Owner);
+ }
+
+ NXT_ASSERT(cCmdIsQSane(&(Mutex->WaitQ)));
+ NXT_ASSERT(cCmdIsQSane(&(VarsCmd.RunQ)));
+
+ return (NO_ERR);
+}
+
+// No instruction to do this yet, but put current clump to sleep until awakeTime occurs
+NXT_STATUS cCmdSleepClump(ULONG time)
+{
+ CLUMP_ID Clump= VarsCmd.RunQ.Head; // save off before queue changes below
+ CLUMP_REC * pClump = &(VarsCmd.pAllClumps[Clump]);
+ cCmdDeQClump(&(VarsCmd.RunQ), Clump);
+ cCmdEnQClump(&(VarsCmd.RestQ), Clump);
+ pClump->awakenTime= time;
+ return CLUMP_SUSPEND;
+}
+
+UBYTE cCmdCheckRestQ(ULONG currTime)
+{
+ UBYTE awakened= FALSE;
+ CLUMP_ID curr, next;
+ CLUMP_REC * pClump;
+ curr= VarsCmd.RestQ.Head;
+ while(curr != NOT_A_CLUMP) {
+ pClump= &(VarsCmd.pAllClumps[curr]);
+ next= pClump->Link;
+ if(pClump->awakenTime <= currTime) {
+ pClump->awakenTime= 0; // not necessary, but for debugging identification
+ cCmdDeQClump(&(VarsCmd.RestQ), curr);
+ cCmdEnQClump(&(VarsCmd.RunQ), curr);
+ awakened= TRUE;
+ }
+ curr= next;
+ }
+ return awakened;
+}
+
+NXT_STATUS cCmdSchedDependents(CLUMP_ID Clump, SWORD Begin, SWORD End)
+{
+ CLUMP_ID CurrDepClumpID;
+ SWORD i;
+
+ //Begin and End specify range of CLUMP_IDs in dependent list to schedule
+ //If either equals -1, both should equal -1, and no dependents will be scheduled
+ //Else schedule specified subset offset from pDependents
+
+ //Check for valid args
+ NXT_ASSERT(cCmdIsClumpIDSane(Clump));
+ NXT_ASSERT((Begin >= 0 && End >= 0 && End < VarsCmd.pAllClumps[Clump].DependentCount)
+ || (Begin == -1 && End == -1));
+
+ //If non-empty range
+ if (Begin != -1 || End != -1)
+ {
+ //update dependents, scheduling if their CurrFireCount reaches 0
+ for (i = Begin; i <= End; i++)
+ {
+ CurrDepClumpID = VarsCmd.pAllClumps[Clump].pDependents[i];
+
+ NXT_ASSERT(cCmdIsClumpIDSane(CurrDepClumpID));
+
+ VarsCmd.pAllClumps[CurrDepClumpID].CurrFireCount--;
+
+ if (VarsCmd.pAllClumps[CurrDepClumpID].CurrFireCount == 0)
+ cCmdEnQClump(&(VarsCmd.RunQ), CurrDepClumpID);
+ }
+ }
+
+ return (NO_ERR);
+}
+
+
+NXT_STATUS cCmdSchedDependent(CLUMP_ID Clump, CLUMP_ID TargetClump)
+{
+ //TargetClump specifies the clump number of the target to schedule explicitly.
+
+ //Check for valid args
+ NXT_ASSERT(cCmdIsClumpIDSane(Clump));
+ NXT_ASSERT(cCmdIsClumpIDSane(TargetClump));
+
+ CLUMP_REC *clumpPtr= &VarsCmd.pAllClumps[TargetClump];
+ clumpPtr->CurrFireCount--;
+ if (clumpPtr->CurrFireCount == 0)
+ cCmdEnQClump(&(VarsCmd.RunQ), TargetClump);
+
+ return (NO_ERR);
+}
+
+
+UBYTE cCmdIsClumpIDSane(CLUMP_ID Clump)
+{
+ if (Clump < VarsCmd.AllClumpsCount)
+ return TRUE;
+ else
+ return FALSE;
+}
+
+
+//
+// Memory pool management functions
+//
+void cCmdInitPool(void)
+{
+ ULONG i;
+ ULONG *poolPtr;
+
+ //VarsCmd.Pool is a UBYTE pointer to ULONG array
+ //This was done to enforce portable alignment.
+ VarsCmd.Pool = (UBYTE*)(IOMapCmd.MemoryPool);
+
+ for (i = (POOL_MAX_SIZE / 4), poolPtr= (ULONG*)&(POOL_START)[0]; i>0; i--, poolPtr++)
+ *poolPtr = 0xDEADBEEF;
+
+ VarsCmd.PoolSize = 0;
+}
+
+
+#if VMProfilingCode
+ULONG memMgrTime= 0;
+#endif
+NXT_STATUS cCmdDSArrayAlloc(DS_ELEMENT_ID DSElementID, UWORD Offset, UWORD NewCount)
+{
+ NXT_STATUS Status = NO_ERR;
+ UWORD DVIndex;
+ UWORD OldCount;
+ UWORD i;
+#if VMProfilingCode
+ ULONG enterTime= dTimerReadHiRes();
+#endif
+ NXT_ASSERT(cCmdIsDSElementIDSane(DSElementID));
+
+ //Only arrays are valid here
+ //!!! Recommended to upgrade NXT_ASSERT to ERR_INSTR return
+ NXT_ASSERT(cCmdDSType(DSElementID) == TC_ARRAY);
+
+ DVIndex = cCmdGetDVIndex(DSElementID, Offset);
+ OldCount = DV_ARRAY[DVIndex].Count;
+
+ if(OldCount == NewCount)
+ goto allocExit;
+ Status = cCmdDVArrayAlloc(DVIndex, NewCount);
+
+ if (Status < NO_ERR)
+ goto allocExit;
+
+ if(!IS_AGGREGATE_TYPE(cCmdDSType(INC_ID(DSElementID))))
+ goto allocExit;
+
+ if (OldCount > NewCount)
+ {
+ //Free dope vectors for sub-arrays.
+ for (i = NewCount; i < OldCount; i++)
+ {
+ Status = cCmdFreeSubArrayDopeVectors(INC_ID(DSElementID), ARRAY_ELEM_OFFSET(DVIndex, i));
+ if (IS_ERR(Status))
+ goto allocExit;
+ }
+ }
+ else if (OldCount < NewCount)
+ {
+ //Alloc dope vectors for sub-arrays. Set up DVIndexes
+ for (i = OldCount; i < NewCount; i++)
+ {
+ Status = cCmdAllocSubArrayDopeVectors(INC_ID(DSElementID), ARRAY_ELEM_OFFSET(DVIndex, i));
+ if (IS_ERR(Status))
+ goto allocExit;
+ }
+ }
+
+ NXT_ASSERT(cCmdVerifyMemMgr());
+allocExit:
+#if VMProfilingCode
+ memMgrTime += dTimerReadHiRes() - enterTime;
+#endif
+ return Status;
+}
+
+NXT_STATUS cCmdDVArrayAlloc(DV_INDEX DVIndex, UWORD NewCount)
+{
+ NXT_STATUS Status = NO_ERR;
+ UBYTE *pData;
+ UWORD ArraySize, InplaceSize;
+ UWORD NextDVIndex;
+ UWORD OldCount;
+
+ OldCount = DV_ARRAY[DVIndex].Count;
+
+ if (OldCount == NewCount)
+ {
+ //Nothing to alloc. Return.
+ return Status;
+ }
+ else if (OldCount > NewCount)
+ {
+ //Already have the space. Shrink inplace.
+ DV_ARRAY[DVIndex].Count = NewCount;
+ return Status;
+ }
+ else // need to grow array
+ {
+ //Calculate new array size
+ ArraySize = NewCount * DV_ARRAY[DVIndex].ElemSize;
+
+ //Try growing inplace
+ // If the Offset == NOT_AN_OFFSET then the array has never been allocated and can't grow inplace.
+ if (DV_ARRAY[DVIndex].Offset != NOT_AN_OFFSET)
+ {
+ //Get pointer to next dope vector in dataspace
+ if (DV_ARRAY[DVIndex].Link != NOT_A_DS_ID)
+ {
+ NextDVIndex = DV_ARRAY[DVIndex].Link;
+ InplaceSize = DV_ARRAY[NextDVIndex].Offset - DV_ARRAY[DVIndex].Offset;
+ }
+ else
+ {
+ //Last element in dataspace.
+ NXT_ASSERT(DVIndex == VarsCmd.MemMgr.Tail);
+ InplaceSize = VarsCmd.DataspaceSize - DV_ARRAY[DVIndex].Offset;
+ }
+
+ if (ArraySize <= InplaceSize)
+ {
+ DV_ARRAY[DVIndex].Count = NewCount;
+ return Status;
+ }
+ }
+
+ //Can't grow inplace, have to allocate new space
+
+ //Make sure we properly align for type
+ //!!! This could also overflow memory (make PoolSize > POOL_MAX_SIZE) if we're within 3 bytes of the end.
+ // I don't think it matters because if it does happend, we'll trigger the ERR_MEM below and compact.
+ // During compaction, we'll reclaim these unused bytes.
+ //!!! Aligning beginning of ALL arrays to 4 byte address
+ ALIGN_TO_MOD(VarsCmd.PoolSize, SIZE_ULONG);
+ ALIGN_TO_MOD(VarsCmd.DataspaceSize, SIZE_ULONG);
+
+ if (VarsCmd.PoolSize + ArraySize >= POOL_MAX_SIZE)
+ {
+ //Not enough memory available
+ return ERR_MEM;
+ }
+
+ //Get data from end of pool
+ pData = VarsCmd.Pool + VarsCmd.PoolSize;
+ //Grow pool and dataspace
+ VarsCmd.PoolSize += ArraySize;
+ VarsCmd.DataspaceSize += ArraySize;
+
+ //Move old Array Data to new allocation
+ if(OldCount)
+ memmove(pData, VarsCmd.pDataspace + DV_ARRAY[DVIndex].Offset, (UWORD)(DV_ARRAY[DVIndex].ElemSize * OldCount));
+ //!!! Clear mem so old mem doesn't contain stale data. Not strictly needed.
+#if WIN_DEBUG || defined(ARM_DEBUG)
+ memset(VarsCmd.pDataspace + DV_ARRAY[DVIndex].Offset, 0xFF, (UWORD)(DV_ARRAY[DVIndex].ElemSize * OldCount));
+#endif
+ //Update dope vector
+ DV_ARRAY[DVIndex].Offset = pData - VarsCmd.pDataspace;
+ DV_ARRAY[DVIndex].Count = NewCount;
+
+ //Move dope vector to end of MemMgr list
+ Status = cCmdMemMgrMoveToTail(DVIndex);
+ if (IS_ERR(Status))
+ return Status;
+
+ NXT_ASSERT(cCmdVerifyMemMgr());
+ }
+
+ return Status;
+}
+
+
+//!!! Recursive function
+NXT_STATUS cCmdAllocSubArrayDopeVectors(DS_ELEMENT_ID DSElementID, UWORD Offset)
+{
+ // Walks a single array element to see if it contains arrays
+ // For any array it finds, a dope vector is allocated and the DVIndex is placed in the dataspace for the parent array.
+ // This is a non-recursive function. It only walks the immediate array element.
+ // DSElementID - ID of array sub-entry
+ // Offset - offset to array element in dataspace
+ NXT_STATUS Status = NO_ERR;
+ TYPE_CODE TypeCode;
+ DV_INDEX DVIndex;
+ UWORD i;
+ UWORD DVIndexOffset; //Offset to DVIndex field that points to the DopeVector from pDataspace
+ UWORD LoopCount = 1;
+ UWORD ElemSize;
+
+ for (i = 0; i < LoopCount; i++)
+ {
+ TypeCode = cCmdDSType((DS_ELEMENT_ID)(DSElementID + i));
+ if (TypeCode == TC_CLUSTER)
+ {
+ LoopCount += cCmdClusterCount(DSElementID);
+ }
+ else if (TypeCode == TC_ARRAY)
+ {
+ //!!! ElemSize is a static value, but we don't have anywhere we put it (another TOC sub-entry?)
+ // It'd be nice to not have to recalculate it.
+ ElemSize = cCmdCalcArrayElemSize((DS_ELEMENT_ID)(DSElementID + i));
+ DVIndexOffset = VarsCmd.pDataspaceTOC[DSElementID + i].DSOffset + Offset;
+ Status = cCmdAllocDopeVector(&DVIndex, ElemSize);
+ if (IS_ERR(Status))
+ return Status;
+
+ *((UWORD *)(VarsCmd.pDataspace + DVIndexOffset)) = DVIndex;
+ }
+ }
+
+ return Status;
+}
+
+
+//!!! Recursive function
+NXT_STATUS cCmdFreeSubArrayDopeVectors(DS_ELEMENT_ID DSElementID, UWORD Offset)
+{
+ // Walks a single array element to see if it contains arrays
+ // Frees all dope vectors associated with the array element.
+ // Recursively deletes sub-arrays.
+ // DSElementID - ID of array sub-entry
+ // Offset - offset to array element in dataspace
+ NXT_STATUS Status = NO_ERR;
+ TYPE_CODE TypeCode;
+ DV_INDEX DVIndex;
+ UWORD i, Count;
+
+ TypeCode = cCmdDSType(DSElementID);
+
+ if (TypeCode == TC_ARRAY)
+ {
+ DVIndex = cCmdGetDVIndex(DSElementID, Offset);
+
+ NXT_ASSERT(DVIndex < DV_ARRAY[0].Count);
+
+ Count = DV_ARRAY[DVIndex].Count;
+ //Recur on sub-elements
+ for (i = 0; i < Count; i++)
+ {
+ Status = cCmdFreeSubArrayDopeVectors(INC_ID(DSElementID), ARRAY_ELEM_OFFSET(DVIndex, i));
+ if (IS_ERR(Status))
+ return Status;
+ }
+
+ //Free Dope Vector
+ Status = cCmdFreeDopeVector(DVIndex);
+ }
+ else if (TypeCode == TC_CLUSTER)
+ {
+ Count = cCmdClusterCount(DSElementID);
+ DSElementID = INC_ID(DSElementID);
+ //Recur on sub-elements
+ for (i = 0; i < Count; i++)
+ {
+ Status = cCmdFreeSubArrayDopeVectors((DS_ELEMENT_ID)(DSElementID + i), Offset);
+ if (IS_ERR(Status))
+ return Status;
+ }
+ }
+
+ return Status;
+}
+
+
+NXT_STATUS cCmdAllocDopeVector(DV_INDEX *pIndex, UWORD ElemSize)
+{
+ NXT_STATUS Status = NO_ERR;
+
+ if (VarsCmd.MemMgr.FreeHead == NOT_A_DS_ID)
+ {
+ //No free DVs. Need to grow DopeVector array.
+ Status = cCmdGrowDopeVectorArray(DV_ARRAY_GROWTH_COUNT);
+ if (IS_ERR(Status))
+ return Status;
+ }
+
+ if(VarsCmd.MemMgr.FreeHead == NOT_A_DS_ID)
+ return ERR_MEM;
+
+ //Remove DV from free list
+ *pIndex = VarsCmd.MemMgr.FreeHead;
+ VarsCmd.MemMgr.FreeHead = DV_ARRAY[*pIndex].Link;
+ if(VarsCmd.MemMgr.FreeHead != NOT_A_DS_ID)
+ DV_ARRAY[VarsCmd.MemMgr.FreeHead].BackLink= NOT_A_DS_ID;
+ //Add DV to tail of MemMgr list
+ Status = cCmdMemMgrInsertAtTail(*pIndex);
+
+ //Initialize values
+ DV_ARRAY[*pIndex].Offset = NOT_AN_OFFSET;
+ DV_ARRAY[*pIndex].ElemSize = ElemSize;
+ DV_ARRAY[*pIndex].Count = 0;
+
+ NXT_ASSERT(cCmdVerifyMemMgr());
+
+ return Status;
+}
+
+//
+//cCmdFreeDopeVector() - Open up a spot in the DopeVectorArray for future use
+// The DopeVectorArray doesn't shrink when arrays (and their dope vectors) are deleted.
+// Instead they're pushed on the free list and the array stays the same size.
+// Future allocations check the free list before resorting to cCmdGrowDopeVectorArray()
+//
+NXT_STATUS cCmdFreeDopeVector(DV_INDEX DVIndex)
+{
+ NXT_STATUS Status = NO_ERR;
+ DV_INDEX prev, post;
+
+ //Bounds check
+ NXT_ASSERT(DVIndex < DV_ARRAY[0].Count);
+
+ //Reset dope vector fields
+ DV_ARRAY[DVIndex].Count = 0;
+ DV_ARRAY[DVIndex].ElemSize = 0;
+ DV_ARRAY[DVIndex].Offset = NOT_AN_OFFSET;
+
+ //Remove from MemMgr list
+ if (DVIndex == VarsCmd.MemMgr.Head)
+ {
+ VarsCmd.MemMgr.Head = DV_ARRAY[DVIndex].Link;
+ if(VarsCmd.MemMgr.Head != NOT_A_DS_ID)
+ DV_ARRAY[VarsCmd.MemMgr.Head].BackLink= NOT_A_DS_ID;
+ }
+ else
+ {
+ // patchup middle or end of list.
+ prev= DV_ARRAY[DVIndex].BackLink;
+ post= DV_ARRAY[DVIndex].Link;
+ NXT_ASSERT(prev != NOT_A_DS_ID);
+
+ DV_ARRAY[prev].Link = post;
+ if(post != NOT_A_DS_ID)
+ DV_ARRAY[post].BackLink= prev;
+ if (DVIndex == VarsCmd.MemMgr.Tail)
+ VarsCmd.MemMgr.Tail = prev;
+ //Make sure we found the previous DV, otherwise this DV was not in the the list (already freed?)
+ }
+
+ //Push onto free list
+ DV_ARRAY[DVIndex].Link = VarsCmd.MemMgr.FreeHead;
+ DV_ARRAY[DVIndex].BackLink = NOT_A_DS_ID;
+ DV_ARRAY[VarsCmd.MemMgr.FreeHead].BackLink= DVIndex;
+ VarsCmd.MemMgr.FreeHead = DVIndex;
+
+ NXT_ASSERT(cCmdVerifyMemMgr());
+
+ return Status;
+}
+
+//
+//cCmdGrowDopeVectorArray() - expand DopeVectorArray to be able to track more dataspace arrays
+//
+NXT_STATUS cCmdGrowDopeVectorArray(UWORD NewNodesCount)
+{
+ NXT_STATUS Status = NO_ERR;
+ UWORD ArraySize;
+ UWORD OldCount, NewCount, i;
+ UBYTE * pData;
+
+ NXT_ASSERT(cCmdVerifyMemMgr());
+
+ OldCount = DV_ARRAY[0].Count;
+ NewCount = OldCount + NewNodesCount;
+ NXT_ASSERT(NewCount > OldCount);
+
+ ArraySize = DV_ARRAY[0].ElemSize * NewCount;
+
+ //!!! Aligning beginning of ALL arrays to 4 byte address
+ ALIGN_TO_MOD(VarsCmd.PoolSize, SIZE_ULONG);
+ ALIGN_TO_MOD(VarsCmd.DataspaceSize, SIZE_ULONG);
+
+ if (VarsCmd.PoolSize + ArraySize >= POOL_MAX_SIZE)
+ {
+ //Not enough memory available
+ return ERR_MEM;
+ }
+
+ //Get data from end of pool
+ pData = VarsCmd.Pool + VarsCmd.PoolSize;
+ //Grow pool and dataspace
+ VarsCmd.PoolSize += ArraySize;
+ VarsCmd.DataspaceSize += ArraySize;
+
+ //Move DopeVector Array
+ memmove(pData, (UBYTE *)VarsCmd.MemMgr.pDopeVectorArray, (UWORD)(DV_ARRAY[0].ElemSize * DV_ARRAY[0].Count));
+
+ //Update MemMgr pointer
+ VarsCmd.MemMgr.pDopeVectorArray = (DOPE_VECTOR *)pData;
+ IOMapCmd.OffsetDVA = (UWORD)((ULONG)(VarsCmd.MemMgr.pDopeVectorArray) - (ULONG)&(IOMapCmd));
+
+ //Update dope vector
+ DV_ARRAY[0].Offset = pData - VarsCmd.pDataspace;
+ DV_ARRAY[0].Count = NewCount;
+
+ //Add new DopeVectors to free list
+ //Push in reverse order so they get popped in order (mostly for ease of debugging)
+ for (i = NewCount - 1; i >= OldCount; i--)
+ {
+ DV_ARRAY[i].Offset = 0xFFFF;
+ DV_ARRAY[i].ElemSize = 0;
+ DV_ARRAY[i].Count = 0;
+ DV_ARRAY[i].BackLink = NOT_A_DS_ID;
+ if(VarsCmd.MemMgr.FreeHead != NOT_A_DS_ID)
+ DV_ARRAY[VarsCmd.MemMgr.FreeHead].BackLink = i;
+ DV_ARRAY[i].Link = VarsCmd.MemMgr.FreeHead;
+ VarsCmd.MemMgr.FreeHead = i;
+ }
+
+ //Move dope vector to end of MemMgr list
+ Status = cCmdMemMgrMoveToTail(0);
+
+ NXT_ASSERT(cCmdVerifyMemMgr());
+
+ return Status;
+}
+
+
+UWORD cCmdCalcArrayElemSize(DS_ELEMENT_ID DSElementID)
+{
+ TYPE_CODE TypeCode;
+ UWORD SizeOfType;
+ UWORD i;
+ UWORD LoopCount = 1;
+ UWORD Size = 0;
+ UWORD Alignment = 0;
+
+ NXT_ASSERT(cCmdDSType(DSElementID) == TC_ARRAY);
+
+ DSElementID = INC_ID(DSElementID);
+ for (i = 0; i < LoopCount; i++)
+ {
+ TypeCode = cCmdDSType((DS_ELEMENT_ID)(DSElementID + i));
+ if (TypeCode == TC_CLUSTER)
+ {
+ LoopCount += cCmdClusterCount((DS_ELEMENT_ID)(DSElementID + i));
+ }
+ else
+ {
+ SizeOfType = cCmdSizeOf(TypeCode);
+ ALIGN_TO_MOD(Size, SizeOfType);
+ Size += SizeOfType;
+ if (SizeOfType > Alignment)
+ Alignment = SizeOfType;
+ }
+ }
+ ALIGN_TO_MOD(Size, Alignment);
+
+ return Size;
+}
+
+
+NXT_STATUS cCmdMemMgrMoveToTail(DV_INDEX DVIndex)
+{
+ DV_INDEX prev, post;
+
+ //Bounds check
+ NXT_ASSERT(DVIndex < DV_ARRAY[0].Count);
+
+ //Short circut if its already at the tail
+ if (DVIndex == VarsCmd.MemMgr.Tail)
+ return NO_ERR;
+
+ if (DVIndex == VarsCmd.MemMgr.Head) {
+ VarsCmd.MemMgr.Head = DV_ARRAY[DVIndex].Link;
+ DV_ARRAY[VarsCmd.MemMgr.Head].BackLink= NOT_A_DS_ID;
+ }
+ else
+ {
+ // connect to middle or end of list.
+ prev= DV_ARRAY[DVIndex].BackLink;
+ post= DV_ARRAY[DVIndex].Link;
+ NXT_ASSERT(prev != NOT_A_DS_ID);
+ DV_ARRAY[prev].Link = post;
+ if(post != NOT_A_DS_ID)
+ DV_ARRAY[post].BackLink= prev;
+ }
+
+ DV_ARRAY[DVIndex].Link = NOT_A_DS_ID;
+ DV_ARRAY[DVIndex].BackLink = VarsCmd.MemMgr.Tail;
+ if(VarsCmd.MemMgr.Tail != NOT_A_DS_ID)
+ DV_ARRAY[VarsCmd.MemMgr.Tail].Link = DVIndex;
+ VarsCmd.MemMgr.Tail = DVIndex;
+
+ NXT_ASSERT(cCmdVerifyMemMgr());
+
+ return NO_ERR;
+}
+
+
+NXT_STATUS cCmdMemMgrInsertAtTail(DV_INDEX DVIndex)
+{
+ //Bounds check
+ NXT_ASSERT(DVIndex < DV_ARRAY[0].Count);
+
+ DV_ARRAY[VarsCmd.MemMgr.Tail].Link = DVIndex;
+ DV_ARRAY[DVIndex].BackLink= VarsCmd.MemMgr.Tail;
+ DV_ARRAY[DVIndex].Link = NOT_A_DS_ID;
+ VarsCmd.MemMgr.Tail = DVIndex;
+
+ NXT_ASSERT(cCmdVerifyMemMgr());
+
+ return NO_ERR;
+}
+
+
+UBYTE cCmdVerifyMemMgr()
+{
+ DV_INDEX i, prev, post;
+ UWORD CurrOffset = 0;
+ UWORD PrevOffset = 0;
+ UWORD DVCount = 0;
+
+ //Make sure the MemMgr list is properly sorted in ascending offset order
+ for (i = VarsCmd.MemMgr.Head; i != NOT_A_DS_ID; i = DV_ARRAY[i].Link)
+ {
+ CurrOffset = DV_ARRAY[i].Offset;
+
+ if (CurrOffset != 0xFFFF)
+ {
+ if (PrevOffset > CurrOffset)
+ return FALSE;
+
+ PrevOffset = CurrOffset;
+ }
+
+ prev= DV_ARRAY[i].BackLink;
+ post= DV_ARRAY[i].Link;
+ if (post == NOT_A_DS_ID && i != VarsCmd.MemMgr.Tail)
+ return FALSE;
+ else if(prev == NOT_A_DS_ID && i != VarsCmd.MemMgr.Head)
+ return FALSE;
+ else if(prev != NOT_A_DS_ID && DV_ARRAY[prev].Link != i)
+ return FALSE;
+ else if(post != NOT_A_DS_ID && DV_ARRAY[post].BackLink != i)
+ return FALSE;
+
+ DVCount++;
+ }
+
+ // could check link and backlinks too
+ for (i = VarsCmd.MemMgr.FreeHead; i != NOT_A_DS_ID; i = DV_ARRAY[i].Link)
+ {
+ DVCount++;
+ }
+
+ //Make sure the # of dope vectors = # used + # free
+ if (DVCount != DV_ARRAY[0].Count)
+ return FALSE;
+
+ return TRUE;
+}
+
+
+NXT_STATUS cCmdDSCompact(void)
+{
+ NXT_STATUS Status = NO_ERR;
+
+ DV_INDEX CurrIndex;
+ UWORD NewOffset;
+ UWORD CurrOffset;
+ UWORD Size;
+ UWORD DeltaDSSize;
+ UWORD TempOffset, TempSize;
+
+#if VM_BENCHMARK
+ ULONG StartTime, TotalTime;
+
+ VarsCmd.CompactionCount++;
+ VarsCmd.LastCompactionTick = IOMapCmd.Tick - VarsCmd.StartTick;
+
+ StartTime = dTimerRead();
+#endif
+
+ NXT_ASSERT(cCmdVerifyMemMgr());
+
+ NewOffset = VarsCmd.DSStaticSize;
+ for (CurrIndex = VarsCmd.MemMgr.Head; CurrIndex != NOT_A_DS_ID; CurrIndex = DV_ARRAY[CurrIndex].Link)
+ {
+ //Align NewOffset for array to 4 byte address.
+ ALIGN_TO_MOD(NewOffset, SIZE_ULONG);
+
+ CurrOffset = DV_ARRAY[CurrIndex].Offset;
+ if (CurrOffset != NOT_AN_OFFSET)
+ {
+ Size = DV_ARRAY[CurrIndex].ElemSize * DV_ARRAY[CurrIndex].Count;
+ if (CurrOffset != NewOffset)
+ {
+ NXT_ASSERT(NewOffset < CurrOffset);
+ memmove(VarsCmd.pDataspace + NewOffset, VarsCmd.pDataspace + CurrOffset, Size);
+
+ // Clear mem to make stale data references more obvious while debugging.
+ // Correct for overlapping memory regions (make sure we don't clear what we just moved).
+ //!!! Clearing step not strictly necessary, so it could be optimized out
+ if (NewOffset + Size > CurrOffset)
+ {
+ TempOffset = NewOffset + Size;
+ TempSize = Size - (TempOffset - CurrOffset);
+ }
+ else
+ {
+ TempOffset = CurrOffset;
+ TempSize = Size;
+ }
+ memset(VarsCmd.pDataspace + TempOffset, 0xFF, TempSize);
+
+ //Update pDopeVectorArray if we move the dope vector array
+ if (CurrIndex == 0)
+ {
+ VarsCmd.MemMgr.pDopeVectorArray = (DOPE_VECTOR *)(VarsCmd.pDataspace + NewOffset);
+ IOMapCmd.OffsetDVA = (UWORD)((ULONG)(VarsCmd.MemMgr.pDopeVectorArray) - (ULONG)&(IOMapCmd));
+ }
+
+ //Update offset in DV Array
+ DV_ARRAY[CurrIndex].Offset = NewOffset;
+ }
+
+ NewOffset += Size;
+ }
+ }
+
+ DeltaDSSize = VarsCmd.DataspaceSize - NewOffset;
+
+ VarsCmd.PoolSize -= DeltaDSSize;
+ VarsCmd.DataspaceSize -= DeltaDSSize;
+
+ NXT_ASSERT(cCmdVerifyMemMgr());
+
+#if VM_BENCHMARK
+ TotalTime = dTimerRead() - StartTime;
+
+ if (TotalTime > VarsCmd.MaxCompactionTime)
+ VarsCmd.MaxCompactionTime = TotalTime;
+#endif
+
+ return Status;
+}
+
+
+//
+// Message Queue functions
+//
+
+NXT_STATUS cCmdMessageWrite(UWORD QueueID, UBYTE * pData, UWORD Length)
+{
+ NXT_STATUS Status = NO_ERR;
+
+ if (pData == NULL)
+ return ERR_ARG;
+
+ if (QueueID >= MESSAGE_QUEUE_COUNT)
+ return ERR_INVALID_QUEUE;
+
+ if (VarsCmd.ActiveProgHandle == NOT_A_HANDLE)
+ return ERR_NO_PROG;
+
+ //Can't accept oversize messages because we treat them as strings (truncation would remove null termination)
+ if (Length > MAX_MESSAGE_SIZE)
+ return ERR_INVALID_SIZE;
+
+ if (IS_DV_INDEX_SANE(GET_WRITE_MSG(QueueID)))
+ {
+ //A message is already there, the queue is full
+ NXT_ASSERT(VarsCmd.MessageQueues[QueueID].WriteIndex == VarsCmd.MessageQueues[QueueID].ReadIndex);
+
+ //Bump read index, drop existing message to make room for our new incoming message
+ VarsCmd.MessageQueues[QueueID].ReadIndex = (VarsCmd.MessageQueues[QueueID].ReadIndex + 1) % MESSAGES_PER_QUEUE;
+ }
+ else
+ {
+ //Allocate dope vector for message
+ Status = cCmdAllocDopeVector(&GET_WRITE_MSG(QueueID), 1);
+ if (IS_ERR(Status))
+ return Status;
+ }
+
+ //Allocate storage for message
+ Status = cCmdDVArrayAlloc(GET_WRITE_MSG(QueueID), Length);
+ if (IS_ERR(Status))
+ {
+ //Clear the dope vector for the message, since we're unable to put a message there.
+ cCmdFreeDopeVector(GET_WRITE_MSG(QueueID));
+ SET_WRITE_MSG(QueueID, NOT_A_DS_ID);
+ return Status;
+ }
+
+ //Copy message
+ memmove(cCmdDVPtr(GET_WRITE_MSG(QueueID)), pData, Length);
+
+ //Advance write index
+ VarsCmd.MessageQueues[QueueID].WriteIndex = (VarsCmd.MessageQueues[QueueID].WriteIndex + 1) % MESSAGES_PER_QUEUE;
+
+ return Status;
+}
+
+
+NXT_STATUS cCmdMessageGetSize(UWORD QueueID, UWORD * Size)
+{
+ DV_INDEX ReadDVIndex;
+
+ if (Size == NULL)
+ return (ERR_ARG);
+
+ if (VarsCmd.ActiveProgHandle == NOT_A_HANDLE)
+ {
+ *Size = 0;
+ return (ERR_NO_PROG);
+ }
+
+ if (QueueID >= MESSAGE_QUEUE_COUNT)
+ {
+ *Size = 0;
+ return (ERR_INVALID_QUEUE);
+ }
+
+ ReadDVIndex = GET_READ_MSG(QueueID);
+
+ if (IS_DV_INDEX_SANE(ReadDVIndex))
+ {
+ *Size = (DV_ARRAY[ReadDVIndex].Count);
+ return (NO_ERR);
+ }
+ else
+ {
+ *Size = 0;
+ return (STAT_MSG_EMPTY_MAILBOX);
+ }
+}
+
+
+NXT_STATUS cCmdMessageRead(UWORD QueueID, UBYTE * pBuffer, UWORD Length, UBYTE Remove)
+{
+ NXT_STATUS Status = NO_ERR;
+ DV_INDEX ReadDVIndex;
+
+ if (pBuffer == NULL)
+ return (ERR_ARG);
+
+ if (VarsCmd.ActiveProgHandle == NOT_A_HANDLE)
+ return (ERR_NO_PROG);
+
+ if (QueueID >= MESSAGE_QUEUE_COUNT)
+ return (ERR_INVALID_QUEUE);
+
+ ReadDVIndex = GET_READ_MSG(QueueID);
+
+ if (IS_DV_INDEX_SANE(ReadDVIndex))
+ {
+ //If Buffer doesn't have room for the entire message,
+ //don't risk incomplete string floating around
+ if (Length < DV_ARRAY[ReadDVIndex].Count)
+ return (ERR_INVALID_SIZE);
+
+ //Copy message
+ memmove(pBuffer, cCmdDVPtr(ReadDVIndex), DV_ARRAY[ReadDVIndex].Count);
+
+ if (Remove)
+ {
+ //Free memory used by message
+ Status = cCmdFreeDopeVector(ReadDVIndex);
+ if (IS_ERR(Status))
+ return Status;
+
+ SET_READ_MSG(QueueID, NOT_A_DS_ID);
+
+ //Advance read index
+ VarsCmd.MessageQueues[QueueID].ReadIndex = (VarsCmd.MessageQueues[QueueID].ReadIndex + 1) % MESSAGES_PER_QUEUE;
+ }
+ }
+ else
+ {
+ //No message to read, message Queue is empty
+ NXT_ASSERT(VarsCmd.MessageQueues[QueueID].ReadIndex == VarsCmd.MessageQueues[QueueID].WriteIndex);
+
+ return (STAT_MSG_EMPTY_MAILBOX);
+ }
+
+ return Status;
+}
+
+//
+// Datalog Queue function(s)
+//
+
+NXT_STATUS cCmdDatalogWrite(UBYTE * pData, UWORD Length)
+{
+ NXT_STATUS Status = NO_ERR;
+
+ if (pData == NULL)
+ return ERR_ARG;
+
+ if (VarsCmd.ActiveProgHandle == NOT_A_HANDLE)
+ return (ERR_NO_PROG);
+
+ //Can't accept oversize messages because we treat them as strings (truncation would remove null termination)
+ if (Length > MAX_DATALOG_SIZE)
+ return ERR_INVALID_SIZE;
+
+ if (IS_DV_INDEX_SANE(GET_WRITE_DTLG()))
+ {
+ //A message is already there, the queue is full
+ NXT_ASSERT(VarsCmd.DatalogBuffer.WriteIndex == VarsCmd.DatalogBuffer.ReadIndex);
+ Status = STAT_MSG_BUFFERWRAP;
+ //Bump read index, drop existing message to make room for our newly acquired datalog
+ VarsCmd.DatalogBuffer.ReadIndex = (VarsCmd.DatalogBuffer.ReadIndex + 1) % DATALOG_QUEUE_DEPTH;
+ }
+ else
+ {
+ //Allocate dope vector for message
+ Status = cCmdAllocDopeVector(&GET_WRITE_DTLG(), 1);
+ if (IS_ERR(Status))
+ return Status;
+ }
+
+ //Allocate storage for message
+ Status |= cCmdDVArrayAlloc(GET_WRITE_DTLG(), Length);
+ if (IS_ERR(Status))
+ {
+ //Clear the dope vector for the message, since we're unable to put a message there.
+ cCmdFreeDopeVector(GET_WRITE_DTLG());
+ SET_WRITE_DTLG(NOT_A_DS_ID);
+ return Status;
+ }
+
+ //Copy message
+ memmove(cCmdDVPtr(GET_WRITE_DTLG()), pData, Length);
+
+ //Advance write index
+ VarsCmd.DatalogBuffer.WriteIndex = (VarsCmd.DatalogBuffer.WriteIndex + 1) % DATALOG_QUEUE_DEPTH;
+
+ return Status;
+}
+
+NXT_STATUS cCmdDatalogGetSize(UWORD * Size)
+{
+ DV_INDEX ReadDVIndex;
+
+ if (Size == NULL)
+ return (ERR_ARG);
+
+ if (VarsCmd.ActiveProgHandle == NOT_A_HANDLE)
+ {
+ *Size = 0;
+ return (ERR_NO_PROG);
+ }
+
+ ReadDVIndex = GET_READ_DTLG();
+
+ if (IS_DV_INDEX_SANE(ReadDVIndex))
+ {
+ *Size = (DV_ARRAY[ReadDVIndex].Count);
+ return (NO_ERR);
+ }
+ else
+ {
+ *Size = 0;
+ return (STAT_MSG_EMPTY_MAILBOX);
+ }
+}
+
+NXT_STATUS cCmdDatalogRead(UBYTE * pBuffer, UWORD Length, UBYTE Remove)
+{
+ NXT_STATUS Status = NO_ERR;
+ DV_INDEX ReadDVIndex;
+
+ if (pBuffer == NULL)
+ return (ERR_ARG);
+
+ if (VarsCmd.ActiveProgHandle == NOT_A_HANDLE)
+ return (ERR_NO_PROG);
+
+ ReadDVIndex = GET_READ_DTLG();
+
+ if (IS_DV_INDEX_SANE(ReadDVIndex))
+ {
+ //If Buffer doesn't have room for the entire message,
+ //don't risk incomplete string floating around
+ if (Length < DV_ARRAY[ReadDVIndex].Count)
+ return (ERR_INVALID_SIZE);
+
+ //Copy message
+ memmove(pBuffer, cCmdDVPtr(ReadDVIndex), DV_ARRAY[ReadDVIndex].Count);
+
+ if (Remove)
+ {
+ //Free memory used by message
+ Status = cCmdFreeDopeVector(ReadDVIndex);
+ if (IS_ERR(Status))
+ return Status;
+
+ SET_READ_DTLG(NOT_A_DS_ID);
+
+ //Advance read index
+ VarsCmd.DatalogBuffer.ReadIndex = (VarsCmd.DatalogBuffer.ReadIndex + 1) % DATALOG_QUEUE_DEPTH;
+ }
+ }
+ else
+ {
+ //No message to read, datalog Queue is empty
+ NXT_ASSERT(VarsCmd.DatalogBuffer.ReadIndex == VarsCmd.DatalogBuffer.WriteIndex);
+
+ return (STAT_MSG_EMPTY_MAILBOX);
+ }
+
+ return Status;
+}
+
+
+//
+// Color Sensor Functions
+//
+NXT_STATUS cCmdColorSensorRead (UBYTE Port, SWORD * SensorValue, UWORD * RawArray, UWORD * NormalizedArray,
+ SWORD * ScaledArray, UBYTE * InvalidData)
+{
+ ULONG i;
+ //Make sure Port is valid for Color Sensor
+ if (!(pMapInput->Inputs[Port].SensorType == COLORFULL || pMapInput->Inputs[Port].SensorType == COLORRED
+ || pMapInput->Inputs[Port].SensorType == COLORGREEN || pMapInput->Inputs[Port].SensorType == COLORBLUE
+ || pMapInput->Inputs[Port].SensorType == COLORNONE))
+ {
+ return (ERR_COMM_CHAN_NOT_READY); //TODO - is this the right error?
+ }
+ //Copy Detected Color
+ *SensorValue = pMapInput->Inputs[Port].SensorValue;
+
+ //Copy all raw, normalized and scaled data from I/O Map
+ for (i=0; i<NO_OF_COLORS; i++){
+ RawArray[i] = pMapInput->Colors[Port].ADRaw[i];
+ NormalizedArray[i] = pMapInput->Colors[Port].SensorRaw[i];
+ ScaledArray[i] = pMapInput->Colors[Port].SensorValue[i];
+ }
+ //Copy the Invalid Data Flag
+ *InvalidData = pMapInput->Inputs[Port].InvalidData;
+
+ return NO_ERR;
+
+}
+
+
+//
+// Dataspace Support functions
+//
+
+UBYTE cCmdIsDSElementIDSane(DS_ELEMENT_ID Index)
+{
+ if (Index < VarsCmd.DataspaceCount)
+ return TRUE;
+ else
+ return FALSE;
+}
+
+void * cCmdResolveDataArg(DATA_ARG DataArg, UWORD Offset, TYPE_CODE * TypeCode)
+{
+ void * ret_val = NULL;
+
+ //!!! DATA_ARG masking system only for internal c_cmd use!
+ // All normal bytecode arguments should go through top if() block.
+
+ NXT_ASSERT(cCmdIsDSElementIDSane(DataArg));
+ ret_val = cCmdDSPtr(DataArg, Offset);
+ if (TypeCode)
+ *TypeCode = VarsCmd.pDataspaceTOC[DataArg].TypeCode;
+
+ //!!! Caller beware! If DataArg isn't sane, ret_val may be out of range or NULL!
+ return ret_val;
+}
+
+// normal Resolve handles both, but this is specific to I/O args
+void * cCmdResolveIODataArg(DATA_ARG DataArg, ULONG Offset, TYPE_CODE * TypeCode)
+ {
+ void * ret_val = NULL;
+
+ ULONG ModuleID;
+ ULONG FieldID;
+ //DataArg refers to a field in the IO map
+ // ModuleID = ((DataArg >> 9) & 0x1F);
+ ModuleID = ((DataArg & 0x3FFF) >> 9);
+ FieldID = (DataArg & 0x01FF);
+
+ //!!! Preliminary bounds check -- still could allow invalid combos through
+ if (ModuleID > MOD_OUTPUT || FieldID >= IO_OUT_FIELD_COUNT)
+ {
+ NXT_BREAK;
+ return NULL;
+ }
+
+ ret_val = IO_PTRS[ModuleID][FieldID];
+ if (TypeCode)
+ *TypeCode = IO_TYPES[ModuleID][FieldID];
+ return ret_val;
+}
+
+void cCmdSetValFlt(void * pVal, TYPE_CODE TypeCode, float NewVal)
+{
+
+ if (pVal)
+ {
+ switch (TypeCode)
+ {
+ case TC_ULONG:
+ case TC_SLONG:
+ {
+ *(ULONG*)pVal = NewVal;
+ }
+ break;
+
+ case TC_UWORD:
+ case TC_SWORD:
+ {
+ *(UWORD*)pVal = (UWORD)NewVal;
+ }
+ break;
+
+ case TC_UBYTE:
+ case TC_SBYTE:
+ {
+ *(UBYTE*)pVal = (UBYTE)NewVal;
+ }
+ break;
+
+ case TC_FLOAT:
+ {
+ *(float*)pVal = (float)NewVal;
+ }
+ break;
+ }
+ }
+
+ return;
+}
+
+ULONG cCmdGetUByte(void * pVal);
+ULONG cCmdGetSByte(void * pVal);
+ULONG cCmdGetUWord(void * pVal);
+ULONG cCmdGetSWord(void * pVal);
+ULONG cCmdGetULong(void * pVal);
+ULONG cCmdGetSLong(void * pVal);
+ULONG cCmdGetError(void * pVal);
+ULONG cCmdGetFloat(void * pVal);
+
+void cCmdSetByte(void * pVal, ULONG NewVal);
+void cCmdSetWord(void * pVal, ULONG NewVal);
+void cCmdSetLong(void * pVal, ULONG NewVal);
+void cCmdSetError(void * pVal, ULONG NewVal);
+
+
+typedef ULONG (*pGetOperand)(void *);
+static pGetOperand GetProcArray[11]= {cCmdGetUByte, cCmdGetUByte, cCmdGetSByte, cCmdGetUWord, cCmdGetSWord, cCmdGetULong, cCmdGetSLong, cCmdGetError, cCmdGetError, cCmdGetError, cCmdGetFloat}; // dup UByte to line up
+
+typedef void (*pSetOperand)(void *, ULONG);
+static pSetOperand SetProcArray[9]= {cCmdSetByte, cCmdSetByte, cCmdSetByte, cCmdSetWord, cCmdSetWord, cCmdSetLong, cCmdSetLong, cCmdSetError, cCmdSetError}; // dup UByte to line up
+
+void cCmdSetError(void * pVal, ULONG NewVal) {
+ NXT_BREAK;
+}
+
+void cCmdSetLong(void * pVal, ULONG NewVal) {
+ *(ULONG*)pVal = NewVal;
+}
+
+void cCmdSetWord(void * pVal, ULONG NewVal) {
+ *(UWORD*)pVal = (UWORD)NewVal;
+}
+
+void cCmdSetByte(void * pVal, ULONG NewVal) {
+ *(UBYTE*)pVal = (UBYTE)NewVal;
+}
+
+// only works on simple types, equivalent to resolve and get, but faster
+ULONG cCmdGetScalarValFromDataArg(DATA_ARG DataArg, UWORD Offset)
+{
+ DS_TOC_ENTRY *dsTOCPtr= &VarsCmd.pDataspaceTOC[DataArg];
+ return GetProcArray[dsTOCPtr->TypeCode](VarsCmd.pDataspace + dsTOCPtr->DSOffset + Offset);
+}
+
+
+ULONG cCmdGetError(void * pVal) {
+ NXT_BREAK;
+ return 0;
+}
+
+ULONG cCmdGetULong(void * pVal) {
+ return (ULONG)(*(ULONG*)pVal);
+}
+
+ULONG cCmdGetSLong(void * pVal) {
+ return (SLONG)(*(SLONG*)pVal);
+}
+
+ULONG cCmdGetUWord(void * pVal) {
+ return (UWORD)(*(UWORD*)pVal);
+}
+
+ULONG cCmdGetSWord(void * pVal) {
+ return (SWORD)(*(SWORD*)pVal);
+}
+
+ULONG cCmdGetUByte(void * pVal) {
+ return (UBYTE)(*(UBYTE*)pVal);
+}
+
+ULONG cCmdGetSByte(void * pVal) {
+ return (SBYTE)(*(SBYTE*)pVal);
+}
+
+ULONG cCmdGetFloat(void * pVal) {
+ float tempVal = *(float*)pVal;
+ if (tempVal >= 0) {
+ tempVal += 0.5;
+ }
+ else {
+ tempVal -= 0.5;
+ }
+ return (ULONG)tempVal;
+}
+
+ULONG cCmdGetVal(void * pVal, TYPE_CODE TypeCode)
+{
+ if (pVal)
+ return GetProcArray[TypeCode](pVal);
+ else
+ //!!! Default return value places responsibility on caller to use this function wisely
+ return 0;
+}
+
+
+float cCmdGetValFlt(void * pVal, TYPE_CODE TypeCode)
+{
+ if (pVal)
+ {
+ switch (TypeCode)
+ {
+ case TC_ULONG:
+ {
+ return (ULONG)(*(ULONG*)pVal);
+ }
+
+ case TC_SLONG:
+ {
+ return (SLONG)(*(SLONG*)pVal);
+ }
+
+ case TC_UWORD:
+ {
+ return (UWORD)(*(UWORD*)pVal);
+ }
+
+ case TC_SWORD:
+ {
+ return (SWORD)(*(SWORD*)pVal);
+ }
+
+ case TC_UBYTE:
+ {
+ return (UBYTE)(*(UBYTE*)pVal);
+ }
+
+ case TC_SBYTE:
+ {
+ return (SBYTE)(*(SBYTE*)pVal);
+ }
+
+ case TC_FLOAT:
+ {
+ return (float)(*(float*)pVal);
+ }
+
+ default:
+ break;
+ }
+ }
+
+ //!!! Default return value places responsibility on caller to use this function wisely
+ return 0;
+}
+
+
+
+// Only for scalar types and no offset
+void cCmdSetScalarValFromDataArg(DATA_ARG DataArg, ULONG NewVal)
+{
+ DS_TOC_ENTRY *dsTOCPtr= &VarsCmd.pDataspaceTOC[DataArg];
+ SetProcArray[dsTOCPtr->TypeCode](VarsCmd.pDataspace + dsTOCPtr->DSOffset, NewVal);
+}
+
+void cCmdSetVal(void * pVal, TYPE_CODE TypeCode, ULONG NewVal)
+{
+ if (pVal)
+ SetProcArray[TypeCode](pVal, NewVal);
+}
+
+void* cCmdDSPtr(DS_ELEMENT_ID DSElementID, UWORD Offset)
+{
+ void * pDSItem;
+ DV_INDEX DVIndex;
+ TYPE_CODE TypeCode;
+
+ NXT_ASSERT(cCmdIsDSElementIDSane(DSElementID));
+
+ TypeCode = cCmdDSType(DSElementID);
+ if (TypeCode == TC_ARRAY)
+ {
+ //!!! Empty arrays return NULL.
+ if (cCmdArrayCount(DSElementID, Offset) == 0)
+ pDSItem = NULL;
+ else
+ {
+ DVIndex = cCmdGetDVIndex(DSElementID, Offset);
+ pDSItem = (VarsCmd.pDataspace + DV_ARRAY[DVIndex].Offset);
+ }
+ }
+ else if (TypeCode == TC_CLUSTER)
+ {
+ NXT_ASSERT(cCmdClusterCount(DSElementID) != 0)
+
+ //Returning pointer to the first element in the cluster
+ pDSItem = cCmdDSPtr(INC_ID(DSElementID), Offset);
+ }
+ else
+ pDSItem = (VarsCmd.pDataspace + VarsCmd.pDataspaceTOC[DSElementID].DSOffset + Offset);
+
+ NXT_ASSERT((UBYTE*)pDSItem < POOL_SENTINEL);
+
+ return pDSItem;
+}
+
+void* cCmdDVPtr(DV_INDEX DVIndex)
+{
+ NXT_ASSERT(IS_DV_INDEX_SANE(DVIndex));
+ return (VarsCmd.pDataspace + DV_ARRAY[DVIndex].Offset);
+}
+
+
+//!!! Recursive function
+DS_ELEMENT_ID cCmdNextDSElement(DS_ELEMENT_ID CurrID)
+{
+ DS_ELEMENT_ID NextID;
+ TYPE_CODE CurrType;
+ UWORD ClusterCount, i;
+
+ NXT_ASSERT(cCmdIsDSElementIDSane(CurrID));
+
+ NextID = CurrID + 1;
+
+ if (!cCmdIsDSElementIDSane(NextID))
+ return NOT_A_DS_ID;
+
+ CurrType = cCmdDSType(CurrID);
+
+ if (CurrType == TC_ARRAY)
+ {
+ //Arrays contain two elements. Advance past the second one.
+ NextID = cCmdNextDSElement(NextID);
+ }
+ else if (CurrType == TC_CLUSTER)
+ {
+ ClusterCount = cCmdClusterCount(CurrID);
+ for (i = 0; i < ClusterCount; i++)
+ {
+ NextID = cCmdNextDSElement(NextID);
+ }
+ }
+
+ return NextID;
+}
+
+
+//!!! Recursive function
+UBYTE cCmdCompareDSType(DS_ELEMENT_ID DSElementID1, DS_ELEMENT_ID DSElementID2)
+{
+ TYPE_CODE Type1, Type2;
+ UWORD i, Count1, Count2;
+
+ Type1 = cCmdDSType(DSElementID1);
+ Type2 = cCmdDSType(DSElementID2);
+
+ if (Type1 != Type2)
+ return FALSE;
+
+ if (Type1 == TC_CLUSTER)
+ {
+ Count1 = cCmdClusterCount(DSElementID1);
+ Count2 = cCmdClusterCount(DSElementID2);
+
+ if(Count1 != Count2)
+ return FALSE;
+
+ DSElementID1 = INC_ID(DSElementID1);
+ DSElementID2 = INC_ID(DSElementID2);
+
+ for (i = 0; i < Count1; i++)
+ {
+ if (!cCmdCompareDSType(DSElementID1, DSElementID2))
+ return FALSE;
+
+ DSElementID1 = cCmdNextDSElement(DSElementID1);
+ DSElementID2 = cCmdNextDSElement(DSElementID2);
+ }
+ }
+ else if (Type1 == TC_ARRAY)
+ {
+ if (!cCmdCompareDSType(INC_ID(DSElementID1), INC_ID(DSElementID2)))
+ return FALSE;
+ }
+
+ return TRUE;
+}
+
+
+//!!! Recursive function
+UWORD cCmdCalcFlattenedSize(DS_ELEMENT_ID DSElementID, UWORD Offset)
+{
+ UWORD Size = 0;
+ TYPE_CODE TypeCode;
+ DV_INDEX DVIndex;
+ UWORD i;
+ UWORD Count;
+
+ TypeCode = cCmdDSType(DSElementID);
+
+ if (TypeCode == TC_ARRAY)
+ {
+ DVIndex = cCmdGetDVIndex(DSElementID, Offset);
+
+ DSElementID = INC_ID(DSElementID);
+ TypeCode = cCmdDSType(DSElementID);
+
+ if (!IS_AGGREGATE_TYPE(TypeCode))
+ {
+ //Short circuit recursive calculation if our array sub-type is a scalar
+ Size += DV_ARRAY[DVIndex].ElemSize * DV_ARRAY[DVIndex].Count;
+ }
+ else
+ {
+ //If the sub type is an aggregate type, then it can contain arrays, so we have to recur
+ for (i = 0; i < DV_ARRAY[DVIndex].Count; i++)
+ {
+ Size += cCmdCalcFlattenedSize(DSElementID, ARRAY_ELEM_OFFSET(DVIndex, i));
+ }
+ }
+ }
+ else if (TypeCode == TC_CLUSTER)
+ {
+ Count = cCmdClusterCount(DSElementID);
+
+ DSElementID = INC_ID(DSElementID);
+ for (i = 0; i < Count; i++)
+ {
+ Size += cCmdCalcFlattenedSize(DSElementID, Offset);
+ DSElementID = cCmdNextDSElement(DSElementID);
+ }
+ }
+ else //Scalar
+ {
+ Size += cCmdSizeOf(TypeCode);
+ }
+ return Size;
+}
+
+
+//!!! Recursive function
+NXT_STATUS cCmdFlattenToByteArray(UBYTE * pByteArray, UWORD * pByteOffset, DS_ELEMENT_ID DSElementID, UWORD Offset)
+{
+ NXT_STATUS Status = NO_ERR;
+ TYPE_CODE TypeCode;
+ DV_INDEX DVIndex;
+ UWORD i;
+ UWORD Count;
+ UBYTE *pVal;
+
+ TypeCode = cCmdDSType(DSElementID);
+
+ if (TypeCode == TC_ARRAY)
+ {
+ DVIndex = cCmdGetDVIndex(DSElementID, Offset);
+ Count = DV_ARRAY[DVIndex].Count;
+
+ DSElementID = INC_ID(DSElementID);
+ TypeCode = cCmdDSType(DSElementID);
+ if (!IS_AGGREGATE_TYPE(TypeCode))
+ {
+ //Short circuit recursive calculation if our array sub-type is a scalar
+ Count = DV_ARRAY[DVIndex].ElemSize * DV_ARRAY[DVIndex].Count;
+ memmove((pByteArray + *pByteOffset), (VarsCmd.pDataspace + DV_ARRAY[DVIndex].Offset), Count);
+ *pByteOffset += Count;
+ }
+ else
+ {
+ //If the sub type is an aggregate type, then it can contain arrays, so we have to recur
+ for (i = 0; i < Count; i++)
+ {
+ cCmdFlattenToByteArray(pByteArray, pByteOffset, DSElementID, ARRAY_ELEM_OFFSET(DVIndex, i));
+ }
+ }
+ }
+ else if (TypeCode == TC_CLUSTER)
+ {
+ Count = cCmdClusterCount(DSElementID);
+
+ DSElementID = INC_ID(DSElementID);
+ for (i = 0; i < Count; i++)
+ {
+ cCmdFlattenToByteArray(pByteArray, pByteOffset, DSElementID, Offset);
+ DSElementID = cCmdNextDSElement(DSElementID);
+ }
+ }
+ else //Scalar
+ {
+ pVal = cCmdResolveDataArg(DSElementID, Offset, NULL);
+ Count = cCmdSizeOf(TypeCode);
+
+ memmove((pByteArray + *pByteOffset), pVal, Count);
+ *pByteOffset += Count;
+ }
+
+ return Status;
+}
+
+NXT_STATUS cCmdUnflattenFromByteArray(UBYTE * pByteArray, UWORD * pByteOffset, DS_ELEMENT_ID DSElementID, UWORD Offset)
+{
+ NXT_STATUS Status = NO_ERR;
+ TYPE_CODE TypeCode;
+ DV_INDEX DVIndex;
+ UWORD i;
+ UWORD Count;
+ UBYTE *pVal;
+
+ TypeCode = cCmdDSType(DSElementID);
+
+ if (TypeCode == TC_ARRAY)
+ {
+ DVIndex = cCmdGetDVIndex(DSElementID, Offset);
+ Count = DV_ARRAY[DVIndex].Count;
+
+ DSElementID = INC_ID(DSElementID);
+ TypeCode = cCmdDSType(DSElementID);
+ if (!IS_AGGREGATE_TYPE(TypeCode))
+ {
+ //Short circuit recursive calculation if our array sub-type is a scalar
+ Count = DV_ARRAY[DVIndex].ElemSize * DV_ARRAY[DVIndex].Count;
+ memmove((VarsCmd.pDataspace + DV_ARRAY[DVIndex].Offset), (pByteArray + *pByteOffset), Count);
+ *pByteOffset += Count;
+ }
+ else
+ {
+ //If the sub type is an aggregate type, then it can contain arrays, so we have to recur
+ for (i = 0; i < Count; i++)
+ {
+ cCmdUnflattenFromByteArray(pByteArray, pByteOffset, DSElementID, ARRAY_ELEM_OFFSET(DVIndex, i));
+ }
+ }
+ }
+ else if (TypeCode == TC_CLUSTER)
+ {
+ Count = cCmdClusterCount(DSElementID);
+
+ DSElementID = INC_ID(DSElementID);
+ for (i = 0; i < Count; i++)
+ {
+ cCmdUnflattenFromByteArray(pByteArray, pByteOffset, DSElementID, Offset);
+ DSElementID = cCmdNextDSElement(DSElementID);
+ }
+ }
+ else //Scalar
+ {
+ pVal = cCmdResolveDataArg(DSElementID, Offset, NULL);
+ Count = cCmdSizeOf(TypeCode);
+
+ memmove(pVal, (pByteArray + *pByteOffset), Count);
+ *pByteOffset += Count;
+ }
+
+ return Status;
+}
+
+
+UWORD cCmdClusterCount(DS_ELEMENT_ID DSElementID)
+{
+ UWORD ClusterCount;
+
+ NXT_ASSERT(cCmdIsDSElementIDSane(DSElementID));
+ NXT_ASSERT(cCmdDSType(DSElementID) == TC_CLUSTER);
+
+ ClusterCount = VarsCmd.pDataspaceTOC[DSElementID].DSOffset;
+
+ return ClusterCount;
+}
+
+
+UWORD cCmdGetDVIndex(DS_ELEMENT_ID DSElementID, UWORD Offset)
+{
+ UWORD DVIndex;
+
+ NXT_ASSERT(cCmdDSType(DSElementID) == TC_ARRAY);
+
+ DVIndex = *(UWORD *)(VarsCmd.pDataspace + VarsCmd.pDataspaceTOC[DSElementID].DSOffset + Offset);
+
+ //Make sure we're returning a valid DVIndex
+ NXT_ASSERT(DVIndex != 0 && DVIndex < DV_ARRAY[0].Count);
+
+ return DVIndex;
+}
+
+
+UWORD cCmdArrayCount(DS_ELEMENT_ID DSElementID, UWORD Offset)
+{
+ DV_INDEX DVIndex;
+
+ NXT_ASSERT(cCmdIsDSElementIDSane(DSElementID));
+ NXT_ASSERT(cCmdDSType(DSElementID) == TC_ARRAY);
+
+ DVIndex = cCmdGetDVIndex(DSElementID, Offset);
+ return DV_ARRAY[DVIndex].Count;
+}
+
+TYPE_CODE cCmdArrayType(DS_ELEMENT_ID DSElementID)
+{
+ TYPE_CODE TypeCode;
+
+ NXT_ASSERT(cCmdIsDSElementIDSane(DSElementID));
+ NXT_ASSERT(cCmdIsDSElementIDSane(INC_ID(DSElementID)));
+ NXT_ASSERT(cCmdDSType(DSElementID) == TC_ARRAY);
+
+ TypeCode = VarsCmd.pDataspaceTOC[DSElementID + 1].TypeCode;
+
+ return TypeCode;
+}
+
+
+DS_ELEMENT_ID cCmdGetDataspaceCount(void)
+{
+ return (VarsCmd.DataspaceCount);
+}
+
+
+UBYTE cCmdCompare(UBYTE CompCode, ULONG Val1, ULONG Val2, TYPE_CODE TypeCode1, TYPE_CODE TypeCode2)
+{
+ SLONG SVal1, SVal2;
+ if (QUICK_UNSIGNED_TEST(TypeCode1) || QUICK_UNSIGNED_TEST(TypeCode2))
+ {
+ return ((CompCode == OPCC1_LT && Val1 < Val2)
+ || (CompCode == OPCC1_GT && Val1 > Val2)
+ || (CompCode == OPCC1_LTEQ && Val1 <= Val2)
+ || (CompCode == OPCC1_GTEQ && Val1 >= Val2)
+ || (CompCode == OPCC1_EQ && Val1 == Val2)
+ || (CompCode == OPCC1_NEQ && Val1 != Val2));
+ }
+ else
+ {
+ SVal1 = (SLONG)Val1;
+ SVal2 = (SLONG)Val2;
+ return ((CompCode == OPCC1_LT && SVal1 < SVal2)
+ || (CompCode == OPCC1_GT && SVal1 > SVal2)
+ || (CompCode == OPCC1_LTEQ && SVal1 <= SVal2)
+ || (CompCode == OPCC1_GTEQ && SVal1 >= SVal2)
+ || (CompCode == OPCC1_EQ && SVal1 == SVal2)
+ || (CompCode == OPCC1_NEQ && SVal1 != SVal2));
+ }
+}
+
+UBYTE cCmdCompareFlt(UBYTE CompCode, float Val1, float Val2, TYPE_CODE TypeCode1, TYPE_CODE TypeCode2)
+{
+ //!!! add threshold to equality comparisons
+ return ((CompCode == OPCC1_LT && Val1 < Val2)
+ || (CompCode == OPCC1_GT && Val1 > Val2)
+ || (CompCode == OPCC1_LTEQ && Val1 <= Val2)
+ || (CompCode == OPCC1_GTEQ && Val1 >= Val2)
+ || (CompCode == OPCC1_EQ && Val1 == Val2)
+ || (CompCode == OPCC1_NEQ && Val1 != Val2));
+}
+
+
+NXT_STATUS cCmdCompareAggregates(UBYTE CompCode, UBYTE *ReturnBool, DATA_ARG Arg2, UWORD Offset2, DATA_ARG Arg3, UWORD Offset3)
+{
+ NXT_STATUS Status = NO_ERR;
+ UBYTE Finished;
+
+ Finished = FALSE;
+ Status = cCmdRecursiveCompareAggregates(CompCode, ReturnBool, &Finished, Arg2, Offset2, Arg3, Offset3);
+ if (Finished == FALSE)
+ {
+ //If Finished has not been set to TRUE, it means that it was unable to find an inequality, thereby ending the comparison.
+ //Both elements are equal. Assign the proper value to ReturnBool
+ *ReturnBool = (CompCode == OPCC1_EQ || CompCode == OPCC1_GTEQ || CompCode == OPCC1_LTEQ);
+ }
+
+ return Status;
+}
+
+
+//!!! Recursive function
+NXT_STATUS cCmdRecursiveCompareAggregates(UBYTE CompCode, UBYTE *ReturnBool, UBYTE *Finished, DATA_ARG Arg2, UWORD Offset2, DATA_ARG Arg3, UWORD Offset3)
+{
+ //The value of Finished must be set to FALSE before calling this function.
+ //We are able to determine the result of the comparison once we find an inequality.
+ //Once an inequality is found, Finished is set to TRUE and ReturnBool is set based on the CompCode.
+ //A call to this function will return with Finished still equal to FALSE if both elements are equal in value and count.
+ //It is the caller of this function's job to set ReturnBool if this function returns with Finished == FALSE.
+
+ NXT_STATUS Status = NO_ERR;
+ TYPE_CODE TypeCode2, TypeCode3;
+ DV_INDEX DVIndex2, DVIndex3;
+ ULONG ArgVal2, ArgVal3;
+ UWORD Count2, Count3, MinCount;
+ UWORD i;
+
+ TypeCode2 = cCmdDSType(Arg2);
+ TypeCode3 = cCmdDSType(Arg3);
+
+ //Make sure the two things we're comparing are the same type
+ if (IS_AGGREGATE_TYPE(TypeCode2) && (TypeCode2 != TypeCode3))
+ {
+ NXT_BREAK;
+ return ERR_ARG;
+ }
+
+ //Simple case, both args are scalars. Solve and return.
+ if (!IS_AGGREGATE_TYPE(TypeCode2))
+ {
+ ArgVal2 = cCmdGetScalarValFromDataArg(Arg2, Offset2);
+ ArgVal3 = cCmdGetScalarValFromDataArg(Arg3, Offset3);
+
+ //Once we find an inequality, we can determine the result of the comparison
+ *Finished = cCmdCompare(OPCC1_NEQ, ArgVal2, ArgVal3, TypeCode2, TypeCode3);
+
+ if (*Finished)
+ *ReturnBool = cCmdCompare(CompCode, ArgVal2, ArgVal3, TypeCode2, TypeCode3);
+
+ return Status;
+ }
+
+ // Initialize local variables for each argument
+
+ if (TypeCode2 == TC_ARRAY)
+ {
+ Count2 = cCmdArrayCount(Arg2, Offset2);
+ DVIndex2 = cCmdGetDVIndex(Arg2, Offset2);
+ Offset2 = DV_ARRAY[DVIndex2].Offset;
+
+ Count3 = cCmdArrayCount(Arg3, Offset3);
+ DVIndex3 = cCmdGetDVIndex(Arg3, Offset3);
+ Offset3 = DV_ARRAY[DVIndex3].Offset;
+ }
+ else if (TypeCode2 == TC_CLUSTER)
+ {
+ Count2 = cCmdClusterCount(Arg2);
+ Count3 = cCmdClusterCount(Arg3);
+ }
+
+ //Short circuit evaluation of EQ and NEQ if counts are different
+ if (Count2 != Count3)
+ {
+ if ((CompCode == OPCC1_EQ) || (CompCode == OPCC1_NEQ))
+ {
+ *Finished = TRUE;
+ *ReturnBool = (CompCode == OPCC1_NEQ);
+ return Status;
+ }
+ }
+
+ MinCount = (Count2 < Count3) ? Count2 : Count3;
+
+ //Advance aggregate args to first sub-element for next call
+ Arg2 = INC_ID(Arg2);
+ Arg3 = INC_ID(Arg3);
+
+ //
+ // Loop through the sub-elements of aggregate arguments.
+ // Call cCmdRecursiveCompareAggregates recursively with simpler type.
+ //
+
+ for (i = 0; i < MinCount; i++)
+ {
+ Status = cCmdRecursiveCompareAggregates(CompCode, ReturnBool, Finished, Arg2, Offset2, Arg3, Offset3);
+ if (*Finished || IS_ERR(Status))
+ return Status;
+
+ //Advance aggregate args to next sub-element
+ if (TypeCode2 == TC_ARRAY)
+ {
+ Offset2 += DV_ARRAY[DVIndex2].ElemSize;
+ Offset3 += DV_ARRAY[DVIndex3].ElemSize;
+ }
+ else if (TypeCode2 == TC_CLUSTER)
+ {
+ Arg2 = cCmdNextDSElement(Arg2);
+ Arg3 = cCmdNextDSElement(Arg3);
+ }
+ }
+
+ //All elements in aggregates type up to MinCount are equal. Count discrepancy determines comparison outcome.
+ if (Count2 != Count3)
+ {
+ *Finished = TRUE;
+ *ReturnBool = cCmdCompare(CompCode, Count2, Count3, TC_UWORD, TC_UWORD);
+ }
+ //Else, no size discrepancy. Elements are equal. Comparison still not resolved,
+ //so return !Finished and status back up the call chain for further comparison
+
+ return Status;
+}
+
+ULONG gClearProfileInfo= 0, bigExecTime= 0;
+#if VMProfilingCode
+void UpdateProfileInfo(ULONG shortOp, CODE_WORD *pInstr, ULONG execTime, ULONG InstrSize)
+{
+ ULONG j;
+ ULONG opCode;
+
+ if(execTime > 500 && shortOp == 8)
+ bigExecTime= shortOp;
+ if(gClearProfileInfo) {
+ ExecutedInstrs= 0;
+ CmdCtrlTime= 0;
+ OverheadTime= 0;
+ CmdCtrlCalls= 0;
+ LastAvgCount= 0;
+ for(j= 0; j < 255; j++)
+ CmdCtrlClumpTime[j]= 0;
+ for(j= 0; j < OPCODE_COUNT; j++) {
+ InstrProfile[j].Avg= 0;
+ InstrProfile[j].Time= 0;
+ InstrProfile[j].Count= 0;
+ InstrProfile[j].Max= 0;
+ }
+ for(j= 0; j < SYSCALL_COUNT; j++) {
+ SysCallProfile[j].Avg= 0;
+ SysCallProfile[j].Time= 0;
+ SysCallProfile[j].Count= 0;
+ SysCallProfile[j].Max= 0;
+ }
+ for(j= 0; j < NUM_SHORT_OPCODE_COUNT; j++) {
+ ShortInstrProfile[j].Avg= 0;
+ ShortInstrProfile[j].Time= 0;
+ ShortInstrProfile[j].Count= 0;
+ ShortInstrProfile[j].Max= 0;
+ }
+ for(j= 0; j < NUM_INTERP_FUNCS; j++) {
+ InterpFuncProfile[j].Avg= 0;
+ InterpFuncProfile[j].Time= 0;
+ InterpFuncProfile[j].Count= 0;
+ InterpFuncProfile[j].Max= 0;
+ }
+ gClearProfileInfo= FALSE;
+ }
+ ExecutedInstrs ++;
+ if(shortOp > 7) // shortop bit set
+ {
+ ShortInstrProfile[shortOp-8].Time += execTime;
+ ShortInstrProfile[shortOp-8].Count++;
+ if(execTime > ShortInstrProfile[shortOp-8].Max)
+ ShortInstrProfile[shortOp-8].Max= execTime;
+ }
+ else
+ {
+ opCode = OP_CODE(pInstr);
+ InstrProfile[opCode].Time += execTime;
+ InstrProfile[opCode].Count++;
+ if(execTime > InstrProfile[opCode].Max)
+ InstrProfile[opCode].Max= execTime;
+ if(opCode == OP_SYSCALL)
+ {
+ SysCallProfile[GetDataArg(pInstr[1])].Time += execTime;
+ SysCallProfile[GetDataArg(pInstr[1])].Count++;
+ if(execTime > SysCallProfile[GetDataArg(pInstr[1])].Max)
+ SysCallProfile[GetDataArg(pInstr[1])].Max= execTime;
+ }
+
+ InterpFuncProfile[InstrSize].Time += execTime;
+ InterpFuncProfile[InstrSize].Count++;
+ if(execTime > InterpFuncProfile[InstrSize].Max)
+ InterpFuncProfile[InstrSize].Max= execTime;
+ }
+ if(ExecutedInstrs - LastAvgCount > 999) // every N instrs, update avgs
+ {
+ for(j= 0; j < OPCODE_COUNT; j++)
+ if(InstrProfile[j].Count)
+ InstrProfile[j].Avg= InstrProfile[j].Time/InstrProfile[j].Count;
+ for(j= 0; j < SYSCALL_COUNT; j++)
+ if(SysCallProfile[j].Count)
+ SysCallProfile[j].Avg= SysCallProfile[j].Time/SysCallProfile[j].Count;
+ for(j= 0; j < NUM_SHORT_OPCODE_COUNT; j++)
+ if(ShortInstrProfile[j].Count)
+ ShortInstrProfile[j].Avg= ShortInstrProfile[j].Time/ShortInstrProfile[j].Count;
+ for(j= 0; j < NUM_INTERP_FUNCS; j++)
+ if(InterpFuncProfile[j].Count)
+ InterpFuncProfile[j].Avg= InterpFuncProfile[j].Time/InterpFuncProfile[j].Count;
+ LastAvgCount= ExecutedInstrs;
+ }
+}
+#endif
+
+
+//
+// Interpreter Functions
+//
+
+NXT_STATUS cCmdInterpFromClump()
+{
+ CLUMP_ID Clump= VarsCmd.RunQ.Head;
+ NXT_STATUS Status = NO_ERR;
+ CLUMP_REC * pClumpRec;
+ CODE_WORD * pInstr, *lastClumpInstr;
+ UBYTE InstrSize;
+ ULONG shortOp, nextMSTick;
+ SLONG i;
+#if VM_BENCHMARK
+ ULONG InstrTime = dTimerRead();
+#endif
+
+ if (!cCmdIsClumpIDSane(Clump)) // this means all clumps are asleep
+ return TIMES_UP;
+
+ //Resolve clump record structure and current instruction pointer
+ pClumpRec = &(VarsCmd.pAllClumps[Clump]);
+ pInstr = pClumpRec->PC; // abs
+ lastClumpInstr= pClumpRec->CodeEnd; // abs
+
+ i= gInstrsToExecute;
+ nextMSTick= dTimerGetNextMSTickCnt();
+ do
+ {
+#if VMProfilingCode
+ ULONG instrStartTime;
+ instrStartTime= dTimerReadHiRes();
+#endif
+
+ ULONG instrWord= *(UWORD*)pInstr;
+ shortOp= (instrWord>>8) & 0x0F;
+ if(shortOp > 7) // shortop bit set
+ Status= ShortInterpFuncs[shortOp - 8](pInstr);
+ else
+ { // we know this is a long instr, dispatch on num params, which correlates to size
+ InstrSize = INSTR_SIZE(instrWord); // keep in a local for profiling
+ Status = (*InterpFuncs[InstrSize])(pInstr);
+ }
+
+#if VMProfilingCode
+ UpdateProfileInfo(shortOp, pInstr, dTimerReadHiRes() - instrStartTime, InstrSize);
+#endif
+
+afterCompaction:
+ if (Status == NO_ERR)
+ pInstr += gPCDelta;
+ else if (Status == CLUMP_DONE) // already requeued
+ {
+ pClumpRec->PC = pClumpRec->CodeStart;
+ pClumpRec->CurrFireCount = pClumpRec->InitFireCount;
+ return Status;
+ }
+ else if (Status == CLUMP_SUSPEND || Status == BREAKOUT_REQ || Status == ROTATE_QUEUE) // already requeued
+ {
+ pClumpRec->PC = pInstr + gPCDelta;
+ //Throw error if we ever advance beyond the clump's codespace
+ if (pInstr > lastClumpInstr)
+ {
+ NXT_BREAK;
+ Status = ERR_INSTR;
+ }
+ return Status;
+ }
+ else if (Status == ERR_MEM)
+ {
+ //Memory is full. Compact dataspace and try the instruction again.
+ //!!! Could compact DopeVectorArray here
+ cCmdDSCompact();
+ if(shortOp > 7) // shortop bit set
+ Status= ShortInterpFuncs[shortOp - 8](pInstr);
+ else
+ Status = (*InterpFuncs[InstrSize])(pInstr);
+ if(Status == ERR_MEM)
+ return Status;
+ else
+ goto afterCompaction;
+ }
+ else // other errors, breakout, stop
+ return Status;
+
+ //Throw error if we ever advance beyond the clump's codespace
+ if (pInstr > lastClumpInstr)
+ {
+ NXT_BREAK;
+ Status = ERR_INSTR;
+ }
+
+#if VM_BENCHMARK
+ //Increment opcode count
+ VarsCmd.OpcodeBenchmarks[OP_CODE(pInstr)][0]++;
+
+ InstrTime = dTimerRead() - InstrTime;
+ if (InstrTime > 1)
+ {
+ VarsCmd.OpcodeBenchmarks[OP_CODE(pInstr)][1]++;
+ if (InstrTime > VarsCmd.OpcodeBenchmarks[OP_CODE(pInstr)][2])
+ VarsCmd.OpcodeBenchmarks[OP_CODE(pInstr)][2] = InstrTime;
+ }
+ VarsCmd.InstrCount++;
+#endif
+
+ //Count one more instruction for this pass
+ if ((SLONG)(nextMSTick - dTimerReadTicks()) <= 0) // HWTimer has passed ms tick limit
+ Status= TIMES_UP;
+ else if(--i <= 0)
+ Status= ROTATE_QUEUE;
+ } while (!Status);
+ pClumpRec->PC= pInstr;
+ return (Status);
+}
+
+
+NXT_STATUS cCmdInterpUnop1(CODE_WORD * const pCode)
+{
+ NXT_STATUS Status = NO_ERR;
+ UBYTE opCode;
+ DATA_ARG Arg1;
+
+ NXT_ASSERT(pCode != NULL);
+
+ gPCDelta= 2;
+ opCode = OP_CODE(pCode);
+ Arg1 = pCode[1];
+
+ switch (opCode)
+ {
+ case OP_JMP:
+ {
+ gPCDelta= (SWORD)Arg1;
+ Status = NO_ERR;
+ }
+ break;
+
+ case OP_ACQUIRE:
+ {
+ NXT_ASSERT(cCmdIsDSElementIDSane(Arg1));
+ NXT_ASSERT(VarsCmd.pDataspaceTOC[Arg1].TypeCode == TC_MUTEX);
+
+ Status = cCmdAcquireMutex((MUTEX_Q *)cCmdDSScalarPtr(Arg1, 0));
+ }
+ break;
+
+ case OP_RELEASE:
+ {
+ NXT_ASSERT(cCmdIsDSElementIDSane(Arg1));
+ NXT_ASSERT(VarsCmd.pDataspaceTOC[Arg1].TypeCode == TC_MUTEX);
+
+ Status = cCmdReleaseMutex((MUTEX_Q *)cCmdDSScalarPtr(Arg1, 0));
+ }
+ break;
+
+ case OP_SUBRET:
+ {
+ NXT_ASSERT(cCmdIsDSElementIDSane(Arg1));
+
+ //Take Subroutine off RunQ
+ //Add Subroutine's caller to RunQ
+ cCmdDeQClump(&(VarsCmd.RunQ), VarsCmd.RunQ.Head);
+ cCmdEnQClump(&(VarsCmd.RunQ), *((CLUMP_ID *)cCmdDSScalarPtr(Arg1, 0)));
+
+ Status = CLUMP_DONE;
+ }
+ break;
+
+ case OP_FINCLUMPIMMED:
+ {
+ CLUMP_ID Clump= VarsCmd.RunQ.Head; // DeQ changes Head, use local val
+ cCmdDeQClump(&(VarsCmd.RunQ), Clump); //Dequeue finalized clump
+ cCmdSchedDependent(Clump, (CLUMP_ID)Arg1); // Use immediate form
+
+ Status = CLUMP_DONE;
+ }
+ break;
+
+ case OP_GETTICK:
+ {
+ cCmdSetScalarValFromDataArg(Arg1, dTimerReadNoPoll());
+ }
+ break;
+
+ case OP_STOP:
+ {
+ //Unwired Arg1 means always stop
+ if (Arg1 == NOT_A_DS_ID)
+ Status = STOP_REQ;
+ else if (cCmdGetScalarValFromDataArg(Arg1, 0) > 0)
+ Status = STOP_REQ;
+ }
+ break;
+
+ default:
+ {
+ //Fatal error: Unrecognized instruction
+ NXT_BREAK;
+ Status = ERR_INSTR;
+ }
+ break;
+ }
+
+ return (Status);
+}
+
+ULONG scalarNots= 0, scalarBrtst= 0, scalarUn2Other= 0, scalarUn2Dispatch= 0, polyUn2Dispatch= 0;
+NXT_STATUS cCmdInterpScalarUnop2(CODE_WORD * const pCode)
+{
+ NXT_STATUS Status;
+ UBYTE opCode;
+
+ NXT_ASSERT(pCode != NULL);
+ opCode = OP_CODE(pCode);
+ DATA_ARG Arg1, Arg2;
+
+ scalarUn2Dispatch ++;
+ if(opCode == OP_NOT) // t2 && t3 guaranteed scalar
+ {
+ gPCDelta= 3;
+ Arg1 = pCode[1];
+ Arg2 = pCode[2];
+ ULONG ArgVal1, ArgVal2;
+
+ ArgVal2= cCmdGetScalarValFromDataArg(Arg2, 0);
+ //!!! OP_NOT is logical, *not* bit-wise.
+ //This differs from the other logical ops because we don't distinguish booleans from UBYTEs.
+ ArgVal1= (!ArgVal2);
+ cCmdSetScalarValFromDataArg(Arg1, ArgVal1);
+ Status = NO_ERR;
+ scalarNots ++;
+ }
+ else if(opCode == OP_BRTST)
+ {
+ ULONG Branch, compare= COMP_CODE(pCode);
+ ULONG TypeCode;
+
+ Arg1 = pCode[1];
+ Arg2 = pCode[2];
+ TypeCode = cCmdDSType(Arg2);
+
+ if(Arg2 == NOT_A_DS_ID)
+ {
+ Branch= ((compare == OPCC1_EQ)
+ || (compare == OPCC1_LTEQ)
+ || (compare == OPCC1_GTEQ));
+ }
+ else
+ {
+ if(compare == OPCC1_EQ && TypeCode == TC_UBYTE) // very common for loops
+ {
+ UBYTE *pBRVal = (VarsCmd.pDataspace + VarsCmd.pDataspaceTOC[Arg2].DSOffset);
+ Branch= *pBRVal == 0;
+ }
+ else
+ {
+ SLONG SVal1 = (SLONG)cCmdGetScalarValFromDataArg(Arg2, 0);
+ Branch= ((compare == OPCC1_EQ && SVal1 == 0)
+ || (compare == OPCC1_NEQ && SVal1 != 0)
+ || (compare == OPCC1_GT && SVal1 > 0)
+ || (compare == OPCC1_LT && SVal1 < 0)
+ || (compare == OPCC1_LTEQ && SVal1 <= 0)
+ || (compare == OPCC1_GTEQ && SVal1 >= 0));
+ }
+ }
+ if (Branch)
+ gPCDelta = (SWORD)Arg1;
+ else
+ gPCDelta= 3;
+ Status = NO_ERR;
+ scalarBrtst ++;
+ }
+ else {
+ Status= cCmdInterpUnop2(pCode);
+ scalarUn2Other ++;
+ }
+ return Status;
+}
+
+NXT_STATUS cCmdInterpUnop2(CODE_WORD * const pCode)
+{
+ NXT_STATUS Status = NO_ERR;
+ UBYTE opCode;
+ DATA_ARG Arg1;
+ DATA_ARG Arg2;
+ void *pArg1 = NULL, *pArg2 = NULL;
+ TYPE_CODE TypeCode1, TypeCode2;
+
+ ULONG i;
+ UWORD ArgC;
+ static UBYTE * ArgV[MAX_CALL_ARGS + 1];
+
+ polyUn2Dispatch ++;
+ UWORD Count;
+ UWORD Offset;
+ SLONG TmpSLong;
+ ULONG TmpULong;
+ ULONG ArgVal2;
+ float FltArgVal2;
+ char Buffer[30];
+ char FormatString[5];
+ UBYTE CheckTrailingZeros = 0;
+
+ NXT_ASSERT(pCode != NULL);
+
+ gPCDelta= 3;
+ opCode = OP_CODE(pCode);
+ Arg1 = pCode[1];
+ Arg2 = pCode[2];
+
+ if (opCode == OP_NEG || opCode == OP_NOT || opCode == OP_TST || opCode == OP_SQRT || opCode == OP_ABS)
+ {
+ return cCmdInterpPolyUnop2(*pCode, Arg1, 0, Arg2, 0);
+ }
+
+ switch (opCode)
+ {
+ case OP_MOV:
+ {
+ Status= cCmdMove(Arg1, Arg2);
+ }
+ break;
+
+ case OP_SET:
+ {
+ //!!! Should throw error if TypeCode1 is non-scalar
+ // Accepting non-scalar destinations could have unpredictable results!
+ cCmdSetScalarValFromDataArg(Arg1, Arg2);
+ }
+ break;
+
+ case OP_BRTST:
+ {
+ //!!!BDUGGAN BRTST w/ Float?
+ ULONG Branch, compare= COMP_CODE(pCode);
+ ULONG TypeCode = cCmdDSType(Arg2);
+ if(compare == OPCC1_EQ && TypeCode == TC_UBYTE) // very common for loops
+ {
+ UBYTE *pBRVal = (VarsCmd.pDataspace + VarsCmd.pDataspaceTOC[Arg2].DSOffset);
+ Branch= *pBRVal == 0;
+ }
+ else
+ {
+ SLONG SVal1 = (SLONG)cCmdGetScalarValFromDataArg(Arg2, 0);
+ Branch= ((compare == OPCC1_EQ && SVal1 == 0)
+ || (compare == OPCC1_NEQ && SVal1 != 0)
+ || (compare == OPCC1_GT && SVal1 > 0)
+ || (compare == OPCC1_LT && SVal1 < 0)
+ || (compare == OPCC1_LTEQ && SVal1 <= 0)
+ || (compare == OPCC1_GTEQ && SVal1 >= 0));
+ }
+ if (Branch)
+
+ {
+ gPCDelta = (SWORD)Arg1;
+ Status = NO_ERR;
+ }
+ }
+ break;
+
+ case OP_FINCLUMP:
+ {
+ CLUMP_ID Clump= VarsCmd.RunQ.Head; // DeQ changes Head, use local val
+ cCmdDeQClump(&(VarsCmd.RunQ), Clump); //Dequeue finalized clump
+ cCmdSchedDependents(Clump, (SWORD)Arg1, (SWORD)Arg2);
+ Status = CLUMP_DONE;
+ }
+ break;
+
+ case OP_SUBCALL:
+ {
+ NXT_ASSERT(cCmdIsClumpIDSane((CLUMP_ID)Arg1));
+ NXT_ASSERT(!cCmdIsClumpOnQ(&(VarsCmd.RunQ), (CLUMP_ID)Arg1));
+
+ NXT_ASSERT(cCmdIsDSElementIDSane(Arg2));
+
+ *((CLUMP_ID *)(cCmdDSScalarPtr(Arg2, 0))) = VarsCmd.RunQ.Head;
+
+ cCmdDeQClump(&(VarsCmd.RunQ), VarsCmd.RunQ.Head); //Take caller off RunQ
+ cCmdEnQClump(&(VarsCmd.RunQ), (CLUMP_ID)Arg1); //Add callee to RunQ
+
+ Status = CLUMP_SUSPEND;
+ }
+ break;
+
+ case OP_ARRSIZE:
+ {
+ cCmdSetScalarValFromDataArg(Arg1, cCmdArrayCount(Arg2, 0));
+ }
+ break;
+
+ case OP_SYSCALL:
+ {
+ if (Arg1 >= SYSCALL_COUNT)
+ {
+ NXT_BREAK;
+ Status = ERR_INSTR;
+ break;
+ }
+
+ ArgC = cCmdClusterCount(Arg2);
+
+ if (ArgC > MAX_CALL_ARGS)
+ {
+ NXT_BREAK;
+ Status = ERR_INSTR;
+ break;
+ }
+
+ if (ArgC > 0)
+ {
+ Arg2 = INC_ID(Arg2);
+
+ for (i = 0; i < ArgC; i++)
+ {
+ if (cCmdDSType(Arg2) == TC_ARRAY)
+ {
+ //Storing pointer to array's DV_INDEX
+ //!!! This resolve is different than cCmdDSPtr
+ // since SysCalls may need the DVIndex to re-alloc arrays
+ ArgV[i] = VarsCmd.pDataspace + VarsCmd.pDataspaceTOC[Arg2].DSOffset;
+ }
+ else
+ {
+ ArgV[i] = cCmdDSPtr(Arg2, 0);
+ }
+
+ //If any argument fails to resolve, return a fatal error.
+ if (ArgV[i] == NULL)
+ {
+ Status = ERR_BAD_PTR;
+ break;
+ }
+
+ Arg2 = cCmdNextDSElement(Arg2);
+ }
+ }
+ else
+ {
+ i = 0;
+ }
+
+ //ArgV list is null terminated
+ ArgV[i] = NULL;
+
+ Status = (*SysCallFuncs[Arg1])(ArgV);
+ }
+ break;
+
+ case OP_FLATTEN:
+ {
+ //Flatten Arg2 to a NULL terminated string
+
+ //Assert that the destination is a string (array of bytes)
+ NXT_ASSERT(cCmdDSType(Arg1) == TC_ARRAY);
+ NXT_ASSERT(cCmdDSType(INC_ID(Arg1)) == TC_UBYTE);
+
+ Count = cCmdCalcFlattenedSize(Arg2, 0);
+ //Add room for NULL terminator
+ Count++;
+ Status = cCmdDSArrayAlloc(Arg1, 0, Count);
+ if (IS_ERR(Status))
+ return Status;
+
+ pArg1 = cCmdResolveDataArg(Arg1, 0, NULL);
+ Offset = 0;
+
+ Status = cCmdFlattenToByteArray(pArg1, &Offset, Arg2, 0);
+ //Append NULL terminator
+ *((UBYTE *)pArg1 + Offset) = 0;
+ Offset++;
+ NXT_ASSERT(Offset == Count);
+ }
+ break;
+
+ case OP_NUMTOSTRING:
+ {
+ //Assert that the destination is a string (array of bytes)
+ NXT_ASSERT(cCmdDSType(Arg1) == TC_ARRAY);
+ NXT_ASSERT(cCmdDSType(INC_ID(Arg1)) == TC_UBYTE);
+
+ //Make sure we're trying to convert a scalar to a string
+ TypeCode2= cCmdDSType(Arg2);
+ NXT_ASSERT(!IS_AGGREGATE_TYPE(TypeCode2));
+
+ if (TypeCode2 == TC_FLOAT)
+ {
+ pArg2 = cCmdResolveDataArg(Arg2, 0, NULL);
+ FltArgVal2 = cCmdGetValFlt(pArg2, TypeCode2);
+ // is number too big for display? then format differently and don't bother with trailing zeros
+ if ((FltArgVal2 > 9999999999999.99)||(FltArgVal2 < -999999999999.99)){ // these are the widest %.2f numbers that will fit on display
+ strcpy (FormatString, "%.6g");
+ }
+ else{
+ strcpy (FormatString, "%.2f");
+ CheckTrailingZeros = 1;
+ }
+ Count = sprintf(Buffer, FormatString, FltArgVal2);
+ Count++; //add room for null terminator
+
+ if (CheckTrailingZeros){
+ // Determine if the trailing digits are zeros. If so, drop them
+ if (Buffer[Count-2] == 0x30) { // NOTE: 0x30 is ASCII 0
+ if (Buffer[Count-3] == 0x30){
+ strcpy (FormatString, "%.0f"); // the last two digits = 0, copy as integer
+ Count = Count - 3; // don't need memory for decimal and 2 ascii characters
+ }
+ else {
+ strcpy (FormatString, "%.1f"); // only the 2nd digit = 0 so drop it, but keep the tenths place
+ Count = Count - 1; // don't need memory for 2nd ascii character
+ }
+ }
+ }
+ }
+ else
+ {
+ ArgVal2 = cCmdGetScalarValFromDataArg(Arg2, 0);
+ //Calculate size of array
+ if (ArgVal2 == 0)
+ Count = 1;
+ else {
+ Count = 0;
+ SLONG digits= 0;
+ ULONG Tmp= 1;
+ if (TypeCode2 == TC_SLONG || TypeCode2 == TC_SWORD || TypeCode2 == TC_SBYTE)
+ {
+ TmpSLong = (SLONG)ArgVal2;
+ //Add room for negative sign
+ if (TmpSLong < 0) {
+ Count++;
+ TmpULong= -TmpSLong;
+ }
+ else
+ TmpULong= ArgVal2;
+ }
+ else
+ TmpULong= ArgVal2;
+
+ while (Tmp <= TmpULong && digits < 10) { // maxint is ten digits, max
+ Tmp *= 10;
+ digits++;
+ }
+ Count += digits;
+ }
+ //add room for NULL terminator
+ Count++;
+ }
+
+ //Allocate array
+ Status = cCmdDSArrayAlloc(Arg1, 0, Count);
+ if (IS_ERR(Status))
+ return Status;
+
+ pArg1 = cCmdResolveDataArg(Arg1, 0, &TypeCode1);
+
+ //Populate array
+ if (TypeCode2 == TC_FLOAT)
+ {
+ sprintf(pArg1, FormatString, FltArgVal2);
+ }
+ else if (TypeCode2 == TC_SLONG || TypeCode2 == TC_SWORD || TypeCode2 == TC_SBYTE)
+ {
+ sprintf(pArg1, "%d", (SLONG)ArgVal2);
+ }
+ else
+ {
+ sprintf(pArg1, "%u", ArgVal2);
+ }
+ }
+ break;
+
+ case OP_STRTOBYTEARR:
+ {
+ NXT_ASSERT((cCmdDSType(Arg1) == TC_ARRAY) && (cCmdDSType(INC_ID(Arg1)) == TC_UBYTE));
+ NXT_ASSERT((cCmdDSType(Arg2) == TC_ARRAY) && (cCmdDSType(INC_ID(Arg2)) == TC_UBYTE));
+
+ Count = cCmdArrayCount(Arg2, 0);
+
+ if (Count > 0)
+ {
+ Status = cCmdDSArrayAlloc(Arg1, 0, (UWORD)(Count - 1));
+ if (IS_ERR(Status))
+ return Status;
+
+ pArg1 = cCmdResolveDataArg(Arg1, 0, NULL);
+ pArg2 = cCmdResolveDataArg(Arg2, 0, NULL);
+
+ memmove(pArg1, pArg2, Count - 1);
+ }
+ }
+ break;
+
+ case OP_BYTEARRTOSTR:
+ {
+ NXT_ASSERT((cCmdDSType(Arg1) == TC_ARRAY) && (cCmdDSType(INC_ID(Arg1)) == TC_UBYTE));
+ NXT_ASSERT((cCmdDSType(Arg2) == TC_ARRAY) && (cCmdDSType(INC_ID(Arg2)) == TC_UBYTE));
+
+ Count = cCmdArrayCount(Arg2, 0);
+
+ Status = cCmdDSArrayAlloc(Arg1, 0, (UWORD)(Count + 1));
+ if (IS_ERR(Status))
+ return Status;
+
+ pArg1 = cCmdResolveDataArg(Arg1, 0, NULL);
+ pArg2 = cCmdResolveDataArg(Arg2, 0, NULL);
+
+ memmove(pArg1, pArg2, Count);
+ *((UBYTE *)pArg1 + Count) = '\0';
+ }
+ break;
+
+ case OP_WAIT:
+ {
+ ULONG wait= 0;
+ //Unwired Arg2 defaults to wait 0, which rotates queue
+ if (Arg2 != NOT_A_DS_ID)
+ wait= cCmdGetScalarValFromDataArg(Arg2, 0);
+ if(wait == 0)
+ Status= ROTATE_QUEUE;
+ else
+ Status = cCmdSleepClump(wait + IOMapCmd.Tick); // put to sleep, to wake up wait ms in future
+ if(Arg1 != NOT_A_DS_ID)
+ cCmdSetScalarValFromDataArg(Arg1, dTimerReadNoPoll());
+ }
+ break;
+
+ default:
+ {
+ //Fatal error: Unrecognized instruction
+ NXT_BREAK;
+ Status = ERR_INSTR;
+ }
+ break;
+ }
+
+ return (Status);
+}
+
+
+NXT_STATUS cCmdInterpPolyUnop2(CODE_WORD const Code, DATA_ARG Arg1, UWORD Offset1Param, DATA_ARG Arg2, UWORD Offset2Param)
+{
+ NXT_STATUS Status = NO_ERR;
+ TYPE_CODE TypeCode1, TypeCode2;
+ DV_INDEX DVIndex1, DVIndex2;
+ ULONG ArgVal1, ArgVal2;
+ float FltArgVal1, FltArgVal2;
+ UWORD Count1, Count2, Offset1= Offset1Param, Offset2= Offset2Param;
+ UWORD MinArrayCount;
+ UWORD i;
+ //!!! AdvCluster is intended to catch the case where sources are Cluster and an Array of Clusters.
+ // In practice, the logic it uses is broken, leading to some source cluster elements being ignored.
+ UBYTE AdvCluster;
+
+ void * pArg1 = NULL,
+ *pArg2 = NULL;
+
+ TypeCode1 = cCmdDSType(Arg1);
+ TypeCode2 = cCmdDSType(Arg2);
+
+ //Simple case, scalar. Solve and return.
+ if (!IS_AGGREGATE_TYPE(TypeCode2))
+ {
+ NXT_ASSERT(!IS_AGGREGATE_TYPE(TypeCode1));
+
+ pArg1 = cCmdResolveDataArg(Arg1, Offset1, &TypeCode1);
+
+ if (TypeCode1 == TC_FLOAT || TypeCode2 == TC_FLOAT)
+ {
+ pArg2 = cCmdResolveDataArg(Arg2, Offset2, &TypeCode2);
+ FltArgVal2 = cCmdGetValFlt(pArg2, TypeCode2);
+ FltArgVal1 = cCmdUnop2Flt(Code, FltArgVal2, TypeCode2);
+ cCmdSetValFlt(pArg1, TypeCode1, FltArgVal1);
+ }
+ else
+ {
+ ArgVal2= cCmdGetScalarValFromDataArg(Arg2, Offset2);
+ if(OP_CODE(&Code) == OP_MOV)
+ ArgVal1= ArgVal2;
+ else
+ ArgVal1 = cCmdUnop2(Code, ArgVal2, TypeCode2);
+ cCmdSetVal(pArg1, TypeCode1, ArgVal1);
+ }
+ return Status;
+ }
+
+ //At least one of the args is an aggregate type
+
+ if(TypeCode1 == TC_ARRAY && TypeCode2 == TC_ARRAY) {
+ TYPE_CODE tc1, tc2;
+ tc1= cCmdDSType(INC_ID(Arg1));
+ tc2= cCmdDSType(INC_ID(Arg2));
+ if(tc1 <= TC_LAST_INT_SCALAR && tc1 == tc2) {
+ void *pArg1, *pArg2;
+ ULONG Count = cCmdArrayCount(Arg2, Offset2);
+ Status = cCmdDSArrayAlloc(Arg1, Offset1, Count);
+ if (IS_ERR(Status))
+ return Status;
+ pArg1 = cCmdResolveDataArg(Arg1, Offset1, NULL);
+ pArg2 = cCmdResolveDataArg(Arg2, Offset2, NULL);
+ memmove(pArg1, pArg2, Count * cCmdSizeOf(tc1));
+ return Status;
+ }
+ }
+
+
+ //
+ // Initialize Count and ArrayType local variables for each argument
+ //
+
+ if (TypeCode2 == TC_ARRAY)
+ {
+ Count2 = cCmdArrayCount(Arg2, Offset2);
+ DVIndex2 = cCmdGetDVIndex(Arg2, Offset2);
+ Offset2 = DV_ARRAY[DVIndex2].Offset;
+ }
+ else if (TypeCode2 == TC_CLUSTER)
+ {
+ Count2 = cCmdClusterCount(Arg2);
+ }
+
+ if (TypeCode1 == TC_ARRAY)
+ {
+ if (TypeCode2 != TC_ARRAY)
+ {
+ //If output is an array, but source is not an array, that's a fatal error!
+ NXT_BREAK;
+ return (ERR_ARG);
+ }
+ if(Count2 == 0) { // both arrays, input is empty, is output already empty?
+ Count1= cCmdArrayCount(Arg1, Offset1);
+ if(Count1 == 0)
+ return NO_ERR;
+ }
+
+ MinArrayCount = Count2;
+
+ //Make sure the destination array is the proper size to hold the result
+ Status = cCmdDSArrayAlloc(Arg1, Offset1, MinArrayCount);
+ if (IS_ERR(Status))
+ return Status;
+
+ if(MinArrayCount == 0) // if we emptied array, nothing else to do.
+ return NO_ERR;
+ Count1 = MinArrayCount;
+ DVIndex1 = cCmdGetDVIndex(Arg1, Offset1);
+ Offset1 = DV_ARRAY[DVIndex1].Offset;
+ AdvCluster = FALSE;
+ }
+ else if (TypeCode1 == TC_CLUSTER)
+ {
+ Count1 = cCmdClusterCount(Arg1);
+ AdvCluster = TRUE;
+ }
+
+ //Advance aggregate args to first sub-element for next call
+ if (IS_AGGREGATE_TYPE(TypeCode1))
+ Arg1 = INC_ID(Arg1);
+ if (IS_AGGREGATE_TYPE(TypeCode2))
+ Arg2 = INC_ID(Arg2);
+
+ //
+ // Loop through the sub-elements of aggregate arguments.
+ // Call cCmdInterpPolyUnop2 recursively with simpler type.
+ //
+ for (i = 0; i < Count1; i++)
+ {
+ Status = cCmdInterpPolyUnop2(Code, Arg1, Offset1, Arg2, Offset2);
+ if (IS_ERR(Status))
+ return Status;
+
+ //Advance aggregate args to next sub-element
+ if (TypeCode1 == TC_ARRAY)
+ Offset1 += DV_ARRAY[DVIndex1].ElemSize;
+ else if ((TypeCode1 == TC_CLUSTER) && AdvCluster)
+ Arg1 = cCmdNextDSElement(Arg1);
+
+ if (TypeCode2 == TC_ARRAY)
+ Offset2 += DV_ARRAY[DVIndex2].ElemSize;
+ else if ((TypeCode2 == TC_CLUSTER) && AdvCluster)
+ Arg2 = cCmdNextDSElement(Arg2);
+ }
+ return Status;
+}
+
+
+ULONG cCmdUnop2(CODE_WORD const Code, ULONG Operand, TYPE_CODE TypeCode)
+{
+ UBYTE opCode;
+
+ opCode = OP_CODE((&Code));
+ if(opCode == OP_MOV)
+ return Operand;
+ else if(opCode == OP_NEG)
+ return (-((SLONG)Operand));
+ else if(opCode == OP_NOT)
+ //!!! OP_NOT is logical, *not* bit-wise.
+ //This differs from the other logical ops because we don't distinguish booleans from UBYTEs.
+ return (!Operand);
+ else if(opCode == OP_TST)
+ return cCmdCompare(COMP_CODE((&Code)), Operand, 0, TypeCode, TypeCode);
+ else if(opCode == OP_ABS)
+ return abs(Operand);
+ else
+ {
+ //Unrecognized instruction, NXT_BREAK for easy debugging (ERR_INSTR handled in caller)
+ NXT_BREAK;
+ return 0;
+ }
+}
+
+float cCmdUnop2Flt(CODE_WORD const Code, float Operand, TYPE_CODE TypeCode)
+{
+ UBYTE opCode;
+
+ opCode = OP_CODE((&Code));
+ if(opCode == OP_MOV)
+ return Operand;
+ else if(opCode == OP_NEG)
+ return (-(Operand));
+ else if(opCode == OP_NOT)
+ //!!! OP_NOT is logical, *not* bit-wise.
+ //This differs from the other logical ops because we don't distinguish booleans from UBYTEs.
+ return (!Operand);
+ else if(opCode == OP_TST)
+ return cCmdCompareFlt(COMP_CODE((&Code)), Operand, 0, TypeCode, TypeCode);
+ else if(opCode == OP_ABS)
+ return fabsf(Operand);
+ else if(opCode == OP_SQRT)
+ return sqrt(Operand);
+#if 0
+ else if(opCode == OP_SIN)
+ return sin(Operand);
+ else if(opCode == OP_COS)
+ return cos(Operand);
+ else if(opCode == OP_TAN)
+ return tan(Operand);
+ else if(opCode == OP_ASIN)
+ return asin(Operand);
+ else if(opCode == OP_ACOS)
+ return acos(Operand);
+ else if(opCode == OP_ATAN)
+ return atan(Operand);
+#endif
+ else
+ {
+ //Unrecognized instruction, NXT_BREAK for easy debugging (ERR_INSTR handled in caller)
+ NXT_BREAK;
+ return 0;
+ }
+}
+
+NXT_STATUS cCmdIOGetSet(ULONG opCode, DATA_ARG Arg1, DATA_ARG Arg2, DATA_ARG Arg3)
+{
+ ULONG ArgVal1, ArgVal2;
+ TYPE_CODE TypeCode2;
+ void *pArg2 = NULL;
+ switch(opCode)
+ {
+ case OP_GETOUT:
+ {
+ ArgVal2 = cCmdGetScalarValFromDataArg(Arg2, 0);
+ Arg2 = (UWORD)(0x200 | (Arg3 + ArgVal2 * IO_OUT_FPP));
+ pArg2 = cCmdResolveIODataArg(Arg2, 0, &TypeCode2);
+ cCmdSetScalarValFromDataArg(Arg1, cCmdGetVal(pArg2, TypeCode2));
+ }
+ break;
+ //!!! All IO map access commands should screen illegal port values!
+ // Right now, cCmdResolveIODataArg's implementation allows SETIN/GETIN to access arbitrary RAM!
+ case OP_SETIN:
+ {
+ ArgVal2 = cCmdGetScalarValFromDataArg(Arg2, 0);
+ Arg2 = (UWORD)(Arg3 + ArgVal2 * IO_IN_FPP);
+ pArg2 = cCmdResolveIODataArg(Arg2, 0, &TypeCode2);
+ ArgVal1 = cCmdGetScalarValFromDataArg(Arg1, 0);
+ cCmdSetVal(pArg2, TypeCode2, ArgVal1);
+ }
+ break;
+ case OP_GETIN:
+ {
+ TYPE_CODE TypeCode1;
+ void * pArg1;
+ ArgVal2 = cCmdGetScalarValFromDataArg(Arg2, 0);
+ Arg2 = (UWORD)(Arg3 + ArgVal2 * IO_IN_FPP);
+ pArg2 = cCmdResolveIODataArg(Arg2, 0, &TypeCode2);
+ TypeCode1= cCmdDSType(Arg1);
+ pArg1= cCmdDSScalarPtr(Arg1, 0);
+ if(TypeCode1 <= TC_SBYTE && TypeCode1 <= TC_SBYTE) // seems really common
+ *(UBYTE*)pArg1= *(UBYTE*)pArg2;
+ else
+ cCmdSetVal(pArg1, TypeCode1, cCmdGetVal(pArg2, TypeCode2));
+ }
+ break;
+ }
+ return NO_ERR;
+}
+
+ULONG scalarCmp= 0, scalarFloatCmp= 0, recursiveCmp= 0, PolyScalarCmp= 0, polyPolyCmp= 0, scalarOther= 0, scalarBinopDispatch= 0, polyBinopDispatch= 0;
+NXT_STATUS cCmdInterpScalarBinop(CODE_WORD * const pCode)
+{
+ NXT_STATUS Status;
+ UBYTE opCode;
+ UBYTE CmpBool;
+
+ NXT_ASSERT(pCode != NULL);
+ opCode = OP_CODE(pCode);
+ DATA_ARG Arg1, Arg2, Arg3;
+
+ scalarBinopDispatch ++;
+ if(opCode == OP_CMP) // t2 && t3 guaranteed scalar or string
+ {
+ gPCDelta= 4;
+ Arg1 = pCode[1];
+ Arg2 = pCode[2];
+ Arg3 = pCode[3];
+ ULONG ArgVal1, ArgVal2, ArgVal3;
+ TYPE_CODE TypeCode2, TypeCode3;
+ DS_TOC_ENTRY *dsTOC2Ptr= &VarsCmd.pDataspaceTOC[Arg2];
+ DS_TOC_ENTRY *dsTOC3Ptr= &VarsCmd.pDataspaceTOC[Arg3];
+
+ TypeCode2 = dsTOC2Ptr->TypeCode;
+ TypeCode3 = dsTOC3Ptr->TypeCode;
+ if(TypeCode2 <= TC_LAST_INT_SCALAR && TypeCode3 <= TC_LAST_INT_SCALAR) {
+ ArgVal2= GetProcArray[TypeCode2](VarsCmd.pDataspace + dsTOC2Ptr->DSOffset);
+ ArgVal3= GetProcArray[TypeCode3](VarsCmd.pDataspace + dsTOC3Ptr->DSOffset);
+ ArgVal1= cCmdCompare(COMP_CODE(pCode), ArgVal2, ArgVal3, TypeCode2, TypeCode3);
+ DS_TOC_ENTRY *dsTOC1Ptr= &VarsCmd.pDataspaceTOC[Arg1];
+ SetProcArray[dsTOC1Ptr->TypeCode](VarsCmd.pDataspace + dsTOC1Ptr->DSOffset, ArgVal1);
+ scalarCmp++;
+ Status = NO_ERR;
+ }
+ else if (TypeCode2 == TC_ARRAY) // two strings
+ {
+ // memcmp(); here or in compareagg, could use memcmp to speed up string compares ???
+ Status = cCmdCompareAggregates(COMP_CODE(pCode), &CmpBool, Arg2, 0, Arg3, 0);
+ cCmdSetScalarValFromDataArg(Arg1, CmpBool);
+ recursiveCmp++;
+ }
+ else { // floats
+ Status = cCmdInterpPolyBinop(*pCode, Arg1, 0, Arg2, 0, Arg3, 0);
+ scalarFloatCmp++;
+ }
+ }
+ else if(opCode == OP_BRCMP) { // t2 and t3 guaranteed scalar
+ TYPE_CODE TypeCode2, TypeCode3;
+ ULONG ArgVal2, ArgVal3;
+
+ Arg1 = pCode[1];
+ Arg2 = pCode[2];
+ Arg3 = pCode[3];
+ TypeCode2= cCmdDSType(Arg2);
+ TypeCode3= cCmdDSType(Arg3);
+ ArgVal2= cCmdGetScalarValFromDataArg(Arg2, 0);
+ ArgVal3= cCmdGetScalarValFromDataArg(Arg3, 0);
+ CmpBool= cCmdCompare(COMP_CODE(pCode), ArgVal2, ArgVal3, TypeCode2, TypeCode3);
+
+ if (CmpBool)
+ gPCDelta = (SWORD)Arg1;
+ else
+ gPCDelta= 4;
+ Status= NO_ERR;
+ }
+ else if(opCode >= OP_SETIN && opCode <= OP_GETOUT) {
+ Arg1 = pCode[1];
+ Arg2 = pCode[2];
+ Arg3 = pCode[3];
+ Status= cCmdIOGetSet(opCode, Arg1, Arg2, Arg3);
+ gPCDelta= 4;
+ }
+ else {
+ scalarOther ++;
+ Status= cCmdInterpBinop(pCode);
+ }
+ return Status;
+}
+
+
+NXT_STATUS cCmdInterpBinop(CODE_WORD * const pCode)
+{
+ NXT_STATUS Status = NO_ERR;
+ UBYTE opCode;
+ DATA_ARG Arg1, Arg2, Arg3;
+ ULONG ArgVal3;
+ UBYTE CmpBool;
+ DV_INDEX DVIndex1, DVIndex2;
+ UWORD i;
+
+ polyBinopDispatch ++;
+ gPCDelta= 4;
+
+ NXT_ASSERT(pCode != NULL);
+ opCode = OP_CODE(pCode);
+ Arg1 = pCode[1];
+ Arg2 = pCode[2];
+ Arg3 = pCode[3];
+
+ if (opCode <= OP_XOR) // && ! OP_NEG, can't happen since it is unop
+ Status= cCmdInterpPolyBinop(opCode, Arg1, 0, Arg2, 0, Arg3, 0);
+ else if(opCode >= OP_SETIN && opCode <= OP_GETOUT)
+ Status= cCmdIOGetSet(opCode, Arg1, Arg2, Arg3);
+ else {
+ switch (opCode)
+ {
+ case OP_CMP:
+ {
+ TYPE_CODE TypeCode2= cCmdDSType(Arg2), TypeCode3= cCmdDSType(Arg3);
+ if(TypeCode2 <= TC_LAST_INT_SCALAR && TypeCode3 <= TC_LAST_INT_SCALAR) {
+ ULONG ArgVal1, ArgVal2, ArgVal3;
+ ArgVal2= cCmdGetScalarValFromDataArg(Arg2, 0);
+ ArgVal3= cCmdGetScalarValFromDataArg(Arg3, 0);
+ ArgVal1= cCmdCompare(COMP_CODE(pCode), ArgVal2, ArgVal3, TypeCode2, TypeCode3);
+ cCmdSetScalarValFromDataArg(Arg1, ArgVal1);
+ PolyScalarCmp++;
+ }
+ else if (IS_AGGREGATE_TYPE(TypeCode2) && IS_AGGREGATE_TYPE(TypeCode3) && !IS_AGGREGATE_TYPE(cCmdDSType(Arg1)))
+ {
+ //Compare Aggregates
+ Status = cCmdCompareAggregates(COMP_CODE(pCode), &CmpBool, Arg2, 0, Arg3, 0);
+ cCmdSetScalarValFromDataArg(Arg1, CmpBool);
+ recursiveCmp++;
+ }
+ else
+ {
+ //Compare Elements
+ Status = cCmdInterpPolyBinop(*pCode, Arg1, 0, Arg2, 0, Arg3, 0);
+ polyPolyCmp++;
+ }
+ }
+ break;
+
+ case OP_BRCMP:
+ {
+ TYPE_CODE TypeCode2= cCmdDSType(Arg2), TypeCode3= cCmdDSType(Arg3);
+ if(TypeCode2 <= TC_LAST_INT_SCALAR && TypeCode3 <= TC_LAST_INT_SCALAR) {
+ ULONG ArgVal2, ArgVal3;
+ ArgVal2= cCmdGetScalarValFromDataArg(Arg2, 0);
+ ArgVal3= cCmdGetScalarValFromDataArg(Arg3, 0);
+ CmpBool= cCmdCompare(COMP_CODE(pCode), ArgVal2, ArgVal3, TypeCode2, TypeCode3);
+ }
+ else //Compare Aggregates
+ Status = cCmdCompareAggregates(COMP_CODE(pCode), &CmpBool, Arg2, 0, Arg3, 0);
+
+ if (CmpBool)
+ gPCDelta = (SWORD)Arg1;
+ }
+ break;
+
+ case OP_INDEX:
+ {
+ ArgVal3 = (Arg3 != NOT_A_DS_ID) ? cCmdGetScalarValFromDataArg(Arg3, 0) : 0;
+
+ DVIndex2 = cCmdGetDVIndex(Arg2, 0);
+ if (ArgVal3 >= DV_ARRAY[DVIndex2].Count)
+ return (ERR_ARG);
+
+ Status = cCmdInterpPolyUnop2(OP_MOV, Arg1, 0, INC_ID(Arg2), ARRAY_ELEM_OFFSET(DVIndex2, ArgVal3));
+ }
+ break;
+
+ case OP_ARRINIT:
+ {
+ //Arg1 - Dst, Arg2 - element type/default val, Arg3 - length
+
+ NXT_ASSERT(cCmdDSType(Arg1) == TC_ARRAY);
+
+ ArgVal3 = (Arg3 != NOT_A_DS_ID) ? cCmdGetScalarValFromDataArg(Arg3, 0) : 0;
+
+ Status = cCmdDSArrayAlloc(Arg1, 0, (UWORD)ArgVal3);
+ if (!IS_ERR(Status))
+ {
+ DVIndex1 = cCmdGetDVIndex(Arg1, 0);
+ if(cCmdDSType(Arg2) <= TC_LAST_INT_SCALAR)
+ {
+ ULONG val= cCmdGetScalarValFromDataArg(Arg2, 0);
+ TYPE_CODE TypeCode= cCmdDSType(INC_ID(Arg1));
+ for (i = 0; i < ArgVal3; i++) // could init ptr and incr by offset GM???
+ {
+ //copy Arg2 into each element of Arg1
+ cCmdSetVal(VarsCmd.pDataspace + ARRAY_ELEM_OFFSET(DVIndex1, i), TypeCode, val);
+ }
+ }
+ else
+ for (i = 0; i < ArgVal3; i++) //copy Arg2 into each element of Arg1
+ Status = cCmdInterpPolyUnop2(OP_MOV, INC_ID(Arg1), ARRAY_ELEM_OFFSET(DVIndex1, i), Arg2, 0);
+ }
+ }
+ break;
+
+ default:
+ {
+ //Fatal error: Unrecognized instruction
+ NXT_BREAK;
+ Status = ERR_INSTR;
+ }
+ break;
+ }
+ }
+ return (Status);
+}
+
+
+NXT_STATUS cCmdInterpPolyBinop(CODE_WORD const Code, DATA_ARG Arg1, UWORD Offset1, DATA_ARG Arg2, UWORD Offset2, DATA_ARG Arg3, UWORD Offset3)
+{
+ NXT_STATUS Status = NO_ERR;
+ TYPE_CODE TypeCode1, TypeCode2, TypeCode3;
+ DV_INDEX DVIndex1, DVIndex2, DVIndex3;
+ ULONG ArgVal1, ArgVal2, ArgVal3;
+ float FltArgVal1, FltArgVal2, FltArgVal3;
+ UWORD Count1, Count2, Count3;
+ UWORD MinArrayCount;
+ UWORD i;
+ //!!! AdvCluster is intended to catch the case where sources are Cluster and an Array of Clusters.
+ // In practice, the logic it uses is broken, leading to some source cluster elements being ignored.
+ UBYTE AdvCluster;
+
+ void * pArg1 = NULL,
+ *pArg2 = NULL,
+ *pArg3 = NULL;
+
+ TypeCode1 = cCmdDSType(Arg1);
+ TypeCode2 = cCmdDSType(Arg2);
+ TypeCode3 = cCmdDSType(Arg3);
+
+ //Simple case, both args are scalars. Solve and return.
+ if ((!IS_AGGREGATE_TYPE(TypeCode2)) && (!IS_AGGREGATE_TYPE(TypeCode3)))
+ {
+ NXT_ASSERT(!IS_AGGREGATE_TYPE(TypeCode1));
+
+ pArg1 = cCmdResolveDataArg(Arg1, Offset1, NULL);
+
+ if (TypeCode1 == TC_FLOAT || TypeCode2 == TC_FLOAT || TypeCode3 == TC_FLOAT){
+ pArg2 = cCmdResolveDataArg(Arg2, Offset2, NULL);
+ pArg3 = cCmdResolveDataArg(Arg3, Offset3, NULL);
+ FltArgVal2 = cCmdGetValFlt(pArg2, TypeCode2);
+ FltArgVal3 = cCmdGetValFlt(pArg3, TypeCode3);
+ FltArgVal1 = cCmdBinopFlt(Code, FltArgVal2, FltArgVal3, TypeCode2, TypeCode3);
+ cCmdSetValFlt(pArg1, TypeCode1, FltArgVal1);
+ }
+ else
+ {
+ ArgVal2 = cCmdGetScalarValFromDataArg(Arg2, Offset2);
+ ArgVal3 = cCmdGetScalarValFromDataArg(Arg3, Offset3);
+ ArgVal1 = cCmdBinop(Code, ArgVal2, ArgVal3, TypeCode2, TypeCode3);
+ cCmdSetVal(pArg1, TypeCode1, ArgVal1);
+ }
+ return Status;
+ }
+
+ //At least one of the args is an aggregate type
+
+ //
+ // Initialize Count and ArrayType local variables for each argument
+ //
+
+ if (TypeCode2 == TC_ARRAY)
+ {
+ Count2 = cCmdArrayCount(Arg2, Offset2);
+ DVIndex2 = cCmdGetDVIndex(Arg2, Offset2);
+ Offset2 = DV_ARRAY[DVIndex2].Offset;
+ }
+ else if (TypeCode2 == TC_CLUSTER)
+ {
+ Count2 = cCmdClusterCount(Arg2);
+ }
+
+ if (TypeCode3 == TC_ARRAY)
+ {
+ Count3 = cCmdArrayCount(Arg3, Offset3);
+ DVIndex3 = cCmdGetDVIndex(Arg3, Offset3);
+ Offset3 = DV_ARRAY[DVIndex3].Offset;
+ }
+ else if (TypeCode3 == TC_CLUSTER)
+ {
+ Count3 = cCmdClusterCount(Arg3);
+ }
+
+
+ if (TypeCode1 == TC_ARRAY)
+ {
+ //If the destination is an array, make sure it has enough memory to hold the result
+ if ((TypeCode2 == TC_ARRAY) && (TypeCode3 == TC_ARRAY))
+ {
+ if (Count2 < Count3)
+ MinArrayCount = Count2;
+ else
+ MinArrayCount = Count3;
+ }
+ else if (TypeCode2 == TC_ARRAY)
+ MinArrayCount = Count2;
+ else if (TypeCode3 == TC_ARRAY)
+ MinArrayCount = Count3;
+ else
+ {
+ //If output is an array, but no sources are arrays, that's a fatal error!
+ NXT_BREAK;
+ return (ERR_ARG);
+ }
+
+ //Make sure the destination array is the proper size to hold the result
+ Status = cCmdDSArrayAlloc(Arg1, Offset1, MinArrayCount);
+ if (IS_ERR(Status))
+ return Status;
+
+ Count1 = MinArrayCount;
+ DVIndex1 = cCmdGetDVIndex(Arg1, Offset1);
+ Offset1 = DV_ARRAY[DVIndex1].Offset;
+ AdvCluster = FALSE;
+ }
+ else if (TypeCode1 == TC_CLUSTER)
+ {
+ Count1 = cCmdClusterCount(Arg1);
+ AdvCluster = TRUE;
+ }
+
+ //Advance aggregate args to first sub-element for next call
+ if (IS_AGGREGATE_TYPE(TypeCode1))
+ Arg1 = INC_ID(Arg1);
+ if (IS_AGGREGATE_TYPE(TypeCode2))
+ Arg2 = INC_ID(Arg2);
+ if (IS_AGGREGATE_TYPE(TypeCode3))
+ Arg3 = INC_ID(Arg3);
+
+ //
+ // Loop through the sub-elements of aggregate arguments.
+ // Call cCmdInterpPolyBinop recursively with simpler type.
+ //
+
+ for (i = 0; i < Count1; i++)
+ {
+ Status = cCmdInterpPolyBinop(Code, Arg1, Offset1, Arg2, Offset2, Arg3, Offset3);
+ if (IS_ERR(Status))
+ return Status;
+
+ //Advance aggregate args to next sub-element
+ if (TypeCode1 == TC_ARRAY)
+ Offset1 += DV_ARRAY[DVIndex1].ElemSize;
+ else if ((TypeCode1 == TC_CLUSTER) && AdvCluster)
+ Arg1 = cCmdNextDSElement(Arg1);
+
+ if (TypeCode2 == TC_ARRAY)
+ Offset2 += DV_ARRAY[DVIndex2].ElemSize;
+ else if ((TypeCode2 == TC_CLUSTER) && AdvCluster)
+ Arg2 = cCmdNextDSElement(Arg2);
+
+ if (TypeCode3 == TC_ARRAY)
+ Offset3 += DV_ARRAY[DVIndex3].ElemSize;
+ else if ((TypeCode3 == TC_CLUSTER) && AdvCluster)
+ Arg3 = cCmdNextDSElement(Arg3);
+ }
+
+ return Status;
+}
+
+
+ULONG cCmdBinop(CODE_WORD const Code, ULONG LeftOp, ULONG RightOp, TYPE_CODE LeftType, TYPE_CODE RightType)
+{
+ UBYTE opCode;
+
+ opCode = OP_CODE((&Code));
+
+ switch (opCode)
+ {
+ case OP_ADD:
+ {
+ return LeftOp + RightOp;
+ }
+
+ case OP_SUB:
+ {
+ return LeftOp - RightOp;
+ }
+
+ case OP_MUL:
+ {
+ return LeftOp * RightOp;
+ }
+
+ case OP_DIV:
+ {
+ //Catch divide-by-zero for a portable, well-defined result.
+ //(x / 0) = 0. Thus Spake LOTHAR!! (It's technical.)
+ if (RightOp == 0)
+ return 0;
+
+ if (IS_SIGNED_TYPE(LeftType) && IS_SIGNED_TYPE(RightType))
+ return ((SLONG)LeftOp) / ((SLONG)RightOp);
+ else if (IS_SIGNED_TYPE(LeftType))
+ return ((SLONG)LeftOp) / RightOp;
+ else if (IS_SIGNED_TYPE(RightType))
+ return LeftOp / ((SLONG)RightOp);
+ else
+ return LeftOp / RightOp;
+ }
+
+ case OP_MOD:
+ {
+ //As with OP_DIV, make sure (x % 0) = x is well-defined
+ if (RightOp == 0)
+ return (LeftOp);
+
+ if (IS_SIGNED_TYPE(LeftType) && IS_SIGNED_TYPE(RightType))
+ return ((SLONG)LeftOp) % ((SLONG)RightOp);
+ else if (IS_SIGNED_TYPE(LeftType))
+ return ((SLONG)LeftOp) % RightOp;
+ else if (IS_SIGNED_TYPE(RightType))
+ return LeftOp % ((SLONG)RightOp);
+ else
+ return LeftOp % RightOp;
+ }
+
+ case OP_AND:
+ {
+ return (LeftOp & RightOp);
+ }
+
+ case OP_OR:
+ {
+ return (LeftOp | RightOp);
+ }
+
+ case OP_XOR:
+ {
+ return ((LeftOp | RightOp) & (~(LeftOp & RightOp)));
+ }
+
+ case OP_CMP:
+ {
+ return cCmdCompare(COMP_CODE((&Code)), LeftOp, RightOp, LeftType, RightType);
+ }
+
+ default:
+ {
+ //Unrecognized instruction, NXT_BREAK for easy debugging (ERR_INSTR handled in caller)
+ NXT_BREAK;
+ return 0;
+ }
+ }
+}
+
+
+float cCmdBinopFlt(CODE_WORD const Code, float LeftOp, float RightOp, TYPE_CODE LeftType, TYPE_CODE RightType)
+{
+ UBYTE opCode;
+
+ opCode = OP_CODE((&Code));
+
+ switch (opCode)
+ {
+ case OP_ADD:
+ {
+ return LeftOp + RightOp;
+ }
+
+ case OP_SUB:
+ {
+ return LeftOp - RightOp;
+ }
+
+ case OP_MUL:
+ {
+ return LeftOp * RightOp;
+ }
+
+ case OP_DIV:
+ {
+ //Catch divide-by-zero for a portable, well-defined result.
+ //(x / 0) = 0. Thus Spake LOTHAR!! (It's technical.)
+ if (RightOp == 0)
+ return 0;
+
+ return LeftOp / RightOp;
+ }
+
+ case OP_MOD:
+ {
+ //As with OP_DIV, make sure (x % 0) = x is well-defined
+ if (RightOp == 0)
+ return (LeftOp);
+
+ return (SLONG)LeftOp % (SLONG)RightOp;
+ }
+
+ case OP_AND:
+ {
+ return ((SLONG)LeftOp & (SLONG)RightOp);
+ }
+
+ case OP_OR:
+ {
+ return ((SLONG)LeftOp | (SLONG)RightOp);
+ }
+
+ case OP_XOR:
+ {
+ return (((SLONG)LeftOp | (SLONG)RightOp) & (~((SLONG)LeftOp & (SLONG)RightOp)));
+ }
+
+ case OP_CMP:
+ {
+ return cCmdCompareFlt(COMP_CODE((&Code)), LeftOp, RightOp, LeftType, RightType);
+ }
+
+ default:
+ {
+ //Unrecognized instruction, NXT_BREAK for easy debugging (ERR_INSTR handled in caller)
+ NXT_BREAK;
+ return 0;
+ }
+ }
+}
+
+NXT_STATUS cCmdInterpNoArg(CODE_WORD * const pCode)
+{
+ //Fatal error: Unrecognized instruction (no current opcodes have zero instructions)
+ NXT_BREAK;
+ return (ERR_INSTR);
+}
+
+NXT_STATUS cCmdInterpShortError(CODE_WORD * const pCode)
+{
+ //Fatal error: Unrecognized instruction (no current opcodes have zero instructions)
+ NXT_BREAK;
+ return (ERR_INSTR);
+}
+
+NXT_STATUS cCmdInterpShortSubCall(CODE_WORD * const pCode)
+{
+ NXT_STATUS Status;
+ DATA_ARG Arg1, Arg2;
+
+ gPCDelta= 2;
+ Arg1 = GetDataArg(SHORT_ARG(pCode) + pCode[1]);
+ Arg2 = GetDataArg(pCode[1]);
+ NXT_ASSERT(cCmdIsClumpIDSane((CLUMP_ID)Arg1));
+ NXT_ASSERT(!cCmdIsClumpOnQ(&(VarsCmd.RunQ), (CLUMP_ID)Arg1));
+
+ NXT_ASSERT(cCmdIsDSElementIDSane(Arg2));
+
+ *((CLUMP_ID *)(cCmdDSScalarPtr(Arg2, 0))) = VarsCmd.RunQ.Head;
+
+ cCmdDeQClump(&(VarsCmd.RunQ), VarsCmd.RunQ.Head); //Take caller off RunQ
+ cCmdEnQClump(&(VarsCmd.RunQ), (CLUMP_ID)Arg1); //Add callee to RunQ
+
+ Status = CLUMP_SUSPEND;
+
+ return Status;
+}
+
+ULONG moveSameInt= 0, moveDiffInt= 0, moveFloat= 0, moveArrInt= 0, moveOther= 0;
+NXT_STATUS cCmdMove(DATA_ARG Arg1, DATA_ARG Arg2)
+{
+ NXT_STATUS Status;
+ DS_TOC_ENTRY *TOC1Ptr= &VarsCmd.pDataspaceTOC[Arg1],
+ *TOC2Ptr= &VarsCmd.pDataspaceTOC[Arg2];
+ TYPE_CODE tc1= TOC1Ptr->TypeCode, tc2= TOC2Ptr->TypeCode;
+ void *pArg1, *pArg2;
+
+ if(tc1 <= TC_LAST_INT_SCALAR && tc2 <= TC_LAST_INT_SCALAR)
+ {
+ // if tc1 == tc2, do long, byte, then word assignment
+ if(tc1 == tc2)
+ {
+ moveSameInt++;
+ pArg1= VarsCmd.pDataspace + TOC1Ptr->DSOffset;
+ pArg2= VarsCmd.pDataspace + TOC2Ptr->DSOffset;
+ if(tc1 >= TC_ULONG)
+ *(ULONG*)pArg1= *(ULONG*)pArg2;
+ else if(tc1 <= TC_SBYTE)
+ *(UBYTE*)pArg1= *(UBYTE*)pArg2;
+ else
+ *(UWORD*)pArg1= *(UWORD*)pArg2;
+ Status= NO_ERR;
+ }
+ else
+ {
+ moveDiffInt++;
+ ULONG val= cCmdGetScalarValFromDataArg(Arg2, 0);
+ cCmdSetScalarValFromDataArg(Arg1, val);
+ Status= NO_ERR;
+ }
+ }
+ else if(tc1 == TC_FLOAT && tc2 == TC_FLOAT) { // may also need to speed up float to int and int to float conversions
+ moveFloat++;
+ pArg1= VarsCmd.pDataspace + TOC1Ptr->DSOffset;
+ pArg2= VarsCmd.pDataspace + TOC2Ptr->DSOffset;
+ *(float*)pArg1= *(float*)pArg2;
+ Status= NO_ERR;
+ }
+ //!!! Optimized move for arrays of ints.
+ else if ((tc1 == TC_ARRAY) && (tc2 == TC_ARRAY)
+ && ((TOC1Ptr+1)->TypeCode <= TC_LAST_INT_SCALAR)
+ && ((TOC1Ptr+1)->TypeCode == (TOC2Ptr+1)->TypeCode))
+ {
+ ULONG Count;
+ moveArrInt++;
+ Count = cCmdArrayCount(Arg2, 0);
+ Status = cCmdDSArrayAlloc(Arg1, 0, Count);
+ if (IS_ERR(Status))
+ return Status;
+
+ pArg1 = cCmdResolveDataArg(Arg1, 0, NULL);
+ pArg2 = cCmdResolveDataArg(Arg2, 0, NULL);
+
+ memmove(pArg1, pArg2, Count * cCmdSizeOf((TOC1Ptr+1)->TypeCode));
+ }
+ else { // if ((tc1 == TC_CLUSTER) && (tc2 == TC_CLUSTER))
+ moveOther++;
+ Status = cCmdInterpPolyUnop2(OP_MOV, Arg1, 0, Arg2, 0);
+ }
+ return Status;
+}
+
+
+NXT_STATUS cCmdInterpShortMove(CODE_WORD * const pCode)
+{
+ NXT_STATUS Status;
+ DATA_ARG Arg1, Arg2;
+
+ Arg1 = GetDataArg(SHORT_ARG(pCode) + pCode[1]);
+ Arg2 = GetDataArg(pCode[1]);
+ Status= cCmdMove(Arg1, Arg2);
+
+ gPCDelta= 2;
+ return Status;
+}
+
+NXT_STATUS cCmdInterpShortAcquire(CODE_WORD * const pCode)
+{
+ NXT_STATUS Status;
+ DATA_ARG Arg1;
+
+ gPCDelta= 1;
+ Arg1 = GetDataArg(SHORT_ARG(pCode));
+ NXT_ASSERT(cCmdIsDSElementIDSane(Arg1));
+ NXT_ASSERT(cCmdDSType(Arg1) == TC_MUTEX);
+
+ Status = cCmdAcquireMutex((MUTEX_Q *)cCmdDSScalarPtr(Arg1, 0));
+
+ return Status;
+}
+
+NXT_STATUS cCmdInterpShortRelease(CODE_WORD * const pCode)
+{
+ NXT_STATUS Status;
+ DATA_ARG Arg1;
+
+ gPCDelta= 1;
+ Arg1 = GetDataArg(SHORT_ARG(pCode));
+ NXT_ASSERT(cCmdIsDSElementIDSane(Arg1));
+ NXT_ASSERT(cCmdDSType(Arg1) == TC_MUTEX);
+
+ Status = cCmdReleaseMutex((MUTEX_Q *)cCmdDSScalarPtr(Arg1, 0));
+
+ return Status;
+}
+
+
+//OP_SETOUT gets it's own interpreter function because it is relatively complex
+// (called from cCmdInterpOther())
+//This also serves as a convenient breakpoint stop for investigating output module behavior
+NXT_STATUS cCmdExecuteSetOut(CODE_WORD * const pCode)
+{
+ TYPE_CODE TypeCodeField, TypeCodeSrc, TypeCodePortArg;
+ void *pField = NULL,
+ *pSrc = NULL,
+ *pPort = NULL;
+ DS_ELEMENT_ID PortArg;
+ UWORD PortCount, InstrSize;
+ ULONG Port, FieldTableIndex, i, j;
+ DV_INDEX DVIndex;
+
+ //Arg1 = InstrSize
+ //Arg2 = port number or list of ports
+ //Arg3 and beyond = FieldID, src DSID tuples
+
+ //Calculate number of tuples
+ //!!! Might want to throw ERR_INSTR if instrSize and tuples don't check out
+ InstrSize = (pCode[1] / 2);
+
+ //Second argument may specify a single port or an array list.
+ //Figure out which and resolve accordingly.
+ PortArg = pCode[2];
+ TypeCodePortArg = cCmdDSType(PortArg);
+
+ if (TypeCodePortArg == TC_ARRAY)
+ {
+ DVIndex = cCmdGetDVIndex(PortArg, 0);
+ PortCount = cCmdArrayCount(PortArg, 0);
+ }
+ else
+ PortCount = 1;
+
+ //For each port, process all the tuples
+ for (i = 0; i < PortCount; i++)
+ {
+ if (TypeCodePortArg == TC_ARRAY)
+ {
+ pPort = (UBYTE*)cCmdResolveDataArg(INC_ID(PortArg), ARRAY_ELEM_OFFSET(DVIndex, i), NULL);
+ Port = cCmdGetVal(pPort, cCmdDSType(INC_ID(PortArg)));
+ }
+ else
+ {
+ Port = cCmdGetScalarValFromDataArg(PortArg, 0);
+ }
+
+ //If user specified a valid port, process the tuples. Else, this port is a no-op
+ if (Port < NO_OF_OUTPUTS)
+ {
+ for (j = 3; j < InstrSize; j += 2)
+ {
+ FieldTableIndex = (Port * IO_OUT_FPP) + pCode[j];
+ pSrc = cCmdResolveDataArg(pCode[j + 1], 0, &TypeCodeSrc);
+
+ //If FieldTableIndex is valid, go ahead and set the value
+ if (FieldTableIndex < IO_OUT_FIELD_COUNT)
+ {
+ pField = IO_PTRS[MOD_OUTPUT][FieldTableIndex];
+ TypeCodeField = IO_TYPES[MOD_OUTPUT][FieldTableIndex];
+ cCmdSetVal(pField, TypeCodeField, cCmdGetVal(pSrc, TypeCodeSrc));
+ }
+ //Else, compiler is nutso! Return fatal error.
+ else
+ return (ERR_INSTR);
+ }
+ }
+ }
+
+ return (NO_ERR);
+}
+
+
+NXT_STATUS cCmdInterpOther(CODE_WORD * const pCode)
+{
+ NXT_STATUS Status = NO_ERR;
+ UBYTE opCode;
+ DATA_ARG Arg1, Arg2, Arg3, Arg4, Arg5;
+ TYPE_CODE TypeCode1, TypeCode2, TypeCode3, TypeCode5;
+ ULONG ArgVal2, ArgVal3, ArgVal4, ArgVal5;
+ UWORD ArrayCount1, ArrayCount2, ArrayCount3, ArrayCount4;
+ UWORD MinCount;
+ UWORD i,j;
+ DV_INDEX DVIndex1, DVIndex2, DVIndex4,TmpDVIndex;
+ UWORD SrcCount;
+ DS_ELEMENT_ID TmpDSID;
+ UWORD DstIndex;
+ UWORD Size;
+ UWORD Offset;
+
+ void *pArg1 = NULL;
+ void *pArg2 = NULL;
+ void *pArg3 = NULL;
+ void *pArg5 = NULL;
+
+ NXT_ASSERT(pCode != NULL);
+
+ ULONG sz= INSTR_SIZE(*(UWORD*)pCode);
+ if (sz == VAR_INSTR_SIZE)
+ sz = ((UWORD*)pCode)[1];
+ gPCDelta= sz/2; // advance words, sz is in bytes
+
+ opCode = OP_CODE(pCode);
+
+ switch (opCode)
+ {
+
+ case OP_REPLACE:
+ {
+ //Arg1 - Dst
+ //Arg2 - Src
+ //Arg3 - Index
+ //Arg4 - New val / array of vals
+
+ Arg1 = pCode[1];
+ Arg2 = pCode[2];
+ Arg3 = pCode[3];
+ Arg4 = pCode[4];
+
+ NXT_ASSERT(cCmdDSType(Arg1) == TC_ARRAY);
+ NXT_ASSERT(cCmdDSType(Arg2) == TC_ARRAY);
+
+ //Copy Src to Dst
+ //!!! Could avoid full data copy if we knew which portion to overwrite
+ if (Arg1 != Arg2)
+ {
+ Status= cCmdMove(Arg1, Arg2);
+ if (IS_ERR(Status))
+ return Status;
+ }
+
+ DVIndex1 = cCmdGetDVIndex(Arg1, 0);
+ //Copy new val to Dst
+ if (Arg3 != NOT_A_DS_ID)
+ {
+ pArg3 = cCmdResolveDataArg(Arg3, 0, &TypeCode3);
+ ArgVal3 = cCmdGetVal(pArg3, TypeCode3);
+ }
+ else
+ {
+ //Index input unwired
+ ArgVal3 = 0;
+ }
+
+ ArrayCount1 = cCmdArrayCount(Arg1, 0);
+ //Bounds check
+ //If array index (ArgVal3) is out of range, just pass out the copy of Src (effectively no-op)
+ if (ArgVal3 >= ArrayCount1)
+ return (NO_ERR);
+
+ if (cCmdDSType(Arg4) != TC_ARRAY)
+ {
+ Status = cCmdInterpPolyUnop2(OP_MOV, INC_ID(Arg1), ARRAY_ELEM_OFFSET(DVIndex1, ArgVal3), Arg4, 0);
+ if (IS_ERR(Status))
+ return Status;
+ }
+ else
+ {
+ DVIndex4 = cCmdGetDVIndex(Arg4, 0);
+
+ ArrayCount4 = cCmdArrayCount(Arg4, 0);
+ if (ArrayCount1 - ArgVal3 < ArrayCount4)
+ MinCount = (UWORD)(ArrayCount1 - ArgVal3);
+ else
+ MinCount = ArrayCount4;
+
+ for (i = 0; i < MinCount; i++)
+ {
+ Status = cCmdInterpPolyUnop2(OP_MOV, INC_ID(Arg1), ARRAY_ELEM_OFFSET(DVIndex1, ArgVal3 + i), INC_ID(Arg4), ARRAY_ELEM_OFFSET(DVIndex4, i));
+ if (IS_ERR(Status))
+ return Status;
+ }
+ }
+ }
+ break;
+
+ case OP_ARRSUBSET:
+ {
+ //Arg1 - Dst
+ //Arg2 - Src
+ //Arg3 - Index
+ //Arg4 - Length
+
+ Arg1 = pCode[1];
+ Arg2 = pCode[2];
+ Arg3 = pCode[3];
+ Arg4 = pCode[4];
+
+ NXT_ASSERT(cCmdDSType(Arg1) == TC_ARRAY);
+ NXT_ASSERT(cCmdDSType(Arg2) == TC_ARRAY);
+
+ ArrayCount2 = cCmdArrayCount(Arg2, 0);
+
+ if (Arg3 != NOT_A_DS_ID)
+ ArgVal3 = cCmdGetScalarValFromDataArg(Arg3, 0);
+ else //Index input unwired
+ ArgVal3 = 0;
+
+ if (Arg4 != NOT_A_DS_ID)
+ ArgVal4 = cCmdGetScalarValFromDataArg(Arg4, 0);
+ else //Length input unwired, set to "rest"
+ ArgVal4 = (UWORD)(ArrayCount2 - ArgVal3);
+
+ //Bounds check
+ if (ArgVal3 > ArrayCount2)
+ {
+ //Illegal range - return empty subset
+ Status = cCmdDSArrayAlloc(Arg1, 0, 0);
+ return Status;
+ }
+
+ //Set MinCount to "rest"
+ MinCount = (UWORD)(ArrayCount2 - ArgVal3);
+
+ // Copy "Length" if it is less than "rest"
+ if (ArgVal4 < (ULONG)MinCount)
+ MinCount = (UWORD)ArgVal4;
+
+ //Allocate Dst array
+ Status = cCmdDSArrayAlloc(Arg1, 0, MinCount);
+ if (IS_ERR(Status))
+ return Status;
+
+ DVIndex1 = cCmdGetDVIndex(Arg1, 0);
+ DVIndex2 = cCmdGetDVIndex(Arg2, 0);
+
+ //Move src subset to dst
+ for (i = 0; i < MinCount; i++)
+ {
+ Status = cCmdInterpPolyUnop2(OP_MOV, INC_ID(Arg1), ARRAY_ELEM_OFFSET(DVIndex1, i), INC_ID(Arg2), ARRAY_ELEM_OFFSET(DVIndex2, ArgVal3 + i));
+ if (IS_ERR(Status))
+ return Status;
+ }
+ }
+ break;
+
+ case OP_STRSUBSET:
+ {
+ //Arg1 - Dst
+ //Arg2 - Src
+ //Arg3 - Index
+ //Arg4 - Length
+
+ Arg1 = pCode[1];
+ Arg2 = pCode[2];
+ Arg3 = pCode[3];
+ Arg4 = pCode[4];
+
+ NXT_ASSERT(cCmdDSType(Arg1) == TC_ARRAY);
+ NXT_ASSERT(cCmdDSType(INC_ID(Arg1)) == TC_UBYTE);
+ NXT_ASSERT(cCmdDSType(Arg2) == TC_ARRAY);
+ NXT_ASSERT(cCmdDSType(INC_ID(Arg2)) == TC_UBYTE);
+
+ ArrayCount2 = cCmdArrayCount(Arg2, 0);
+
+ //Remove NULL from Count
+ ArrayCount2--;
+
+ if (Arg3 != NOT_A_DS_ID)
+ ArgVal3 = cCmdGetScalarValFromDataArg(Arg3, 0);
+ else //Index input unwired
+ ArgVal3 = 0;
+
+ if (Arg4 != NOT_A_DS_ID)
+ ArgVal4 = cCmdGetScalarValFromDataArg(Arg4, 0);
+ else //Length input unwired, set to "rest"
+ ArgVal4 = (UWORD)(ArrayCount2 - ArgVal3);
+
+ //Bounds check
+ if (ArgVal3 > ArrayCount2)
+ {
+ //Illegal range - return empty string
+ Status = cCmdDSArrayAlloc(Arg1, 0, 1);
+ if (!IS_ERR(Status))
+ {
+ pArg1 = cCmdResolveDataArg(Arg1, 0, NULL);
+ *((UBYTE *)pArg1) = '\0';
+ }
+ return Status;
+ }
+
+ //Set MinCount to "rest"
+ MinCount = (UWORD)(ArrayCount2 - ArgVal3);
+
+ // Copy "Length" if it is less than "rest"
+ if (ArgVal4 < (ArrayCount2 - ArgVal3))
+ MinCount = (UWORD)ArgVal4;
+
+ //Allocate Dst array
+ Status = cCmdDSArrayAlloc(Arg1, 0, (UWORD)(MinCount + 1));
+ if (IS_ERR(Status))
+ return Status;
+
+ pArg1 = cCmdResolveDataArg(Arg1, 0, NULL);
+ pArg2 = cCmdResolveDataArg(Arg2, 0, NULL);
+
+ //Move src subset to dst
+ memmove((UBYTE *)pArg1, (UBYTE *)pArg2 + ArgVal3, MinCount);
+
+ //Append NULL terminator to Dst
+ *((UBYTE *)pArg1 + MinCount) = '\0';
+
+ }
+ break;
+
+ case OP_SETOUT:
+ {
+ Status = cCmdExecuteSetOut(pCode);
+ }
+ break;
+
+ case OP_ARRBUILD:
+ {
+ // Arg1 - Instruction Size in bytes
+ // Arg2 - Dst
+ // Arg3-N - Srcs
+
+ Arg2 = pCode[2];
+
+ NXT_ASSERT(cCmdDSType(Arg2) == TC_ARRAY);
+
+ //Number of Srcs = total code words - 3 (account for opcode word, size, and Dst)
+ //!!! Argument access like this is potentially unsafe.
+ //A function/macro which checks proper encoding would be better
+ SrcCount = (pCode[1] / 2) - 3;
+
+ //Calculate Dst array count
+ ArrayCount2 = 0;
+ for (i = 0; i < SrcCount; i++)
+ {
+ TmpDSID = pCode[3 + i];
+ NXT_ASSERT(cCmdIsDSElementIDSane(TmpDSID));
+
+ //If the type descriptors are the same, then the input is an array, not a single element
+ if (cCmdCompareDSType(Arg2, TmpDSID))
+ {
+ NXT_ASSERT(cCmdDSType(TmpDSID) == TC_ARRAY);
+ ArrayCount2 += cCmdArrayCount(TmpDSID, 0);
+ }
+ else
+ {
+ //Assert that the output is an array of this input type
+ NXT_ASSERT(cCmdCompareDSType(INC_ID(Arg2), TmpDSID));
+ ArrayCount2++;
+ }
+ }
+
+ //Allocate Dst array
+ Status = cCmdDSArrayAlloc(Arg2, 0, ArrayCount2);
+ if (IS_ERR(Status))
+ return Status;
+
+ DVIndex2 = cCmdGetDVIndex(Arg2, 0);
+
+ //Move Src(s) to Dst
+ DstIndex = 0;
+ for (i = 0; i < SrcCount; i++)
+ {
+ TmpDSID = pCode[3 + i];
+
+ //If the type descriptors are the same, then the input is an array, not a single element
+ if (cCmdCompareDSType(Arg2, TmpDSID))
+ {
+ NXT_ASSERT(cCmdDSType(TmpDSID) == TC_ARRAY);
+ TmpDVIndex = cCmdGetDVIndex(TmpDSID, 0);
+ // if flat, use memmove, otherwise this stuff
+ if(cCmdDSType(INC_ID(TmpDSID)) <= TC_LAST_INT_SCALAR)
+ {
+ memmove(VarsCmd.pDataspace + ARRAY_ELEM_OFFSET(DVIndex2, DstIndex), VarsCmd.pDataspace + DV_ARRAY[TmpDVIndex].Offset, (UWORD)(DV_ARRAY[TmpDVIndex].ElemSize * DV_ARRAY[TmpDVIndex].Count));
+ DstIndex += DV_ARRAY[TmpDVIndex].Count;
+ }
+ else
+ for (j = 0; j < DV_ARRAY[TmpDVIndex].Count; j++)
+ {
+ Status = cCmdInterpPolyUnop2(OP_MOV, INC_ID(Arg2), ARRAY_ELEM_OFFSET(DVIndex2, DstIndex), INC_ID(TmpDSID), ARRAY_ELEM_OFFSET(TmpDVIndex, j));
+ if (IS_ERR(Status))
+ return Status;
+ DstIndex++;
+ }
+ }
+ else
+ {
+ //Assert that the output is an array of this input type
+ NXT_ASSERT(cCmdCompareDSType(INC_ID(Arg2), TmpDSID));
+ Status = cCmdInterpPolyUnop2(OP_MOV, INC_ID(Arg2), ARRAY_ELEM_OFFSET(DVIndex2, DstIndex), TmpDSID, 0);
+ if (IS_ERR(Status))
+ return Status;
+ DstIndex++;
+ }
+ }
+
+ NXT_ASSERT(DstIndex == ArrayCount2);
+ }
+ break;
+
+ case OP_STRCAT:
+ {
+ // Arg1 - Instruction Size in bytes
+ // Arg2 - Dst
+ // Arg3-N - Srcs
+
+ Arg2 = pCode[2];
+
+ //Make sure Dst arg is a string
+ NXT_ASSERT(cCmdDSType(Arg2) == TC_ARRAY);
+ NXT_ASSERT(cCmdDSType(INC_ID(Arg2)) == TC_UBYTE);
+
+ //Number of Srcs = total code words - 3 (account for opcode word, size, and Dst)
+ //!!! Argument access like this is potentially unsafe.
+ //A function/macro which checks proper encoding would be better
+ SrcCount = (pCode[1] / 2) - 3;
+
+ //Calculate Dst array count
+ ArrayCount2 = 0;
+ for (i = 0; i < SrcCount; i++)
+ {
+ TmpDSID = pCode[3 + i];
+ NXT_ASSERT(cCmdIsDSElementIDSane(TmpDSID));
+
+ //Make sure Src arg is a string
+ //!!! Type checks here should be richer to allow array of strings as input (match LabVIEW behavior)
+ NXT_ASSERT(cCmdDSType(TmpDSID) == TC_ARRAY);
+
+ if (cCmdDSType(INC_ID(TmpDSID)) != TC_UBYTE)
+ {
+ NXT_BREAK;
+ return ERR_ARG;
+ }
+
+ ArrayCount3 = cCmdArrayCount(TmpDSID, 0);
+ NXT_ASSERT(ArrayCount3 > 0);
+ //Subtract NULL terminator from Src array count
+ ArrayCount3--;
+
+ //Increase Dst array count by Src array count
+ ArrayCount2 += ArrayCount3;
+ }
+
+ //Add room for NULL terminator
+ ArrayCount2++;
+
+ //Allocate Dst array
+ Status = cCmdDSArrayAlloc(Arg2, 0, ArrayCount2);
+ if (IS_ERR(Status))
+ return Status;
+
+ //Move Src(s) to Dst
+ DstIndex = 0;
+ pArg2 = cCmdResolveDataArg(Arg2, 0, NULL);
+ for (i = 0; i < SrcCount; i++)
+ {
+ TmpDSID = pCode[3 + i];
+
+ pArg3 = cCmdResolveDataArg(TmpDSID, 0, NULL);
+
+ ArrayCount3 = cCmdArrayCount(TmpDSID, 0);
+ NXT_ASSERT(ArrayCount3 > 0);
+ //Subtract NULL terminator from Src array count
+ ArrayCount3--;
+
+ memmove((UBYTE *)pArg2 + DstIndex, pArg3, ArrayCount3);
+ DstIndex += ArrayCount3;
+ }
+
+ //Append NULL terminator to Dst
+ *((UBYTE *)pArg2 + DstIndex) = '\0';
+ DstIndex++;
+
+ NXT_ASSERT(DstIndex == ArrayCount2);
+ }
+ break;
+
+ case OP_UNFLATTEN:
+ {
+ //Arg1 - Dst
+ //Arg2 - Err (output)
+ //Arg3 - Src (byte stream)
+ //Arg4 - Type
+
+ //The Type arg is a preallocated structure of the exact size you
+ //want to unflatten into. This allows us to support unflattening arbitrary types.
+
+ //!!! Currently, both outputs must have valid destinations.
+ // It would be trivial to handle NOT_A_DS_ID to avoid dummy
+ // allocations when outputs are unused.
+
+ Arg1 = pCode[1];
+ Arg2 = pCode[2];
+ Arg3 = pCode[3];
+ Arg4 = pCode[4];
+
+ //Move Type template to Dst
+ //This provides a default value for Dst and makes sure Dst is properly sized
+ Status= cCmdMove(Arg1, Arg4);
+ if (IS_ERR(Status))
+ return Status;
+
+ //Resolve error data pointer
+ pArg2 = cCmdResolveDataArg(Arg2, 0, &TypeCode2);
+
+ //Make sure Arg3 is a String
+ NXT_ASSERT(cCmdDSType(Arg3) == TC_ARRAY);
+ NXT_ASSERT(cCmdDSType(INC_ID(Arg3)) == TC_UBYTE);
+
+ ArrayCount3 = cCmdArrayCount(Arg3, 0);
+ //Take NULL terminator out of count
+ ArrayCount3--;
+
+ Size = cCmdCalcFlattenedSize(Arg4, 0);
+
+ //Check that we have a proper type template to unflatten into
+ if (ArrayCount3 == Size)
+ {
+ pArg3 = cCmdResolveDataArg(Arg3, 0, NULL);
+ Offset = 0;
+ Status = cCmdUnflattenFromByteArray(pArg3, &Offset, Arg1, 0);
+
+ //!!! Status ignored from cCmdUnflattenFromByteArray
+ // If future revisions of this function provide better error checking,
+ // Err arg should be conditionally set based on the result.
+ //Unflatten succeeded; set Err arg to FALSE
+ cCmdSetVal(pArg2, TypeCode2, FALSE);
+
+ NXT_ASSERT(Offset == Size);
+ }
+ else
+ {
+ //Unflatten failed; set Err arg to TRUE
+ cCmdSetVal(pArg2, TypeCode2, TRUE);
+ }
+ }
+ break;
+
+ case OP_STRINGTONUM:
+ {
+ float ArgValF;
+ SLONG decimals= 0;
+ UBYTE cont= TRUE;
+ // Arg1 - Dst number (output)
+ // Arg2 - Offset past match (output)
+ // Arg3 - Src string
+ // Arg4 - Offset
+ // Arg5 - Default (type/value)
+
+ //!!! Currently, both outputs must have valid destinations.
+ // It would be trivial to handle NOT_A_DS_ID to avoid dummy
+ // allocations when outputs are unused.
+
+ Arg1 = pCode[1];
+ Arg2 = pCode[2];
+ Arg3 = pCode[3];
+ Arg4 = pCode[4];
+ Arg5 = pCode[5];
+
+ pArg1 = cCmdResolveDataArg(Arg1, 0, &TypeCode1);
+ pArg3 = cCmdResolveDataArg(Arg3, 0, &TypeCode3);
+
+ if (Arg4 != NOT_A_DS_ID)
+ ArgVal4 = cCmdGetScalarValFromDataArg(Arg4, 0);
+ else //Offset input unwired
+ ArgVal4 = 0;
+
+ if (Arg5 != NOT_A_DS_ID)
+ {
+ pArg5 = cCmdResolveDataArg(Arg5, 0, &TypeCode5);
+ ArgVal5 = cCmdGetVal(pArg5, TypeCode5);
+ }
+ else //Default input unwired
+ {
+ ArgVal5 = 0;
+ }
+
+ //Read number from string
+ if (sscanf(((PSZ)pArg3 + ArgVal4), "%f", &ArgValF) == 1)
+ {
+ i = (UWORD)ArgVal4;
+ //Scan until we see the number, consumes negative sign too
+ while ((((UBYTE *)pArg3)[i] < '0') || (((UBYTE *)pArg3)[i] > '9'))
+ i++;
+
+ //Scan until we get past the number and no more than one decimal
+ while (cont) {
+ if ((((UBYTE *)pArg3)[i] >= '0') && (((UBYTE *)pArg3)[i] <= '9'))
+ i++;
+ else if(((UBYTE *)pArg3)[i] == '.' && !decimals) {
+ i++;
+ decimals++;
+ }
+ else
+ cont= FALSE;
+ }
+ ArgVal2 = i;
+ }
+ else
+ {
+ //Number wasn't found in string, use defaults
+ ArgValF = ArgVal5;
+ ArgVal2 = 0;
+ }
+
+ //Set outputs
+ cCmdSetValFlt(pArg1, TypeCode1, ArgValF);
+ cCmdSetScalarValFromDataArg(Arg2, ArgVal2);
+ }
+ break;
+
+ default:
+ {
+ //Fatal error: Unrecognized instruction
+ NXT_BREAK;
+ Status = ERR_INSTR;
+ }
+ break;
+ }
+
+ return (Status);
+}
+
+
+//
+//Support functions for lowspeed (I2C devices, i.e. ultrasonic sensor) communications
+//
+
+//Simple lookup table for pMapLowSpeed->ChannelState[Port] values
+//This is used to keep VM status code handling consistent
+//...and ChannelState gives us too much information, anyway...
+static const NXT_STATUS MapLStoVMStat[6] =
+{
+ NO_ERR, //LOWSPEED_IDLE,
+ STAT_COMM_PENDING, //LOWSPEED_INIT,
+ STAT_COMM_PENDING, //LOWSPEED_LOAD_BUFFER,
+ STAT_COMM_PENDING, //LOWSPEED_COMMUNICATING,
+ ERR_COMM_BUS_ERR, //LOWSPEED_ERROR,
+ STAT_COMM_PENDING, //LOWSPEED_DONE (really means c_lowspeed state machine is resetting)
+};
+
+
+//cCmdLSCheckStatus
+//Check lowspeed port status, optionally returning bytes available in the buffer for reading
+NXT_STATUS cCmdLSCheckStatus(UBYTE Port)
+{
+ if (Port >= NO_OF_LOWSPEED_COM_CHANNEL)
+ {
+ return (ERR_COMM_CHAN_INVALID);
+ }
+
+ //If port is not configured properly ahead of time, report that error
+ //!!! This seems like the right policy, but may restrict otherwise valid read operations...
+ if (!(pMapInput->Inputs[Port].SensorType == LOWSPEED_9V || pMapInput->Inputs[Port].SensorType == LOWSPEED)
+ || !(pMapInput->Inputs[Port].InvalidData == FALSE))
+ {
+ return (ERR_COMM_CHAN_NOT_READY);
+ }
+
+ return (MapLStoVMStat[pMapLowSpeed->ChannelState[Port]]);
+}
+
+//cCmdLSCalcBytesReady
+//Calculate true number of bytes available in the inbound LS buffer
+UBYTE cCmdLSCalcBytesReady(UBYTE Port)
+{
+ SLONG Tmp;
+
+ //Expect callers to validate Port, but short circuit here to be safe.
+ if (Port >= NO_OF_LOWSPEED_COM_CHANNEL)
+ return 0;
+
+ //Normally, bytes available is a simple difference.
+ Tmp = pMapLowSpeed->InBuf[Port].InPtr - pMapLowSpeed->InBuf[Port].OutPtr;
+
+ //If InPtr is actually behind OutPtr, circular buffer has wrapped. Account for wrappage...
+ if (Tmp < 0)
+ Tmp = (pMapLowSpeed->InBuf[Port].InPtr + (SIZE_OF_LSBUF - pMapLowSpeed->InBuf[Port].OutPtr));
+
+ return (UBYTE)(Tmp);
+}
+
+//cCmdLSWrite
+//Write BufLength bytes into specified port's lowspeed buffer and kick off comm process to device
+NXT_STATUS cCmdLSWrite(UBYTE Port, UBYTE BufLength, UBYTE *pBuf, UBYTE ResponseLength)
+{
+ if (Port >= NO_OF_LOWSPEED_COM_CHANNEL)
+ {
+ return (ERR_COMM_CHAN_INVALID);
+ }
+
+ if (BufLength > SIZE_OF_LSBUF || ResponseLength > SIZE_OF_LSBUF)
+ {
+ return (ERR_INVALID_SIZE);
+ }
+
+ //Only start writing process if port is properly configured and c_lowspeed module is ready
+ if ((pMapInput->Inputs[Port].SensorType == LOWSPEED_9V || pMapInput->Inputs[Port].SensorType == LOWSPEED)
+ && (pMapInput->Inputs[Port].InvalidData == FALSE)
+ && (pMapLowSpeed->ChannelState[Port] == LOWSPEED_IDLE) || (pMapLowSpeed->ChannelState[Port] == LOWSPEED_ERROR))
+ {
+ pMapLowSpeed->OutBuf[Port].InPtr = 0;
+ pMapLowSpeed->OutBuf[Port].OutPtr = 0;
+
+ memcpy(pMapLowSpeed->OutBuf[Port].Buf, pBuf, BufLength);
+ pMapLowSpeed->OutBuf[Port].InPtr = (UBYTE)BufLength;
+
+ pMapLowSpeed->InBuf[Port].BytesToRx = ResponseLength;
+
+ pMapLowSpeed->ChannelState[Port] = LOWSPEED_INIT;
+ pMapLowSpeed->State |= (COM_CHANNEL_ONE_ACTIVE << Port);
+
+ return (NO_ERR);
+ }
+ else
+ {
+ //!!! Would be more consistent to return STAT_COMM_PENDING if c_lowspeed is busy
+ return (ERR_COMM_CHAN_NOT_READY);
+ }
+}
+
+
+//cCmdLSRead
+//Read BufLength bytes from specified port's lowspeed buffer
+NXT_STATUS cCmdLSRead(UBYTE Port, UBYTE BufLength, UBYTE * pBuf)
+{
+ UBYTE BytesReady, BytesToRead;
+
+ if (Port >= NO_OF_LOWSPEED_COM_CHANNEL)
+ {
+ return (ERR_COMM_CHAN_INVALID);
+ }
+
+ if (BufLength > SIZE_OF_LSBUF)
+ {
+ return (ERR_INVALID_SIZE);
+ }
+
+ BytesReady = cCmdLSCalcBytesReady(Port);
+
+ if (BufLength > BytesReady)
+ {
+ return (ERR_COMM_CHAN_NOT_READY);
+ }
+
+ BytesToRead = BufLength;
+
+ //If the bytes we want to read wrap around the end, we must first read the end, then reset back to the beginning
+ if (pMapLowSpeed->InBuf[Port].OutPtr + BytesToRead >= SIZE_OF_LSBUF)
+ {
+ BytesToRead = SIZE_OF_LSBUF - pMapLowSpeed->InBuf[Port].OutPtr;
+ memcpy(pBuf, pMapLowSpeed->InBuf[Port].Buf + pMapLowSpeed->InBuf[Port].OutPtr, BytesToRead);
+ pMapLowSpeed->InBuf[Port].OutPtr = 0;
+ pBuf += BytesToRead;
+ BytesToRead = BufLength - BytesToRead;
+ }
+
+ memcpy(pBuf, pMapLowSpeed->InBuf[Port].Buf + pMapLowSpeed->InBuf[Port].OutPtr, BytesToRead);
+ pMapLowSpeed->InBuf[Port].OutPtr += BytesToRead;
+
+ return (NO_ERR);
+}
+
+
+//
+//Wrappers for OP_SYSCALL
+//
+
+//
+//cCmdWrapFileOpenRead
+//ArgV[0]: (Function return) Loader status, U16 return
+//ArgV[1]: File Handle, U8 return
+//ArgV[2]: Filename, CStr
+//ArgV[3]: Length, U32 return
+NXT_STATUS cCmdWrapFileOpenRead(UBYTE * ArgV[])
+{
+ LOADER_STATUS LStatus;
+ DV_INDEX DVIndex;
+
+ //Resolve array argument
+ DVIndex = *(DV_INDEX *)(ArgV[2]);
+ ArgV[2] = cCmdDVPtr(DVIndex);
+
+ LStatus = pMapLoader->pFunc(OPENREAD, ArgV[2], NULL, (ULONG *)ArgV[3]);
+
+ //Add entry into FileHandleTable
+ if (LOADER_ERR(LStatus) == SUCCESS)
+ {
+ VarsCmd.FileHandleTable[LOADER_HANDLE(LStatus)][0] = 'r';
+ strcpy((PSZ)(VarsCmd.FileHandleTable[LOADER_HANDLE(LStatus)] + 1), (PSZ)(ArgV[2]));
+ }
+
+ //Status code in high byte of LStatus
+ *((UWORD *)ArgV[0]) = LOADER_ERR(LStatus);
+ //File handle in low byte of LStatus
+ *(ArgV[1]) = LOADER_HANDLE(LStatus);
+
+ return NO_ERR;
+}
+
+//cCmdWrapFileOpenWrite
+//ArgV[0]: (Function return) Loader status, U16 return
+//ArgV[1]: File Handle, U8 return
+//ArgV[2]: Filename, CStr
+//ArgV[3]: Length, U32 return
+NXT_STATUS cCmdWrapFileOpenWrite(UBYTE * ArgV[])
+{
+ LOADER_STATUS LStatus;
+ DV_INDEX DVIndex;
+
+ //Resolve array argument
+ DVIndex = *(DV_INDEX *)(ArgV[2]);
+ ArgV[2] = cCmdDVPtr(DVIndex);
+
+ LStatus = pMapLoader->pFunc(OPENWRITEDATA, ArgV[2], NULL, (ULONG *)ArgV[3]);
+
+ //Add entry into FileHandleTable
+ if (LOADER_ERR(LStatus) == SUCCESS)
+ {
+ VarsCmd.FileHandleTable[LOADER_HANDLE(LStatus)][0] = 'w';
+ strcpy((PSZ)(VarsCmd.FileHandleTable[LOADER_HANDLE(LStatus)] + 1), (PSZ)(ArgV[2]));
+ }
+
+ //Status code in high byte of LStatus
+ *((UWORD *)ArgV[0]) = LOADER_ERR(LStatus);
+ //File handle in low byte of LStatus
+ *(ArgV[1]) = LOADER_HANDLE(LStatus);
+
+ return NO_ERR;
+}
+
+//cCmdWrapFileOpenAppend
+//ArgV[0]: (Function return) Loader status, U16 return
+//ArgV[1]: File Handle, U8 return
+//ArgV[2]: Filename, CStr
+//ArgV[3]: Length Remaining, U32 return
+NXT_STATUS cCmdWrapFileOpenAppend(UBYTE * ArgV[])
+{
+ LOADER_STATUS LStatus;
+ DV_INDEX DVIndex;
+
+ //Resolve array argument
+ DVIndex = *(DV_INDEX *)(ArgV[2]);
+ ArgV[2] = cCmdDVPtr(DVIndex);
+
+ LStatus = pMapLoader->pFunc(OPENAPPENDDATA, ArgV[2], NULL, (ULONG *)ArgV[3]);
+
+ //Add entry into FileHandleTable
+ if (LOADER_ERR(LStatus) == SUCCESS)
+ {
+ VarsCmd.FileHandleTable[LOADER_HANDLE(LStatus)][0] = 'w';
+ strcpy((PSZ)(VarsCmd.FileHandleTable[LOADER_HANDLE(LStatus)] + 1), (PSZ)(ArgV[2]));
+ }
+
+ //Status code in high byte of LStatus
+ *((UWORD *)ArgV[0]) = LOADER_ERR(LStatus);
+ //File handle in low byte of LStatus
+ *(ArgV[1]) = LOADER_HANDLE(LStatus);
+
+ return NO_ERR;
+}
+
+//cCmdWrapFileRead
+//ArgV[0]: (Function return) Loader status, U16 return
+//ArgV[1]: File Handle, U8 in/out
+//ArgV[2]: Buffer, CStr out
+//ArgV[3]: Length, U32 in/out
+NXT_STATUS cCmdWrapFileRead(UBYTE * ArgV[])
+{
+ NXT_STATUS Status = NO_ERR;
+ LOADER_STATUS LStatus;
+ DV_INDEX DVIndex;
+
+ //Resolve array argument
+ DVIndex = *(DV_INDEX *)(ArgV[2]);
+ //Size Buffer to Length
+ //Add room for null terminator to length
+ Status = cCmdDVArrayAlloc(DVIndex, (UWORD)(*(ULONG *)ArgV[3] + 1));
+ if (IS_ERR(Status))
+ return Status;
+
+ ArgV[2] = cCmdDVPtr(DVIndex);
+ LStatus = pMapLoader->pFunc(READ, ArgV[1], ArgV[2], (ULONG *)ArgV[3]);
+
+ //Tack on NULL terminator
+ //Note that loader code may have adjusted length (*ArgV[3]) if all requested data was not available
+ //!!! Better solution would be to resize buffer to new length + 1,
+ // but then you must also be wary of side effects if resize allocation fails!
+ *(ArgV[2] + *(ULONG *)ArgV[3]) = '\0';
+
+ //Status code in high byte of LStatus
+ *((UWORD *)ArgV[0]) = LOADER_ERR(LStatus);
+ //File handle in low byte of LStatus
+ *(ArgV[1]) = LOADER_HANDLE(LStatus);
+
+ return Status;
+}
+
+//cCmdWrapFileWrite
+//ArgV[0]: (Function return) Loader status, U16 return
+//ArgV[1]: File Handle, U8 in/out
+//ArgV[2]: Buffer, CStr
+//ArgV[3]: Length, U32 return
+NXT_STATUS cCmdWrapFileWrite(UBYTE * ArgV[])
+{
+ LOADER_STATUS LStatus;
+ DV_INDEX DVIndex;
+
+ //Resolve array argument
+ DVIndex = *(DV_INDEX *)(ArgV[2]);
+ ArgV[2] = cCmdDVPtr(DVIndex);
+
+ LStatus = pMapLoader->pFunc(WRITE, ArgV[1], ArgV[2], (ULONG *)ArgV[3]);
+
+ //Status code in high byte of LStatus
+ *((UWORD *)ArgV[0]) = LOADER_ERR(LStatus);
+ //File handle in low byte of LStatus
+ *(ArgV[1]) = LOADER_HANDLE(LStatus);
+
+ return NO_ERR;
+}
+
+//cCmdWrapFileClose
+//ArgV[0]: (Function return) Loader status, U16 return
+//ArgV[1]: File Handle, U8
+NXT_STATUS cCmdWrapFileClose(UBYTE * ArgV[])
+{
+ LOADER_STATUS LStatus;
+
+ //!!! This bounds check also exists in dLoaderCloseHandle(), but we provide an explicit error code
+ if (*(ArgV[1]) >= MAX_HANDLES)
+ {
+ *((UWORD *)ArgV[0]) = ILLEGALHANDLE;
+ return NO_ERR;
+ }
+
+ LStatus = pMapLoader->pFunc(CLOSE, ArgV[1], NULL, NULL);
+
+ //Clear entry in FileHandleTable
+ memset(VarsCmd.FileHandleTable[*(ArgV[1])], 0, FILENAME_LENGTH + 2);
+
+ //Status code in high byte of LStatus
+ *((UWORD *)ArgV[0]) = LOADER_ERR(LStatus);
+
+ return NO_ERR;
+}
+
+//cCmdWrapFileResolveHandle
+//ArgV[0]: (Function return) Loader status, U16 return
+//ArgV[1]: File Handle, U8 return
+//ArgV[2]: Write Handle?, Bool return
+//ArgV[3]: Filename, CStr
+NXT_STATUS cCmdWrapFileResolveHandle (UBYTE * ArgV[])
+{
+ UBYTE i;
+ DV_INDEX DVIndex;
+
+ //Resolve array argument
+ DVIndex = *(DV_INDEX *)(ArgV[3]);
+ ArgV[3] = cCmdDVPtr(DVIndex);
+
+ for (i = 0; i < MAX_HANDLES; i++)
+ {
+ if (strcmp((PSZ)(ArgV[3]), (PSZ)(VarsCmd.FileHandleTable[i] + 1)) == 0)
+ {
+ *(ArgV[2]) = (VarsCmd.FileHandleTable[i][0] == 'w');
+ break;
+ }
+ }
+
+ if (i == MAX_HANDLES)
+ {
+ i = NOT_A_HANDLE;
+ *((UWORD *)ArgV[0]) = HANDLEALREADYCLOSED;
+ }
+ else
+ {
+ *((UWORD *)ArgV[0]) = SUCCESS;
+ }
+
+ *(ArgV[1]) = i;
+
+ return NO_ERR;
+}
+
+
+//cCmdWrapFileRename
+//ArgV[0]: (Function return) Loader status, U16 return
+//ArgV[1]: Old Filename, CStr
+//ArgV[2]: New Filename, CStr
+NXT_STATUS cCmdWrapFileRename (UBYTE * ArgV[])
+{
+ LOADER_STATUS LStatus;
+ ULONG Tmp;
+ DV_INDEX DVIndex;
+
+ //Resolve array arguments
+ DVIndex = *(DV_INDEX *)(ArgV[1]);
+ ArgV[1] = cCmdDVPtr(DVIndex);
+ DVIndex = *(DV_INDEX *)(ArgV[2]);
+ ArgV[2] = cCmdDVPtr(DVIndex);
+
+ //!!! Tmp placeholder passed into loader code to avoid illegal dereferencing.
+ LStatus = pMapLoader->pFunc(RENAMEFILE, ArgV[1], ArgV[2], &Tmp);
+
+ //Status code in high byte of LStatus
+ *((UWORD *)ArgV[0]) = LOADER_ERR(LStatus);
+
+ return NO_ERR;
+}
+
+
+//cCmdWrapFileDelete
+//ArgV[0]: (Function return) Loader status, U16 return
+//ArgV[1]: Filename, CStr
+NXT_STATUS cCmdWrapFileDelete (UBYTE * ArgV[])
+{
+ LOADER_STATUS LStatus;
+ DV_INDEX DVIndex;
+
+ //Resolve array arguments
+ DVIndex = *(DV_INDEX *)(ArgV[1]);
+ ArgV[1] = cCmdDVPtr(DVIndex);
+
+ LStatus = pMapLoader->pFunc(DELETE, ArgV[1], NULL, NULL);
+
+ //Status code in high byte of LStatus
+ *((UWORD *)ArgV[0]) = LOADER_ERR(LStatus);
+
+ return NO_ERR;
+}
+
+//
+//cCmdWrapSoundPlayFile
+//ArgV[0]: (Return value) Status code, SBYTE
+//ArgV[1]: Filename, CStr
+//ArgV[2]: Loop?, UBYTE (bool)
+//ArgV[3]: Volume, UBYTE
+//
+NXT_STATUS cCmdWrapSoundPlayFile(UBYTE * ArgV[])
+{
+ DV_INDEX DVIndex;
+
+ //Resolve array arguments
+ DVIndex = *(DV_INDEX *)(ArgV[1]);
+ UBYTE sndVol= *(ArgV[3]);
+ ArgV[1] = cCmdDVPtr(DVIndex);
+
+ //!!! Should check filename and/or existence and return error before proceeding
+ strncpy((PSZ)(pMapSound->SoundFilename), (PSZ)(ArgV[1]), FILENAME_LENGTH);
+
+ if (*(ArgV[2]) == TRUE)
+ pMapSound->Mode = SOUND_LOOP;
+ else
+ pMapSound->Mode = SOUND_ONCE;
+
+ if(sndVol > 4)
+ sndVol= 4;
+ pMapSound->Volume = sndVol;
+ //SampleRate of '0' means "let file specify SampleRate"
+ pMapSound->SampleRate = 0;
+ pMapSound->Flags |= SOUND_UPDATE;
+
+ *((SBYTE*)(ArgV[0])) = (NO_ERR);
+
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapSoundPlayTone
+//ArgV[0]: (Return value) Status code, SBYTE
+//ArgV[1]: Frequency, UWORD
+//ArgV[2]: Duration, UWORD
+//ArgV[3]: Loop?, UBYTE (Boolean)
+//ArgV[4]: Volume, UBYTE
+//
+NXT_STATUS cCmdWrapSoundPlayTone(UBYTE * ArgV[])
+{
+ UBYTE sndVol= *(ArgV[4]);
+ pMapSound->Freq = *(UWORD*)(ArgV[1]);
+ pMapSound->Duration = *(UWORD*)(ArgV[2]);
+ if(sndVol > 4)
+ sndVol= 4;
+ pMapSound->Volume = sndVol;
+ pMapSound->Flags |= SOUND_UPDATE;
+
+ if (*(ArgV[3]) == TRUE)
+ pMapSound->Mode = SOUND_TONE | SOUND_LOOP;
+ else
+ pMapSound->Mode = SOUND_TONE;
+
+ *((SBYTE*)(ArgV[0])) = (NO_ERR);
+
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapSoundGetState
+//ArgV[0]: (Return value) sound module state, UBYTE
+//ArgV[1]: Flags, UBYTE
+//
+NXT_STATUS cCmdWrapSoundGetState(UBYTE * ArgV[])
+{
+ *(ArgV[0]) = pMapSound->State;
+ *(ArgV[1]) = pMapSound->Flags;
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapSoundSetState
+//ArgV[0]: (Return value) sound module state, UBYTE
+//ArgV[1]: State, UBYTE
+//ArgV[2]: Flags, UBYTE
+//
+NXT_STATUS cCmdWrapSoundSetState(UBYTE * ArgV[])
+{
+ pMapSound->State = *(ArgV[1]);
+ //Return same state we just set, mostly for interface consistency
+ *(ArgV[0]) = pMapSound->State;
+
+ //OR in provided flags (usually 0)
+ pMapSound->Flags |= *(ArgV[2]);
+
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapReadButton
+//ArgV[0]: (Function return) Status code, SBYTE
+//ArgV[1]: Index (U8)
+//ArgV[2]: Pressed (bool)
+//ArgV[3]: Count (U8) (count of press-then-release cycles)
+//ArgV[4]: ResetCount? (bool in)
+//
+NXT_STATUS cCmdWrapReadButton(UBYTE * ArgV[])
+{
+ UBYTE btnIndex;
+
+ btnIndex = *((UBYTE*)(ArgV[1]));
+
+ if (btnIndex < NO_OF_BTNS)
+ {
+ //Set pressed boolean output
+ if (pMapButton->State[btnIndex] & PRESSED_STATE)
+ *(ArgV[2]) = TRUE;
+ else
+ *(ArgV[2]) = FALSE;
+
+ //Set count output
+ *(ArgV[3]) = (UBYTE)(pMapButton->BtnCnt[btnIndex].RelCnt);
+
+ //Optionally reset internal count
+ if (*(ArgV[4]) != 0)
+ {
+ pMapButton->BtnCnt[btnIndex].RelCnt = 0;
+ //Need to clear short and long counts too, because RelCnt depends on them. No known side effects.
+ pMapButton->BtnCnt[btnIndex].ShortRelCnt = 0;
+ pMapButton->BtnCnt[btnIndex].LongRelCnt = 0;
+ }
+
+ // Set status code 'OK'
+ *((SBYTE*)(ArgV[0])) = NO_ERR;
+ }
+ else
+ {
+ //Bad button index specified, return error and default outputs
+ *((SBYTE*)(ArgV[0])) = ERR_INVALID_PORT;
+ *(ArgV[2]) = FALSE;
+ *(ArgV[3]) = 0;
+ }
+
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapCommLSWrite
+//ArgV[0]: (return) Status code, SBYTE
+//ArgV[1]: Port specifier, UBYTE
+//ArgV[2]: Buffer to send, UBYTE array, only SIZE_OF_LSBUF bytes will be used
+//ArgV[3]: ResponseLength, UBYTE, specifies expected bytes back from slave device
+//
+NXT_STATUS cCmdWrapCommLSWrite(UBYTE * ArgV[])
+{
+ SBYTE * pReturnVal = (SBYTE*)(ArgV[0]);
+ UBYTE Port = *(ArgV[1]);
+ UBYTE * pBuf;
+ UWORD BufLength;
+ UBYTE ResponseLength = *(ArgV[3]);
+ DV_INDEX DVIndex;
+
+ //Resolve array arguments
+ DVIndex = *(DV_INDEX *)(ArgV[2]);
+ pBuf = cCmdDVPtr(DVIndex);
+ BufLength = DV_ARRAY[DVIndex].Count;
+
+ *pReturnVal = cCmdLSWrite(Port, (UBYTE)BufLength, pBuf, ResponseLength);
+
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapCommLSCheckStatus
+//ArgV[0]: (return) Status code, SBYTE
+//ArgV[1]: Port specifier, UBYTE
+//ArgV[2]: BytesReady, UBYTE
+//
+NXT_STATUS cCmdWrapCommLSCheckStatus(UBYTE * ArgV[])
+{
+ UBYTE Port = *(ArgV[1]);
+
+ *((SBYTE*)(ArgV[0])) = cCmdLSCheckStatus(Port);
+ *((UBYTE*)(ArgV[2])) = cCmdLSCalcBytesReady(Port);
+
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapCommLSRead
+//ArgV[0]: (return) Status code, SBYTE
+//ArgV[1]: Port specifier, UBYTE
+//ArgV[2]: Buffer for data, UBYTE array, max SIZE_OF_LSBUF bytes will be written
+//ArgV[3]: BufferLength, UBYTE, specifies size of buffer requested
+//
+NXT_STATUS cCmdWrapCommLSRead(UBYTE * ArgV[])
+{
+ SBYTE * pReturnVal = (SBYTE*)(ArgV[0]);
+ UBYTE Port = *(ArgV[1]);
+ UBYTE * pBuf;
+ UBYTE BufLength = *(ArgV[3]);
+ UBYTE BytesToRead;
+ DV_INDEX DVIndex = *(DV_INDEX *)(ArgV[2]);
+ NXT_STATUS AllocStatus;
+
+ *pReturnVal = cCmdLSCheckStatus(Port);
+ BytesToRead = cCmdLSCalcBytesReady(Port);
+
+ //If channel is OK and has data ready for us, put the data into outgoing buffer
+ if (!IS_ERR(*pReturnVal) && BytesToRead > 0)
+ {
+ //Limit buffer to available data
+ if (BufLength > BytesToRead)
+ BufLength = BytesToRead;
+
+ AllocStatus = cCmdDVArrayAlloc(DVIndex, BufLength);
+ if (IS_ERR(AllocStatus))
+ return (AllocStatus);
+
+ pBuf = cCmdDVPtr(DVIndex);
+ *pReturnVal = cCmdLSRead(Port, BufLength, pBuf);
+ }
+ //Else, the channel has an error and/or there's no data to read; clear the output array
+ else
+ {
+ AllocStatus = cCmdDVArrayAlloc(DVIndex, 0);
+ if (IS_ERR(AllocStatus))
+ return (AllocStatus);
+ }
+
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapRandomNumber
+//ArgV[0]: (return) Random number, SWORD
+//
+NXT_STATUS cCmdWrapRandomNumber(UBYTE * ArgV[])
+{
+ static UBYTE count = 0;
+ SWORD random;
+
+ if (count == 0)
+ srand(dTimerRead());
+
+ if (count > 20)
+ count = 0;
+ else
+ count++;
+
+ //!!! IAR's implementation of the rand() library function returns signed values, and we want it that way.
+ //Some stdlib implementations may return only positive numbers, so be wary if this code is ported.
+ random = rand();
+
+ *((SWORD *)ArgV[0]) = random;
+
+ return NO_ERR;
+}
+
+//
+//cCmdWrapGetStartTick
+//ArgV[0]: (return) Start Tick, ULONG
+//
+NXT_STATUS cCmdWrapGetStartTick(UBYTE * ArgV[])
+{
+ *((ULONG *)ArgV[0]) = VarsCmd.StartTick;
+ return NO_ERR;
+}
+
+//
+//cCmdWrapMessageWrite
+//ArgV[0]: (return) Error Code, SBYTE (NXT_STATUS)
+//ArgV[1]: QueueID, UBYTE
+//ArgV[2]: Message, CStr
+//
+NXT_STATUS cCmdWrapMessageWrite(UBYTE * ArgV[])
+{
+ NXT_STATUS Status = NO_ERR;
+ DV_INDEX DVIndex;
+
+ //Resolve array arguments
+ DVIndex = *(DV_INDEX *)(ArgV[2]);
+ ArgV[2] = cCmdDVPtr(DVIndex);
+
+ Status = cCmdMessageWrite(*(UBYTE *)(ArgV[1]), ArgV[2], DV_ARRAY[DVIndex].Count);
+
+ *(SBYTE *)(ArgV[0]) = Status;
+
+ if (IS_FATAL(Status))
+ return Status;
+ else
+ return (NO_ERR);
+}
+
+
+
+//
+//cCmdWrapColorSensorRead
+//ArgV[0]: (return) Error code, SBYTE
+//ArgV[1]: Port, UBYTE
+//ArgV[2]: SensorValue, SWORD
+//ArgV[3]: RawArray, UWORD[NO_OF_COLORS]
+//ArgV[4]: NormalizedArray, UWORD[NO_OF_COLORS]
+//ArgV[5]: ScaledArray, SWORD[NO_OF_COLORS]
+//ArgV[6]: InvalidData, UBYTE
+//
+NXT_STATUS cCmdWrapColorSensorRead (UBYTE * ArgV[])
+{
+ DV_INDEX DVIndex;
+ NXT_STATUS Status = NO_ERR;
+ //Resolve return val arguments
+ SBYTE * pReturnVal = (SBYTE*)(ArgV[0]);
+ //Resolve Port argument
+ UBYTE Port = *(UBYTE*)(ArgV[1]);
+ //Resolve SensorValue
+ SWORD SensorValue = *(SWORD*)(ArgV[2]);
+ //Resolve RawArray as array
+ DVIndex = *(DV_INDEX*)(ArgV[3]);
+ NXT_ASSERT(IS_DV_INDEX_SANE(DestDVIndex));
+ Status= cCmdDVArrayAlloc(DVIndex, NO_OF_COLORS);
+ if (IS_ERR(Status))
+ return (Status);
+ ArgV[3] = cCmdDVPtr (DVIndex);
+ //Resolve NormalizedArray as array
+ DVIndex = *(DV_INDEX*)(ArgV[4]);
+ NXT_ASSERT(IS_DV_INDEX_SANE(DestDVIndex));
+ Status= cCmdDVArrayAlloc(DVIndex, NO_OF_COLORS);
+ if (IS_ERR(Status))
+ return (Status);
+ ArgV[4] = cCmdDVPtr (DVIndex);
+ //Resolve ScaledArray as array
+ DVIndex = *(DV_INDEX*)(ArgV[5]);
+ NXT_ASSERT(IS_DV_INDEX_SANE(DestDVIndex));
+ Status= cCmdDVArrayAlloc(DVIndex, NO_OF_COLORS);
+ if (IS_ERR(Status))
+ return (Status);
+ ArgV[5] = cCmdDVPtr (DVIndex);
+ //Resolve InvalidData
+ UBYTE InvalidData = *(UBYTE*)(ArgV[6]);
+
+ //call implementation with unwrapped parameters
+ *pReturnVal = cCmdColorSensorRead (Port, &SensorValue, (UWORD*)ArgV[3], (UWORD*)ArgV[4], (SWORD*)ArgV[5], &InvalidData);
+
+ *(ArgV[2]) = SensorValue;
+ *(ArgV[6]) = InvalidData;
+
+ if (IS_ERR(*pReturnVal)){
+ return (*pReturnVal);
+ }
+ return NO_ERR;
+}
+
+
+#define UNPACK_STATUS(StatusWord) ((SBYTE)(StatusWord))
+
+NXT_STATUS cCmdBTCheckStatus(UBYTE Connection)
+{
+ //If specified connection is invalid, return error code to the user.
+ if (Connection >= SIZE_OF_BT_CONNECT_TABLE)
+ {
+ return (ERR_INVALID_PORT);
+ }
+
+ //INPROGRESS means a request is currently pending completion by the comm module
+ if (VarsCmd.CommStat == INPROGRESS)
+ {
+ return (STAT_COMM_PENDING);
+ }
+ //Translate BTBUSY to ERR_COMM_CHAN_NOT_READY
+ //And check if specified connection is indeed configured
+ else if (VarsCmd.CommStat == (SWORD)BTBUSY
+ || (pMapComm->BtConnectTable[Connection].Name[0]) == '\0')
+ {
+ return (ERR_COMM_CHAN_NOT_READY);
+ }
+ else
+ {
+ return (UNPACK_STATUS(VarsCmd.CommStat));
+ }
+}
+
+//Default packet to send for a remote MESSAGE_READ command.
+//3rd byte must be replaced with remote mailbox (QueueID)
+//4th byte must be replaced with local mailbox
+static UBYTE RemoteMsgReadPacket[5] = {0x00, 0x13, 0xFF, 0xFF, 0x01};
+
+//
+//cCmdWrapMessageRead
+//ArgV[0]: (return) Error Code, SBYTE (NXT_STATUS)
+//ArgV[1]: QueueID, UBYTE
+//ArgV[2]: Remove, UBYTE
+//ArgV[3]: (return) Message, CStr
+//
+NXT_STATUS cCmdWrapMessageRead(UBYTE * ArgV[])
+{
+ NXT_STATUS Status = NO_ERR;
+ NXT_STATUS AllocStatus = NO_ERR;
+ UBYTE QueueID = *(UBYTE *)(ArgV[1]);
+ DV_INDEX DestDVIndex = *(DV_INDEX *)(ArgV[3]);
+ UWORD MessageSize;
+ UBYTE i;
+
+ NXT_ASSERT(IS_DV_INDEX_SANE(DestDVIndex));
+
+ //Check Next Message's size
+ Status = cCmdMessageGetSize(QueueID, &MessageSize);
+
+ //If there is a valid message in local mailbox, read it
+ if (!IS_ERR(Status) && MessageSize > 0 )
+ {
+ //!!! Also check for EMPTY_MAILBOX status?
+ //Size destination string
+ AllocStatus = cCmdDVArrayAlloc(DestDVIndex, MessageSize);
+ if (IS_ERR(AllocStatus))
+ return AllocStatus;
+
+ //Get Message
+ //!!! Should more aggressively enforce null termination before blindly copying to dataspace
+ Status = cCmdMessageRead(QueueID, cCmdDVPtr(DestDVIndex), MessageSize, *(ArgV[2]));
+ }
+ else
+ {
+ //Clear destination string
+ AllocStatus = cCmdDVArrayAlloc(DestDVIndex, 1);
+ if (IS_ERR(AllocStatus))
+ return AllocStatus;
+
+ //Successful allocation, make sure first byte is null terminator
+ *(UBYTE*)(cCmdDVPtr(DestDVIndex)) = '\0';
+ }
+
+ //If there were no local messages, see if there are any waiting in our slaves' outboxes
+ if (Status == STAT_MSG_EMPTY_MAILBOX && QueueID < INCOMING_QUEUE_COUNT)
+ {
+ //If there's an old error code hanging around, clear it before proceeding.
+ //!!! Clearing error here means bytecode status checking loops could get false SUCCESS results?
+ if (VarsCmd.CommStat < 0)
+ VarsCmd.CommStat = SUCCESS;
+
+ //Search through possible slaves, looking for valid connection
+ for (i = 0; i < SIZE_OF_BT_CONNECT_TABLE - 1; i++)
+ {
+ //Advance CommCurrConnection and limit to 1, 2, or 3 (only slave connection slots are checked)
+ VarsCmd.CommCurrConnection++;
+ if (VarsCmd.CommCurrConnection == SIZE_OF_BT_CONNECT_TABLE)
+ VarsCmd.CommCurrConnection = 1;
+
+ if (cCmdBTCheckStatus(VarsCmd.CommCurrConnection) == NO_ERR)
+ break;
+ }
+
+ //If there is at least one configured slave connection, make a remote read request
+ if (i < SIZE_OF_BT_CONNECT_TABLE - 1)
+ {
+ //Outgoing QueueID on slave device is the local QueueID + INCOMING_QUEUE_COUNT
+ RemoteMsgReadPacket[2] = QueueID + INCOMING_QUEUE_COUNT;
+ RemoteMsgReadPacket[3] = QueueID;
+
+ //Request comm module to send assembled packet and not go idle until response comes back (or error)
+ pMapComm->pFunc(SENDDATA, sizeof(RemoteMsgReadPacket), VarsCmd.CommCurrConnection, TRUE, RemoteMsgReadPacket, (UWORD*)&(VarsCmd.CommStat));
+
+ //Read status back after SENDDATA call so bytecode gets STAT_COMM_PENDING or error
+ Status = cCmdBTCheckStatus(VarsCmd.CommCurrConnection);
+
+ //If our request was accepted, set the DirtyComm flag so stream will get cleaned up later
+ if (Status == STAT_COMM_PENDING)
+ VarsCmd.DirtyComm = TRUE;
+ }
+ }
+
+ *(SBYTE *)(ArgV[0]) = Status;
+ if (IS_FATAL(Status))
+ return Status;
+ else
+ return (NO_ERR);
+}
+
+
+//
+//cCmdWrapCommBTCheckStatus
+//ArgV[0]: (return) Status byte, SBYTE
+//ArgV[1]: Connection index, 0-3
+//
+NXT_STATUS cCmdWrapCommBTCheckStatus(UBYTE * ArgV[])
+{
+ *((SBYTE*)(ArgV[0])) = cCmdBTCheckStatus(*(ArgV[1]));
+
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapCommBTWrite
+//ArgV[0]: (return) Status byte, SBYTE
+//ArgV[1]: Connection index, 0-3
+//ArgV[2]: Buffer
+//
+NXT_STATUS cCmdWrapCommBTWrite(UBYTE * ArgV[])
+{
+ SBYTE * pReturnVal = (SBYTE*)(ArgV[0]);
+ UBYTE Connection = *(ArgV[1]);
+ UBYTE * pBuf;
+ UWORD BufLength;
+ DV_INDEX DVIndex;
+
+ //Resolve array arguments
+ DVIndex = *(DV_INDEX *)(ArgV[2]);
+ pBuf = cCmdDVPtr(DVIndex);
+
+ BufLength = DV_ARRAY[DVIndex].Count;
+
+ //If there's an old error code hanging around, clear it before proceeding.
+ if (VarsCmd.CommStat < 0)
+ VarsCmd.CommStat = SUCCESS;
+
+ //!!! Only first 256 bytes could possibly make it through! Should return error on longer input?
+ //!!! Not requesting a wait-for-response because only known use doesn't read responses.
+ pMapComm->pFunc(SENDDATA, (UBYTE)BufLength, Connection, FALSE, pBuf, (UWORD*)&(VarsCmd.CommStat));
+
+ //!!! Reasonable to wrap below code in cCmdCommBTCheckStatus?
+ //INPROGRESS means our request was accepted by His Funkiness of pFunc
+ if (VarsCmd.CommStat == (SWORD)INPROGRESS)
+ {
+ *pReturnVal = STAT_COMM_PENDING;
+
+ //Set DirtyComm flag so stream is reset after program ends
+ VarsCmd.DirtyComm = TRUE;
+ }
+ //Translate BTBUSY to ERR_COMM_CHAN_NOT_READY
+ else if (VarsCmd.CommStat == (SWORD)BTBUSY)
+ {
+ *pReturnVal = ERR_COMM_CHAN_NOT_READY;
+ }
+ else
+ {
+ *pReturnVal = UNPACK_STATUS(VarsCmd.CommStat);
+ }
+
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapCommBTRead
+//ArgV[0]: (return) Status byte, SBYTE
+//ArgV[1]: Count to read
+//ArgV[2]: Buffer
+//
+NXT_STATUS cCmdWrapCommBTRead(UBYTE * ArgV[])
+{
+ //SBYTE * pReturnVal = (SBYTE*)(ArgV[0]);
+ //UBYTE * pBuf = (ArgV[2]);
+ //!!! should provide length and/or connection to read?
+
+ //!!! This syscall is not implemented; return fatal error.
+ return (ERR_INSTR);
+}
+
+//
+//cCmdWrapKeepAlive
+//ArgV[0]: (return) Current timer limit in ms, ULONG
+//
+NXT_STATUS cCmdWrapKeepAlive(UBYTE * ArgV[])
+{
+ pMapUi->Flags |= UI_RESET_SLEEP_TIMER;
+
+ //Convert UI's minute-based timeout value to millisecs
+ //Milliseconds are the "natural" time unit in user-land.
+ *(ULONG*)(ArgV[0]) = (pMapUi->SleepTimeout * 60 * 1000);
+
+ return (NO_ERR);
+}
+
+
+
+#define MAX_IOM_BUFFER_SIZE 64
+//
+//cCmdWrapIOMapRead
+//ArgV[0]: (return) Status byte, SBYTE
+//ArgV[1]: Module name, CStr
+//ArgV[2]: Offset, UWORD
+//ArgV[3]: Count, UWORD
+//ArgV[4]: Buffer, UBYTE array
+//
+NXT_STATUS cCmdWrapIOMapRead(UBYTE * ArgV[])
+{
+ UWORD LStatus;
+ NXT_STATUS Status;
+
+ SBYTE * pReturnVal = (SBYTE*)(ArgV[0]);
+ UWORD Offset = *(UWORD*)(ArgV[2]);
+ //Our copy of 'Count' must be a ULONG to match the loader interface
+ ULONG Count = *(UWORD*)(ArgV[3]);
+
+ DV_INDEX DVIndex;
+
+ //Buffer for return of FINDFIRSTMODULE call, structure defined in protocol doc
+ //We need it to transfer the ModuleID to the IOMAPREAD call
+ UBYTE FindBuffer[FILENAME_LENGTH + 10];
+ //Buffer to store data and offset in for IOMAPREAD call
+ //!!! Constant size means only limited reads and writes
+ UBYTE DataBuffer[MAX_IOM_BUFFER_SIZE + 2];
+
+ if (Count > MAX_IOM_BUFFER_SIZE)
+ {
+ //Request to read too much data at once; clear buffer, return error.
+ DVIndex = *(DV_INDEX *)(ArgV[4]);
+ *pReturnVal = cCmdDVArrayAlloc(DVIndex, 0);
+ if (IS_ERR(*pReturnVal))
+ return (*pReturnVal);
+
+ *pReturnVal = ERR_INVALID_SIZE;
+ return (NO_ERR);
+ }
+
+ //Resolve module name
+ DVIndex = *(DV_INDEX *)(ArgV[1]);
+ ArgV[1] = cCmdDVPtr(DVIndex);
+
+ //Find module by name. Note that wildcards are accepted, but only first match matters.
+ LStatus = pMapLoader->pFunc(FINDFIRSTMODULE, ArgV[1], FindBuffer, NULL);
+
+ if (LOADER_ERR(LStatus) == SUCCESS)
+ {
+ //Module was found, transfer Offset into first two bytes of DataBuffer and attempt to read
+ *(UWORD*)(DataBuffer) = Offset;
+ LStatus = pMapLoader->pFunc(IOMAPREAD, &(FindBuffer[FILENAME_LENGTH + 1]), DataBuffer, &Count);
+
+ if (LOADER_ERR(LStatus) == SUCCESS)
+ {
+ //No error from IOMAPREAD, so copy the data into VM's dataspace
+ //Size destination array
+ DVIndex = *(DV_INDEX *)(ArgV[4]);
+ Status = cCmdDVArrayAlloc(DVIndex, (UWORD)Count);
+ if (IS_ERR(Status))
+ {
+ //Alloc failed, so close handle and return
+ pMapLoader->pFunc(CLOSEMODHANDLE, NULL, NULL, NULL);
+ return (Status);
+ }
+
+ //Alloc succeeded, so resolve and copy away
+ ArgV[4] = cCmdDVPtr(DVIndex);
+ memcpy(ArgV[4], &(DataBuffer[2]), Count);
+ }
+ }
+
+ *pReturnVal = LOADER_ERR_BYTE(LStatus);
+
+ pMapLoader->pFunc(CLOSEMODHANDLE, NULL, NULL, NULL);
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapIOMapWrite
+//ArgV[0]: (return) Status byte, SBYTE
+//ArgV[1]: Module name, CStr
+//ArgV[2]: Offset, UWORD
+//ArgV[3]: Buffer, UBYTE array
+//
+NXT_STATUS cCmdWrapIOMapWrite(UBYTE * ArgV[])
+{
+ UWORD LStatus;
+
+ SBYTE * pReturnVal = (SBYTE*)(ArgV[0]);
+ UWORD Offset = *(UWORD*)(ArgV[2]);
+
+ //Our copy of 'Count' must be a ULONG to match the loader interface
+ ULONG Count;
+ DV_INDEX DVIndex;
+
+ //Buffer for return of FINDFIRSTMODULE call, structure defined in protocol doc
+ //We need it to transfer the ModuleID to the IOMAPREAD call
+ UBYTE FindBuffer[FILENAME_LENGTH + 10];
+ //Buffer to store data and offset in for IOMAPREAD call
+ //!!! Constant size means only limited reads and writes
+ UBYTE DataBuffer[MAX_IOM_BUFFER_SIZE + 2];
+
+ //Resolve module name and buffer
+ DVIndex = *(DV_INDEX *)(ArgV[1]);
+ ArgV[1] = cCmdDVPtr(DVIndex);
+
+ DVIndex = *(DV_INDEX *)(ArgV[3]);
+ ArgV[3] = cCmdDVPtr(DVIndex);
+ Count = DV_ARRAY[DVIndex].Count;
+
+ if (Count > MAX_IOM_BUFFER_SIZE)
+ {
+ //Request to read too much data at once; return error and give up
+ *pReturnVal = ERR_INVALID_SIZE;
+ return (NO_ERR);
+ }
+
+ LStatus = pMapLoader->pFunc(FINDFIRSTMODULE, ArgV[1], FindBuffer, NULL);
+
+ if (LOADER_ERR(LStatus) == SUCCESS)
+ {
+ //Module was found, transfer Offset into first two bytes of DataBuffer, copy data into rest of buffer, then write
+ *(UWORD*)(DataBuffer) = Offset;
+ memcpy(&(DataBuffer[2]), ArgV[3], Count);
+ LStatus = pMapLoader->pFunc(IOMAPWRITE, &(FindBuffer[FILENAME_LENGTH + 1]), DataBuffer, &Count);
+ }
+
+ *pReturnVal = LOADER_ERR_BYTE(LStatus);
+
+ pMapLoader->pFunc(CLOSEMODHANDLE, NULL, NULL, NULL);
+ return (NO_ERR);
+}
+
+#if VM_BENCHMARK
+void cCmdWriteBenchmarkFile()
+{
+ LOADER_STATUS LStatus;
+ UBYTE Handle;
+ ULONG BenchFileSize;
+ ULONG i, Length;
+ UBYTE Buffer[256];
+
+ //Remove old benchmark file, create a new one
+ strcpy((char *)Buffer, "benchmark.txt");
+ pMapLoader->pFunc(DELETE, Buffer, NULL, NULL);
+ BenchFileSize = 2048;
+ LStatus = pMapLoader->pFunc(OPENWRITEDATA, Buffer, NULL, &BenchFileSize);
+
+ if (!LOADER_ERR(LStatus))
+ {
+ //Write Benchmark file
+ Handle = LOADER_HANDLE(LStatus);
+
+ //Header
+ sprintf((char *)Buffer, "Program Name: %s\r\n", VarsCmd.ActiveProgName);
+ Length = strlen((char *)Buffer);
+ LStatus = pMapLoader->pFunc(WRITE, &Handle, Buffer, &Length);
+
+ sprintf((char *)Buffer, "InstrCount: %d\r\n", VarsCmd.InstrCount);
+ Length = strlen((char *)Buffer);
+ LStatus = pMapLoader->pFunc(WRITE, &Handle, Buffer, &Length);
+
+ sprintf((char *)Buffer, "Time: %d\r\n", IOMapCmd.Tick - VarsCmd.StartTick);
+ Length = strlen((char *)Buffer);
+ LStatus = pMapLoader->pFunc(WRITE, &Handle, Buffer, &Length);
+
+ sprintf((char *)Buffer, "Instr/Tick: %d\r\n", VarsCmd.Average);
+ Length = strlen((char *)Buffer);
+ LStatus = pMapLoader->pFunc(WRITE, &Handle, Buffer, &Length);
+
+ sprintf((char *)Buffer, "CmdCtrl Calls: %d\r\n", VarsCmd.CmdCtrlCount);
+ Length = strlen((char *)Buffer);
+ LStatus = pMapLoader->pFunc(WRITE, &Handle, Buffer, &Length);
+
+ sprintf((char *)Buffer, "OverTime Rounds: %d\r\n", VarsCmd.OverTimeCount);
+ Length = strlen((char *)Buffer);
+ LStatus = pMapLoader->pFunc(WRITE, &Handle, Buffer, &Length);
+
+ sprintf((char *)Buffer, "Max OverTime Length: %d\r\n", VarsCmd.MaxOverTimeLength);
+ Length = strlen((char *)Buffer);
+ LStatus = pMapLoader->pFunc(WRITE, &Handle, Buffer, &Length);
+
+ sprintf((char *)Buffer, "CompactionCount: %d\r\n", VarsCmd.CompactionCount);
+ Length = strlen((char *)Buffer);
+ LStatus = pMapLoader->pFunc(WRITE, &Handle, Buffer, &Length);
+
+ sprintf((char *)Buffer, "LastCompactionTick: %d\r\n", VarsCmd.LastCompactionTick);
+ Length = strlen((char *)Buffer);
+ LStatus = pMapLoader->pFunc(WRITE, &Handle, Buffer, &Length);
+
+ sprintf((char *)Buffer, "MaxCompactionTime: %d\r\n", VarsCmd.MaxCompactionTime);
+ Length = strlen((char *)Buffer);
+ LStatus = pMapLoader->pFunc(WRITE, &Handle, Buffer, &Length);
+
+ //opcode benchmarks
+ sprintf((char *)Buffer, "Op\tCnt\tOver\tMax\r\n");
+ Length = strlen((char *)Buffer);
+ LStatus = pMapLoader->pFunc(WRITE, &Handle, Buffer, &Length);
+ for (i = 0; i < OPCODE_COUNT; i++)
+ {
+ sprintf((char *)Buffer, "%x\t%d\t%d\t%d\t%d\r\n", i, VarsCmd.OpcodeBenchmarks[i][0], VarsCmd.OpcodeBenchmarks[i][1], VarsCmd.OpcodeBenchmarks[i][2], VarsCmd.OpcodeBenchmarks[i][3]);
+ Length = strlen((char *)Buffer);
+ LStatus = pMapLoader->pFunc(WRITE, &Handle, Buffer, &Length);
+ }
+ //close file
+ LStatus = pMapLoader->pFunc(CLOSE, &Handle, NULL, NULL);
+ }
+}
+#endif
+
+
+/////////////////////////////////////////////////////////////
+// Dymanic syscall implementations
+////////////////////////////////////////////////////////////
+
+//
+//cCmdWrapDatalogWrite
+//ArgV[0]: (return) Error Code, SBYTE (NXT_STATUS)
+//ArgV[1]: Message, CStr
+//
+NXT_STATUS cCmdWrapDatalogWrite(UBYTE * ArgV[])
+{
+ NXT_STATUS Status = NO_ERR;
+ DV_INDEX DVIndex;
+
+ //Resolve array arguments
+ DVIndex = *(DV_INDEX *)(ArgV[1]);
+ ArgV[1] = cCmdDVPtr(DVIndex);
+
+ Status = cCmdDatalogWrite(ArgV[1], DV_ARRAY[DVIndex].Count);
+
+ *(SBYTE *)(ArgV[0]) = Status;
+
+ if (IS_FATAL(Status))
+ return Status;
+ else
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapDatalogGetTimes
+//ArgV[0]: SyncTime, U32
+//ArgV[1]: SyncTick, U32
+//
+NXT_STATUS cCmdWrapDatalogGetTimes(UBYTE * ArgV[])
+{
+ *((ULONG *)ArgV[1]) = IOMapCmd.SyncTime;
+ *((ULONG *)ArgV[2]) = IOMapCmd.SyncTick;
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapSetSleepTimeout
+//ArgV[0]: (return) Status byte, SBYTE
+//ArgV[1]: desired timer limit in ms, ULONG
+//
+NXT_STATUS cCmdWrapSetSleepTimeout(UBYTE * ArgV[])
+{
+ ULONG value = *(ULONG*)(ArgV[1]);
+ if(value==0)
+ {
+ pMapUi->SleepTimeout=0;
+ }
+ else if(value < 60000)
+ {
+ pMapUi->SleepTimeout=1; //integer math would've made this zero
+ }
+ else
+ {
+ pMapUi->SleepTimeout= value / 60000;
+ }
+ return (NO_ERR);
+}
+
+// currently copied from LS, not finished.
+//
+//cCmdWrapCommHSWrite
+//ArgV[0]: (return) Status code, SBYTE
+//ArgV[1]: Port specifier, UBYTE
+//ArgV[2]: Buffer to send, UBYTE array, only SIZE_OF_LSBUF bytes will be used
+//ArgV[3]: ResponseLength, UBYTE, specifies expected bytes back from slave device
+//
+NXT_STATUS cCmdWrapCommHSWrite(UBYTE * ArgV[])
+{
+ SBYTE * pReturnVal = (SBYTE*)(ArgV[0]);
+ UBYTE Port = *(ArgV[1]);
+ UBYTE * pBuf;
+ UWORD BufLength;
+ UBYTE ResponseLength = *(ArgV[3]);
+ DV_INDEX DVIndex;
+
+ //Resolve array arguments
+ DVIndex = *(DV_INDEX *)(ArgV[2]);
+ pBuf = cCmdDVPtr(DVIndex);
+ BufLength = DV_ARRAY[DVIndex].Count;
+
+ *pReturnVal = cCmdLSWrite(Port, (UBYTE)BufLength, pBuf, ResponseLength);
+
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapCommHSCheckStatus
+//ArgV[0]: (return) Status code, SBYTE
+//ArgV[1]: Port specifier, UBYTE
+//ArgV[2]: BytesReady, UBYTE
+//
+NXT_STATUS cCmdWrapCommHSCheckStatus(UBYTE * ArgV[])
+{
+ UBYTE Port = *(ArgV[1]);
+
+ *((SBYTE*)(ArgV[0])) = cCmdLSCheckStatus(Port);
+ *((UBYTE*)(ArgV[2])) = cCmdLSCalcBytesReady(Port);
+
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapCommHSRead
+//ArgV[0]: (return) Status code, SBYTE
+//ArgV[1]: Port specifier, UBYTE
+//ArgV[2]: Buffer for data, UBYTE array, max SIZE_OF_LSBUF bytes will be written
+//ArgV[3]: BufferLength, UBYTE, specifies size of buffer requested
+//
+NXT_STATUS cCmdWrapCommHSRead(UBYTE * ArgV[])
+{
+ SBYTE * pReturnVal = (SBYTE*)(ArgV[0]);
+ UBYTE Port = *(ArgV[1]);
+ UBYTE * pBuf;
+ UBYTE BufLength = *(ArgV[3]);
+ UBYTE BytesToRead;
+ DV_INDEX DVIndex = *(DV_INDEX *)(ArgV[2]);
+ NXT_STATUS AllocStatus;
+
+ *pReturnVal = cCmdLSCheckStatus(Port);
+ BytesToRead = cCmdLSCalcBytesReady(Port);
+
+ //If channel is OK and has data ready for us, put the data into outgoing buffer
+ if (!IS_ERR(*pReturnVal) && BytesToRead > 0)
+ {
+ //Limit buffer to available data
+ if (BufLength > BytesToRead)
+ BufLength = BytesToRead;
+
+ AllocStatus = cCmdDVArrayAlloc(DVIndex, BufLength);
+ if (IS_ERR(AllocStatus))
+ return (AllocStatus);
+
+ pBuf = cCmdDVPtr(DVIndex);
+ *pReturnVal = cCmdLSRead(Port, BufLength, pBuf);
+ }
+ //Else, the channel has an error and/or there's no data to read; clear the output array
+ else
+ {
+ AllocStatus = cCmdDVArrayAlloc(DVIndex, 0);
+ if (IS_ERR(AllocStatus))
+ return (AllocStatus);
+ }
+
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapCommBTOnOff
+//ArgV[0]: (return) Status byte, SBYTE
+//ArgV[1]: Power State, 0-1
+//
+NXT_STATUS cCmdWrapCommBTOnOff(UBYTE * ArgV[])
+{
+ UWORD retVal;
+ NXT_STATUS status;
+ SBYTE * pReturnVal = (SBYTE*)(ArgV[0]);
+
+ UBYTE powerState = *(ArgV[1]);
+ if(powerState)
+ status= pMapComm->pFunc(BTON, 0, 0, 0, NULL, &retVal);
+ else
+ status= pMapComm->pFunc(BTOFF, 0, 0, 0, NULL, &retVal);
+
+ *pReturnVal= (status == SUCCESS) ? retVal : status;
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapCommBTConnection
+//ArgV[0]: (return) Status byte, SBYTE
+//ArgV[1]: Action, UBYTE
+//ArgV[2]: name, UBYTE array CStr
+//ArgV[3]: connection slot, UBYTE
+//
+NXT_STATUS cCmdWrapCommBTConnection(UBYTE * ArgV[])
+{
+ UWORD retVal;
+ NXT_STATUS status;
+ SBYTE * pReturnVal = (SBYTE*)(ArgV[0]);
+ UBYTE *nmPtr;
+
+ UBYTE action = *(ArgV[1]);
+ UBYTE connection = *(ArgV[3]);
+ nmPtr = cCmdDVPtr(*(DV_INDEX *)(ArgV[2]));
+
+ if(action) // Init
+ status= pMapComm->pFunc(CONNECTBYNAME, 0, connection, 0, nmPtr, &retVal);
+ else // Close
+ status= pMapComm->pFunc(DISCONNECT, connection, 0, 0, NULL, &retVal);
+
+ *pReturnVal= (status == SUCCESS) ? retVal : status;
+ return (NO_ERR);
+}
+
+
+//
+//cCmdWrapReadSemData
+//ArgV[0]: return data, U8
+//ArgV[1]: which (0=used, 1=request), U8
+//
+NXT_STATUS cCmdWrapReadSemData(UBYTE * ArgV[])
+{
+ if(!(*((UBYTE *)ArgV[1])))
+ *((UBYTE *)ArgV[0])= gUsageSemData;
+ else
+ *((UBYTE *)ArgV[0])= gRequestSemData;
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapWriteSemData
+//ArgV[0]: return data, U8
+//ArgV[1]: which (0=used, 1=request), U8
+//ArgV[2]: newValue, U8
+//ArgV[3]: action (0= OR, 1= AND), U8
+//
+NXT_STATUS cCmdWrapWriteSemData(UBYTE * ArgV[])
+{
+ UBYTE curVal, newVal, which= (*((UBYTE *)ArgV[1]));
+ if(!which)
+ curVal= gUsageSemData;
+ else
+ curVal= gRequestSemData;
+
+ newVal= *((UBYTE *)ArgV[2]);
+
+ if(*((UBYTE *)ArgV[3]))
+ curVal &= ~newVal;
+ else
+ curVal |= newVal;
+
+ if(!which)
+ gUsageSemData= curVal;
+ else
+ gRequestSemData= curVal;
+ *((UBYTE *)ArgV[0])= curVal;
+ return (NO_ERR);
+}
+
+
+//
+//cCmdWrapUpdateCalibCacheInfo
+//ArgV[0]: return data, U8
+//ArgV[1]: nm, UBYTE array CStr
+//ArgV[2]: min, U16
+//ArgV[3]: max , U16
+//
+NXT_STATUS cCmdWrapUpdateCalibCacheInfo(UBYTE * ArgV[])
+{
+ UBYTE *nm= cCmdDVPtr(*(DV_INDEX *)(ArgV[1]));
+ SWORD min= (*((SWORD *)ArgV[2]));
+ SWORD max= (*((SWORD *)ArgV[3]));
+
+ cCmdUpdateCalibrationCache(nm, min, max);
+ *((UBYTE *)ArgV[0])= SUCCESS;
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapComputeCalibValue
+//ArgV[0]: return data, U8
+//ArgV[1]: nm, UBYTE array CStr
+//ArgV[2]: raw, U16 ref in out
+NXT_STATUS cCmdWrapComputeCalibValue (UBYTE * ArgV[])
+{
+ UBYTE *nm= cCmdDVPtr(*(DV_INDEX *)(ArgV[1]));
+ SWORD raw= (*((SWORD *)ArgV[2]));
+
+ *((UBYTE *)ArgV[0])= cCmdComputeCalibratedValue(nm, &raw);
+ (*((SWORD *)ArgV[2]))= raw;
+ return (NO_ERR);
+}
+
+typedef struct {
+ SWORD min, max;
+ UBYTE nm[FILENAME_LENGTH + 1];
+} CalibCacheType;
+
+SBYTE gCalibCacheCnt= 0;
+DV_INDEX gCalibCacheArrayDVIdx= NOT_A_DS_ID;
+CalibCacheType *gCalibCacheArray= NULL;
+
+SWORD cCmdGetCalibrationIndex(UBYTE *nm) {
+ SBYTE i;
+ for(i= 0; i < gCalibCacheCnt; i++)
+ if(!strcmp((PSZ)nm, (PSZ)gCalibCacheArray[i].nm))
+ break;
+ return i;
+}
+
+NXT_STATUS cCmdComputeCalibratedValue(UBYTE *nm, SWORD *pRaw) {
+ SBYTE i= cCmdGetCalibrationIndex(nm);
+ NXT_STATUS status= ERR_RC_ILLEGAL_VAL;
+ SLONG raw= *pRaw, range;
+ if(i < gCalibCacheCnt) {
+ status= SUCCESS;
+ raw -= gCalibCacheArray[i].min;
+ range= (gCalibCacheArray[i].max - gCalibCacheArray[i].min);
+ }
+ else
+ range= 1023;
+ raw *= 100;
+ raw /= range;
+ if(raw < 0) raw= 0;
+ else if(raw > 100) raw= 100;
+ *pRaw= raw;
+ return status;
+}
+
+
+NXT_STATUS ResizeCalibCache(ULONG elements) { // alloc dv if needed, grow if needed. dv never freed. on boot, set to NOT_A_DS_ID. use cnt for valid elements.
+ NXT_STATUS Status = NO_ERR;
+
+ if(gCalibCacheArrayDVIdx == NOT_A_DS_ID)
+ Status = cCmdAllocDopeVector(&gCalibCacheArrayDVIdx, sizeof(CalibCacheType));
+ if(!IS_ERR(Status) && DV_ARRAY[gCalibCacheArrayDVIdx].Count < elements) //Allocate storage for cache element
+ Status = cCmdDVArrayAlloc(gCalibCacheArrayDVIdx, elements);
+ if(!IS_ERR(Status))
+ gCalibCacheArray= cCmdDVPtr(gCalibCacheArrayDVIdx);
+ // on error, does old DVIdx still point to array, or should we null out array???
+ return Status;
+}
+
+// called to update min/max on existing cache element, and to add new named element
+void cCmdUpdateCalibrationCache(UBYTE *nm, SWORD min, SWORD max) {
+ SWORD i= cCmdGetCalibrationIndex(nm);
+ NXT_STATUS Status = NO_ERR;
+
+ if(i == gCalibCacheCnt) { // sensor wasn't found, insert into cache
+ Status= ResizeCalibCache(gCalibCacheCnt+1);
+ if(!IS_ERR(Status)) {
+ gCalibCacheCnt++;
+ strcpy((PSZ)gCalibCacheArray[i].nm, (PSZ)nm);
+ }
+ }
+ if(!IS_ERR(Status)) {
+ gCalibCacheArray[i].min= min;
+ gCalibCacheArray[i].max= max;
+ }
+}
+
+void cCmdLoadCalibrationFiles(void) {
+ ULONG cnt, DataSize;
+ UBYTE nm[FILENAME_LENGTH + 1], nmLen;
+ SWORD Handle, HandleSearch;
+ gCalibCacheCnt= 0;
+ gCalibCacheArrayDVIdx= NOT_A_DS_ID;
+ // file I/O to load all .cal files into cached globals used by scaling syscall
+ HandleSearch = pMapLoader->pFunc(FINDFIRST, "*.cal", nm, &cnt); // returns total files and nm of first one
+ while (LOADER_ERR(HandleSearch) == SUCCESS) { // if we have a file, process it by closing and opening
+ SWORD min= 0, max= 0, tmp;
+ ULONG length;
+ pMapLoader->pFunc(CLOSE, LOADER_HANDLE_P(HandleSearch), NULL, NULL);
+ Handle = pMapLoader->pFunc(OPENREAD, nm, NULL, &DataSize);
+ if (LOADER_ERR(Handle) == SUCCESS && DataSize == 4) {
+ // access data, two bytes for min and two for max
+ length= 2;
+ pMapLoader->pFunc(READ,LOADER_HANDLE_P(Handle),(UBYTE*)&tmp,&length);
+ if (length == 2)
+ min= tmp;
+ length= 2;
+ pMapLoader->pFunc(READ,LOADER_HANDLE_P(Handle),(UBYTE*)&tmp,&length);
+ if (length == 2)
+ max= tmp;
+ }
+ pMapLoader->pFunc(CLOSE, LOADER_HANDLE_P(Handle), NULL, NULL);
+ // update calibration cache with nm, min, and max
+ nmLen= strlen((PSZ)nm) - 4; // chop off .cal extension
+ nm[nmLen]= 0;
+ cCmdUpdateCalibrationCache(nm, min, max);
+
+ HandleSearch = pMapLoader->pFunc(FINDNEXT, LOADER_HANDLE_P(HandleSearch), nm, &cnt);
+ }
+ pMapLoader->pFunc(CLOSE, LOADER_HANDLE_P(HandleSearch), NULL, NULL);
+}
+
+//
+//cCmdWrapListFiles
+//ArgV[0]: return data, SBYTE
+//ArgV[1]: pattern, UBYTE array CStr
+//ArgV[2]: list, UBYTE array CStr array ref in out
+NXT_STATUS cCmdWrapListFiles (UBYTE * ArgV[])
+{
+ ULONG fileSize, matchCount=0, i=0, oldCount;
+ SWORD HandleSearch;
+ NXT_STATUS Status = NO_ERR;
+ DV_INDEX listIdx, *list;
+ UBYTE *strTemp, *pattern;
+ UBYTE name[FILENAME_LENGTH + 1];
+
+ //Resolve array arguments
+ pattern = cCmdDVPtr(*(DV_INDEX *)(ArgV[1]));
+ listIdx = *(DV_INDEX *)(ArgV[2]);
+
+ HandleSearch = pMapLoader->pFunc(FINDFIRST, pattern, name, &fileSize); // returns first file matching pattern
+
+ //Count how many files we're going to have
+ while (LOADER_ERR(HandleSearch) == SUCCESS)
+ {
+ matchCount++;
+ pMapLoader->pFunc(CLOSE, LOADER_HANDLE_P(HandleSearch), NULL, NULL);
+ HandleSearch = pMapLoader->pFunc(FINDNEXT, LOADER_HANDLE_P(HandleSearch), name, &fileSize);
+ }
+
+ HandleSearch = pMapLoader->pFunc(FINDFIRST, pattern, name, &fileSize); // returns first file matching pattern
+
+ oldCount = DV_ARRAY[listIdx].Count; // Check to see how many dope vectors are already in the array (if they passed us a non-blank array of strings)
+
+ Status = cCmdDVArrayAlloc(listIdx, matchCount); // Size the top-level array
+ if(IS_ERR(Status))
+ return Status;
+
+ list = (DV_INDEX*)(VarsCmd.pDataspace + DV_ARRAY[listIdx].Offset); // Get a pointer into the dataspace for the array of DV_INDEXes
+
+ while (LOADER_ERR(HandleSearch) == SUCCESS && !IS_ERR(Status))
+ {
+ pMapLoader->pFunc(CLOSE, LOADER_HANDLE_P(HandleSearch), NULL, NULL); // Close the handle that we automatically opened above
+ // Allocate a new dope vector if one doesn't already exist
+ if(i >= oldCount)
+ Status = cCmdAllocDopeVector(&(list[i]), sizeof(char));
+
+ // Allocate the string buffer for output array[i]
+ if(!IS_ERR(Status))
+ Status = cCmdDVArrayAlloc(list[i], strlen((PSZ)name) + 1);
+
+ if(!IS_ERR(Status))
+ {
+ strTemp = VarsCmd.pDataspace + DV_ARRAY[list[i]].Offset; // Get a pointer into the dataspace for this string
+ strcpy((PSZ)strTemp, (PSZ)name);
+ }
+ i++;
+
+ HandleSearch = pMapLoader->pFunc(FINDNEXT, LOADER_HANDLE_P(HandleSearch), name, &fileSize);
+ }
+
+ *(SBYTE *)(ArgV[0]) = Status;
+
+ return Status;
+}
+
+#ifdef SIM_NXT
+// Accessors for simulator library code
+SWORD cCmdGetCodeWord(CLUMP_ID Clump, CODE_INDEX Index)
+{
+ if (Clump == NOT_A_CLUMP)
+ {
+ NXT_ASSERT(Index < VarsCmd.CodespaceCount);
+ return (VarsCmd.pCodespace[Index]);
+ }
+ else
+ {
+ NXT_ASSERT(cCmdIsClumpIDSane(Clump));
+#error // CodeStart is now absolute, but not sure how to fix
+ return (((SWORD)VarsCmd.pCodespace[VarsCmd.pAllClumps[Clump].CodeStart + Index]));
+ }
+}
+
+
+UBYTE * cCmdGetDataspace(UWORD *DataspaceSize)
+{
+ if (DataspaceSize)
+ *DataspaceSize = VarsCmd.DataspaceSize;
+ return (VarsCmd.pDataspace);
+}
+
+
+DOPE_VECTOR * cCmdGetDopeVectorPtr()
+{
+ return VarsCmd.MemMgr.pDopeVectorArray;
+}
+
+
+MEM_MGR cCmdGetMemMgr(void)
+{
+ return VarsCmd.MemMgr;
+}
+
+
+ULONG cCmdGetPoolSize()
+{
+ return VarsCmd.PoolSize;
+}
+#endif
+
+#else //!ENABLE_VM
+//
+//Implementations of standard interface if VM is disabled.
+//Place low-level test code here if VM is causing issues.
+//Test code must implement cCmdInit(), cCmdCtrl(), and cCmdExit() at a minimum.
+//Recommend using a pattern like #include "c_cmd_alternate.c"
+//
+
+//!!! !ENABLE_VM implementations really should provide a placeholder function for this pointer
+//IOMapCmd.pRCHandler = &cCmdHandleRemoteCommands;
+#include "c_cmd_alternate.c"
+
+#endif //ENABLE_VM