Mattias Karlsson
Microcontroller firmware that uses a simple, yet powerful scripting language to control the timing of input and output events with high temporal resolution. Written by Mattias Karlsson
Diff: behave.cpp
- Revision:
- 1:3a050d26d4f6
- Parent:
- 0:8dbd6bd9167f
--- a/behave.cpp Tue May 19 15:45:42 2015 +0000
+++ b/behave.cpp Wed Jun 03 22:54:25 2015 +0000
@@ -41,10 +41,13 @@
__attribute((section("AHBSRAM1"),aligned)) intCompare intCompareBlock[NUMINTCOMPARE];
__attribute((section("AHBSRAM0"),aligned)) action actionBlock[NUMACTIONS];
__attribute((section("AHBSRAM0"),aligned)) portMessage portMessageBlock[NUMPORTMESSAGES];
-//__attribute((section("AHBSRAM1"),aligned)) intVariable intVariableBlock[10];
+__attribute((section("AHBSRAM1"),aligned)) intVariable globalVarBlock[NUMINTVARS];
__attribute((section("AHBSRAM0"),aligned)) intOperation intOperationBlock[NUMINTOPERATIONS];
__attribute((section("AHBSRAM0"),aligned)) displayAction displayActionBlock[NUMDISPLAYACTIONS];
__attribute((section("AHBSRAM0"),aligned)) triggerFunctionAction triggerFunctionActionBlock[NUMTRIGGERACTIONS];
+__attribute((section("AHBSRAM1"),aligned)) char charBuffer[INPUTCHARBUFFERSIZE];
+
+
#endif
#ifdef FPGAHARDWARE
@@ -55,9 +58,11 @@
intCompare intCompareBlock[NUMINTCOMPARE];
action actionBlock[NUMACTIONS];
portMessage portMessageBlock[NUMPORTMESSAGES];
+intVariable globalVarBlock[NUMINTVARS];
intOperation intOperationBlock[NUMINTOPERATIONS];
displayAction displayActionBlock[NUMDISPLAYACTIONS];
triggerFunctionAction triggerFunctionActionBlock[NUMTRIGGERACTIONS];
+char charBuffer[INPUTCHARBUFFERSIZE];
#endif
@@ -117,6 +122,8 @@
}
void mainLoop::exec() {
+ //Start the main loop.
+
bool digitalInChanged = false;
bool digitalOutChanged = false;
uint32_t changeTime;
@@ -124,8 +131,8 @@
int bufferPos = 0;
- ostringstream timeConvert; // stream used for the conversion
- ostringstream stateConvert;
+ //ostringstream timeConvert; // stream used for the conversion
+ //ostringstream stateConvert;
int tmpChar;
int junkChar;
@@ -218,8 +225,9 @@
digitalInChanged = false;
digitalOutChanged = false;
changeTime = timeKeeper;
+ //hardware->pauseInterrupts();
for (int i = 0; i < NUMPORTS; i++) {
-
+ //hardware->pauseInterrupts();
if (ports[i].update()) {
digitalInChanged = true;
@@ -233,6 +241,7 @@
currentDIOstate[0] &= ~(1 << i);
}
}
+ //hardware->resumeInterrupts();
if (ports[i].outStateChanged) {
digitalOutChanged = true;
changeTime = min(changeTime,ports[i].lastOutChangeTime);
@@ -425,28 +434,18 @@
outState = outVal;
}
-//called when a digital in gets triggered
-/*
-void digitalPort::addStateChange(int newState, uint32_t timeStamp) {
-
- if ((newState == 0) && (!lastDownEvent.triggered)){
- lastDownEvent.timeStamp = timeStamp;
- lastDownEvent.triggered = true;
- } else if ((newState == 1) && (!lastUpEvent.triggered)) {
- lastUpEvent.timeStamp = timeStamp;
- lastUpEvent.triggered = true;
- }
-}*/
-
bool digitalPort::update() {
bool changed = false;
+ bool execUp = false;
+ bool execDown = false;
if ((timeKeeper - lastChangeTime) > 1) { //prevents flutter triggers when button is pressed
//changed = (lastInState != inState);
- changed = (inPin->lastUpEvent.triggered || inPin->lastDownEvent.triggered);
+ changed = (inPin->lastUpEvent.triggered || inPin->lastDownEvent.triggered); //Either a down or up event happened
if (changed) {
+ inPin->setUpdate(true); //Once we get the state of the pin, we buffer any pin changes until we are done checking
inState = getDigitalIn();
//We need to ignore flutter when levers/beam breaks are triggered. So
@@ -470,7 +469,7 @@
lastChangeTime = timeKeeper;
}
*/
- if (triggerUpEventPtr != NULL) {triggerUpEventPtr->execute();}
+ if (triggerUpEventPtr != NULL) {execUp = true;}
} else if (inState == 0) {
lastChangeInterval = inPin->lastDownEvent.timeStamp - lastChangeTime;
@@ -485,11 +484,11 @@
lastChangeTime = timeKeeper;
}*/
- if (triggerDownEventPtr != NULL) {triggerDownEventPtr->execute();}
+ if (triggerDownEventPtr != NULL) {execDown = true;}
}
} else if (lastInState == inState) {
- //Both up and down triggers must have happened, so we consider both
+ //Both up and down triggers must have happened, so we consider both (and execute in the right order)
if (inState == 1) {
lastChangeInterval = inPin->lastUpEvent.timeStamp - inPin->lastDownEvent.timeStamp;
@@ -507,12 +506,20 @@
}
}
+ lastInState = inState;
+ inPin->lastUpEvent.triggered = false;
+ inPin->lastDownEvent.triggered = false;
+
+ inPin->setUpdate(false); //This also checks if there were any buffered changes that occured
+
}
-
- lastInState = inState;
- inPin->lastUpEvent.triggered = false;
- inPin->lastDownEvent.triggered = false;
-
+ }
+ if (execUp) {
+ triggerUpEventPtr->execute();
+ }
+
+ if (execDown) {
+ triggerDownEventPtr->execute();
}
return changed;
@@ -538,13 +545,17 @@
isUsed = true;
}
-void intVariable::set(std::string& tagInput, int initialValue) {
+void intVariable::set(const char* tagInput, int initialValue) {
value = initialValue;
//tag = string(tagInput);
- strncpy(tag,tagInput.data(),MAXVARNAMESIZE);
+ strncpy(tag,tagInput,MAXVARNAMESIZE);
isUsed = true;
}
+void intVariable::release() {
+ isUsed = false;
+}
+
displayAction::displayAction():
dText(string("--------------------------------------------------")){
dVariable = NULL;
@@ -2060,10 +2071,31 @@
bufferReadPos = 0;
_linesAvailable = 0;
+ writeLine = 0;
+ readLine = 0;
+ for (int i=0; i < 200; i++) {
+ lines[i] = NULL;
+ }
+
}
bool blockBuffer::addLine(char *input, int numChars) {
+ if (writeLine < 200) {
+ lines[writeLine] = (char*) malloc (numChars+1);
+ if (lines[writeLine] == NULL) {
+ textDisplay << "Could noy allocate memory for line.";
+ textDisplay.flush();
+ return false;
+ }
+ strcpy(lines[writeLine],input);
+ writeLine++;
+ _linesAvailable++;
+ } else {
+ return false;
+ }
+
+ /*
if (bufferWritePos+numChars >= INPUTCHARBUFFERSIZE) {
return false;
}
@@ -2073,11 +2105,28 @@
}
_linesAvailable++;
return true;
+ */
}
+char* blockBuffer::getNextLine() {
+
+ if (readLine < writeLine) {
+
+ readLine++;
+ _linesAvailable--;
+
+ return lines[readLine-1];
+ } else {
+ return NULL;
+ }
+
+}
+
+/*
string blockBuffer::getNextLine() {
string outputLine;
+
int endOfLinePos = bufferReadPos;
bool endOfLineFound = false;
@@ -2110,7 +2159,9 @@
}
return outputLine;
+
}
+*/
int16_t blockBuffer::linesAvailable() {
return _linesAvailable;
@@ -2120,6 +2171,14 @@
_linesAvailable = 0;
bufferReadPos = 0;
bufferWritePos = 0;
+
+ writeLine = 0;
+ readLine = 0;
+ for (int i=0; i< 200; i++) {
+ //delete [] lines[i];
+ free (lines[i]);
+ lines[i] = NULL;
+ }
}
bool blockBuffer::empty() {
@@ -2154,7 +2213,6 @@
functionEventArray[i] = NULL;
}
-
}
@@ -2190,6 +2248,7 @@
}
if (compile) {
parseBlock();
+ currentBlock.resetBuffer();
}
}
@@ -2217,8 +2276,11 @@
while (!currentBlock.empty()) {
wholeLineEvaluated = false;
- //tmpLine = currentBlock.back();
- tmpLine = currentBlock.getNextLine();
+
+ //tmpLine = currentBlock.getNextLine();
+
+ tmpLine.assign(currentBlock.getNextLine());
+
lineError = false;
//remove tabs
@@ -2296,8 +2358,9 @@
int pos1 = tmpLine.find("sound(")+6;
int pos2 = tmpLine.find_first_of(")",pos1);
string dispVar = tmpLine.substr(pos1,pos2-pos1);
-
- int* tmpVar = findIntVariable(dispVar);
+ //int* tmpVar = findIntVariable(dispVar);
+ int* tmpVar = findIntVariable(tmpLine.data(),pos1,pos2-1);
+
bool isText = false;
bool stopSignal = false;
bool resetSignal = false;
@@ -2391,8 +2454,8 @@
int pos1 = tmpLine.find("volume(")+7;
int pos2 = tmpLine.find_first_of(")",pos1);
string dispVar = tmpLine.substr(pos1,pos2-pos1);
-
- int* tmpVar = findIntVariable(dispVar);
+ //int* tmpVar = findIntVariable(dispVar);
+ int* tmpVar = findIntVariable(tmpLine.data(),pos1,pos2-1);
bool isText = false;
if (tmpVar == NULL) {
if (isNumber(dispVar)) {
@@ -2518,11 +2581,11 @@
textDisplay <<"Error: expected a ) character\r\n";
lineError = true;
}
-
+
if (!lineError) {
string dispVar = tmpLine.substr(pos1,pos2-pos1);
-
- int* tmpVar = findIntVariable(dispVar);
+ //int* tmpVar = findIntVariable(dispVar);
+ int* tmpVar = findIntVariable(tmpLine.data(),pos1,pos2-1);
bool isText = false;
if (tmpVar == NULL) {
if ((tmpLine.compare(pos1,1,"'")==0) && (tmpLine.compare(pos2-1,1,"'")==0)) {
@@ -2537,10 +2600,10 @@
textDisplay << "Error: no memory slots available.\r\n";
lineError = true;
}
-
+
if (!lineError && (blockDepth == 0)) {
//we are not inside a block structure, so display now
-
+
if (isText) {
//displayAction* dPtr = new displayAction(tmpLine.substr(pos1+1,pos2-pos1-2), pcPtr);
dPtr->set(tmpLine.substr(pos1+1,pos2-pos1-2));
@@ -2554,7 +2617,7 @@
//delete dPtr;
dPtr->release();
}
-
+
} else if (!lineError && (blockDepth > 0) ){
//the disp function was put inside a block
textDisplay.debug("Display statement\r\n");
@@ -2576,8 +2639,8 @@
//action* tmpAction = new action(dPtr);
tmpEventPtrArray.back()->addAction(tmpAction);
}
-
-
+
+
}
}
//----------------------------------------------
@@ -2697,7 +2760,9 @@
variableCreated = true;
} else {
textDisplay.debug("Attempting to use existing variable\r\n");
- int* tmpVar = findIntVariable(tmpString.substr(0,stringInd));
+ //int* tmpVar = findIntVariable(tmpString.substr(0,stringInd));
+ int* tmpVar = findIntVariable(tmpString.data(),0,stringInd-1);
+
*tmpVar = 0;
//lineError = true;
}
@@ -2706,6 +2771,7 @@
lineError = true;
}
}
+
if ((!lineError) && (stringInd != std::string::npos)) { //evaluate the expression
//action* tmpAction = evaluateAssignmentForAction(tmpString);
action* tmpAction = evaluateAssignmentForAction(tmpString.data());
@@ -3035,9 +3101,9 @@
}
- } else if ((!lineError) && (tokens[i+1].compare("in") == 0) && (findIntVariable(tokens[i+2])!=NULL)) {
+ } else if ((!lineError) && (tokens[i+1].compare("in") == 0) && (findIntVariable(tokens[i+2].data())!=NULL)) {
textDisplay.debug("Do in VAR statement\r\n");
- int* delayVar = findIntVariable(tokens[i+2]);
+ int* delayVar = findIntVariable(tokens[i+2].data());
//currentDelay = atoi(tokens[i+2].data());
if (!ifBlockInit) { //a standalone do block
//tmpEvent = new event(queuePtr);
@@ -3459,9 +3525,9 @@
textDisplay << "Error: loop period must be a positive integer.\r\n";
lineError = true;
}
- } else if (findIntVariable(tokens[i+3])!=NULL) {
-
- int* period = findIntVariable(tokens[i+3]);
+ } else if (findIntVariable(tokens[i+3].data())!=NULL) {
+
+ int* period = findIntVariable(tokens[i+3].data());
//tmpEvent->whileLoopPeriodVar = period;
tmpEvent->setWhileLoopPeriod(period);
if (!elseFlag) {
@@ -3608,7 +3674,7 @@
}
-
+/*
//used to return a pointer to a variable, if it exists
int* scriptStream::findIntVariable(string nameInput) {
@@ -3648,19 +3714,20 @@
outPtr = &globalVariables[i]->value;
break;
}
- /*
- if (nameInput.compare(globalVariables[i]->tag) == 0) {
- outPtr = &globalVariables[i]->value;
- break;
- }*/
+
}
}
textDisplay.debug("...done\r\n");
return outPtr;
}
-
-
+*/
+
+int* scriptStream::findIntVariable(const char *nameInput) {
+ return findIntVariable(nameInput,0,strlen(nameInput)-1);
+}
+
+/*
//used to return a pointer to a variable, if it exists
int* scriptStream::findIntVariable(const char* nameInput, int start, int end) {
@@ -3710,11 +3777,71 @@
textDisplay.debug("done\r\n");
return outPtr;
+}*/
+
+//used to return a pointer to a variable, if it exists
+int* scriptStream::findIntVariable(const char* nameInput, int start, int end) {
+
+ textDisplay.debug("Finding variable...");
+ int* outPtr = NULL;
+ bool foundIt = false;
+
+ if (findStringLoc(nameInput,"portout[",start,end) != -1) {
+ int pos1 = findStringLoc(nameInput,"portout[",start,end)+8;
+ int pos2 = findStringLoc(nameInput, "]",pos1,end);
+ if ((pos1 == -1)||(pos2 == -1)) {
+ //syntax error
+ return NULL;
+ }
+
+ //int portnum = atoi(nameInput.substr(pos1,pos2-pos1).data());
+ long int portnum = strtol(nameInput+pos1,NULL,10);
+ if ((portnum > 0) && (portnum <= numPorts)) {
+ outPtr = &portVector[(int)portnum-1].outState;
+ foundIt = true;
+ }
+ } else if (findStringLoc(nameInput,"portin[",start,end) != -1) {
+ int pos1 = findStringLoc(nameInput,"portin[",start,end)+7;
+ int pos2 = findStringLoc(nameInput, "]",pos1,end);
+ if ((pos1 == -1)||(pos2 == -1)) {
+ //syntax error
+ return NULL;
+ }
+ long int portnum = strtol(nameInput+pos1,NULL,10);
+
+ if ((portnum > 0) && (portnum <= numPorts)) {
+ outPtr = &portVector[(int)portnum-1].inState;
+ foundIt = true;
+ }
+ }
+
+ if (!foundIt) {
+ //std::vector<intVariable*>::size_type sz = globalVariables.size();
+ for (unsigned i = 0; i < NUMINTVARS; i++) {
+ //const char* varName = globalVariables[i]->tag.data();
+ if ((findStringLoc(nameInput,globalVarBlock[i].tag,start,end) != -1) && (strlen(globalVarBlock[i].tag)==(end-start+1))) {
+ outPtr = &globalVarBlock[i].value;
+ textDisplay.debug("Variable already exists.\r\n");
+ break;
+ }
+ }
+ }
+ //textDisplay.debug("done\r\n");
+
+ return outPtr;
}
-bool scriptStream::createIntVariable(string nameInput) {
- if (findIntVariable(nameInput) == NULL) {
- globalVariables.push_back(new intVariable(nameInput, 0));
+
+bool scriptStream::createIntVariable(const string& nameInput) {
+ if (findIntVariable(nameInput.data()) == NULL) {
+ //globalVariables.push_back(new intVariable(nameInput, 0));
+ intVariable* tmpVar = findFirstUnUsed(globalVarBlock, NUMINTVARS);
+ if (tmpVar == NULL) {
+ textDisplay << "Error: no memory slots available.\r\n";
+ return false;
+ }
+ tmpVar->set(nameInput.data(),0);
+
return true;
} else {
return false;
@@ -3758,8 +3885,9 @@
multiplierInt = -1;
}
-
+
tmpVar = findIntVariable(expression,0,beforeEqualLoc); //returns pointer to the variable
+
if (findStringLoc(expression,"portout[",0,beforeEqualLoc) != -1) { //set the output of a digital port
textDisplay.debug("Portout assignment\r\n");
int pos1 = findStringLoc(expression,"portout[",0,beforeEqualLoc)+8;
@@ -4286,6 +4414,7 @@
return tmpAction;
}
+/*
action* scriptStream::evaluateAssignmentForAction(string expression) {
//action* tmpAction = new action(); //create a new action
@@ -4820,7 +4949,7 @@
}
textDisplay.debug("Assignment successful\r\n");
return tmpAction;
-}
+}*/
/*
bool scriptStream::isOutsideParenth(string& expression,std::size_t foundItem) {