natives.h

Go to the documentation of this file.

/*
    Aseba - an event-based framework for distributed robot control
    Copyright (C) 2007--2016:
        Stephane Magnenat <stephane at magnenat dot net>
        (http://stephane.magnenat.net)
        and other contributors, see authors.txt for details
    
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU Lesser General Public License as published
    by the Free Software Foundation, version 3 of the License.
    
    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU Lesser General Public License for more details.
    
    You should have received a copy of the GNU Lesser General Public License
    along with this program. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef __ASEBA_NATIVES_H
#define __ASEBA_NATIVES_H

#ifdef __cplusplus
extern "C" {
#endif

#include "../common/types.h"
#include "vm.h"

#ifdef _MSC_VER
#pragma warning( disable: 4200) // disable 0 size arrays warning
#define inline __inline         // msvc does not support the standart C99/C++ static inline construct
#endif


// data structures

typedef struct
{
    uint16 size;            
    const char* name;       
} AsebaVariableDescription;

typedef struct
{
    const char* name;       
    AsebaVariableDescription variables[];   
} AsebaVMDescription;

typedef struct
{
    const char* name;   
    const char* doc;    
} AsebaLocalEventDescription;

typedef void (*AsebaNativeFunctionPointer)(AsebaVMState *vm);

typedef struct
{
    sint16 size;        
    const char* name;   
} AsebaNativeFunctionArgumentDescription;

typedef struct 
{
    const char* name;   
    const char* doc;    
    AsebaNativeFunctionArgumentDescription arguments[]; 
} AsebaNativeFunctionDescription;

// support functions

static inline sint16 AsebaNativePopArg(AsebaVMState *vm)
{
    return vm->stack[vm->sp--];
}

// standard natives functions

void AsebaNative_veccopy(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_veccopy;

void AsebaNative_vecfill(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecfill;

void AsebaNative_vecaddscalar(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecaddscalar;

void AsebaNative_vecadd(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecadd;

void AsebaNative_vecsub(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecsub;

void AsebaNative_vecmul(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecmul;

void AsebaNative_vecdiv(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecdiv;

void AsebaNative_vecmin(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecmin;

void AsebaNative_vecmax(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecmax;

void AsebaNative_vecclamp(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecclamp;

void AsebaNative_vecdot(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecdot;

void AsebaNative_vecstat(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecstat;

void AsebaNative_vecargbounds(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecargbounds;

void AsebaNative_vecsort(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecsort;

void AsebaNative_mathmuldiv(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathmuldiv;

void AsebaNative_mathatan2(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathatan2;

void AsebaNative_mathsin(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathsin;

void AsebaNative_mathcos(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathcos;

void AsebaNative_mathrot2(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathrot2;

void AsebaNative_mathsqrt(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_mathsqrt;

void AsebaNative_vecnonzerosequence(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_vecnonzerosequence;

void AsebaSetRandomSeed(uint16 seed);
uint16 AsebaGetRandom(void);
void AsebaNative_rand(AsebaVMState *vm);
extern const AsebaNativeFunctionDescription AsebaNativeDescription_rand;

#define ASEBA_NATIVES_STD_COUNT 21

#define ASEBA_NATIVES_STD_FUNCTIONS \
    AsebaNative_veccopy, \
    AsebaNative_vecfill, \
    AsebaNative_vecaddscalar, \
    AsebaNative_vecadd, \
    AsebaNative_vecsub, \
    AsebaNative_vecmul, \
    AsebaNative_vecdiv, \
    AsebaNative_vecmin, \
    AsebaNative_vecmax, \
    AsebaNative_vecclamp, \
    AsebaNative_vecdot, \
    AsebaNative_vecstat, \
    AsebaNative_vecargbounds, \
    AsebaNative_vecsort, \
    AsebaNative_mathmuldiv, \
    AsebaNative_mathatan2, \
    AsebaNative_mathsin, \
    AsebaNative_mathcos, \
    AsebaNative_mathrot2, \
    AsebaNative_mathsqrt, \
    AsebaNative_rand

#define ASEBA_NATIVES_STD_DESCRIPTIONS \
    &AsebaNativeDescription_veccopy, \
    &AsebaNativeDescription_vecfill, \
    &AsebaNativeDescription_vecaddscalar, \
    &AsebaNativeDescription_vecadd, \
    &AsebaNativeDescription_vecsub, \
    &AsebaNativeDescription_vecmul, \
    &AsebaNativeDescription_vecdiv, \
    &AsebaNativeDescription_vecmin, \
    &AsebaNativeDescription_vecmax, \
    &AsebaNativeDescription_vecclamp, \
    &AsebaNativeDescription_vecdot, \
    &AsebaNativeDescription_vecstat, \
    &AsebaNativeDescription_vecargbounds, \
    &AsebaNativeDescription_vecsort, \
    &AsebaNativeDescription_mathmuldiv, \
    &AsebaNativeDescription_mathatan2, \
    &AsebaNativeDescription_mathsin, \
    &AsebaNativeDescription_mathcos, \
    &AsebaNativeDescription_mathrot2, \
    &AsebaNativeDescription_mathsqrt, \
    &AsebaNativeDescription_rand

#ifdef __cplusplus
} /* closing brace for extern "C" */
#endif

#endif