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/*
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_TARGET_DESCRIPTION
#define ASEBA_TARGET_DESCRIPTION
#include <map>
#include <string>
#include <vector>
namespace Aseba
{
/** \addtogroup msg */
/*@{*/
//! Lookup table for variables name => (pos, size))
using VariablesMap = std::map<std::wstring, std::pair<unsigned, unsigned> >;
//! Lookup table for functions (name => id in target description)
using FunctionsMap = std::map<std::wstring, unsigned>;
//! Description of target VM
struct TargetDescription
{
//! Description of target VM named variable
struct NamedVariable
{
NamedVariable(std::wstring name, unsigned size) : name(std::move(name)), size(size) {}
NamedVariable() = default;
std::wstring name; //!< name of the variable
unsigned size = 0; //!< size of variable in words
};
//! Description of local event;
struct LocalEvent
{
std::wstring name; //!< name of the event
std::wstring description; //!< description (some short documentation) of the event
};
//! Typed parameter of native functions
struct NativeFunctionParameter
{
NativeFunctionParameter(std::wstring name, int size) : name(std::move(name)), size(size) {}
NativeFunctionParameter() = default;
std::wstring name; //!< name of the parameter
int size = 0; //!< if > 0 size of the parameter, if < 0 template id, if 0 any size
};
//! Description of target VM native function
struct NativeFunction
{
std::wstring name; //!< name of the function
std::wstring description; //!< description (some short documentation) of the function
std::vector<NativeFunctionParameter> parameters; //!< for each argument of the function, its size in words or, if negative, its template ID
};
std::wstring name; //!< node name
unsigned protocolVersion{0}; //!< version of the aseba protocol
unsigned bytecodeSize{0}; //!< total amount of bytecode space
unsigned variablesSize{0}; //!< total amount of variables space
unsigned stackSize{0}; //!< depth of execution stack
std::vector<NamedVariable> namedVariables; //!< named variables
std::vector<LocalEvent> localEvents; //!< events available locally on target
std::vector<NativeFunction> nativeFunctions; //!< native functions
TargetDescription() = default;
uint16_t crc() const;
VariablesMap getVariablesMap(unsigned& freeVariableIndex) const;
FunctionsMap getFunctionsMap() const;
};
/*@}*/
} // namespace Aseba
#endif // ASEBA_TARGET_DESCRIPTION
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