mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-05 13:24:11 +01:00
353 lines
8.4 KiB
C
353 lines
8.4 KiB
C
|
/*
|
||
|
# This file is Copyright 2006, 2007, 2009 Dean Hall.
|
||
|
#
|
||
|
# This file is part of the Python-on-a-Chip program.
|
||
|
# Python-on-a-Chip is free software: you can redistribute it and/or modify
|
||
|
# it under the terms of the GNU LESSER GENERAL PUBLIC LICENSE Version 2.1.
|
||
|
#
|
||
|
# Python-on-a-Chip 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.
|
||
|
# A copy of the GNU LESSER GENERAL PUBLIC LICENSE Version 2.1
|
||
|
# is seen in the file COPYING up one directory from this.
|
||
|
*/
|
||
|
|
||
|
|
||
|
#undef __FILE_ID__
|
||
|
#define __FILE_ID__ 0x70
|
||
|
|
||
|
|
||
|
/** PyMite platform-specific routines for Desktop target */
|
||
|
|
||
|
|
||
|
#include <stdio.h>
|
||
|
#include <unistd.h>
|
||
|
#include <signal.h>
|
||
|
#include <string.h>
|
||
|
|
||
|
#include "pm.h"
|
||
|
|
||
|
|
||
|
void plat_sigalrm_handler(int signal);
|
||
|
|
||
|
|
||
|
/* Desktop target shall use stdio for I/O routines. */
|
||
|
PmReturn_t
|
||
|
plat_init(void)
|
||
|
{
|
||
|
/* Let POSIX' SIGALRM fire every full millisecond. */
|
||
|
/*
|
||
|
* #67 Using sigaction complicates the use of getchar (below),
|
||
|
* so signal() is used instead.
|
||
|
*/
|
||
|
signal(SIGALRM, plat_sigalrm_handler);
|
||
|
ualarm(1000, 1000);
|
||
|
|
||
|
return PM_RET_OK;
|
||
|
}
|
||
|
|
||
|
|
||
|
/* Disables the peripherals and interrupts */
|
||
|
PmReturn_t
|
||
|
plat_deinit(void)
|
||
|
{
|
||
|
/* Cancel alarm and set the alarm handler to the default */
|
||
|
ualarm(0, 0);
|
||
|
signal(SIGALRM, SIG_DFL);
|
||
|
|
||
|
return PM_RET_OK;
|
||
|
}
|
||
|
|
||
|
|
||
|
void
|
||
|
plat_sigalrm_handler(int signal)
|
||
|
{
|
||
|
PmReturn_t retval;
|
||
|
retval = pm_vmPeriodic(1000);
|
||
|
PM_REPORT_IF_ERROR(retval);
|
||
|
}
|
||
|
|
||
|
|
||
|
/*
|
||
|
* Gets a byte from the address in the designated memory space
|
||
|
* Post-increments *paddr.
|
||
|
*/
|
||
|
uint8_t
|
||
|
plat_memGetByte(PmMemSpace_t memspace, uint8_t const **paddr)
|
||
|
{
|
||
|
uint8_t b = 0;
|
||
|
|
||
|
switch (memspace)
|
||
|
{
|
||
|
case MEMSPACE_RAM:
|
||
|
case MEMSPACE_PROG:
|
||
|
b = **paddr;
|
||
|
*paddr += 1;
|
||
|
return b;
|
||
|
|
||
|
case MEMSPACE_EEPROM:
|
||
|
case MEMSPACE_SEEPROM:
|
||
|
case MEMSPACE_OTHER0:
|
||
|
case MEMSPACE_OTHER1:
|
||
|
case MEMSPACE_OTHER2:
|
||
|
case MEMSPACE_OTHER3:
|
||
|
default:
|
||
|
return 0;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
|
||
|
/* Desktop target shall use stdio for I/O routines */
|
||
|
PmReturn_t
|
||
|
plat_getByte(uint8_t *b)
|
||
|
{
|
||
|
int c;
|
||
|
PmReturn_t retval = PM_RET_OK;
|
||
|
|
||
|
c = getchar();
|
||
|
*b = c & 0xFF;
|
||
|
|
||
|
if (c == EOF)
|
||
|
{
|
||
|
PM_RAISE(retval, PM_RET_EX_IO);
|
||
|
}
|
||
|
|
||
|
return retval;
|
||
|
}
|
||
|
|
||
|
|
||
|
/* Desktop target shall use stdio for I/O routines */
|
||
|
PmReturn_t
|
||
|
plat_putByte(uint8_t b)
|
||
|
{
|
||
|
int i;
|
||
|
PmReturn_t retval = PM_RET_OK;
|
||
|
|
||
|
i = putchar(b);
|
||
|
fflush(stdout);
|
||
|
|
||
|
if ((i != b) || (i == EOF))
|
||
|
{
|
||
|
PM_RAISE(retval, PM_RET_EX_IO);
|
||
|
}
|
||
|
|
||
|
return retval;
|
||
|
}
|
||
|
|
||
|
|
||
|
PmReturn_t
|
||
|
plat_getMsTicks(uint32_t *r_ticks)
|
||
|
{
|
||
|
*r_ticks = pm_timerMsTicks;
|
||
|
|
||
|
return PM_RET_OK;
|
||
|
}
|
||
|
|
||
|
|
||
|
void
|
||
|
plat_reportError(PmReturn_t result)
|
||
|
{
|
||
|
|
||
|
#ifdef HAVE_DEBUG_INFO
|
||
|
#define LEN_FNLOOKUP 26
|
||
|
#define LEN_EXNLOOKUP 17
|
||
|
|
||
|
uint8_t res;
|
||
|
pPmFrame_t pframe;
|
||
|
pPmObj_t pstr;
|
||
|
PmReturn_t retval;
|
||
|
uint8_t bcindex;
|
||
|
uint16_t bcsum;
|
||
|
uint16_t linesum;
|
||
|
uint16_t len_lnotab;
|
||
|
uint8_t const *plnotab;
|
||
|
uint16_t i;
|
||
|
|
||
|
/* This table should match src/vm/fileid.txt */
|
||
|
char const * const fnlookup[LEN_FNLOOKUP] = {
|
||
|
"<no file>",
|
||
|
"codeobj.c",
|
||
|
"dict.c",
|
||
|
"frame.c",
|
||
|
"func.c",
|
||
|
"global.c",
|
||
|
"heap.c",
|
||
|
"img.c",
|
||
|
"int.c",
|
||
|
"interp.c",
|
||
|
"pmstdlib_nat.c",
|
||
|
"list.c",
|
||
|
"main.c",
|
||
|
"mem.c",
|
||
|
"module.c",
|
||
|
"obj.c",
|
||
|
"seglist.c",
|
||
|
"sli.c",
|
||
|
"strobj.c",
|
||
|
"tuple.c",
|
||
|
"seq.c",
|
||
|
"pm.c",
|
||
|
"thread.c",
|
||
|
"float.c",
|
||
|
"class.c",
|
||
|
"bytearray.c",
|
||
|
};
|
||
|
|
||
|
/* This table should match src/vm/pm.h PmReturn_t */
|
||
|
char const * const exnlookup[LEN_EXNLOOKUP] = {
|
||
|
"Exception",
|
||
|
"SystemExit",
|
||
|
"IoError",
|
||
|
"ZeroDivisionError",
|
||
|
"AssertionError",
|
||
|
"AttributeError",
|
||
|
"ImportError",
|
||
|
"IndexError",
|
||
|
"KeyError",
|
||
|
"MemoryError",
|
||
|
"NameError",
|
||
|
"SyntaxError",
|
||
|
"SystemError",
|
||
|
"TypeError",
|
||
|
"ValueError",
|
||
|
"StopIteration",
|
||
|
"Warning",
|
||
|
};
|
||
|
|
||
|
/* Print traceback */
|
||
|
printf("Traceback (most recent call first):\n");
|
||
|
|
||
|
/* Get the top frame */
|
||
|
pframe = gVmGlobal.pthread->pframe;
|
||
|
|
||
|
/* If it's the native frame, print the native function name */
|
||
|
if (pframe == (pPmFrame_t)&(gVmGlobal.nativeframe))
|
||
|
{
|
||
|
|
||
|
/* The last name in the names tuple of the code obj is the name */
|
||
|
retval = tuple_getItem((pPmObj_t)gVmGlobal.nativeframe.nf_func->
|
||
|
f_co->co_names, -1, &pstr);
|
||
|
if ((retval) != PM_RET_OK)
|
||
|
{
|
||
|
printf(" Unable to get native func name.\n");
|
||
|
return;
|
||
|
}
|
||
|
else
|
||
|
{
|
||
|
printf(" %s() __NATIVE__\n", ((pPmString_t)pstr)->val);
|
||
|
}
|
||
|
|
||
|
/* Get the frame that called the native frame */
|
||
|
pframe = (pPmFrame_t)gVmGlobal.nativeframe.nf_back;
|
||
|
}
|
||
|
|
||
|
/* Print the remaining frame stack */
|
||
|
for (; pframe != C_NULL; pframe = pframe->fo_back)
|
||
|
{
|
||
|
/* The last name in the names tuple of the code obj is the name */
|
||
|
retval = tuple_getItem((pPmObj_t)pframe->fo_func->f_co->co_names,
|
||
|
-1,
|
||
|
&pstr);
|
||
|
if ((retval) != PM_RET_OK) break;
|
||
|
|
||
|
/*
|
||
|
* Get the line number of the current bytecode. Algorithm comes from:
|
||
|
* http://svn.python.org/view/python/trunk/Objects/lnotab_notes.txt?view=markup
|
||
|
*/
|
||
|
bcindex = pframe->fo_ip - pframe->fo_func->f_co->co_codeaddr;
|
||
|
plnotab = pframe->fo_func->f_co->co_lnotab;
|
||
|
len_lnotab = mem_getWord(MEMSPACE_PROG, &plnotab);
|
||
|
bcsum = 0;
|
||
|
linesum = pframe->fo_func->f_co->co_firstlineno;
|
||
|
for (i = 0; i < len_lnotab; i += 2)
|
||
|
{
|
||
|
bcsum += mem_getByte(MEMSPACE_PROG, &plnotab);
|
||
|
if (bcsum > bcindex) break;
|
||
|
linesum += mem_getByte(MEMSPACE_PROG, &plnotab);
|
||
|
}
|
||
|
printf(" File \"%s\", line %d, in %s\n",
|
||
|
((pPmFrame_t)pframe)->fo_func->f_co->co_filename,
|
||
|
linesum,
|
||
|
((pPmString_t)pstr)->val);
|
||
|
}
|
||
|
|
||
|
/* Print error */
|
||
|
res = (uint8_t)result;
|
||
|
if ((res > 0) && ((res - PM_RET_EX) < LEN_EXNLOOKUP))
|
||
|
{
|
||
|
printf("%s", exnlookup[res - PM_RET_EX]);
|
||
|
}
|
||
|
else
|
||
|
{
|
||
|
printf("Error code 0x%02X", result);
|
||
|
}
|
||
|
printf(" detected by ");
|
||
|
|
||
|
if ((gVmGlobal.errFileId > 0) && (gVmGlobal.errFileId < LEN_FNLOOKUP))
|
||
|
{
|
||
|
printf("%s:", fnlookup[gVmGlobal.errFileId]);
|
||
|
}
|
||
|
else
|
||
|
{
|
||
|
printf("FileId 0x%02X line ", gVmGlobal.errFileId);
|
||
|
}
|
||
|
printf("%d\n", gVmGlobal.errLineNum);
|
||
|
|
||
|
#else /* HAVE_DEBUG_INFO */
|
||
|
|
||
|
/* Print error */
|
||
|
printf("Error: 0x%02X\n", result);
|
||
|
printf(" Release: 0x%02X\n", gVmGlobal.errVmRelease);
|
||
|
printf(" FileId: 0x%02X\n", gVmGlobal.errFileId);
|
||
|
printf(" LineNum: %d\n", gVmGlobal.errLineNum);
|
||
|
|
||
|
/* Print traceback */
|
||
|
{
|
||
|
pPmObj_t pframe;
|
||
|
pPmObj_t pstr;
|
||
|
PmReturn_t retval;
|
||
|
|
||
|
printf("Traceback (top first):\n");
|
||
|
|
||
|
/* Get the top frame */
|
||
|
pframe = (pPmObj_t)gVmGlobal.pthread->pframe;
|
||
|
|
||
|
/* If it's the native frame, print the native function name */
|
||
|
if (pframe == (pPmObj_t)&(gVmGlobal.nativeframe))
|
||
|
{
|
||
|
|
||
|
/* The last name in the names tuple of the code obj is the name */
|
||
|
retval = tuple_getItem((pPmObj_t)gVmGlobal.nativeframe.nf_func->
|
||
|
f_co->co_names, -1, &pstr);
|
||
|
if ((retval) != PM_RET_OK)
|
||
|
{
|
||
|
printf(" Unable to get native func name.\n");
|
||
|
return;
|
||
|
}
|
||
|
else
|
||
|
{
|
||
|
printf(" %s() __NATIVE__\n", ((pPmString_t)pstr)->val);
|
||
|
}
|
||
|
|
||
|
/* Get the frame that called the native frame */
|
||
|
pframe = (pPmObj_t)gVmGlobal.nativeframe.nf_back;
|
||
|
}
|
||
|
|
||
|
/* Print the remaining frame stack */
|
||
|
for (;
|
||
|
pframe != C_NULL;
|
||
|
pframe = (pPmObj_t)((pPmFrame_t)pframe)->fo_back)
|
||
|
{
|
||
|
/* The last name in the names tuple of the code obj is the name */
|
||
|
retval = tuple_getItem((pPmObj_t)((pPmFrame_t)pframe)->
|
||
|
fo_func->f_co->co_names, -1, &pstr);
|
||
|
if ((retval) != PM_RET_OK) break;
|
||
|
|
||
|
printf(" %s()\n", ((pPmString_t)pstr)->val);
|
||
|
}
|
||
|
printf(" <module>.\n");
|
||
|
}
|
||
|
#endif /* HAVE_DEBUG_INFO */
|
||
|
}
|
||
|
|