110 lines
3.6 KiB
C
110 lines
3.6 KiB
C
#ifndef LINUXCNC_WEB_WASM_SIM_PROGRAM_H
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#define LINUXCNC_WEB_WASM_SIM_PROGRAM_H
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#include "sim_interpreter.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define SIM_PROGRAM_SOURCE_CAPACITY 524288u
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#define SIM_PROGRAM_LINE_CAPACITY 16384u
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#define SIM_PROGRAM_MAX_SOURCE_BYTES (64u * 1024u * 1024u)
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#define SIM_PROGRAM_MAX_LINE_COUNT 1048576u
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#define SIM_PROGRAM_CANONICAL_CAPACITY 4096u
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#define SIM_PROGRAM_SUBROUTINE_CAPACITY 16u
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#define SIM_PROGRAM_SUBROUTINE_NAME_CAPACITY 48u
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#define SIM_PROGRAM_CALL_DEPTH 8u
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#define SIM_PROGRAM_CALL_PARAMETER_CAPACITY 30u
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enum sim_program_result {
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SIM_PROGRAM_OK = 0,
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SIM_PROGRAM_ERR_ARGUMENT = -1100,
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SIM_PROGRAM_ERR_RANGE = -1101,
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SIM_PROGRAM_ERR_STATE = -1102,
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SIM_PROGRAM_ERR_CONTROL = -1103,
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SIM_PROGRAM_ERR_BUFFER = -1104,
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SIM_PROGRAM_ERR_INTERPRETER = -1105,
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};
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enum sim_program_status {
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SIM_PROGRAM_IDLE = 0,
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SIM_PROGRAM_LOADED = 1,
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SIM_PROGRAM_RUNNING = 2,
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SIM_PROGRAM_PAUSED = 3,
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SIM_PROGRAM_COMPLETED = 4,
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SIM_PROGRAM_ABORTED = 5,
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SIM_PROGRAM_ERROR = 6,
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};
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enum sim_program_motion_control {
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SIM_PROGRAM_MOTION_CONTINUOUS = 0,
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SIM_PROGRAM_MOTION_EXACT_PATH = 1,
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SIM_PROGRAM_MOTION_EXACT_STOP = 2,
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};
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typedef struct sim_program_subroutine {
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char name[SIM_PROGRAM_SUBROUTINE_NAME_CAPACITY];
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uint32_t body_line;
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uint32_t end_line;
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} sim_program_subroutine;
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typedef struct sim_program_call_frame {
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uint32_t return_line;
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double parameters[SIM_PROGRAM_CALL_PARAMETER_CAPACITY];
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} sim_program_call_frame;
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typedef struct sim_program {
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sim_interpreter interpreter;
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char *source;
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uint32_t *line_offsets;
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uint32_t source_capacity;
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uint32_t line_capacity;
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uint32_t source_length;
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uint32_t line_count;
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uint32_t main_line_count;
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uint32_t current_line;
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uint32_t status;
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int32_t last_error;
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uint32_t error_line;
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sim_posemath_segment motion;
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uint32_t has_motion;
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sim_program_subroutine subroutines[SIM_PROGRAM_SUBROUTINE_CAPACITY];
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uint32_t subroutine_count;
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sim_program_call_frame call_stack[SIM_PROGRAM_CALL_DEPTH];
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uint32_t call_depth;
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uint32_t has_control;
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int32_t control_code;
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double rapid_velocity;
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int motion_control_mode;
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double path_tolerance;
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double naive_cam_tolerance;
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} sim_program;
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uint32_t sim_program_size(void);
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int32_t sim_program_requires_subroutines(const char *source, uint32_t length);
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int32_t sim_program_init(sim_program *program);
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int32_t sim_program_reset(sim_program *program);
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void sim_program_destroy(sim_program *program);
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int32_t sim_program_load(sim_program *program, const char *source, uint32_t length);
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int32_t sim_program_add_subroutine(sim_program *program, const char *source, uint32_t length);
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int32_t sim_program_set_rapid_velocity(sim_program *program, double velocity);
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int32_t sim_program_set_position(sim_program *program, const sim_posemath_pose *position);
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int32_t sim_program_start(sim_program *program);
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int32_t sim_program_pause(sim_program *program);
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int32_t sim_program_resume(sim_program *program);
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int32_t sim_program_abort(sim_program *program);
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int32_t sim_program_step(sim_program *program);
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int32_t sim_program_execute_block(sim_program *program, const char *block, uint32_t length);
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int32_t sim_program_seek(sim_program *program, uint32_t line);
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int32_t sim_program_read_motion(const sim_program *program, sim_posemath_segment *segment);
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int32_t sim_program_clear_motion(sim_program *program);
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uint32_t sim_program_canonical(const sim_program *program, char *output, uint32_t capacity);
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uint64_t sim_program_state_hash(const sim_program *program);
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#ifdef __cplusplus
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}
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#endif
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#endif
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