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translator: stress tests, car_fmw: basic car controls

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This commit is contained in:
e5l
2016-08-17 17:57:42 +03:00
parent 7e103ae462
commit d7ef3a80bd
14 changed files with 453 additions and 22 deletions
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car_fmw/Makefile
+1
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@@ -30,6 +30,7 @@ LLINK=llvm-link-3.6
KTFLAGS=-I $(KOTSTD_DIR)/include --arm
LLINK_FLAGS=-S
ASMFLAGS=-g -mthumb
LLFLAGS=-O0
DEFINES=-DUSE_STM32_DISCOVERY=1 -DUSE_STDPERIPH_DRIVER=1 -DSTM32F4XX=1 -DHSE_VALUE=8000000
CFLAGS=-g -nostdlib -ffreestanding -O0 \
car_fmw/src/echo.kt
+2 -3
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@@ -15,16 +15,15 @@ fun echoProto() {
while (true) {
val route = readRoute()
blink()
go(route)
blink()
wait(PROGRAM_DURATION)
}
}
fun readRoute(): RouteRequest {
val size = receive_int()
val buffer = ByteArray(size)
val buffer = receiveByteArray()
val stream = CodedInputStream(buffer)
val result = RouteRequest.BuilderRouteRequest(IntArray(0), IntArray(0)).parseFrom(stream).build()
car_fmw/src/main.kt
+13 -1
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@@ -2,7 +2,19 @@
val PROGRAM_DURATION: Int = 1000
val ROTATE_TIME = 500
val STABILIZATION_TIME = 100
fun rotateLeftHack() {
engine_turn_left()
wait(ROTATE_TIME)
engine_forward()
wait(STABILIZATION_TIME)
engine_backward()
wait(STABILIZATION_TIME)
}
fun main() {
init()
echoUsb()
echoProto()
}
car_fmw/src/rcControl.kt
+3
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@@ -0,0 +1,3 @@
fun rcControl() {
}
car_hw/src/communication.c
+15 -15
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@@ -14,12 +14,10 @@ void clear_buffer()
void send_int(int n)
{
int i = 0;
char *buffer = (char *) &n;
for (; i < sizeof(int); ++i) {
VCP_put_char(buffer[i]);
}
VCP_put_char(n >> 24);
VCP_put_char(n >> 16);
VCP_put_char(n >> 8);
VCP_put_char(n);
}
void send_buffer(int size, int pointer)
@@ -35,15 +33,19 @@ void send_buffer(int size, int pointer)
int receive_int()
{
int i = 0;
char buffer[sizeof(int)];
int result = 0;
uint8_t byte = 0;
while (i < 4) {
while (!VCP_get_char(&buffer[i]));
i++;
}
while (!VCP_get_char(&byte));
result += (byte << 24);
while (!VCP_get_char(&byte));
result += (byte << 16);
while (!VCP_get_char(&byte));
result += (byte << 8);
while (!VCP_get_char(&byte));
result += byte;
return *((int*) buffer);
return result;
}
void receive_buffer(int size, int pointer)
@@ -54,6 +56,4 @@ void receive_buffer(int size, int pointer)
for (; i < size; ++i) {
while(!VCP_get_char(&buffer[i]));
}
return buffer;
}
kotstd/include/ByteArray.kt
+1
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@@ -13,6 +13,7 @@ class ByteArray(var size: Int) {
init {
this.data = malloc_array(kotlinclib_byte_size() * this.size)
var index = 0
while (index < this.size) {
set(index, 0)
index = index + 1
kotstd/lib/arm/memory.ll
+2 -2
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@@ -6,7 +6,7 @@ target triple = "thumbv7m-none--eabi"
@static_area_ptr = global i32 0, align 4
@dynamic_area_ptr = global i32 0, align 4
@static_area = common global [1000 x i8] zeroinitializer, align 1
@static_area = common global [30000 x i8] zeroinitializer, align 1
@dynamic_area = common global [1000 x i8] zeroinitializer, align 1
; Function Attrs: nounwind
@@ -33,7 +33,7 @@ define weak i8* @malloc_static(i32 %size) #0 {
; <label>:8 ; preds = %0
%9 = load i32* @static_area_ptr, align 4
%10 = getelementptr inbounds i8* getelementptr inbounds ([1000 x i8]* @static_area, i32 0, i32 0), i32 %9
%10 = getelementptr inbounds i8* getelementptr inbounds ([30000 x i8]* @static_area, i32 0, i32 0), i32 %9
%11 = ptrtoint i8* %10 to i32
store i32 %11, i32* %result, align 4
%12 = load i32* %2, align 4
translator/.gradle/2.9/taskArtifacts/cache.properties.lock
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translator/.gradle/2.9/taskArtifacts/fileHashes.bin
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translator/.gradle/2.9/taskArtifacts/fileSnapshots.bin
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translator/.gradle/2.9/taskArtifacts/taskArtifacts.bin
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translator/src/main/kotlin/org/kotlinnative/translator/BlockCodegen.kt
+1 -1
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@@ -323,7 +323,7 @@ abstract class BlockCodegen(val state: TranslationState, val variableManager: Va
val type = receiver.type as LLVMReferenceType
val clazz = resolveClassOrObjectLocation(type) ?: throw UnexpectedException(type.toString())
val method = clazz.methods[methodName]!!
val method = clazz.methods[methodName] ?: throw UnexpectedException(expr.text)
val returnType = clazz.methods[methodName]!!.returnType!!.type
val loadedArgs = loadArgsIfRequired(names, method.args)
translator/src/test/kotlin/tests/input/stress_test_1.txt
+1
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@@ -0,0 +1 @@
echoProto()
translator/src/test/kotlin/tests/kotlin/stress_test_1.kt
+414
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@@ -0,0 +1,414 @@
class RouteRequest private constructor (var distances: IntArray, var angles: IntArray) {
//========== Properties ===========
//repeated int32 distances = 1
//repeated int32 angles = 2
var errorCode: Int = 0
//========== Serialization methods ===========
fun writeTo (output: CodedOutputStream) {
//repeated int32 distances = 1
if (distances.size > 0) {
output.writeTag(1, WireType.LENGTH_DELIMITED)
var arrayByteSize = 0
if (distances.size != 0) {
do {
var arraySize = 0
var i = 0
while (i < distances.size) {
arraySize += WireFormat.getInt32SizeNoTag(distances[i])
i += 1
}
arrayByteSize += arraySize
} while(false)
}
output.writeInt32NoTag(arrayByteSize)
do {
var i = 0
while (i < distances.size) {
output.writeInt32NoTag (distances[i])
i += 1
}
} while(false)
}
//repeated int32 angles = 2
if (angles.size > 0) {
output.writeTag(2, WireType.LENGTH_DELIMITED)
var arrayByteSize = 0
if (angles.size != 0) {
do {
var arraySize = 0
var i = 0
while (i < angles.size) {
arraySize += WireFormat.getInt32SizeNoTag(angles[i])
i += 1
}
arrayByteSize += arraySize
} while(false)
}
output.writeInt32NoTag(arrayByteSize)
do {
var i = 0
while (i < angles.size) {
output.writeInt32NoTag (angles[i])
i += 1
}
} while(false)
}
}
fun mergeWith (other: RouteRequest) {
distances = distances.plus((other.distances))
angles = angles.plus((other.angles))
this.errorCode = other.errorCode
}
fun mergeFromWithSize (input: CodedInputStream, expectedSize: Int) {
val builder = RouteRequest.BuilderRouteRequest(IntArray(0), IntArray(0))
mergeWith(builder.parseFromWithSize(input, expectedSize).build())
}
fun mergeFrom (input: CodedInputStream) {
val builder = RouteRequest.BuilderRouteRequest(IntArray(0), IntArray(0))
mergeWith(builder.parseFrom(input).build())
}
//========== Size-related methods ===========
fun getSize(fieldNumber: Int): Int {
var size = 0
if (distances.size != 0) {
do {
var arraySize = 0
size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
var i = 0
while (i < distances.size) {
arraySize += WireFormat.getInt32SizeNoTag(distances[i])
i += 1
}
size += arraySize
size += WireFormat.getInt32SizeNoTag(arraySize)
} while(false)
}
if (angles.size != 0) {
do {
var arraySize = 0
size += WireFormat.getTagSize(2, WireType.LENGTH_DELIMITED)
var i = 0
while (i < angles.size) {
arraySize += WireFormat.getInt32SizeNoTag(angles[i])
i += 1
}
size += arraySize
size += WireFormat.getInt32SizeNoTag(arraySize)
} while(false)
}
size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
return size
}
fun getSizeNoTag(): Int {
var size = 0
if (distances.size != 0) {
do {
var arraySize = 0
size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
var i = 0
while (i < distances.size) {
arraySize += WireFormat.getInt32SizeNoTag(distances[i])
i += 1
}
size += arraySize
size += WireFormat.getInt32SizeNoTag(arraySize)
} while(false)
}
if (angles.size != 0) {
do {
var arraySize = 0
size += WireFormat.getTagSize(2, WireType.LENGTH_DELIMITED)
var i = 0
while (i < angles.size) {
arraySize += WireFormat.getInt32SizeNoTag(angles[i])
i += 1
}
size += arraySize
size += WireFormat.getInt32SizeNoTag(arraySize)
} while(false)
}
return size
}
//========== Builder ===========
class BuilderRouteRequest constructor (var distances: IntArray, var angles: IntArray) {
//========== Properties ===========
//repeated int32 distances = 1
fun setDistances(value: IntArray): RouteRequest.BuilderRouteRequest {
distances = value
return this
}
fun setdistancesByIndex(index: Int, value: Int): RouteRequest.BuilderRouteRequest {
distances[index] = value
return this
}
//repeated int32 angles = 2
fun setAngles(value: IntArray): RouteRequest.BuilderRouteRequest {
angles = value
return this
}
fun setanglesByIndex(index: Int, value: Int): RouteRequest.BuilderRouteRequest {
angles[index] = value
return this
}
var errorCode: Int = 0
//========== Serialization methods ===========
fun writeTo (output: CodedOutputStream) {
//repeated int32 distances = 1
if (distances.size > 0) {
output.writeTag(1, WireType.LENGTH_DELIMITED)
var arrayByteSize = 0
if (distances.size != 0) {
do {
var arraySize = 0
var i = 0
while (i < distances.size) {
arraySize += WireFormat.getInt32SizeNoTag(distances[i])
i += 1
}
arrayByteSize += arraySize
} while(false)
}
output.writeInt32NoTag(arrayByteSize)
do {
var i = 0
while (i < distances.size) {
output.writeInt32NoTag (distances[i])
i += 1
}
} while(false)
}
//repeated int32 angles = 2
if (angles.size > 0) {
output.writeTag(2, WireType.LENGTH_DELIMITED)
var arrayByteSize = 0
if (angles.size != 0) {
do {
var arraySize = 0
var i = 0
while (i < angles.size) {
arraySize += WireFormat.getInt32SizeNoTag(angles[i])
i += 1
}
arrayByteSize += arraySize
} while(false)
}
output.writeInt32NoTag(arrayByteSize)
do {
var i = 0
while (i < angles.size) {
output.writeInt32NoTag (angles[i])
i += 1
}
} while(false)
}
}
//========== Mutating methods ===========
fun build(): RouteRequest {
val res = RouteRequest(distances, angles)
res.errorCode = errorCode
return res
}
fun parseFieldFrom(input: CodedInputStream): Boolean {
if (input.isAtEnd()) { return false }
val tag = input.readInt32NoTag()
if (tag == 0) { return false }
val fieldNumber = WireFormat.getTagFieldNumber(tag)
val wireType = WireFormat.getTagWireType(tag)
when(fieldNumber) {
1 -> {
if (wireType.id != WireType.LENGTH_DELIMITED.id) {
errorCode = 1
return false
}
val expectedByteSize = input.readInt32NoTag()
var newArray = IntArray(0)
var readSize = 0
do {
var i = 0
while(readSize < expectedByteSize) {
var tmp = IntArray(1)
tmp[0] = input.readInt32NoTag()
newArray = newArray.plus(tmp)
readSize += WireFormat.getInt32SizeNoTag(tmp[0])
}
distances = newArray
} while (false)
}
2 -> {
if (wireType.id != WireType.LENGTH_DELIMITED.id) {
errorCode = 1
return false
}
val expectedByteSize = input.readInt32NoTag()
var newArray = IntArray(0)
var readSize = 0
do {
var i = 0
while(readSize < expectedByteSize) {
var tmp = IntArray(1)
tmp[0] = input.readInt32NoTag()
newArray = newArray.plus(tmp)
readSize += WireFormat.getInt32SizeNoTag(tmp[0])
}
angles = newArray
} while (false)
}
else -> errorCode = 4
}
return true
}
fun parseFromWithSize(input: CodedInputStream, expectedSize: Int): RouteRequest.BuilderRouteRequest {
while(getSizeNoTag() < expectedSize) {
parseFieldFrom(input)
}
if (getSizeNoTag() > expectedSize) { errorCode = 2 }
return this
}
fun parseFrom(input: CodedInputStream): RouteRequest.BuilderRouteRequest {
while(parseFieldFrom(input)) {}
return this
}
//========== Size-related methods ===========
fun getSize(fieldNumber: Int): Int {
var size = 0
if (distances.size != 0) {
do {
var arraySize = 0
size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
var i = 0
while (i < distances.size) {
arraySize += WireFormat.getInt32SizeNoTag(distances[i])
i += 1
}
size += arraySize
size += WireFormat.getInt32SizeNoTag(arraySize)
} while(false)
}
if (angles.size != 0) {
do {
var arraySize = 0
size += WireFormat.getTagSize(2, WireType.LENGTH_DELIMITED)
var i = 0
while (i < angles.size) {
arraySize += WireFormat.getInt32SizeNoTag(angles[i])
i += 1
}
size += arraySize
size += WireFormat.getInt32SizeNoTag(arraySize)
} while(false)
}
size += WireFormat.getVarint32Size(size) + WireFormat.getTagSize(fieldNumber, WireType.LENGTH_DELIMITED)
return size
}
fun getSizeNoTag(): Int {
var size = 0
if (distances.size != 0) {
do {
var arraySize = 0
size += WireFormat.getTagSize(1, WireType.LENGTH_DELIMITED)
var i = 0
while (i < distances.size) {
arraySize += WireFormat.getInt32SizeNoTag(distances[i])
i += 1
}
size += arraySize
size += WireFormat.getInt32SizeNoTag(arraySize)
} while(false)
}
if (angles.size != 0) {
do {
var arraySize = 0
size += WireFormat.getTagSize(2, WireType.LENGTH_DELIMITED)
var i = 0
while (i < angles.size) {
arraySize += WireFormat.getInt32SizeNoTag(angles[i])
i += 1
}
size += arraySize
size += WireFormat.getInt32SizeNoTag(arraySize)
} while(false)
}
return size
}
}
}
fun echoProto() {
var i = 0
while (i < 100) {
val route = readRoute()
go(route)
i++
}
}
fun receiveByteArray(): ByteArray {
val result = ByteArray(10)
result[0] = 10
result[1] = 4
result[2] = 232.toByte()
result[3] = 7
result[4] = 232.toByte()
result[5] = 7
result[6] = 18
result[7] = 2
result[8] = 0
result[9] = 0
return result
}
fun readRoute(): RouteRequest {
val buffer = receiveByteArray()
val stream = CodedInputStream(buffer)
val result = RouteRequest.BuilderRouteRequest(IntArray(0), IntArray(0)).parseFrom(stream).build()
return result
}
fun wait(i: Int) {
}
fun go(request: RouteRequest) {
val times = request.distances
var j = 0
while (j < times.size) {
val time = times[j]
wait(time)
j++
}
}