Re: Error in Aseba Programming Language?

Tue, 15 Jan 2013 18:28:20 +0000

Did not have access to a Thymio for a few weeks, but I could test it today: Yes, this was the problems!

sptr = sptr does not make any sense. I think it can not explain the whole strange behavior, but it could confuse the compiler or something.

So, finally, thanks for the help!

Re: Error in Aseba Programming Language?

Sun, 23 Dec 2012 14:31:06 +0000

Thanks for your answer! I will check it in the next days.

The issue with the sptr seems to be a possible solution.

Re: Error in Aseba Programming Language?

Fri, 21 Dec 2012 08:16:50 +0000

To confirm, I disassembled the generated code. Looking at both the syntax tree, and the bytecode, I don't see problems related to the compiler. The problem probably comes from a memory corruption. Please, consider my first post.

Here are the syntax tree and the bytecode for the above-mentioned part of the code. For the bytecode, I interleaved the Aseba code, to make it easier to read.

Block Assign Store: addr 192 BinaryArithmetic: + Load: addr 192 Immediate: 1 Block Assign ArrayWrite: addr 171 size 9 Load: addr 169 Load: addr 192 Folded If: == Load: addr 191 Immediate: 1 Block Block Assign Store: addr 190 UnaryArithmetic: unary - Load: addr 190 Block Assign Store: addr 169 BinaryArithmetic: + Load: addr 169 Immediate: 1 Block Assign ArrayWrite: addr 171 size 9 Load: addr 169 Immediate: 0 Block Assign ArrayWrite: addr 180 size 9 Load: addr 169 Immediate: 0 sub play_recursive: (max stack 4) [...] # rcnt = rcnt + 1 535 (170) : LOAD 192 536 (170) : SMALL_IMMEDIATE 1 537 (170) : BINARY_ARITHMETIC + 538 (170) : STORE 192 # stack_rcnt[sptr] = rcnt 539 (171) : LOAD 192 540 (171) : LOAD 169 541 (171) : STORE_INDIRECT in array at 171 of size 9 # if (down == 1) then 543 (173) : LOAD 191 544 (173) : SMALL_IMMEDIATE 1 545 (173) : CONDITIONAL_BRANCH ==, skip 17 if false # player = -player 547 (174) : LOAD 190 548 (174) : UNARY_ARITHMETIC unary - 549 (174) : STORE 190 # sptr = sptr + 1 550 (175) : LOAD 169 551 (175) : SMALL_IMMEDIATE 1 552 (175) : BINARY_ARITHMETIC + 553 (175) : STORE 169 # stack_rcnt[sptr] = 0 554 (176) : SMALL_IMMEDIATE 0 555 (176) : LOAD 169 556 (176) : STORE_INDIRECT in array at 171 of size 9 # stack_set[sptr] = 0 558 (177) : SMALL_IMMEDIATE 0 559 (177) : LOAD 169 560 (177) : STORE_INDIRECT in array at 180 of size 9

Re: Error in Aseba Programming Language?

Thu, 20 Dec 2012 20:34:57 +0000

In the code mentioned by you, there should not be such optimization (at least not written by me ;-). A dump of the generated bytecode would clarify the situation. I don't have a Thymio at hand, but will have a look tomorrow. BTW, it would be easier to reproduce if you can post the aesl script, it will include constants and so on.

However, rapidly looking at your code, in the event timer0, I saw the following lines:

 sptr0 = move_cnt * 2 sptr = sptr

Is the assignment of sptr to sptr right? It looks suspicious. By searching through your code, sptr is never reset to a know value, it is only incremented or decremented.

Error in Aseba Programming Language?

Wed, 19 Dec 2012 17:45:05 +0000

Hello

My Thmyio II is nearly full (91%) and now, a strange behavior occurs. Consider the following lines:

rcnt = rcnt + 1 stack_rcnt[sptr] = rcnt if(down == 1) then player = -player sptr = sptr + 1 stack_rcnt[sptr] = 0 stack_set[sptr] = 0 end

I step through the code with the debugger. When I'm at the if-statement I expect that the next step will be either player = - player, or it will skip the whole block. BUT after the if-statement, it directly jumps to stack_set[sptr] = 0, which is not possible in any case.

In other programming languages, a similiar behavior is observed with highly optimized code sometimes, when assembly lines do no longer clearly correspond to a source code line. But in this case, nevertheless, sptr = sptr + 1 and player = - player after the block. But this is not the case.

So what's wrong here?

You find the full code below, the above snippet is around line 180.

var STATE_GAME_WAIT = 0 var STATE_GAME_SCAN = 1 var STATE_GAME_PUT = 2 var STATE_GAME_WAIT_FIRST = 3 var STATE_GAME = STATE_GAME_WAIT_FIRST var move_cnt = 0 var playground[9] = [0, 0, 0, 0, 0, 0, 0, 0, 0] var last_playground[9] var scanning = 0 var put_target = 8 var last_move = 0 var path_cnt = 0 var path_len = 0 var path[PATH_MAX_LEN] = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] var STATE_NAVI_DRIVE = 1 var STATE_NAVI_JUNCTION_CROSS = 2 var STATE_NAVI_BACK = 3 var STATE_NAVI_BACK_JUNCTION_CROSS = 4 var STATE_NAVI_JUNCTION_cross_offset = 100 var STATE_NAVI_JUNCTION = 5 var STATE_NAVI_JUNCTION_turn_offset = 400 var STATE_NAVI_JUNCTION_turnmin = 250 var STATE_NAVI_TURN_LEFT = 6 var STATE_NAVI_TURN_RIGHT = 7 var STATE_NAVI = STATE_NAVI_DRIVE var turncnt = 0 var cnt = 0 var LINE_LEFT = 0 var LINE_RIGHT = 0 var SPEED_NORMAL = 200 var SPEED_LINE_ADJUST = 0 var SPEED_TURN = 100 var speed_left = 0 var speed_right = 0 var i = 0 var j = 0 var k = 0 var score[9] = [0, 0, 0, 0, 0, 0, 0, 0, 0] var sptr = 0 var sptr0 = 0 var stack_rcnt[9] = [0, 0, 0, 0, 0, 0, 0, 0, 0] var stack_set[9] = [0, 0, 0, 0, 0, 0, 0, 0, 0] var win = 0 var player = 0 var down = 0 var rcnt = 0 var set = 0 var stop = 0 var finished = 0 var maxscore = 0 timer.period[0] = 2000 #2 sub set_motor motor.left.target = speed_left motor.right.target = speed_right sub scan if scanning == 1 then if prox.horizontal[4] > 0 then playground[path_cnt] = 1 end end sub compute_last_move for i in 0:8 do if not(playground[i] == last_playground[i]) then last_move = i end end last_playground = playground sub check_win win = 0 if (playground[0] == player)and(playground[1] == player)and(playground[2] == player) then win = 1 end if (playground[7] == player)and(playground[3] == player)and(playground[8] == player) then win = 1 end if (playground[4] == player)and(playground[5] == player)and(playground[6] == player) then win = 1 end if (playground[0] == player)and(playground[7] == player)and(playground[6] == player) then win = 1 end if (playground[1] == player)and(playground[8] == player)and(playground[5] == player) then win = 1 end if (playground[2] == player)and(playground[3] == player)and(playground[4] == player) then win = 1 end if (playground[0] == player)and(playground[8] == player)and(playground[4] == player) then win = 1 end if (playground[2] == player)and(playground[8] == player)and(playground[6] == player) then win = 1 end sub play_recursive for i in 0:8 do score[i] = 0 end while(stop == 0) do down = 0 finished = 0 rcnt = stack_rcnt[sptr] set = stack_set[sptr] if(rcnt < 9) then if(set == 1) then playground[rcnt - 1] = 0 end if(playground[rcnt] == 0) then stack_set[sptr] = 1 playground[rcnt] = player callsub check_win if(win == 1) then score[stack_rcnt[sptr0] - 1] = score[stack_rcnt[sptr0] - 1] + player finished = 0 end player = -player callsub check_win if(win == 1) then score[stack_rcnt[sptr0] - 1] = score[stack_rcnt[sptr0] - 1] + player finished = 0 end player = -player if((sptr < 8) and (finished == 0)) then down = 1 end else stack_set[sptr] = 0 end rcnt = rcnt + 1 stack_rcnt[sptr] = rcnt if(down == 1) then player = -player sptr = sptr + 1 stack_rcnt[sptr] = 0 stack_set[sptr] = 0 end else sptr -- player = -player end if(sptr < sptr0) then stop = 1 end end maxscore = 32000 for i in 0:8 do if score[i] < maxscore then put_target = i maxscore = score[i] end end sub play callsub compute_last_move if move_cnt == 0 then put_target = 8 move_cnt = 1 elseif move_cnt == 1 then if (last_move == 0) or (last_move == 1) then put_target = 4 elseif (last_move == 2) or (last_move == 3) then put_target = 6 elseif (last_move == 4) or (last_move == 5) then put_target = 0 elseif (last_move == 6) or (last_move == 7) then put_target = 2 end move_cnt = 2 elseif move_cnt >= 2 then player = - 1 sptr = move_cnt * 2 stop = 0 callsub play_recursive move_cnt = move_cnt + 1 end playground[put_target] = -1 callsub compute_last_move sub fsm_game if STATE_GAME == STATE_GAME_WAIT_FIRST then if prox.horizontal[2] > 0 then move_cnt = 0 scanning = 0 path_cnt = 0 playground[0:8] = [0, 0, 0, 0, 0, 0, 0, 0, 0] STATE_GAME = STATE_GAME_SCAN end elseif STATE_GAME == STATE_GAME_WAIT then if prox.horizontal[2] > 0 then scanning = 1 path[0:7] = [-1, 0, -1, 0, -1, 0, -1, 0] path_len = 8 path_cnt = 0 STATE_GAME = STATE_GAME_SCAN end elseif STATE_GAME == STATE_GAME_SCAN then scanning = 0 path_cnt = 0 callsub play if put_target == 0 then path[0:11] = [0, 1, 3, 1, 1, 0, -1, 0, -1, 0, -1, 0] path_len = 12 elseif put_target == 1 then path[0:9] = [-1, 1, 3, -1, -1, 0, -1, 0, -1, 0] path_len = 10 elseif put_target == 2 then path[0:11] = [-1, 0, 1, -1, 3, -1, 0, 0, -1, 0, -1, 0] path_len = 12 elseif put_target == 3 then path[0:9] = [-1, 0, -1, 1, 3, -1, -1, 0, -1, 0] path_len = 10 elseif put_target == 4 then path[0:11] = [-1, 0, -1, 0, 0, 1, 3, 1, 1, 0, -1, 0] path_len = 12 elseif put_target == 5 then path[0:9] = [-1, 0, -1, 0, -1, 1, 3, -1, -1, 0] path_len = 10 elseif put_target == 6 then path[0:11] = [-1, 0, -1, 0, -1, 0, 1, -1, 3, -1, 0, 0] path_len = 12 elseif put_target == 7 then path[0:11] = [1, 1, 3, 1, 0, 0, -1, 0, -1, 0, -1, 0] path_len = 12 elseif put_target == 8 then path[0:9] = [-1, -1, 3, 1, -1, 0, -1, 0, -1, 0] path_len = 10 end STATE_GAME = STATE_GAME_PUT elseif STATE_GAME == STATE_GAME_PUT then STATE_GAME = STATE_GAME_WAIT end sub fsm_navi if STATE_NAVI == STATE_NAVI_DRIVE then if path_cnt == path_len then speed_right = 0 speed_left = 0 callsub set_motor callsub fsm_game else callsub scan if (LINE_LEFT == 1) and (LINE_RIGHT == 1) then speed_right = SPEED_NORMAL speed_left = SPEED_NORMAL callsub set_motor cnt = STATE_NAVI_JUNCTION_cross_offset STATE_NAVI = STATE_NAVI_JUNCTION_CROSS elseif (LINE_LEFT == 1) then speed_right = SPEED_NORMAL speed_left = SPEED_LINE_ADJUST callsub set_motor elseif (LINE_RIGHT == 1) then speed_right = SPEED_LINE_ADJUST speed_left = SPEED_NORMAL callsub set_motor else speed_right = SPEED_NORMAL + (prox.ground.delta[1] - prox.ground.delta[0]) speed_left = SPEED_NORMAL + (prox.ground.delta[0] - prox.ground.delta[1]) callsub set_motor end end elseif STATE_NAVI == STATE_NAVI_JUNCTION_CROSS then speed_right = SPEED_NORMAL speed_left = SPEED_NORMAL callsub set_motor callsub scan cnt = cnt - 1 if path[path_cnt] == 3 then cnt = 150 STATE_NAVI = STATE_NAVI_BACK elseif cnt == 0 then STATE_NAVI = STATE_NAVI_JUNCTION if path[path_cnt] == 0 then cnt = 1 else cnt = STATE_NAVI_JUNCTION_turn_offset end end elseif STATE_NAVI == STATE_NAVI_BACK then speed_right = -SPEED_NORMAL speed_left = -SPEED_NORMAL callsub set_motor if cnt < 0 then if (LINE_LEFT == 1) and (LINE_RIGHT == 1) then STATE_NAVI = STATE_NAVI_JUNCTION_CROSS cnt = STATE_NAVI_JUNCTION_cross_offset path_cnt = path_cnt + 1 end end cnt = cnt - 1 elseif STATE_NAVI == STATE_NAVI_JUNCTION then cnt = cnt - 1 callsub scan if cnt < 0 then if path[path_cnt] == 0 then STATE_NAVI = STATE_NAVI_DRIVE elseif path[path_cnt] == -1 then STATE_NAVI = STATE_NAVI_TURN_LEFT turncnt = 1 cnt = STATE_NAVI_JUNCTION_turnmin elseif path[path_cnt] == 1 then STATE_NAVI = STATE_NAVI_TURN_RIGHT turncnt = 1 cnt = STATE_NAVI_JUNCTION_turnmin elseif path[path_cnt] == -2 then STATE_NAVI = STATE_NAVI_TURN_LEFT turncnt = 2 cnt = STATE_NAVI_JUNCTION_turnmin elseif path[path_cnt] == 2 then STATE_NAVI = STATE_NAVI_TURN_RIGHT turncnt = 2 cnt = STATE_NAVI_JUNCTION_turnmin end if path_cnt == PATH_MAX_LEN - 1 then path_cnt = 0 else path_cnt = path_cnt + 1 end end elseif STATE_NAVI == STATE_NAVI_TURN_RIGHT then speed_right = - SPEED_TURN speed_left = SPEED_TURN callsub set_motor if cnt > 0 then cnt = cnt - 1 elseif cnt == 0 then if LINE_RIGHT == 1 then cnt = - 1 end elseif cnt == - 1 then if LINE_LEFT == 1 then if turncnt == 1 then STATE_NAVI = STATE_NAVI_DRIVE else turncnt = turncnt - 1 cnt = STATE_NAVI_JUNCTION_turnmin end end end elseif STATE_NAVI == STATE_NAVI_TURN_LEFT then speed_right = SPEED_TURN speed_left = - SPEED_TURN callsub set_motor if cnt > 0 then cnt = cnt - 1 elseif cnt == 0 then if LINE_LEFT == 1 then cnt = - 1 end elseif cnt == - 1 then if LINE_RIGHT == 1 then if turncnt == 1 then STATE_NAVI = STATE_NAVI_DRIVE else turncnt = turncnt - 1 cnt = STATE_NAVI_JUNCTION_turnmin end end end end onevent timer0 timer.period[0] = 0 move_cnt = 2 playground = [1, 1, 0, 0, 0, 0, -1, 0, -1] player = - 1 sptr0 = move_cnt * 2 sptr = sptr stop = 0 callsub play_recursive stop = 1 sub bla if (prox.ground.delta[0] < 50) or (prox.ground.delta[1] < 50) then STATE_GAME = STATE_GAME_WAIT_FIRST callsub fsm_game else if (prox.ground.delta[0] < 500) then LINE_LEFT = 1 else LINE_LEFT = 0 end if (prox.ground.delta[1] < 500) then LINE_RIGHT = 1 else LINE_RIGHT = 0 end end callsub fsm_navi