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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>FlashForth for Ozobot</title>
<style>
html { height: 100% }
body { height: 100%; background: black; color: white; margin: 0; padding: 1em; text-align: center; font-family: sans-serif; margin: 0; padding: 0; }
a { color: white; }
table { width: 100%; height: 100%; padding: 0.5em; }
tr#panelrow { height: 100%; vertical-align: top; }
td.spacer { border-bottom: 1px solid white; font-size: 0; }
td.tab { border: 1px solid gray; border-bottom: 1px solid white; color: gray; padding: 0.5em 1em 0.5em 1em; cursor: pointer; }
td.selected { border: 1px solid white; border-bottom: none; background: #222; color: white; cursor: auto; }
#panels { border-left: 1px solid white; border-right: 1px solid white; border-bottom: 1px solid white; background: #222; padding: 1em; }
div#source { text-align: left; font-family: monospace; height: 100%; border: 1px solid gray; background: black; padding: 0.5em; }
button { border: 1px solid white; background: black; color: white; padding: 0.5em; margin-bottom: 1em; }
#pad { margin: 0 auto; width: 16em; height: 16em; -webkit-border-radius: 8em; -moz-border-radius: 8em; border-radius: 8em; }
#flash span { -webkit-border-radius: 10px; -moz-border-radius: 10px; border-radius: 10px; font-size: 10px; }
#help td { border: 1px solid gray; padding: 0.1em; padding-left: 0.5em; padding-right: 0.5em; margin: 0; text-align: left; }
.W { background: #fff; border: 1px solid #000; }
.R { background: #f00; border: 1px solid #000; }
.G { background: #0f0; border: 1px solid #000; }
.B { background: #00f; border: 1px solid #000; }
.C { background: #0ff; border: 1px solid #000; }
.M { background: #f0f; border: 1px solid #000; }
.Y { background: #ff0; border: 1px solid #000; }
.K { background: #000; border: 1px solid #555; }
.comment { color: white; }
.word { color: #0f0; }
.literal { color: yellow; }
.error { color: red; }
.definition { color: magenta; }
#panel_samples { text-align: left; }
#panel_samples a { font-weight: bold; }
</style>
<script>
var evoMode = false;
var compilerStack = [];
function mevo(asm) { // switch to evo mode
evoMode = true;
asm.push(0x2d);
asm.push(0x28);
asm.push(0x93); // set (TODO: why? only for Evo)
}
function mif(asm) { // if .. [else] .. then
asm.push(0x80); // if
compilerStack.push(asm.length); // mark position of `if` address
asm.push(0x0); // placeholder
asm.push(0x97); // unknown purpose
}
function melse(asm) { // if .. [else] .. then
var ifaddr = compilerStack.pop();
asm.push(0xba); // jump
compilerStack.push(asm.length); // mark position of `else` address
asm.push(0x0); // placeholder
asm.push(0x97); // unknown purpose
asm[ifaddr] = asm.length - ifaddr + 1; // patch `if` address
}
function mthen(asm) { // if .. [else] .. then
var addr = compilerStack.pop();
asm[addr] = asm.length - addr + 1; // patch `if`/`else` address
}
function mwhile(asm) { // while .. do .. loop
compilerStack.push(asm.length); // mark beginning of predicate
}
function mcontinue(asm) { // forever .. continue
var addr = compilerStack.pop();
asm.push(0xba); // jump
var back = asm.length - addr - 1;
asm.push((~back + 1) & 0xff); // relative back
asm.push(0x97); // unknown purpose
}
function mendwhile(asm) { // while .. do .. loop
var ifaddr = compilerStack.pop();
mcontinue(asm);
asm[ifaddr] = asm.length - ifaddr + 1; // patch `if` address
}
function mforever(asm) { // forever .. continue
compilerStack.push(asm.length); // mark beginning of loop
compilerStack.push(1); // indicate `forever`
}
function mendforever(asm) { // forever .. loop
var addr = compilerStack.pop();
asm.push(0xba); // jump
var back = asm.length - addr - 1;
asm.push((~back + 1) & 0xff); // relative back
asm.push(0x97); // unknown purpose
}
function mrepeat(asm) { // repeat
mwhile(asm); // while
asm.push(1); // 1
asm.push(0x86); // -
asm.push(0x94); // dup
asm.push(0); // 0
asm.push(0x9c); // >=
mdo(asm); // do
}
function mendrepeat(asm) { // repeat .. loop
mloop(asm); // loop
asm.push(0x96); // drop
}
function mdo(asm) {
mif(asm); // `do` is really just another word for `if`, but would look weird in while loops
compilerStack.push(0); // indicate `while .. do`
}
function mloop(asm) {
var kind = compilerStack.pop();
switch (kind) {
case 0: // while
mendwhile(asm);
break;
case 1: // forever
mendforever(asm);
break;
default: throw 'Unknown loop kind: ' + kind;
}
}
function mneq(asm) { // <>
asm.push(0xa4); // =
asm.push(0x8a); // not
}
function mlt(asm) { // <
asm.push(0x9c); // >=
asm.push(0x8a); // not
}
function mleq(asm) { // <=
asm.push(0x9d); // >
asm.push(0x8a); // not
}
function initDictionary() { return {
'TRUE': { op: 1, sig: '-1', help: 'True constant' },
'FALSE': { op: 0, sig: '-0', help: 'False constant' },
'~': { op: 0x83, sig: 'x-x', help: 'Bitwise not value' },
'+': { op: 0x85, sig: 'yx-z', help: 'Addition (x + y)' },
'-': { op: 0x86, sig: 'yx-z', help: 'Subtraction (x - y)' },
'*': { op: 0x87, sig: 'yx-z', help: 'Multiplication (x * y)' },
'/': { op: 0x88, sig: 'yx-z', help: 'Division (x / y)' },
'mod': { op: 0x89, sig: 'yx-z', help: 'Modulus (x mod y)' },
'not': { op: 0x8a, sig: 'x-x', help: 'Boolean not value' },
'neg': { op: 0x8b, sig: 'x-x', help: 'Negate value (e.g. used to generate negative literals)' },
'rand': { op: 0x8c, sig: 'mn-r', help: 'Random number from n to m' },
'dup': { op: 0x94, sig: 'x-xx', help: 'Duplicate top stack value' },
'drop': { op: 0x96, sig: 'x-', help: 'Drop top stack value' },
'turn': { op: 0x98, sig: 'as-', help: 'Turn angle (deg)/speed (mm/s)' },
'wait': { op: 0x9b, sig: 'x', help: 'Wait x centiseconds (x * 10ms)' },
'>=': { op: 0x9c, sig: 'yx-b', help: 'Greater than or equal (y >= x)' },
'>': { op: 0x9d, sig: 'yx-b', help: 'Greater than (y > x)' },
'<': { macro: mlt, sig: 'yx-b', help: 'Less than (y < x)' },
'<=': { macro: mleq, sig: 'yx-b', help: 'Less than or equal (y <= x)' },
'move': { op: 0x9e, sig: 'ds-', help: 'Move distance (mm, negative for reverse)/speed (mm/s)' },
'wheels': { op: 0x9f, sig: 'lr-', help: 'Set left/right wheel speeds (mm/s, negative for reverse)' },
'and': { op: 0xa2, sig: 'yx-b', help: 'Boolean `and`' },
'or': { op: 0xa3, sig: 'yx-b', help: 'Boolean `or`' },
'=': { op: 0xa4, sig: 'yx-b', help: 'Equality (y = x)' },
'pick': { op: 0xa5, sig: 'a-v', help: 'Pick value from caller\'s stack' },
'put': { op: 0xa6, sig: 'va-', help: 'Push value to caller\'s stack' },
'pop': { op: 0xa7, sig: 'n-', help: 'Drop n values from caller\'s stack' },
'<>': { macro: mneq, sig: 'yx-b', help: 'Inequality (y <> x)' },
'abs': { op: 0xa8, sig: 'x-x', help: 'Absolute value' },
'end': { op: 0xae, sig: 'm-', help: 'End program and switch to mode `m` (see `OFF`, `LINE`, `IDLE`)' },
'OFF': { op: 0, sig: '-0', help: 'Switch robot off. Argument to `end`' },
'FOLLOW': { op: 1, sig: '-1', help: 'Switch to line following. Argument to `end`' },
'IDLE': { op: 2, sig: '-2', help: 'Switch to idle. Argument to `end`' },
'led': { op: 0xb8, sig: 'rgb-', help: 'Set R, G, B values (0-127)' },
'evoLeds': { op: 0xc9, sig: 'xmrgb-', help: 'Set masked (m) LEDs to R, G, B values (0-127). Mask is 00ABCDET, where A, B, C, D and E are LEDs across the front and T is the top LED. First (x) parameter purpose is unknown (pass 0).' },
';': { op: 0x91, sig: '-', help: 'End of definition `:foo ... ;`' },
'sensor': { op: 0x92, sig: 's-v', help: 'Get sensor value (same as `get`)' },
'get': { op: 0x92, sig: 'a-v', help: 'Get variable value (same as `sensor`)' },
'set': { op: 0x93, sig: 'va-', help: 'Set variable value' },
'COLOR': { op: 14, sig: '-14', help: 'Color sensor constant (14). Used with `sensor` word)' },
'BLACK': { op: 0, sig: '-0', help: 'Color constant (0). Used with `COLOR sensor`)' },
'RED': { op: 1, sig: '-1', help: 'Color constant (1). Used with `COLOR sensor`)' },
'GREEN': { op: 2, sig: '-2', help: 'Color constant (2). Used with `COLOR sensor`)' },
'YELLOW': { op: 3, sig: '-3', help: 'Color constant (3). Used with `COLOR sensor`)' },
'BLUE': { op: 4, sig: '-4', help: 'Color constant (4). Used with `COLOR sensor`)' },
'MAGENTA': { op: 5, sig: '-5', help: 'Color constant (5). Used with `COLOR sensor`)' },
'CYAN': { op: 6, sig: '-6', help: 'Color constant (6). Used with `COLOR sensor`)' },
'WHITE': { op: 7, sig: '-7', help: 'Color constant (7). Used with `COLOR sensor`)' },
'LINE': { op: 10, sig: '-10', help: 'Line sensor constant (10). Used with `sensor` word)' },
'STRAIGHT': { op: 1, sig: '-1', help: 'Straight line sensed. Used with `LINE sensor`' },
'LEFT': { op: 2, sig: '-2', help: 'Straight line sensed. Used with `LINE sensor`' },
'RIGHT': { op: 4, sig: '-4', help: 'Straight line sensed. Used with `LINE sensor`' },
'END': { op: 8, sig: '-8', help: 'Straight line sensed. Used with `LINE sensor`' },
'BACK': { op: 8, sig: '-8', help: 'Direction constant (8)' },
'evo': { macro: mevo, sig: '-', help: 'Switch to Evo move.' },
'if': { macro: mif, sig: 'b-', help: 'Begin conditional block. [predicate] `if`' },
'else': { macro: melse, sig: 'b-', help: 'Conditional `else` clause. [predicate] `if` ... `else` ... `then`' },
'then': { macro: mthen, sig: 'b-', help: 'End conditional block (think of as "... and `then` do ..." [predicate] `if` ... `then` or [predicate] `if` ... `else` ... `then`' },
'while': { macro: mwhile, sig: 'b-', help: 'Begin conditional loop predicate. `while` [predicate] `do` ... `loop`' },
'do': { macro: mdo, sig: '-', help: 'Begin conditional loop body. <predicate> `while` [predicate] `do` ... `loop`' },
'repeat': { macro: mrepeat, sig: '-', help: 'Begin repeat loopi, `N repeat .. loop`' },
'forever': { macro: mforever, sig: '-', help: 'Begin infinite loop. `forever .. loop`' },
'loop': { macro: mloop, sig: '-', help: 'End conditional loop. <predicate> `while` [predicate] `do` ... `loop`' },
};
}
dictionary = initDictionary();
function updateCodeHtml(html) {
// TODO: update in place (but this breaks cursor movement)
// var sel = window.getSelection();
// var parid = sel.anchorNode ? sel.anchorNode.parentElement.id : null;
document.getElementById('syntax').innerHTML = html;
// if (sel.anchorNode) {
// var range = document.createRange();
// var el = document.getElementById(parid);
// var txt = el.textContent;
// range.selectNodeContents(el);
// range.collapse(true);
// range.setStart(el, 1);
// var sel2 = window.getSelection();
// sel2.removeAllRanges();
// sel2.addRange(range);
// }
}
function assemble(source) {
evoMode = false;
var h = '';
var id = 0;
function addWord(word, cls, tip) {
h += '<span id="word' + (id++) + '" class="' + cls + '"' + (tip ? ' title="' + tip + '"' : '') + '>' + word + '</span> ';
}
var asm = [];
var lines = source.match(/[^\r\n]+/g);
if (lines) {
var hasDefs = false;
for (var l in lines) {
var line = lines[l];
var words = line.match(/\S+/g);
if (words) {
for (var w = 0; w < words.length; w++) {
var word = words[w];
if (word[0] == ':' || word == ';') {
hasDefs = true;
break;
}
}
}
if (hasDefs) break;
}
if (hasDefs) {
asm.push(0xba); // jump
asm.push(0); // placeholder
dictionary = initDictionary();
}
for (var l in lines) {
var line = lines[l];
var words = line.match(/\S+/g);
if (words) {
for (var w = 0; w < words.length; w++) {
var word = words[w];
if (word == '\\') {
for (var j = w; j < words.length; j++) {
addWord(words[j], 'comment');
}
break;
}
if (word[0] == ':') {
var name = word.substr(1);
addWord(name, 'definition');
function create() {
var calladdr = asm.length;
function closure(asm) {
asm.push(0x90); // call
asm.push(calladdr >> 8);
asm.push(calladdr & 0xff);
}
return closure;
}
dictionary[name] = {
user: true,
macro: create()
};
continue;
}
if (word == ';') {
asm[1] = asm.length + 1; // patch jump to after latest def
}
var i = parseInt(word);
if (!isNaN(i)) {
if (i < -128 || i > 127) {
addWord(word, 'error');
continue;
} else {
addWord(word, 'literal');
if (i < 0) {
asm.push(~i);
asm.push(0x8b); // `neg`
} else {
asm.push(i);
}
}
} else {
var dic = dictionary[word];
if (dic) {
if (dic.macro) dic.macro(asm);
else asm.push(dic.op);
addWord(word, 'word', dic.help);
} else {
addWord(word, 'error');
continue;
}
}
}
}
h = h.substr(0, h.length - 1) + '<br />';
}
}
updateCodeHtml(h);
return asm;
}
function encode(code) {
// code = [0x2D, 0x24, 0x93].concat(code);
var enc = 'W';
function append(i) {
function color(i) {
switch (i) {
case 0: return 'K';
case 1: return 'R';
case 2: return 'G';
case 3: return 'Y';
case 4: return 'B';
case 5: return 'M';
case 6: return 'C';
default: throw 'Invalid color digit: ' + i;
}
}
var c = color(i);
enc += enc[enc.length - 1] == c ? 'W' : c;
}
function checksum(bytes) {
var chk = 0;
for (var i in bytes) {
chk -= bytes[i];
chk >>>= 0; // unsigned
chk &= 0xff; // byte
}
return chk;
}
var ver = evoMode ? [1, 7] : [1, 3];
var len = code.length;
var length = [(evoMode ? 199 : 219) - len, 0, len]; // TODO: why?
var pre = ver.concat(length, code);
var chk = checksum(pre);
var framed = [304, 320, 302].concat(pre, chk, 334);
for (var i in framed) {
var v = framed[i];
append(Math.floor(v / 49) % 7);
append(Math.floor(v / 7) % 7);
append(v % 7);
}
return enc;
}
function flashCodes(colors) {
if (colors.length > 1) {
colors = colors.substr(1, colors.length - 2); // trim off whites
var h = "";
for (var i in colors) {
var c = colors[i];
h += "<span class='" + c + "'> </span> ";
}
return h;
}
}
function getSource() {
return document.getElementById('source').innerHTML.replace(/<[^>]+>/g, ' ').replace('>', '>').replace('<', '<').replace(/&[^;]+;/g, ' ');
}
function update() {
var source = getSource();
var code = assemble(source);
var colors = flashCodes(encode(code));
document.getElementById('asm').innerHTML = code.map(function (x) { return x.toString(16) }).join(' ');
document.getElementById('flash').innerHTML = colors;
}
var flashing = false;
function blink(colors) {
if (flashing && colors.length > 0) {
document.getElementById('pad').className = colors[0];
window.setTimeout(function() { blink(colors.substr(1)); }, 50);
} else {
document.getElementById("load").textContent = "Load";
document.getElementById('pad').className = 'W';
flashing = false;
}
}
function flash() {
if (flashing) {
flashing = false; // cause abort
} else {
var colors = encode(assemble(getSource()));
// prompt('Loading', colors);
document.getElementById("load").textContent = "Stop";
flashing = true;
window.setTimeout(function () { blink(colors); }, 0);
}
}
window.addEventListener('DOMContentLoaded', function () {
update();
document.getElementById('load').addEventListener('click', flash);
var h = '';
for (var w in dictionary) {
var word = dictionary[w];
if (!word.internal)
h += '<tr><td>' + w + '</td><td>' + word.sig + '</td><td>' + word.help + '</td></tr>';
}
document.getElementById('help').innerHTML = h;
});
function hideAll() {
function hide(name) {
document.getElementById('tab_' + name).className = 'tab';
document.getElementById('panel_' + name).style.display = 'none';
}
hide('code');
hide('load');
hide('samples');
hide('help');
hide('get');
}
function show(panel) {
hideAll();
document.getElementById('tab_' + panel).className = 'tab selected';
document.getElementById('panel_' + panel).style.display = '';
}
function sample(source) {
document.getElementById('source').innerHTML = source;
update();
show('code');
}
</script>
</head>
<body>
<table cellspacing="0">
<tr>
<td colspan="11">
<h2><a href="http://github.com/ashleyf/ozobot">FlashForth for Ozobot</a></h2>
</td>
</tr>
<tr id="tabs">
<td class="spacer"> </td>
<td id="tab_code"class="tab selected" onclick="show('code')">Code</td>
<td class="spacer"> </td>
<td id="tab_load" class="tab" onclick="show('load')">Load</td>
<td class="spacer"> </td>
<td id="tab_samples" class="tab" onclick="show('samples')">Try</td>
<td class="spacer"> </td>
<td id="tab_help" class="tab" onclick="show('help')">Help</td>
<td class="spacer"> </td>
<td id="tab_get" class="tab" onclick="show('get')">Get!</td>
<td class="spacer" width="100%"> </td>
</tr>
<tr id="panelrow">
<td id="panels" colspan="11">
<div id="panel_code">
<div id="source" contenteditable="true" onkeyup="update()">
\ blink red, green, blue with 1 sec. pauses<br />
127 0 0 led<br />
100 wait<br />
0 127 0 led<br />
100 wait<br />
0 0 127 led<br />
100 wait<br />
OFF end
</div>
<p id="syntax" style="text-align: left; padding-left: 0.5em; font-size: small; font-family: monospace"></p>
<p id="asm"></p>
<p id="flash" style="font-size: 0px"></p>
</div>
<div id="panel_load" style="display: none">
<button id="load">Load</button><br />
<div class='W' id="pad"></div>
</div>
<div id="panel_samples" style="display: none">
<ul>
<li>
<a href="javascript:sample('evo<br />:light 0 63 0 0 0 evoLeds 127 0 0 evoLeds 10 wait ;<br />forever<br />0 2 light<br />0 4 light<br />0 8 light<br />0 16 light<br />0 32 light<br />0 16 light<br />0 8 light<br />0 4 light<br />loop')">Larson Scanner</a><br />Evo only: Scanning red LEDs back and forth.
</li>
<li>
<a href="javascript:sample('127 0 0 led<br />100 wait<br />0 127 0 led<br />100 wait<br />0 0 127 led<br />100 wait<br />OFF end')">Blink red/green/blue</a><br />Blink LED red, then green, then blue with 1 second pauses.
</li>
<li>
<a href="javascript:sample('forever<br />127 -127 wheels<br />127 wait<br />-127 127 wheels<br />127 wait<br />loop')">Spin in place</a><br />Spin in place by reversing differential drive wheel speeds.
</li>
<li>
<a href="javascript:sample('forever<br />COLOR sensor 0 = if 0 0 0 else<br />COLOR sensor 1 = if 127 0 0 else<br />COLOR sensor 2 = if 0 127 0 else<br />COLOR sensor 3 = if 127 127 0 else<br />COLOR sensor 4 = if 0 0 127 else<br />COLOR sensor 5 = if 127 0 127 else<br />COLOR sensor 6 = if 0 127 127 else<br />COLOR sensor 7 = if 127 127 127 else<br />0 0 0 then then then then then then then then<br />led<br />loop')">Chameleon</a><br />LED mimics surface color sensor
</li>
<li>
<a href="javascript:sample(':pause 50 wait ;<br />:left 90 127 turn ;<br />:around left left ;<br />:arc wheels pause ;<br />:half 127 64 arc 64 127 arc ;<br />:full half around half ;<br />pause 18 repeat full 20 127 turn loop OFF end')">Flower</a><br />Trace out 18 flower petals.
</li>
</ul>
</div>
<div id="panel_help" style="display: none">
<h2>FlashForth Words</h2>
<table id="help" cellpadding="0" cellspacing="0"></table>
</div>
<div id="panel_get" style="display: none">
<iframe style="width:120px;height:240px;" marginwidth="0" marginheight="0" scrolling="no" frameborder="0" src="//ws-na.amazon-adsystem.com/widgets/q?ServiceVersion=20070822&OneJS=1&Operation=GetAdHtml&MarketPlace=US&source=ss&ref=as_ss_li_til&ad_type=product_link&tracking_id=comohafu-20&marketplace=amazon®ion=US&placement=B015XJR4ME&asins=B015XJR4ME&linkId=cecf6d200f5ba55378d1e1a8a8e753d3&show_border=true&link_opens_in_new_window=true"></iframe>
<iframe style="width:120px;height:240px;" marginwidth="0" marginheight="0" scrolling="no" frameborder="0" src="//ws-na.amazon-adsystem.com/widgets/q?ServiceVersion=20070822&OneJS=1&Operation=GetAdHtml&MarketPlace=US&source=ss&ref=as_ss_li_til&ad_type=product_link&tracking_id=comohafu-20&marketplace=amazon®ion=US&placement=B00ZYUND00&asins=B00ZYUND00&linkId=716aba0c178652ef60993591c800f66f&show_border=true&link_opens_in_new_window=true"></iframe>
<iframe style="width:120px;height:240px;" marginwidth="0" marginheight="0" scrolling="no" frameborder="0" src="//ws-na.amazon-adsystem.com/widgets/q?ServiceVersion=20070822&OneJS=1&Operation=GetAdHtml&MarketPlace=US&source=ss&ref=as_ss_li_til&ad_type=product_link&tracking_id=comohafu-20&marketplace=amazon®ion=US&placement=B00ZYUFPRO&asins=B00ZYUFPRO&linkId=83309794c7cf70cb491098abd3b6e219&show_border=true&link_opens_in_new_window=true"></iframe>
<iframe style="width:120px;height:240px;" marginwidth="0" marginheight="0" scrolling="no" frameborder="0" src="//ws-na.amazon-adsystem.com/widgets/q?ServiceVersion=20070822&OneJS=1&Operation=GetAdHtml&MarketPlace=US&source=ss&ref=as_ss_li_til&ad_type=product_link&tracking_id=comohafu-20&marketplace=amazon®ion=US&placement=B00ZYUU7UE&asins=B00ZYUU7UE&linkId=a4ffa367264ef0aac1f9063dc7e6dcab&show_border=true&link_opens_in_new_window=true"></iframe>
<iframe style="width:120px;height:240px;" marginwidth="0" marginheight="0" scrolling="no" frameborder="0" src="//ws-na.amazon-adsystem.com/widgets/q?ServiceVersion=20070822&OneJS=1&Operation=GetAdHtml&MarketPlace=US&source=ss&ref=as_ss_li_til&ad_type=product_link&tracking_id=comohafu-20&marketplace=amazon®ion=US&placement=B01MA0EAO6&asins=B01MA0EAO6&linkId=b5ec7f366160ee3ce98009ee0159f271&show_border=true&link_opens_in_new_window=true"></iframe>
<p>By the way, the Starter Pack version works with FlashForth without the "upgrade" required for OzoBlockly.</p>
</div>
</td>
</tr>
</table>
</body>
</html>
<!-- TODO
* Support negative
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