Added IO_COMPASS and documenting some IO commands (#84)

Implemented IO_MARK and IO_MARK_READ.
Added documentation for some IO commands.
Added IO_COMPASS for finding local orientation.
Changed IO_BATTERY to push a normalized value.
Changed IO_MARK stack order offset pushed first.
Added IO_LASER and IO_RECEIVE aliases.

Author: krisives

SPEC.md

@@ -319,17 +319,92 @@ The maximum CPU speed is 100, setting any number higher is the same as setting
 to 100. The game operates at 10 frames per second meaning a fully overclocked
 CPU will execute 1000 instructions per second, 100 per frame.
 
+### Battery Check
+
+A robot can know how much battery it has:
+
+```
+push8 #IO_BATTERY
+io
+popf batteryLevel
+```
+
+The float on the stack will be between `0.0` and `1.0` describing how much
+battery is remaining.
+
 ### Laser
 
-*Not yet implemented*
+Robots get a laser beam which can damage some obstacles and other robots in
+combat. Currently a laser can break rocks which may be blocking doors. Having
+the laser on costs up to `256` battery per game frame, less if the laser is
+not fully powered or hits something early.
 
-Will deal battery damage to other bots.
+```
+; Full power laser
+pushf 1.0
+push8 #IO_LASER
+io
+
+; Laser off
+pushf 0.0
+push8 #IO_LASER
+io
+```
 
 ### Accelerometer
 
+The accelerometer allows a robot to detect relative changes in it's position.
+Each time you use the IO_ACCELEROMETER command the last position is saved and
+the difference is pushed on the stack as two floats.
+
 ```
 push8 #IO_ACCELEROMETER
 io
 popf relY
 popf relX
 ```
+
+### Compass
+
+The compass allows a robot to determine which direction they are facing.
+
+```
+push8 #IO_COMPASS
+io
+popf facing
+```
+
+### World Marking
+
+Robots can "mark" the world which is kind of like how animals can pee and sniff
+the pee. A robot uses `IO_MARK` to write bytes to the current tile and can
+use `IO_MARK_READ` to read data of the current tile. Each tile has 8 bytes
+of storage.
+
+```
+push8 #00  ; Offset
+push8 #42  ; Value to save
+push8 #IO_MARK
+io
+```
+
+You can read the same data back using:
+
+```
+push8 #00 ; Offset
+push8 #IO_MARK_READ
+io
+pop8 tileData
+```
+
+Note that other robots (if in a shared world) also may read or write data to
+the same tile.
+
+### Radio
+
+*Note the radio isn't implemented entirely yet*
+
+The radio allows robots to send and receive messages with one another. Robots
+"tune" their radio using the `IO_RADIO` command setting a frequency and
+transmit power. The `IO_SEND` and `IO_RECV` to send and receive messages.
+

src/asmcup/runtime/Robot.java

@@ -40,6 +40,26 @@ public float getY() {
 		return y;
 	}
 
+	public int getColumn() {
+		return (int)(x / World.TILE_SIZE);
+	}
+	
+	public int getRow() {
+		return (int)(y / World.TILE_SIZE);
+	}
+	
+	public int getCellX() {
+		return getColumn() / World.TILES_PER_CELL;
+	}
+	
+	public int getCellY() {
+		return getRow() / World.TILES_PER_CELL;
+	}
+	
+	public int getCellKey() {
+		return getCellX() | (getCellY() << 16);
+	}
+	
 	public float getFacing() {
 		return facing;
 	}
@@ -303,11 +323,11 @@ protected void handleIO(World world) {
 			lazer = popFloatSafe(0.0f, 1.0f);
 			break;
 		case IO_BATTERY:
-			vm.pushFloat(battery);
+			vm.pushFloat((float)battery / BATTERY_MAX);
 			break;
 		case IO_MARK:
-			offset = vm.pop8();
 			value = vm.pop8();
+			offset = vm.pop8();
 			world.mark(this, offset, value);
 			break;
 		case IO_MARK_READ:
@@ -330,6 +350,9 @@ protected void handleIO(World world) {
 		case IO_RECV:
 			vm.push8(world.recv(this, frequency));
 			break;
+		case IO_COMPASS:
+			vm.pushFloat(facing);
+			break;
 		default:
 			lastInvalidIO = world.getFrame();
 			return;
@@ -414,14 +437,17 @@ protected static float clampSafe(float f, float min, float max) {
 	public static final int IO_STEER = 2;
 	public static final int IO_OVERCLOCK = 3;
 	public static final int IO_LAZER = 4;
+	public static final int IO_LASER = 4;
 	public static final int IO_BATTERY = 5;
 	public static final int IO_MARK = 6;
 	public static final int IO_MARK_READ = 7;
 	public static final int IO_ACCELEROMETER = 8;
 	public static final int IO_RADIO = 9;
 	public static final int IO_SEND = 10;
 	public static final int IO_RECV = 11;
+	public static final int IO_RECEIVE = 11;
 	public static final int IO_SENSOR_CONFIG = 12;
+	public static final int IO_COMPASS = 13;
 
 	public static final float SPEED_MAX = 8;
 	public static final float STEER_RATE = (float)(Math.PI * 0.1);

src/asmcup/runtime/World.java

@@ -5,6 +5,7 @@
 public class World {
 	protected final ArrayList<Robot> robots;
 	protected final HashMap<Integer, Cell> cells;
+	protected final HashMap<Integer, byte[]> tileData;
 	protected final int seed;
 	protected int frame;
 
@@ -15,6 +16,7 @@ public World() {
 	public World(int seed) {
 		this.robots = new ArrayList<>();
 		this.cells = new HashMap<>();
+		this.tileData = new HashMap<>();
 		this.seed = seed;
 		this.frame = 0;
 	}
@@ -157,12 +159,21 @@ protected void tickItems(Robot robot) {
 	}
 
 	public void mark(Robot robot, int offset, int value) {
-		// TODO read data from tile
+		int key = robot.getColumn() | (robot.getRow() << 16);
+		byte[] data = tileData.get(key);
+		
+		if (data == null) {
+			data = new byte[8];
+			tileData.put(key, data);
+		}
+		
+		data[offset & 0b11] = (byte)(value & 0xFF);
 	}
 
 	public int markRead(Robot robot, int offset) {
-		// TODO write data to tile
-		return 0;
+		int key = robot.getColumn() | (robot.getRow() << 16);
+		byte[] data = tileData.get(key);
+		return (data == null) ? 0 : data[offset & 0b11];
 	}
 
 	public void send(Robot robot, float frequency, int data) {
@@ -180,4 +191,5 @@ public int recv(Robot robot, float frequency) {
 	public static final int CELL_SIZE = TILES_PER_CELL * TILE_SIZE;
 	public static final int CELL_COUNT = 0xFF;
 	public static final int SIZE = TILE_SIZE * TILES_PER_CELL * CELL_COUNT;
+	public static final int CENTER = SIZE / 2;
 }