2 * Handling of points and other moveable features.
7 /*========== declarations ==========*/
14 typedef struct Method Method;
15 typedef struct Change Change;
18 typedef uint32_t UnkMap;
20 typedef struct MovPosChange {
22 /* everything beyond here is private for indep */
23 MovPosComb actualpos, target;
24 UnkMap actualunk; /* bit per movfeat, set iff actualpos contains dummy 0 */
30 static void method_update_feature(Method*, MovPosChange*, const Motion *mo);
31 /* Called from methods' execution logic when an individual feature
32 * has been moved. This is used by the method-independent code to
33 * compute the correct delta set of movements from the current
34 * actual position, when thinking about new plans. It is also sent
35 * to clients and ultimately used by the UI.
38 static void method_change_done(Method *m, Change *chg);
39 /* Called from methods' execution logic when a whole change
40 * has been done. The method-independent code will take care of
41 * updating move->movposcomb. etc.
43 * REENTRANCY: May be called from within a call to the method's
44 * execute(). Of course cannot legally be called from within
45 * prepare, consider, check or dispose.
49 /* Kind-independent code is responsible for determining
50 * the method, doing a bit of cleanup, and adjusting the flow
51 * slightly. Per-kind code does the actual work and is mostly in
52 * charge - it is also responsible for updating seg->moving and ->motion.
55 * The following states exist for each Method
56 * S Starting corresponds to global states other than Sta_Run
57 * T Tentative changes have been made but may yet be undone
58 * Y Yes proposed changes have been checked and are OK
59 * E Executing the method is executing
61 * The following states exist for each Change
62 * at points when control flow passes between kind and indep:
63 * U Unallocated no memory allocated (Change does not exist)
64 * P Prepared memory allocation done, basics filled in
65 * I Installed reservation or confirmation successful
66 * D Done motion is complete and callback is being entered
67 * G Garbage motion is complete and callback is being exited
73 * No Changes remain Prepared while the Method is Executing.
76 struct Change { /* valid in: filled in by and when: */
77 Method *meth; /* PIDG indep after prepare() */
78 MovPosChange *indep; /* PID indep after prepare() */
79 unsigned installed:1; /* private for indep */
80 /* kind-specific data follows */ /* varies kind-specific code, varies */
86 ErrorCode (*prepare)(Method *m, /* TYE->T */
88 int n_motions, const Motion *motions,
89 int ms, int confirmation,
90 Change **chg_r, /* 0->P; err: 0->0; may be 0 */
91 int *cost_r /* may be 0 */);
92 void (*dispose)(Method *m, /* TY->TY */
95 ErrorCode (*install)(Method *m, /* TYE->T; err: TYE->TYY */
96 Change *inst); /* P->I; err: P->P */
97 /* error: ET->T, no change to Changes */
98 void (*remove)(Method *m, /* TYE->TYY */
99 Change *remove); /* I->P */
100 /* error: ET->T, no change to Changes */
102 ErrorCode (*check)(Method *m); /* TYE->Y; err: TYE->TYE */
103 void (*execute)(Method *m); /* EY->E */
104 void (*all_abandon)(Method *m); /* TYE->S */
106 unsigned needcheck, needexec; /* used by indep to track T/Y/E */
109 /*========== general utility functions ==========*/
111 static UnkMap unkfeatbit(int featix) { return (UnkMap)1 << featix; }
112 static UnkMap unkallfeatbits(int nfeats) { return ~(~(UnkMap)0 << nfeats); }
114 const char *movpos_pname(const Segment *move, MovPosComb poscomb) {
115 return !SOMEP(poscomb) ? "?" : move->i->poscombs[poscomb].pname;
118 static void ouposn_moving(const MovPosChange *indep) {
119 Segment *move= indep->move;
120 ouprintf("movpos %s position %s moving\n",
122 indep->actualunk ? "?" : movpos_pname(move, indep->actualpos));
124 static void ouposn_stable(const Segment *move) {
125 ouprintf("movpos %s position %s stable\n",
126 move->i->pname, movpos_pname(move, move->movposcomb));
128 static void ouposn_feat(const Segment *move, const MovFeatInfo *feati,
129 MovPosComb posn, const Method *m) {
130 ouprintf("movpos %s feat %s %d %s\n", move->i->pname,
131 feati->pname, posn, m->pname);
134 MovPosComb movposcomb_update_feature(MovPosComb startpoint,
135 const MovFeatInfo *mfi,
137 MovPosComb above_weight= mfi->weight * mfi->posns;
138 MovPosComb above= startpoint / above_weight;
139 MovPosComb below= startpoint % mfi->weight;
140 return above*above_weight + featpos*mfi->weight + below;
143 static void ignore_all_abandon(Method *m) { }
145 /*========== points and other fixed timeslot movfeats ==========*/
148 * We maintain two queues, one for reserved one for actually confirmed
149 * requests where we know what we're doing.
151 * We divide time into discrete slots, numbered with clock arithmetic.
153 * cslot cslot+1 cslot+2
155 * currently next in after
158 * We increment cslot when we consider the movfeat to move;
159 * for points and relays this is when we issue the command to the PIC.
160 * In a request, the deadline represents the latest allowable value
161 * of cslot just before that increment.
164 typedef unsigned FsqSlot;
165 typedef int FsqSlotSigned;
167 #define FSQDN (~(FsqSlot)0)
169 typedef struct { /* state Prep Resv Inst Resv Prep Conf Inst Conf */
170 Change h; /* in queue? absent reserved absent confirmed */
171 FsqSlot deadline; /* relative relative absolute absolute */
172 int n_motions; /* 1 1 num undone num undone */
173 Motion motions[]; /* [0].i: 0 0 non-0 non-0 */
174 /* .posn: undef undef defined defined */
177 #define FSQ_MAX_QUEUE 15
181 FsqReq *l[FSQ_MAX_QUEUE];
184 typedef struct FsqMethod FsqMethod;
187 /* set by fsq's client before fsq_init */
189 void (*move)(FsqMethod *m, const MovFeatInfo *mfi, int movfeatposn);
191 int ready; /* >0 means ready; set to 0 by fsq just before move */
192 /* fsq's client must arrange that these start out at all-bits-zero */
194 FsqQueue confirmed, reserved;
200 /* client may put things here */
203 static void fsq_check_action(FsqMethod *m);
204 static ErrorCode fsq_check_plan(FsqMethod *m);
206 static FsqSlotSigned fsq_maxdelay_reldeadline(FsqMethod *m,
207 int maxdelay_ms, int n_motions) {
208 if (maxdelay_ms==-1) return FSQ_MAX_QUEUE*16;
209 return (maxdelay_ms - m->f.lag_ms) / m->f.slot_ms - n_motions;
212 static void fsq_queue_remove_index(FsqQueue *q, int index) {
214 memmove(&q->l[index], &q->l[index+1], sizeof(q->l[0]) * (q->n - index));
217 static int fsq_req_compar_approx(const void *av, const void *bv) {
218 FsqReq *const *a= av;
219 FsqReq *const *b= av;
220 FsqSlotSigned dldiff= (*b)->deadline - (*a)->deadline;
224 static void fsq_queue_remove_item(FsqQueue *q, FsqReq *r) {
227 entry= bsearch(r, q->l, q->n, sizeof(q->l[0]), fsq_req_compar_approx);
230 #define SEARCH_CHECK do{ \
231 if (q->l[i] == r) goto found; \
232 if (q->l[i]->deadline != r->deadline) break; \
234 for(i= entry - q->l; i >= 0; i--) SEARCH_CHECK;
235 for(i= entry - q->l + 1; i < q->n; i++) SEARCH_CHECK;
239 fsq_queue_remove_index(q, i);
242 static FsqQueue *fsq_item_queue(FsqMethod *m, FsqReq *r)
243 { return r->motions[0].i ? &m->f.confirmed : &m->f.reserved; }
247 whichwhen= wh##when, \
250 static ErrorCode fsq_check_plan(FsqMethod *m) {
251 /* Checks whether we can meet the currently queued commitments */
252 /* if this fails, indep machinery calls fsq_prepare to dequeue */
253 int future, conf, resv, whichwhen, DP;
259 DPRINTF1(movpos,fsq, "%s plan", m->m.pname);
261 /* If CDU isn't charged we can't do one right away */
268 FsqReq *confr= conf < m->f.confirmed.n ? m->f.confirmed.l[conf] : 0;
269 FsqReq *resvr= resv < m->f.reserved .n ? m->f.reserved .l[resv] : 0;
270 if (!confr && !resvr) break;
271 DPRINTF2(" %d:",future);
272 int confwhen= confr ? confr->deadline - m->f.cslot : INT_MAX;
273 int resvwhen= resvr ? resvr->deadline : INT_MAX;
274 if (future && resvwhen < confwhen) {
275 WHICH(resv); DPRINTF2("~");
279 future++; DPRINTF2("-");
282 DPRINTF2("%s/%s[%d@t+%d]", whichr->h.indep->move->i->pname,
283 movpos_pname(whichr->h.indep->move, whichr->h.indep->target),
284 whichr->n_motions, whichwhen);
285 if (future > whichwhen) {
286 DPRINTF2("!...bad\n");
287 return EC_MovFeatTooLate;
289 future += whichr->n_motions;
297 static ErrorCode fsq_queue_insert_item(FsqMethod *m, FsqQueue *q, FsqReq *r) {
300 if (q->n == FSQ_MAX_QUEUE)
301 return EC_BufferFull;
304 insat>0 && (FsqSlotSigned)(r->deadline - q->l[insat-1]->deadline) < 0;
306 q->l[insat]= q->l[insat-1];
313 static void fsq_item_debug(FsqMethod *m, FsqReq *r, const char *opwhat) {
315 Segment *move= r->h.indep->move;
316 DPRINTF1(movpos,fsq, "%s %s %s", m->m.pname, opwhat, move->i->pname);
317 if (r->motions[0].i) {
320 for (i=0, mo=r->motions; i<r->n_motions; i++, mo++)
321 DPRINTF2("/%s%d", mo->i->pname, (int)mo->posn);
324 DPRINTF2("(%d)\n", r->n_motions);
328 static ErrorCode fsq_enqueue(FsqMethod *m, FsqReq *r) { /* P->I; err: P->P */
330 fsq_item_debug(m,r,"enqueue");
331 return fsq_queue_insert_item(m, fsq_item_queue(m,r), r);
334 static void fsq_dequeue(FsqMethod *m, FsqReq *r) { /* I->P */
336 fsq_item_debug(m,r,"dequeue");
337 fsq_queue_remove_item(fsq_item_queue(m,r), r);
340 /*---------- method entrypoints ----------*/
342 static ErrorCode fsq_prepare(Method *mm, const Segment *move,
343 int n_motions, const Motion *motions,
344 int ms, int confirmation,
345 Change **chg_r, int *cost_r) {
346 FsqMethod *m= (void*)mm;
348 assert(n_motions > 0);
350 FsqSlotSigned reldeadline= fsq_maxdelay_reldeadline(m, ms, n_motions);
351 if (reldeadline <= 0) return EC_MovFeatTooLate;
354 int alloc_motions= confirmation ? n_motions : 1;
355 /* we need at least one motion in the table so we can tell
356 * the difference between the states by looking at motions[0].i */
357 FsqReq *r= mmalloc(sizeof(*r) + alloc_motions * sizeof(r->motions[0]));
358 r->n_motions= n_motions;
360 r->deadline= reldeadline + m->f.cslot;
361 memcpy(r->motions, motions, sizeof(*r->motions)*n_motions);
363 r->deadline= reldeadline;
369 *cost_r= n_motions * m->f.slot_ms;
375 static void fsq_dispose(Method *mm, Change *chg) {
376 FsqReq *r= (FsqReq*)chg;
380 static void fsq_remove(Method *mm, Change *remvchg) {
381 FsqMethod *m= (void*)mm;
382 FsqReq *remv= (FsqReq*)remvchg;
384 fsq_dequeue(m, remv);
387 static ErrorCode fsq_install(Method *mm, Change *instchg) {
388 FsqMethod *m= (void*)mm;
389 FsqReq *inst= (FsqReq*)instchg;
391 return fsq_enqueue(m, inst);
394 static ErrorCode fsq_check(Method *mm) {
395 FsqMethod *m= (void*)mm;
396 ErrorCode ec= fsq_check_plan(m);
400 static void fsq_execute(Method *mm) {
401 FsqMethod *m= (void*)mm;
405 /*---------- something to do ? ----------*/
407 static void fsq_check_action(FsqMethod *m) {
408 /* client should call this after it sets ready */
411 if (!m->f.confirmed.n) {
412 if (sta_state == Sta_Finalising) resolve_motioncheck();
416 FsqReq *r= m->f.confirmed.l[0];
418 if (r->n_motions && m->f.ready>0) {
419 /* look for something to move */
420 Motion *mo= &r->motions[--r->n_motions];
421 assert(mo->posn < mo->i->posns);
423 m->f.move(m, mo->i, mo->posn);
426 method_update_feature(&m->m, r->h.indep, mo);
430 fsq_queue_remove_index(&m->f.confirmed, 0);
431 method_change_done(&m->m, &r->h);
432 m->m.dispose(&m->m, &r->h);
434 ec= fsq_check_plan(m); assert(!ec);
439 /*========== points ==========*/
442 * CDU and point queue states:
445 * ____________ conf'd
446 * / points_ \ ready .n
450 * |from INACTIVE -1 0
451 * |any <=Sta_Settling
454 * ___________ |turning
465 * | |fsq_check_action
466 * | | calls point_move which fires a point
471 #define CDU_RECHARGE 350 /*ms*/
472 #define POINT_MOVEMENT 50 /*ms*/
474 static ErrorCode point_prepare(Method *mm, const Segment *move,
475 int n_motions, const Motion *motions,
476 int ms, int confirmation,
477 Change **chg_r, int *cost_r) {
478 FsqMethod *m= (void*)mm;
479 assert(m->f.ready>=0);
480 return fsq_prepare(mm,move, n_motions,motions,
481 ms,confirmation, chg_r,cost_r);
484 static void point_move(FsqMethod *m, const MovFeatInfo *mfi, int posn) {
485 /* actually firing points, yay! */
487 enco_pic_point(&piob, mfi->boob[posn]);
488 serial_transmit(&piob);
491 static void points_all_abandon(Method *mm) {
492 FsqMethod *m= (void*)mm;
496 static FsqMethod points_method;
498 void points_turning_on(void) {
499 FsqMethod *m= &points_method;
502 void on_pic_charged(const PicInsnInfo *pii, const PicInsn *pi, int objnum) {
503 FsqMethod *m= &points_method;
504 if (m->f.ready<0) return;
509 static FsqMethod points_method= {
511 point_prepare, fsq_dispose,
512 fsq_install, fsq_remove,
513 fsq_check, fsq_execute, points_all_abandon },
514 { .lag_ms= POINT_MOVEMENT, .slot_ms= CDU_RECHARGE, .move= point_move }
517 /*========== relays ==========*/
522 * ____________ conf'd
523 * / wagglers_ \ ready .n
528 * |any <=Sta_Settling
531 * ___________ |turning
542 * | |fsq_check_action
543 * | | calls waggle_do which switches a relay
548 static FsqMethod waggle;
550 static void waggle_do(FsqMethod *m, const MovFeatInfo *mfi, int posn) {
551 /* actually setting relays */
553 enco_pic_waggle(&piob, mfi->boob[0], posn);
554 serial_transmit(&piob);
557 static SegmentNum waggle_settle_seg;
558 static int waggle_settle_feat;
560 static void waggle_settle_check(void) {
562 if (waggle_settle_seg >= info_nsegments) return;
564 Segment *seg= &segments[waggle_settle_seg];
565 if (waggle_settle_feat >= seg->i->n_movfeats) {
566 waggle_settle_seg++; waggle_settle_feat=0; continue;
569 const MovFeatInfo *feati= &seg->i->movfeats[waggle_settle_feat];
570 if (feati->kind != mfk_relay) {
571 waggle_settle_feat++; continue;
575 waggle_do(&waggle, feati, (seg->movposcomb / feati->weight) & 1);
576 waggle_settle_feat++;
580 void waggle_startup_manual(void) {
584 void waggle_settle(void) {
585 waggle_settle_seg= 0;
586 waggle_settle_feat= 0;
588 waggle_settle_check();
591 void on_pic_waggled(const PicInsnInfo *pii, const PicInsn *pi, int objnum) {
592 if (sta_state == Sta_Settling) {
594 waggle_settle_check();
595 } else if (sta_state >= Sta_Resolving || sta_state == Sta_Manual) {
597 fsq_check_action(&waggle);
602 static FsqMethod waggle= {
604 fsq_prepare, fsq_dispose,
605 fsq_install, fsq_remove,
606 fsq_check, fsq_execute, ignore_all_abandon },
607 { .lag_ms= 5, .slot_ms= 50, .move= waggle_do }
610 /*========== dummy `nomove' kind ==========*/
612 typedef struct NomoveChange {
614 DLIST_NODE(struct NomoveChange) inqueue;
615 int n_motions; /* 0 for reservations */
621 NomoveChange *queuehead; /* contains confirmations only */
624 static ErrorCode nomove_prepare(Method *meth_in, const Segment *move,
625 int n_motions, const Motion *motions,
626 int ms, int confirming,
627 Change **chg_r, int *cost_r) {
631 if (!confirming) n_motions= 0;
632 chg= mmalloc(sizeof(*chg) + sizeof(Motion)*n_motions);
633 chg->n_motions= n_motions;
634 memcpy(chg->motions, motions, sizeof(Motion)*n_motions);
641 static void nomove_dispose(Method *mm, Change *remvchg) {
642 NomoveChange *remv= (void*)remvchg;
646 static ErrorCode nomove_install(Method *mm, Change *instchg) {
647 NomoveMethod *meth= (void*)mm;
648 NomoveChange *inst= (void*)instchg;
650 DLIST1_PREPEND(meth->queuehead, inst, inqueue);
653 static void nomove_remove(Method *mm, Change *remvchg) {
654 NomoveMethod *meth= (void*)mm;
655 NomoveChange *remv= (void*)remvchg;
657 DLIST1_REMOVE(meth->queuehead, remv, inqueue);
660 static ErrorCode nomove_check(Method *mm) { return 0; }
662 static void nomove_execute(Method *mm) {
663 NomoveMethod *meth= (void*)mm;
666 while ((done= meth->queuehead)) {
667 assert(done->n_motions);
669 for (i=0; i<done->n_motions; i++)
670 method_update_feature(&meth->m, done->h.indep, &done->motions[i]);
671 method_change_done(&meth->m, &done->h);
672 DLIST1_REMOVE(meth->queuehead, done, inqueue);
673 nomove_dispose(&meth->m, &done->h);
677 static Method nomove_method= {
679 nomove_prepare, nomove_dispose,
680 nomove_install, nomove_remove,
681 nomove_check, nomove_execute, ignore_all_abandon
684 /*========== method-independent machinery ==========*/
686 #define INDEP_DBG_FMT "<%p:%s/%s[%d]>"
687 #define INDEP_DBG_ARGS(in) (in), \
688 ((in)->move->i->pname), (movpos_pname((in)->move, (in)->target)), \
691 #define INDEP_DPFX_FMT "movpos " INDEP_DBG_FMT " "
692 #define INDEP_DPFX_ARGS(in) INDEP_DBG_ARGS((in))
694 #define METH_DPFX_FMT "%s " INDEP_DBG_FMT " "
695 #define METH_DPFX_ARGS(indep, meth) ((meth).pname), INDEP_DBG_ARGS((indep))
697 static void indep_indep_done(Indep *indep);
699 static Method *methods[]= {
700 [mfk_none] = (Method*)&nomove_method,
701 [mfk_point] = (Method*)&points_method,
702 [mfk_relay] = (Method*)&waggle,
706 /*---------- entrypoints from methods ----------*/
708 static void method_update_feature(Method *m, MovPosChange *indep,
710 int featix= mo->i - indep->move->i->movfeats;
711 assert(featix >= 0 && featix < indep->move->i->n_movfeats);
712 ouposn_feat(indep->move, mo->i, mo->posn, m);
714 movposcomb_update_feature(indep->actualpos, mo->i, mo->posn);
715 indep->actualunk &= ~unkfeatbit(featix);
716 ouposn_moving(indep);
719 static void method_change_done(Method *m, Change *chg) {
720 Indep *indep= chg->indep;
723 DPRINTF(movpos,meth, METH_DPFX_FMT "method_change_done...\n",
724 METH_DPFX_ARGS(indep,*m));
726 for (search=indep->changes; *search; search++)
727 if ((*search) == chg) goto found;
728 assert(!"change in indep");
732 if (indep->n_changes) {
733 *search= indep->changes[indep->n_changes];
737 if (!indep->refcount)
738 indep_indep_done(indep);
741 static void indep_indep_done(Indep *indep) {
743 Segment *move= indep->move;
746 move->movposcomb= indep->target;
751 /*---------- internal core machinery ----------*/
753 static Method *feature_method(const MovFeatInfo *feati) {
754 assert(feati->kind >= 0);
755 assert(feati->kind < ARRAY_SIZE(methods));
756 Method *meth= methods[feati->kind];
761 static int change_needed(int featix, const MovFeatInfo *feati,
762 MovPosComb startpointpos, UnkMap startpointunk,
766 r= (startpointunk & unkfeatbit(featix)) ||
767 (target / feati->weight) % feati->posns -
768 (startpointpos / feati->weight) % feati->posns;
770 if (DEBUGP(movpos,eval))
771 DPRINTFA(" { %s:%s(%d*%d) %d..%d => %d }",
772 feature_method(feati)->pname, feati->pname,
773 feati->posns, feati->weight,
774 startpointpos, target, r);
778 static void indep_dispose(MovPosChange *indep) {
781 DPRINTF(movpos,intern, INDEP_DPFX_FMT "dispose...\n",
782 INDEP_DPFX_ARGS(indep));
785 for (changei=0; changei<indep->n_changes; changei++) {
786 Change *chg= indep->changes[changei];
789 Method *meth= chg->meth;
790 DPRINTF(movpos,meth, METH_DPFX_FMT "dispose...\n",
791 METH_DPFX_ARGS(indep,*meth));
792 meth->dispose(meth, chg);
797 #define EVAL_MAX_METHODS 2
798 #define EVAL_MAX_MOTIONS 2
800 static ErrorCode indep_prepare(Segment *move, MovPosComb target,
801 MovPosComb startpointpos,
802 int ms, int confirming,
803 MovPosChange **indep_r /* 0 ok */,
804 int *cost_r /* 0 ok */) {
806 static Method *meths[EVAL_MAX_METHODS];
807 static int n_motions[EVAL_MAX_METHODS];
808 static Motion motions[EVAL_MAX_METHODS][EVAL_MAX_MOTIONS];
810 const SegmentInfo *movei= move->i;
812 UnkMap startpointunk;
814 MovPosChange *indep=0;
816 DPRINTF1(movpos,eval, "movpos prepare %s/%s <-%s", move->i->pname,
817 movpos_pname(move,target), movpos_pname(move,startpointpos));
819 if (SOMEP(startpointpos)) {
823 startpointpos= move->motion->actualpos;
824 startpointunk= move->motion->actualunk;
825 } else if (SOMEP(move->movposcomb)) {
826 startpointpos= move->movposcomb;
830 startpointunk= unkallfeatbits(move->i->n_movfeats);
833 DPRINTF2(" actual <-%s/", move->i->pname);
834 for (feat=0; feat<movei->n_movfeats; feat++) {
835 const MovFeatInfo *feati= &movei->movfeats[feat];
836 if (startpointunk & unkfeatbit(feat))
837 DPRINTF2("%s?", feati->pname);
839 DPRINTF2("%s%d", feati->pname,
840 startpointpos / feati->weight % feati->posns);
847 for (feat=0; feat<movei->n_movfeats; feat++) {
848 const MovFeatInfo *feati= &movei->movfeats[feat];
849 if (!change_needed(feat,feati,
850 startpointpos,startpointunk,
853 MovPosComb posn= target / feati->weight % feati->posns;
854 Method *meth= feature_method(feati);
857 for (methi=0; methi<n_meths; methi++)
858 if (meths[methi] == meth) goto found_method;
859 /* need a new method */
861 if (methi >= EVAL_MAX_METHODS) {
862 DPRINTF2(" MovFeatTooManyMethods methi=%d\n",methi);
863 return EC_MovFeatTooManyMethods;
867 DPRINTF2(" meths[%d]=%s", methi,meth->pname);
870 int motioni= n_motions[methi]++;
871 if (motioni >= EVAL_MAX_MOTIONS) {
872 DPRINTF2(" MovFeatTooManyMotions motioni=%d\n",motioni);
873 return EC_MovFeatTooManyMotions;
875 DPRINTF2(" motion[%d][%d]=%s%d", methi, motioni, feati->pname,posn);
876 motions[methi][motioni].i= feati;
877 motions[methi][motioni].posn= posn;
882 indep= mmalloc(sizeof(*indep) + sizeof(Change*) * n_meths);
884 indep->actualpos= startpointpos;
885 indep->actualunk= startpointunk;
886 indep->target= target;
887 indep->n_changes= n_meths;
889 memset(indep->changes, 0, sizeof(Change*) * n_meths);
897 for (changei=0; changei<n_meths; changei++) {
898 Method *meth= meths[changei];
904 DPRINTF(movpos,meth, METH_DPFX_FMT "prepare n_motions=%d...\n",
905 METH_DPFX_ARGS(indep,*meth), n_motions[changei]);
907 DPRINTF(movpos,meth, "%s prepare (costing) n_motions=%d...\n",
908 meth->pname, n_motions[changei]);
910 ec= meth->prepare(meth,move,
911 n_motions[changei],motions[changei],
913 indep ? &indep->changes[changei] : 0,
917 Change *chg= indep->changes[changei];
922 totalcost += thiscost;
925 if (indep_r) *indep_r= indep;
926 if (cost_r) *cost_r= totalcost;
929 DPRINTF(movpos,eval, INDEP_DPFX_FMT "prepare cost=%d ok\n",
930 INDEP_DPFX_ARGS(indep), totalcost);
932 DPRINTF(movpos,eval, "movpos prepare %s/%s cost=%d ok\n",
933 move->i->pname, movpos_pname(move,target), totalcost);
937 indep_dispose(indep);
938 DPRINTF(movpos,entry, "movpos prepare %s/%s err=%s\n", move->i->pname,
939 movpos_pname(move,target), ec2str(ec));
943 static void indep_remove(MovPosChange *remv) {
946 DPRINTF(movpos,intern, INDEP_DPFX_FMT "remove...\n",
947 INDEP_DPFX_ARGS(remv));
950 for (i=0; i<remv->n_changes; i++) {
951 Change *chg= remv->changes[i];
952 if (!chg->installed) continue;
953 Method *meth= chg->meth;
956 DPRINTF(movpos,meth, METH_DPFX_FMT "remove...\n",
957 METH_DPFX_ARGS(remv,*meth));
958 meth->remove(meth, chg);
964 indep_install(MovPosChange *inst, int checknow) {
965 /* if this fails, inst may be left partially installed */
968 DPRINTF(movpos,intern, INDEP_DPFX_FMT "install checknow=%d...\n",
969 INDEP_DPFX_ARGS(inst), checknow);
973 for (i=0; i<inst->n_changes; i++) {
974 Change *chg= inst->changes[i];
975 assert(!chg->installed);
976 Method *meth= chg->meth;
979 ec= meth->install(meth, chg);
980 DPRINTF(movpos,meth, METH_DPFX_FMT "install=%s\n",
981 METH_DPFX_ARGS(inst,*meth), ec2str(ec));
987 ec= meth->check(meth);
988 DPRINTF(movpos,meth, METH_DPFX_FMT "check=%s\n",
989 METH_DPFX_ARGS(inst,*meth), ec2str(ec));
1000 static void indep_check_execute(void) {
1001 DPRINTF(movpos,intern, "movpos indep_check_execute\n");
1003 Method **methwalk, *meth;
1004 for (methwalk= methods; (meth= *methwalk); methwalk++) {
1005 if (meth->needcheck) {
1006 ErrorCode ec= meth->check(meth);
1007 DPRINTF(movpos,meth, "%s check=%s\n", meth->pname, ec2str(ec));
1011 if (meth->needexec) {
1013 DPRINTF(movpos,meth, "%s execute...\n", meth->pname);
1014 meth->execute(meth);
1019 /*---------- entrypoints from rest of program ----------*/
1022 movpos_reserve(Segment *move, int maxdelay_ms, MovPosChange **res_r,
1023 MovPosComb target, MovPosComb startpoint /*as for findcomb*/) {
1025 MovPosChange *indep= 0;
1027 DPRINTF(movpos,entry, "movpos reserve %s/%s maxdelay=%dms startpoint=%s\n",
1028 move->i->pname, movpos_pname(move,target),
1029 maxdelay_ms, movpos_pname(move,startpoint));
1031 ec= indep_prepare(move,target, startpoint,
1036 ec= indep_install(indep, 1);
1039 indep_check_execute();
1041 DPRINTF(movpos,entry, "movpos reserve %s/%s ok\n",
1042 move->i->pname, movpos_pname(move,target));
1047 indep_remove(indep);
1048 indep_dispose(indep);
1049 indep_check_execute();
1051 DPRINTF(movpos,entry, "movpos reserve %s/%s err=%s\n",
1052 move->i->pname, movpos_pname(move,target), ec2str(ec));
1056 ErrorCode movpos_findcomb_bysegs(Segment *back, Segment *move, Segment *fwd,
1057 MovPosComb startpoint, MovPosComb *chosen_r) {
1058 const SegmentInfo *movei= move->i;
1059 MovPosComb tcomb, bestcomb=-1;
1060 int tcost, bestcost=INT_MAX;
1061 const SegPosCombInfo *pci;
1063 DPRINTF(movpos,eval, "movpos_findcomb_bysegs %s-%s-%s <-%s\n",
1064 back ? back->i->pname : "*", move->i->pname,
1065 fwd ? fwd ->i->pname : "*", movpos_pname(move, startpoint));
1067 for (tcomb=0, pci=movei->poscombs;
1068 tcomb<movei->n_poscombs;
1070 /* these next assignments may generate segments[-1] but we don't
1071 * care because that won't compare equal to back or fwd */
1072 Segment *tback= &segments[pci->link[1].next];
1073 Segment *tfwd= &segments[pci->link[0].next];
1075 DPRINTF(movpos,intern, "movpos_findcomb_bysegs ... %s : %s-%s-%s\n",
1076 movpos_pname(move, tcomb),
1077 SOMEP(pci->link[1].next) ? tback->i->pname : "#",
1079 SOMEP(pci->link[0].next) ? tfwd->i->pname : "#");
1081 if (back && !(back==tback || back==tfwd)) continue;
1082 if (fwd && !(fwd ==tback || fwd ==tfwd)) continue;
1084 /* we have to search for the one which is least effort */
1085 ErrorCode ec= indep_prepare(move,tcomb,startpoint, -1,0, 0,&tcost);
1088 if (tcost >= bestcost) /* prefer low-numbered movposcombs */
1094 DPRINTF(movpos,entry, "movpos_findcomb_bysegs %s..%s..%s <-%s => %s/%s\n",
1095 back ? back->i->pname : "-", move->i->pname,
1096 fwd ? fwd ->i->pname : "-", movpos_pname(move, startpoint),
1097 move->i->pname, movpos_pname(move,bestcomb));
1099 if (chosen_r) *chosen_r= bestcomb;
1101 bestcost==INT_MAX ? EC_MovFeatRouteNotFound :
1105 ErrorCode movpos_change(Segment *move, MovPosComb target,
1106 int maxdelay_ms, MovPosChange *resv) {
1110 DPRINTF1(movpos,entry, "movpos change %s/%s maxdelay=%dms",
1111 move->i->pname, movpos_pname(move, target), maxdelay_ms);
1112 if (resv) DPRINTF2(" resv=%s/%s",
1113 resv->move->i->pname,
1114 movpos_pname(resv->move, resv->target));
1115 if (move->motion) DPRINTF2(" oldmotion=/%s",
1116 movpos_pname(move, move->motion->target));
1119 MovPosChange *inst= 0;
1121 ec= indep_prepare(move,target, NOTA(MovPosComb),
1127 indep_remove(move->motion);;
1129 ec= indep_install(inst, 1);
1132 indep_dispose(resv);
1133 indep_dispose(move->motion);
1138 inst->refcount++; /* prevents method_change_done from destroying it */
1140 ouposn_moving(inst);
1141 indep_check_execute();
1144 if (!inst->n_changes)
1146 indep_indep_done(inst);
1148 DPRINTF(movpos,entry, "movpos change %s/%s ok\n",
1149 move->i->pname, movpos_pname(move, target));
1154 indep_dispose(inst);
1155 ec= indep_install(move->motion, 0); assert(!ec);
1156 ec= indep_install(resv, 0); assert(!ec);
1157 indep_check_execute();
1159 DPRINTF(movpos,entry, "movpos change %s/%s err=%s\n",
1160 move->i->pname, movpos_pname(move, target), ec2str(ec));
1164 void movpos_unreserve(MovPosChange *resv) {
1166 DPRINTF(movpos,entry, "movpos unreserve %s/%s...\n",
1167 resv->move->i->pname, movpos_pname(resv->move, resv->target));
1169 indep_dispose(resv);
1170 indep_check_execute();
1173 MovPosComb movpos_change_intent(MovPosChange *indep) {
1174 return indep->target;
1177 void motions_all_abandon(void) {
1180 DPRINTF(movpos,entry, "movpos motions_all_abandon...\n");
1182 if (!seg->moving) continue;
1184 MovPosChange *abandon= seg->motion;
1185 indep_remove(abandon);
1186 seg->movposcomb= abandon->actualunk ? NOTA(MovPosComb) : abandon->actualpos;
1189 indep_dispose(abandon);
1191 for (meth=methods; *meth; meth++)
1192 (*meth)->all_abandon(*meth);
1195 void movpos_reportall(void) {
1200 assert(!seg->moving);
1201 if (seg->i->n_poscombs <= 1) continue;
1203 if (SOMEP(seg->movposcomb)) {
1204 for (feat=0; feat<seg->i->n_movfeats; feat++) {
1205 const MovFeatInfo *feati= &seg->i->movfeats[feat];
1206 MovPosComb posn= (seg->movposcomb / feati->weight) % feati->posns;
1207 ouposn_feat(seg, feati, posn, feature_method(feati));