2 * Handling of points and other moveable features.
7 /*========== declarations ==========*/
14 typedef struct Method Method;
15 typedef struct Change Change;
17 typedef struct MovPosChange {
19 /* everything beyond here is private for indep */
20 MovPosComb actual, target;
26 static void method_update_feature(Method*, MovPosChange*, const Motion *mo);
27 /* Called from methods' execution logic when an individual feature
28 * has been moved. This is used by the method-independent code to
29 * compute the correct delta set of movements from the current
30 * actual position, when thinking about new plans. It is also sent
31 * to clients and ultimately used by the UI.
34 static void method_change_done(Method *m, Change *chg);
35 /* Called from methods' execution logic when a whole change
36 * has been done. The method-independent code will take care of
37 * updating move->movposcomb. etc.
39 * REENTRANCY: May be called from within a call to the method's
40 * execute(). Of course cannot legally be called from within
41 * prepare, consider, check or dispose.
45 /* Kind-independent code is responsible for determining
46 * the method, doing a bit of cleanup, and adjusting the flow
47 * slightly. Per-kind code does the actual work and is mostly in
48 * charge - it is also responsible for updating seg->moving and ->motion.
51 * The following states exist for each Method
52 * S Starting corresponds to global states other than Sta_Run
53 * T Tentative changes have been made but may yet be undone
54 * Y Yes proposed changes have been checked and are OK
55 * E Executing the method is executing
57 * The following states exist for each Change
58 * at points when control flow passes between kind and indep:
59 * U Unallocated no memory allocated (Change does not exist)
60 * P Prepared memory allocation done, basics filled in
61 * I Installed reservation or confirmation successful
62 * D Done motion is complete and callback is being entered
63 * G Garbage motion is complete and callback is being exited
69 * No Changes remain Prepared while the Method is Executing.
72 struct Change { /* valid in: filled in by and when: */
73 Method *meth; /* PIDG indep after prepare() */
74 MovPosChange *indep; /* PID indep after prepare() */
75 unsigned installed:1; /* private for indep */
76 /* kind-specific data follows */ /* varies kind-specific code, varies */
82 ErrorCode (*prepare)(Method *m, /* TYE->T */
84 int n_motions, const Motion *motions,
85 int ms, int confirmation,
86 Change **chg_r, /* 0->P; err: 0->0; may be 0 */
87 int *cost_r /* may be 0 */);
88 void (*dispose)(Method *m, /* TY->TY */
91 ErrorCode (*install)(Method *m, /* TYE->T; err: TYE->TYY */
92 Change *inst); /* P->I; err: P->P */
93 /* error: ET->T, no change to Changes */
94 void (*remove)(Method *m, /* TYE->TYY */
95 Change *remove); /* I->P */
96 /* error: ET->T, no change to Changes */
98 ErrorCode (*check)(Method *m); /* TYE->Y; err: TYE->TYE */
99 void (*execute)(Method *m); /* EY->E */
100 void (*all_abandon)(Method *m); /* TYE->S */
102 unsigned needcheck, needexec; /* used by indep to track T/Y/E */
105 /*========== general utility functions ==========*/
107 const char *movpos_pname(const Segment *move, MovPosComb poscomb) {
108 return !SOMEP(poscomb) ? "?" : move->i->poscombs[poscomb].pname;
111 static void ouposn_moving(const MovPosChange *indep) {
112 Segment *move= indep->move;
113 ouprintf("movpos %s position %s moving\n",
114 move->i->pname, movpos_pname(move, indep->actual));
117 MovPosComb movposcomb_update_feature(MovPosComb startpoint,
118 const MovFeatInfo *mfi,
120 MovPosComb above_weight= mfi->weight * mfi->posns;
121 MovPosComb above= startpoint / above_weight;
122 MovPosComb below= startpoint % mfi->weight;
123 return above*above_weight + featpos*mfi->weight + below;
126 MovPosComb movpos_poscomb_actual(const Segment *seg) {
127 return seg->moving ? seg->motion->actual : seg->movposcomb;
130 static void ignore_all_abandon(Method *m) { }
132 /*========== points and other fixed timeslot movfeats ==========*/
135 * We maintain two queues, one for reserved one for actually confirmed
136 * requests where we know what we're doing.
138 * We divide time into discrete slots, numbered with clock arithmetic.
140 * cslot cslot+1 cslot+2
142 * currently next in after
145 * We increment cslot when we consider the movfeat to move;
146 * for points and relays this is when we issue the command to the PIC.
147 * In a request, the deadline represents the latest allowable value
148 * of cslot just before that increment.
151 typedef unsigned FsqSlot;
152 typedef int FsqSlotSigned;
154 #define FSQDN (~(FsqSlot)0)
156 typedef struct { /* state Prep Resv Inst Resv Prep Conf Inst Conf */
157 Change h; /* in queue? absent reserved absent confirmed */
158 FsqSlot deadline; /* relative relative absolute absolute */
159 int n_motions; /* 1 1 num undone num undone */
160 Motion motions[]; /* [0].i: 0 0 non-0 non-0 */
161 /* .posn: undef undef defined defined */
164 #define FSQ_MAX_QUEUE 15
168 FsqReq *l[FSQ_MAX_QUEUE];
171 typedef struct FsqMethod FsqMethod;
174 /* set by fsq's client before fsq_init */
176 void (*move)(FsqMethod *m, const MovFeatInfo *mfi, int movfeatposn);
178 int ready; /* >0 means ready; set to 0 by fsq just before move */
179 /* fsq's client must arrange that these start out at all-bits-zero */
181 FsqQueue confirmed, reserved;
187 /* client may put things here */
190 static void fsq_check_action(FsqMethod *m);
191 static ErrorCode fsq_check_plan(FsqMethod *m);
193 static FsqSlotSigned fsq_maxdelay_reldeadline(FsqMethod *m,
194 int maxdelay_ms, int n_motions) {
195 if (maxdelay_ms==-1) return FSQ_MAX_QUEUE*16;
196 return (maxdelay_ms - m->f.lag_ms) / m->f.slot_ms - n_motions;
199 static void fsq_queue_remove_index(FsqQueue *q, int index) {
201 memmove(&q->l[index], &q->l[index+1], sizeof(q->l[0]) * (q->n - index));
204 static int fsq_req_compar_approx(const void *av, const void *bv) {
205 FsqReq *const *a= av;
206 FsqReq *const *b= av;
207 FsqSlotSigned dldiff= (*b)->deadline - (*a)->deadline;
211 static void fsq_queue_remove_item(FsqQueue *q, FsqReq *r) {
214 entry= bsearch(r, q->l, q->n, sizeof(q->l[0]), fsq_req_compar_approx);
217 #define SEARCH_CHECK do{ \
218 if (q->l[i] == r) goto found; \
219 if (q->l[i]->deadline != r->deadline) break; \
221 for(i= entry - q->l; i >= 0; i--) SEARCH_CHECK;
222 for(i= entry - q->l + 1; i < q->n; i++) SEARCH_CHECK;
226 fsq_queue_remove_index(q, i);
229 static FsqQueue *fsq_item_queue(FsqMethod *m, FsqReq *r)
230 { return r->motions[0].i ? &m->f.confirmed : &m->f.reserved; }
234 whichwhen= wh##when, \
237 static ErrorCode fsq_check_plan(FsqMethod *m) {
238 /* Checks whether we can meet the currently queued commitments */
239 /* if this fails, indep machinery calls fsq_prepare to dequeue */
240 int future, conf, resv, whichwhen, DP;
246 DPRINTF1(movpos,fsq, "%s plan", m->m.pname);
248 /* If CDU isn't charged we can't do one right away */
255 FsqReq *confr= conf < m->f.confirmed.n ? m->f.confirmed.l[conf] : 0;
256 FsqReq *resvr= resv < m->f.reserved .n ? m->f.reserved .l[resv] : 0;
257 if (!confr && !resvr) break;
258 DPRINTF2(" %d:",future);
259 int confwhen= confr ? confr->deadline - m->f.cslot : INT_MAX;
260 int resvwhen= resvr ? resvr->deadline : INT_MAX;
261 if (future && resvwhen < confwhen) {
262 WHICH(resv); DPRINTF2("~");
266 future++; DPRINTF2("-");
269 DPRINTF2("%s/%s[%d@t+%d]", whichr->h.indep->move->i->pname,
270 movpos_pname(whichr->h.indep->move, whichr->h.indep->target),
271 whichr->n_motions, whichwhen);
272 if (future > whichwhen) {
273 DPRINTF2("!...bad\n");
274 return EC_MovFeatTooLate;
276 future += whichr->n_motions;
284 static ErrorCode fsq_queue_insert_item(FsqMethod *m, FsqQueue *q, FsqReq *r) {
287 if (q->n == FSQ_MAX_QUEUE)
288 return EC_BufferFull;
291 insat>0 && (FsqSlotSigned)(r->deadline - q->l[insat-1]->deadline) < 0;
293 q->l[insat]= q->l[insat-1];
300 static void fsq_item_debug(FsqMethod *m, FsqReq *r, const char *opwhat) {
302 Segment *move= r->h.indep->move;
303 DPRINTF1(movpos,fsq, "%s %s %s", m->m.pname, opwhat, move->i->pname);
304 if (r->motions[0].i) {
307 for (i=0, mo=r->motions; i<r->n_motions; i++, mo++)
308 DPRINTF2("/%s%d", mo->i->pname, (int)mo->posn);
311 DPRINTF2("(%d)\n", r->n_motions);
315 static ErrorCode fsq_enqueue(FsqMethod *m, FsqReq *r) { /* P->I; err: P->P */
317 fsq_item_debug(m,r,"enqueue");
318 return fsq_queue_insert_item(m, fsq_item_queue(m,r), r);
321 static void fsq_dequeue(FsqMethod *m, FsqReq *r) { /* I->P */
323 fsq_item_debug(m,r,"dequeue");
324 fsq_queue_remove_item(fsq_item_queue(m,r), r);
327 /*---------- method entrypoints ----------*/
329 static ErrorCode fsq_prepare(Method *mm, const Segment *move,
330 int n_motions, const Motion *motions,
331 int ms, int confirmation,
332 Change **chg_r, int *cost_r) {
333 FsqMethod *m= (void*)mm;
335 assert(n_motions > 0);
337 FsqSlotSigned reldeadline= fsq_maxdelay_reldeadline(m, ms, n_motions);
338 if (reldeadline <= 0) return EC_MovFeatTooLate;
341 int alloc_motions= confirmation ? n_motions : 1;
342 /* we need at least one motion in the table so we can tell
343 * the difference between the states by looking at motions[0].i */
344 FsqReq *r= mmalloc(sizeof(*r) + alloc_motions * sizeof(r->motions[0]));
345 r->n_motions= n_motions;
347 r->deadline= reldeadline + m->f.cslot;
348 memcpy(r->motions, motions, sizeof(*r->motions)*n_motions);
350 r->deadline= reldeadline;
356 *cost_r= n_motions * m->f.slot_ms;
362 static void fsq_dispose(Method *mm, Change *chg) {
363 FsqReq *r= (FsqReq*)chg;
367 static void fsq_remove(Method *mm, Change *remvchg) {
368 FsqMethod *m= (void*)mm;
369 FsqReq *remv= (FsqReq*)remvchg;
371 fsq_dequeue(m, remv);
374 static ErrorCode fsq_install(Method *mm, Change *instchg) {
375 FsqMethod *m= (void*)mm;
376 FsqReq *inst= (FsqReq*)instchg;
378 return fsq_enqueue(m, inst);
381 static ErrorCode fsq_check(Method *mm) {
382 FsqMethod *m= (void*)mm;
383 ErrorCode ec= fsq_check_plan(m);
387 static void fsq_execute(Method *mm) {
388 FsqMethod *m= (void*)mm;
392 /*---------- something to do ? ----------*/
394 static void fsq_check_action(FsqMethod *m) {
395 /* client should call this after it sets ready */
398 if (!m->f.confirmed.n) {
399 if (sta_state == Sta_Finalising) resolve_motioncheck();
403 FsqReq *r= m->f.confirmed.l[0];
405 if (r->n_motions && m->f.ready>0) {
406 /* look for something to move */
407 Motion *mo= &r->motions[--r->n_motions];
408 assert(mo->posn < mo->i->posns);
410 m->f.move(m, mo->i, mo->posn);
413 method_update_feature(&m->m, r->h.indep, mo);
417 fsq_queue_remove_index(&m->f.confirmed, 0);
418 method_change_done(&m->m, &r->h);
419 m->m.dispose(&m->m, &r->h);
421 ec= fsq_check_plan(m); assert(!ec);
426 /*========== points ==========*/
429 * CDU and point queue states:
432 * ____________ conf'd
433 * / points_ \ ready .n
437 * |from INACTIVE -1 0
438 * |any <=Sta_Settling
441 * ___________ |turning
452 * | |fsq_check_action
453 * | | calls point_move which fires a point
458 #define CDU_RECHARGE 350 /*ms*/
459 #define POINT_MOVEMENT 50 /*ms*/
461 static ErrorCode point_prepare(Method *mm, const Segment *move,
462 int n_motions, const Motion *motions,
463 int ms, int confirmation,
464 Change **chg_r, int *cost_r) {
465 FsqMethod *m= (void*)mm;
466 assert(m->f.ready>=0);
467 return fsq_prepare(mm,move, n_motions,motions,
468 ms,confirmation, chg_r,cost_r);
471 static void point_move(FsqMethod *m, const MovFeatInfo *mfi, int posn) {
472 /* actually firing points, yay! */
474 enco_pic_point(&piob, mfi->boob[posn]);
475 serial_transmit(&piob);
478 static void points_all_abandon(Method *mm) {
479 FsqMethod *m= (void*)mm;
483 static FsqMethod points_method;
485 void points_turning_on(void) {
486 FsqMethod *m= &points_method;
489 void on_pic_charged(const PicInsnInfo *pii, const PicInsn *pi, int objnum) {
490 FsqMethod *m= &points_method;
491 if (m->f.ready<0) return;
496 static FsqMethod points_method= {
498 point_prepare, fsq_dispose,
499 fsq_install, fsq_remove,
500 fsq_check, fsq_execute, points_all_abandon },
501 { .lag_ms= POINT_MOVEMENT, .slot_ms= CDU_RECHARGE, .move= point_move }
504 /*========== relays ==========*/
509 * ____________ conf'd
510 * / wagglers_ \ ready .n
515 * |any <=Sta_Settling
518 * ___________ |turning
529 * | |fsq_check_action
530 * | | calls waggle_do which switches a relay
535 static FsqMethod waggle;
537 static void waggle_do(FsqMethod *m, const MovFeatInfo *mfi, int posn) {
538 /* actually setting relays */
540 enco_pic_waggle(&piob, mfi->boob[0], posn);
541 serial_transmit(&piob);
544 static SegmentNum waggle_settle_seg;
545 static int waggle_settle_feat;
547 static void waggle_settle_check(void) {
549 if (waggle_settle_seg >= info_nsegments) return;
551 Segment *seg= &segments[waggle_settle_seg];
552 if (waggle_settle_feat >= seg->i->n_movfeats) {
553 waggle_settle_seg++; waggle_settle_feat=0; continue;
556 const MovFeatInfo *feati= &seg->i->movfeats[waggle_settle_feat];
557 if (feati->kind != mfk_relay) {
558 waggle_settle_feat++; continue;
562 waggle_do(&waggle, feati, (seg->movposcomb / feati->weight) & 1);
563 waggle_settle_feat++;
567 void waggle_startup_manual(void) {
571 void waggle_settle(void) {
572 waggle_settle_seg= 0;
573 waggle_settle_feat= 0;
575 waggle_settle_check();
578 void on_pic_waggled(const PicInsnInfo *pii, const PicInsn *pi, int objnum) {
579 if (sta_state == Sta_Settling) {
581 waggle_settle_check();
582 } else if (sta_state >= Sta_Resolving || sta_state == Sta_Manual) {
584 fsq_check_action(&waggle);
589 static FsqMethod waggle= {
591 fsq_prepare, fsq_dispose,
592 fsq_install, fsq_remove,
593 fsq_check, fsq_execute, ignore_all_abandon },
594 { .lag_ms= 5, .slot_ms= 50, .move= waggle_do }
597 /*========== dummy `nomove' kind ==========*/
599 typedef struct NomoveChange {
601 DLIST_NODE(struct NomoveChange) inqueue;
602 int n_motions; /* 0 for reservations */
608 NomoveChange *queuehead; /* contains confirmations only */
611 static ErrorCode nomove_prepare(Method *meth_in, const Segment *move,
612 int n_motions, const Motion *motions,
613 int ms, int confirming,
614 Change **chg_r, int *cost_r) {
618 if (!confirming) n_motions= 0;
619 chg= mmalloc(sizeof(*chg) + sizeof(Motion)*n_motions);
620 chg->n_motions= n_motions;
621 memcpy(chg->motions, motions, sizeof(Motion)*n_motions);
628 static void nomove_dispose(Method *mm, Change *remvchg) {
629 NomoveChange *remv= (void*)remvchg;
633 static ErrorCode nomove_install(Method *mm, Change *instchg) {
634 NomoveMethod *meth= (void*)mm;
635 NomoveChange *inst= (void*)instchg;
637 DLIST1_PREPEND(meth->queuehead, inst, inqueue);
640 static void nomove_remove(Method *mm, Change *remvchg) {
641 NomoveMethod *meth= (void*)mm;
642 NomoveChange *remv= (void*)remvchg;
644 DLIST1_REMOVE(meth->queuehead, remv, inqueue);
647 static ErrorCode nomove_check(Method *mm) { return 0; }
649 static void nomove_execute(Method *mm) {
650 NomoveMethod *meth= (void*)mm;
653 while ((done= meth->queuehead)) {
654 assert(done->n_motions);
656 for (i=0; i<done->n_motions; i++)
657 method_update_feature(&meth->m, done->h.indep, &done->motions[i]);
658 method_change_done(&meth->m, &done->h);
659 DLIST1_REMOVE(meth->queuehead, done, inqueue);
660 nomove_dispose(&meth->m, &done->h);
664 static Method nomove_method= {
666 nomove_prepare, nomove_dispose,
667 nomove_install, nomove_remove,
668 nomove_check, nomove_execute, ignore_all_abandon
671 /*========== method-independent machinery ==========*/
673 #define INDEP_DBG_FMT "<%p:%s/%s[%d]>"
674 #define INDEP_DBG_ARGS(in) (in), \
675 ((in)->move->i->pname), (movpos_pname((in)->move, (in)->target)), \
678 #define INDEP_DPFX_FMT "movpos " INDEP_DBG_FMT " "
679 #define INDEP_DPFX_ARGS(in) INDEP_DBG_ARGS((in))
681 #define METH_DPFX_FMT "%s " INDEP_DBG_FMT " "
682 #define METH_DPFX_ARGS(indep, meth) ((meth).pname), INDEP_DBG_ARGS((indep))
684 static void indep_indep_done(Indep *indep);
686 static Method *methods[]= {
687 [mfk_none] = (Method*)&nomove_method,
688 [mfk_point] = (Method*)&points_method,
689 [mfk_relay] = (Method*)&waggle,
693 /*---------- entrypoints from methods ----------*/
695 static void method_update_feature(Method *m, MovPosChange *indep,
697 ouprintf("movpos %s feat %s %d %s\n", indep->move->i->pname,
698 mo->i->pname, mo->posn, m->pname);
699 if (SOMEP(indep->actual))
701 movposcomb_update_feature(indep->actual, mo->i, mo->posn);
702 ouposn_moving(indep);
705 static void method_change_done(Method *m, Change *chg) {
706 Indep *indep= chg->indep;
709 DPRINTF(movpos,meth, METH_DPFX_FMT "method_change_done...\n",
710 METH_DPFX_ARGS(indep,*m));
712 for (search=indep->changes; *search; search++)
713 if ((*search) == chg) goto found;
714 assert(!"change in indep");
718 if (indep->n_changes) {
719 *search= indep->changes[indep->n_changes];
723 if (!indep->refcount)
724 indep_indep_done(indep);
727 static void indep_indep_done(Indep *indep) {
729 Segment *move= indep->move;
732 move->movposcomb= indep->target;
733 ouprintf("movpos %s position %s stable\n",
734 move->i->pname, movpos_pname(move, move->movposcomb));
738 /*---------- internal core machinery ----------*/
740 static Method *feature_method(const MovFeatInfo *feati) {
741 assert(feati->kind >= 0);
742 assert(feati->kind < ARRAY_SIZE(methods));
743 Method *meth= methods[feati->kind];
748 static int change_needed(const MovFeatInfo *feati,
749 MovPosComb startpoint, MovPosComb target) {
751 r= !SOMEP(startpoint) ||
752 (target / feati->weight) % feati->posns -
753 (startpoint / feati->weight) % feati->posns;
754 if (DEBUGP(movpos,eval))
755 DPRINTFA(" { %s:%s(%d*%d) %d..%d => %d }",
756 feature_method(feati)->pname, feati->pname,
757 feati->posns, feati->weight,
758 startpoint, target, r);
762 static void indep_dispose(MovPosChange *indep) {
765 DPRINTF(movpos,intern, INDEP_DPFX_FMT "dispose...\n",
766 INDEP_DPFX_ARGS(indep));
769 for (changei=0; changei<indep->n_changes; changei++) {
770 Change *chg= indep->changes[changei];
773 Method *meth= chg->meth;
774 DPRINTF(movpos,meth, METH_DPFX_FMT "dispose...\n",
775 METH_DPFX_ARGS(indep,*meth));
776 meth->dispose(meth, chg);
781 #define EVAL_MAX_METHODS 2
782 #define EVAL_MAX_MOTIONS 2
784 static ErrorCode indep_prepare(Segment *move, MovPosComb target,
785 MovPosComb startpoint,
786 int ms, int confirming,
787 MovPosChange **indep_r /* 0 ok */,
788 int *cost_r /* 0 ok */) {
790 static Method *meths[EVAL_MAX_METHODS];
791 static int n_motions[EVAL_MAX_METHODS];
792 static Motion motions[EVAL_MAX_METHODS][EVAL_MAX_MOTIONS];
794 const SegmentInfo *movei= move->i;
797 MovPosChange *indep=0;
799 DPRINTF1(movpos,eval, "movpos prepare %s/%s <-%s", move->i->pname,
800 movpos_pname(move,target), movpos_pname(move,startpoint));
802 if (!SOMEP(startpoint)) {
803 startpoint= movpos_poscomb_actual(move);
804 DPRINTF2(" actual <-%s", movpos_pname(move,startpoint));
809 for (feat=0; feat<movei->n_movfeats; feat++) {
810 const MovFeatInfo *feati= &movei->movfeats[feat];
811 if (!change_needed(feati,startpoint,target)) continue;
812 MovPosComb posn= target / feati->weight % feati->posns;
813 Method *meth= feature_method(feati);
816 for (methi=0; methi<n_meths; methi++)
817 if (meths[methi] == meth) goto found_method;
818 /* need a new method */
820 if (methi >= EVAL_MAX_METHODS) {
821 DPRINTF2(" MovFeatTooManyMethods methi=%d\n",methi);
822 return EC_MovFeatTooManyMethods;
826 DPRINTF2(" meths[%d]=%s", methi,meth->pname);
829 int motioni= n_motions[methi]++;
830 if (motioni >= EVAL_MAX_MOTIONS) {
831 DPRINTF2(" MovFeatTooManyMotions motioni=%d\n",motioni);
832 return EC_MovFeatTooManyMotions;
834 DPRINTF2(" motion[%d][%d]=%s%d", methi, motioni, feati->pname,posn);
835 motions[methi][motioni].i= feati;
836 motions[methi][motioni].posn= posn;
841 indep= mmalloc(sizeof(*indep) + sizeof(Change*) * n_meths);
843 indep->actual= startpoint;
844 indep->target= target;
845 indep->n_changes= n_meths;
847 memset(indep->changes, 0, sizeof(Change*) * n_meths);
855 for (changei=0; changei<n_meths; changei++) {
856 Method *meth= meths[changei];
862 DPRINTF(movpos,meth, METH_DPFX_FMT "prepare n_motions=%d...\n",
863 METH_DPFX_ARGS(indep,*meth), n_motions[changei]);
865 DPRINTF(movpos,meth, "%s prepare (costing) n_motions=%d...\n",
866 meth->pname, n_motions[changei]);
868 ec= meth->prepare(meth,move,
869 n_motions[changei],motions[changei],
871 indep ? &indep->changes[changei] : 0,
875 Change *chg= indep->changes[changei];
880 totalcost += thiscost;
883 if (indep_r) *indep_r= indep;
884 if (cost_r) *cost_r= totalcost;
887 DPRINTF(movpos,eval, INDEP_DPFX_FMT "prepare cost=%d ok\n",
888 INDEP_DPFX_ARGS(indep), totalcost);
890 DPRINTF(movpos,eval, "movpos prepare %s/%s cost=%d ok\n",
891 move->i->pname, movpos_pname(move,target), totalcost);
895 indep_dispose(indep);
896 DPRINTF(movpos,entry, "movpos prepare %s/%s err=%s\n", move->i->pname,
897 movpos_pname(move,target), ec2str(ec));
901 static void indep_remove(MovPosChange *remv) {
904 DPRINTF(movpos,intern, INDEP_DPFX_FMT "remove...\n",
905 INDEP_DPFX_ARGS(remv));
908 for (i=0; i<remv->n_changes; i++) {
909 Change *chg= remv->changes[i];
910 if (!chg->installed) continue;
911 Method *meth= chg->meth;
914 DPRINTF(movpos,meth, METH_DPFX_FMT "remove...\n",
915 METH_DPFX_ARGS(remv,*meth));
916 meth->remove(meth, chg);
922 indep_install(MovPosChange *inst, int checknow) {
923 /* if this fails, inst may be left partially installed */
926 DPRINTF(movpos,intern, INDEP_DPFX_FMT "install checknow=%d...\n",
927 INDEP_DPFX_ARGS(inst), checknow);
931 for (i=0; i<inst->n_changes; i++) {
932 Change *chg= inst->changes[i];
933 assert(!chg->installed);
934 Method *meth= chg->meth;
937 ec= meth->install(meth, chg);
938 DPRINTF(movpos,meth, METH_DPFX_FMT "install=%s\n",
939 METH_DPFX_ARGS(inst,*meth), ec2str(ec));
945 ec= meth->check(meth);
946 DPRINTF(movpos,meth, METH_DPFX_FMT "check=%s\n",
947 METH_DPFX_ARGS(inst,*meth), ec2str(ec));
958 static void indep_check_execute(void) {
959 DPRINTF(movpos,intern, "movpos indep_check_execute\n");
961 Method **methwalk, *meth;
962 for (methwalk= methods; (meth= *methwalk); methwalk++) {
963 if (meth->needcheck) {
964 ErrorCode ec= meth->check(meth);
965 DPRINTF(movpos,meth, "%s check=%s\n", meth->pname, ec2str(ec));
969 if (meth->needexec) {
971 DPRINTF(movpos,meth, "%s execute...\n", meth->pname);
977 /*---------- entrypoints from rest of program ----------*/
980 movpos_reserve(Segment *move, int maxdelay_ms, MovPosChange **res_r,
981 MovPosComb target, MovPosComb startpoint /*as for findcomb*/) {
983 MovPosChange *indep= 0;
985 DPRINTF(movpos,entry, "movpos reserve %s/%s maxdelay=%dms startpoint=%s\n",
986 move->i->pname, movpos_pname(move,target),
987 maxdelay_ms, movpos_pname(move,startpoint));
989 ec= indep_prepare(move,target, startpoint,
994 ec= indep_install(indep, 1);
997 indep_check_execute();
999 DPRINTF(movpos,entry, "movpos reserve %s/%s ok\n",
1000 move->i->pname, movpos_pname(move,target));
1005 indep_remove(indep);
1006 indep_dispose(indep);
1007 indep_check_execute();
1009 DPRINTF(movpos,entry, "movpos reserve %s/%s err=%s\n",
1010 move->i->pname, movpos_pname(move,target), ec2str(ec));
1014 ErrorCode movpos_findcomb_bysegs(Segment *back, Segment *move, Segment *fwd,
1015 MovPosComb startpoint, MovPosComb *chosen_r) {
1016 const SegmentInfo *movei= move->i;
1017 MovPosComb tcomb, bestcomb=-1;
1018 int tcost, bestcost=INT_MAX;
1019 const SegPosCombInfo *pci;
1021 DPRINTF(movpos,eval, "movpos_findcomb_bysegs %s-%s-%s <-%s\n",
1022 back ? back->i->pname : "*", move->i->pname,
1023 fwd ? fwd ->i->pname : "*", movpos_pname(move, startpoint));
1025 for (tcomb=0, pci=movei->poscombs;
1026 tcomb<movei->n_poscombs;
1028 /* these next assignments may generate segments[-1] but we don't
1029 * care because that won't compare equal to back or fwd */
1030 Segment *tback= &segments[pci->link[1].next];
1031 Segment *tfwd= &segments[pci->link[0].next];
1033 DPRINTF(movpos,intern, "movpos_findcomb_bysegs ... %s : %s-%s-%s\n",
1034 movpos_pname(move, tcomb),
1035 SOMEP(pci->link[1].next) ? tback->i->pname : "#",
1037 SOMEP(pci->link[0].next) ? tfwd->i->pname : "#");
1039 if (back && !(back==tback || back==tfwd)) continue;
1040 if (fwd && !(fwd ==tback || fwd ==tfwd)) continue;
1042 /* we have to search for the one which is least effort */
1043 ErrorCode ec= indep_prepare(move,tcomb,startpoint, -1,0, 0,&tcost);
1046 if (tcost >= bestcost) /* prefer low-numbered movposcombs */
1052 DPRINTF(movpos,entry, "movpos_findcomb_bysegs %s..%s..%s <-%s => %s/%s\n",
1053 back ? back->i->pname : "-", move->i->pname,
1054 fwd ? fwd ->i->pname : "-", movpos_pname(move, startpoint),
1055 move->i->pname, movpos_pname(move,bestcomb));
1057 if (chosen_r) *chosen_r= bestcomb;
1059 bestcost==INT_MAX ? EC_MovFeatRouteNotFound :
1063 ErrorCode movpos_change(Segment *move, MovPosComb target,
1064 int maxdelay_ms, MovPosChange *resv) {
1069 if (!move->moving) {
1070 actual= move->movposcomb;
1071 assert(!move->motion);
1073 actual= move->motion->actual;
1076 DPRINTF1(movpos,entry, "movpos change %s/%s maxdelay=%dms actual=%s",
1077 move->i->pname, movpos_pname(move, target),
1078 maxdelay_ms, movpos_pname(move, actual));
1079 if (resv) DPRINTF2(" resv=%s/%s",
1080 resv->move->i->pname,
1081 movpos_pname(resv->move, resv->target));
1082 if (move->motion) DPRINTF2(" oldmotion=/%s",
1083 movpos_pname(move, move->motion->target));
1086 MovPosChange *inst= 0;
1088 ec= indep_prepare(move,target, actual,
1094 indep_remove(move->motion);;
1096 ec= indep_install(inst, 1);
1099 indep_dispose(resv);
1100 indep_dispose(move->motion);
1105 inst->refcount++; /* prevents method_change_done from destroying it */
1107 ouposn_moving(inst);
1108 indep_check_execute();
1111 if (!inst->n_changes)
1113 indep_indep_done(inst);
1115 DPRINTF(movpos,entry, "movpos change %s/%s ok\n",
1116 move->i->pname, movpos_pname(move, target));
1121 indep_dispose(inst);
1122 ec= indep_install(move->motion, 0); assert(!ec);
1123 ec= indep_install(resv, 0); assert(!ec);
1124 indep_check_execute();
1126 DPRINTF(movpos,entry, "movpos change %s/%s err=%s\n",
1127 move->i->pname, movpos_pname(move, target), ec2str(ec));
1131 void movpos_unreserve(MovPosChange *resv) {
1133 DPRINTF(movpos,entry, "movpos unreserve %s/%s...\n",
1134 resv->move->i->pname, movpos_pname(resv->move, resv->target));
1136 indep_dispose(resv);
1137 indep_check_execute();
1140 MovPosComb movpos_change_intent(MovPosChange *indep) {
1141 return indep->target;
1144 void motions_all_abandon(void) {
1147 DPRINTF(movpos,entry, "movpos motions_all_abandon...\n");
1149 if (!seg->moving) continue;
1151 MovPosChange *abandon= seg->motion;
1152 indep_remove(abandon);
1153 seg->movposcomb= abandon->actual;
1156 indep_dispose(abandon);
1158 for (meth=methods; *meth; meth++)
1159 (*meth)->all_abandon(*meth);