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 const char *movpos_pname(const Segment *move, MovPosComb poscomb) {
112 return !SOMEP(poscomb) ? "?" : move->i->poscombs[poscomb].pname;
115 static void ouposn_moving(const MovPosChange *indep) {
116 Segment *move= indep->move;
117 ouprintf("movpos %s position %s moving\n",
119 indep->actualunk ? "?" : movpos_pname(move, indep->actualpos));
121 static void ouposn_stable(const Segment *move) {
122 ouprintf("movpos %s position %s stable\n",
123 move->i->pname, movpos_pname(move, move->movposcomb));
125 static void ouposn_feat(const Segment *move, const MovFeatInfo *feati,
126 MovPosComb posn, const Method *m) {
127 ouprintf("movpos %s feat %s %d %s\n", move->i->pname,
128 feati->pname, posn, m->pname);
131 MovPosComb movposcomb_update_feature(MovPosComb startpoint,
132 const MovFeatInfo *mfi,
134 MovPosComb above_weight= mfi->weight * mfi->posns;
135 MovPosComb above= startpoint / above_weight;
136 MovPosComb below= startpoint % mfi->weight;
137 return above*above_weight + featpos*mfi->weight + below;
140 static void ignore_all_abandon(Method *m) { }
142 /*========== points and other fixed timeslot movfeats ==========*/
145 * We maintain two queues, one for reserved one for actually confirmed
146 * requests where we know what we're doing.
148 * We divide time into discrete slots, numbered with clock arithmetic.
150 * cslot cslot+1 cslot+2
152 * currently next in after
155 * We increment cslot when we consider the movfeat to move;
156 * for points and relays this is when we issue the command to the PIC.
157 * In a request, the deadline represents the latest allowable value
158 * of cslot just before that increment.
161 typedef unsigned FsqSlot;
162 typedef int FsqSlotSigned;
164 #define FSQDN (~(FsqSlot)0)
166 typedef struct { /* state Prep Resv Inst Resv Prep Conf Inst Conf */
167 Change h; /* in queue? absent reserved absent confirmed */
168 FsqSlot deadline; /* relative relative absolute absolute */
169 int n_motions; /* 1 1 num undone num undone */
170 Motion motions[]; /* [0].i: 0 0 non-0 non-0 */
171 /* .posn: undef undef defined defined */
174 #define FSQ_MAX_QUEUE 15
178 FsqReq *l[FSQ_MAX_QUEUE];
181 typedef struct FsqMethod FsqMethod;
184 /* set by fsq's client before fsq_init */
186 void (*move)(FsqMethod *m, const MovFeatInfo *mfi, int movfeatposn);
188 int ready; /* >0 means ready; set to 0 by fsq just before move */
189 /* fsq's client must arrange that these start out at all-bits-zero */
191 FsqQueue confirmed, reserved;
197 /* client may put things here */
200 static void fsq_check_action(FsqMethod *m);
201 static ErrorCode fsq_check_plan(FsqMethod *m);
203 static FsqSlotSigned fsq_maxdelay_reldeadline(FsqMethod *m,
204 int maxdelay_ms, int n_motions) {
205 if (maxdelay_ms==-1) return FSQ_MAX_QUEUE*16;
206 return (maxdelay_ms - m->f.lag_ms) / m->f.slot_ms - n_motions;
209 static void fsq_queue_remove_index(FsqQueue *q, int index) {
211 memmove(&q->l[index], &q->l[index+1], sizeof(q->l[0]) * (q->n - index));
214 static int fsq_req_compar_approx(const void *av, const void *bv) {
215 FsqReq *const *a= av;
216 FsqReq *const *b= av;
217 FsqSlotSigned dldiff= (*b)->deadline - (*a)->deadline;
221 static void fsq_queue_remove_item(FsqQueue *q, FsqReq *r) {
224 entry= bsearch(r, q->l, q->n, sizeof(q->l[0]), fsq_req_compar_approx);
227 #define SEARCH_CHECK do{ \
228 if (q->l[i] == r) goto found; \
229 if (q->l[i]->deadline != r->deadline) break; \
231 for(i= entry - q->l; i >= 0; i--) SEARCH_CHECK;
232 for(i= entry - q->l + 1; i < q->n; i++) SEARCH_CHECK;
236 fsq_queue_remove_index(q, i);
239 static FsqQueue *fsq_item_queue(FsqMethod *m, FsqReq *r)
240 { return r->motions[0].i ? &m->f.confirmed : &m->f.reserved; }
244 whichwhen= wh##when, \
247 static ErrorCode fsq_check_plan(FsqMethod *m) {
248 /* Checks whether we can meet the currently queued commitments */
249 /* if this fails, indep machinery calls fsq_prepare to dequeue */
250 int future, conf, resv, whichwhen, DP;
256 DPRINTF1(movpos,fsq, "%s plan", m->m.pname);
258 /* If CDU isn't charged we can't do one right away */
265 FsqReq *confr= conf < m->f.confirmed.n ? m->f.confirmed.l[conf] : 0;
266 FsqReq *resvr= resv < m->f.reserved .n ? m->f.reserved .l[resv] : 0;
267 if (!confr && !resvr) break;
268 DPRINTF2(" %d:",future);
269 int confwhen= confr ? confr->deadline - m->f.cslot : INT_MAX;
270 int resvwhen= resvr ? resvr->deadline : INT_MAX;
271 if (future && resvwhen < confwhen) {
272 WHICH(resv); DPRINTF2("~");
276 future++; DPRINTF2("-");
279 DPRINTF2("%s/%s[%d@t+%d]", whichr->h.indep->move->i->pname,
280 movpos_pname(whichr->h.indep->move, whichr->h.indep->target),
281 whichr->n_motions, whichwhen);
282 if (future > whichwhen) {
283 DPRINTF2("!...bad\n");
284 return EC_MovFeatTooLate;
286 future += whichr->n_motions;
294 static ErrorCode fsq_queue_insert_item(FsqMethod *m, FsqQueue *q, FsqReq *r) {
297 if (q->n == FSQ_MAX_QUEUE)
298 return EC_BufferFull;
301 insat>0 && (FsqSlotSigned)(r->deadline - q->l[insat-1]->deadline) < 0;
303 q->l[insat]= q->l[insat-1];
310 static void fsq_item_debug(FsqMethod *m, FsqReq *r, const char *opwhat) {
312 Segment *move= r->h.indep->move;
313 DPRINTF1(movpos,fsq, "%s %s %s", m->m.pname, opwhat, move->i->pname);
314 if (r->motions[0].i) {
317 for (i=0, mo=r->motions; i<r->n_motions; i++, mo++)
318 DPRINTF2("/%s%d", mo->i->pname, (int)mo->posn);
321 DPRINTF2("(%d)\n", r->n_motions);
325 static ErrorCode fsq_enqueue(FsqMethod *m, FsqReq *r) { /* P->I; err: P->P */
327 fsq_item_debug(m,r,"enqueue");
328 return fsq_queue_insert_item(m, fsq_item_queue(m,r), r);
331 static void fsq_dequeue(FsqMethod *m, FsqReq *r) { /* I->P */
333 fsq_item_debug(m,r,"dequeue");
334 fsq_queue_remove_item(fsq_item_queue(m,r), r);
337 /*---------- method entrypoints ----------*/
339 static ErrorCode fsq_prepare(Method *mm, const Segment *move,
340 int n_motions, const Motion *motions,
341 int ms, int confirmation,
342 Change **chg_r, int *cost_r) {
343 FsqMethod *m= (void*)mm;
345 assert(n_motions > 0);
347 FsqSlotSigned reldeadline= fsq_maxdelay_reldeadline(m, ms, n_motions);
348 if (reldeadline <= 0) return EC_MovFeatTooLate;
351 int alloc_motions= confirmation ? n_motions : 1;
352 /* we need at least one motion in the table so we can tell
353 * the difference between the states by looking at motions[0].i */
354 FsqReq *r= mmalloc(sizeof(*r) + alloc_motions * sizeof(r->motions[0]));
355 r->n_motions= n_motions;
357 r->deadline= reldeadline + m->f.cslot;
358 memcpy(r->motions, motions, sizeof(*r->motions)*n_motions);
360 r->deadline= reldeadline;
366 *cost_r= n_motions * m->f.slot_ms;
372 static void fsq_dispose(Method *mm, Change *chg) {
373 FsqReq *r= (FsqReq*)chg;
377 static void fsq_remove(Method *mm, Change *remvchg) {
378 FsqMethod *m= (void*)mm;
379 FsqReq *remv= (FsqReq*)remvchg;
381 fsq_dequeue(m, remv);
384 static ErrorCode fsq_install(Method *mm, Change *instchg) {
385 FsqMethod *m= (void*)mm;
386 FsqReq *inst= (FsqReq*)instchg;
388 return fsq_enqueue(m, inst);
391 static ErrorCode fsq_check(Method *mm) {
392 FsqMethod *m= (void*)mm;
393 ErrorCode ec= fsq_check_plan(m);
397 static void fsq_execute(Method *mm) {
398 FsqMethod *m= (void*)mm;
402 /*---------- something to do ? ----------*/
404 static void fsq_check_action(FsqMethod *m) {
405 /* client should call this after it sets ready */
408 if (!m->f.confirmed.n) {
409 if (sta_state == Sta_Finalising) resolve_motioncheck();
413 FsqReq *r= m->f.confirmed.l[0];
415 if (r->n_motions && m->f.ready>0) {
416 /* look for something to move */
417 Motion *mo= &r->motions[--r->n_motions];
418 assert(mo->posn < mo->i->posns);
420 m->f.move(m, mo->i, mo->posn);
423 method_update_feature(&m->m, r->h.indep, mo);
427 fsq_queue_remove_index(&m->f.confirmed, 0);
428 method_change_done(&m->m, &r->h);
429 m->m.dispose(&m->m, &r->h);
431 ec= fsq_check_plan(m); assert(!ec);
436 /*========== points ==========*/
439 * CDU and point queue states:
442 * ____________ conf'd
443 * / points_ \ ready .n
447 * |from INACTIVE -1 0
448 * |any <=Sta_Settling
451 * ___________ |turning
462 * | |fsq_check_action
463 * | | calls point_move which fires a point
468 #define CDU_RECHARGE 350 /*ms*/
469 #define POINT_MOVEMENT 50 /*ms*/
471 static ErrorCode point_prepare(Method *mm, const Segment *move,
472 int n_motions, const Motion *motions,
473 int ms, int confirmation,
474 Change **chg_r, int *cost_r) {
475 FsqMethod *m= (void*)mm;
476 assert(m->f.ready>=0);
477 return fsq_prepare(mm,move, n_motions,motions,
478 ms,confirmation, chg_r,cost_r);
481 static void point_move(FsqMethod *m, const MovFeatInfo *mfi, int posn) {
482 /* actually firing points, yay! */
484 enco_pic_point(&piob, mfi->boob[posn]);
485 serial_transmit(&piob);
488 static void points_all_abandon(Method *mm) {
489 FsqMethod *m= (void*)mm;
493 static FsqMethod points_method;
495 void points_turning_on(void) {
496 FsqMethod *m= &points_method;
499 void on_pic_charged(const PicInsnInfo *pii, const PicInsn *pi, int objnum) {
500 FsqMethod *m= &points_method;
501 if (m->f.ready<0) return;
506 static FsqMethod points_method= {
508 point_prepare, fsq_dispose,
509 fsq_install, fsq_remove,
510 fsq_check, fsq_execute, points_all_abandon },
511 { .lag_ms= POINT_MOVEMENT, .slot_ms= CDU_RECHARGE, .move= point_move }
514 /*========== relays ==========*/
519 * ____________ conf'd
520 * / wagglers_ \ ready .n
525 * |any <=Sta_Settling
528 * ___________ |turning
539 * | |fsq_check_action
540 * | | calls waggle_do which switches a relay
545 static FsqMethod waggle;
547 static void waggle_do(FsqMethod *m, const MovFeatInfo *mfi, int posn) {
548 /* actually setting relays */
550 enco_pic_waggle(&piob, mfi->boob[0], posn);
551 serial_transmit(&piob);
554 static SegmentNum waggle_settle_seg;
555 static int waggle_settle_feat;
557 static void waggle_settle_check(void) {
559 if (waggle_settle_seg >= info_nsegments) return;
561 Segment *seg= &segments[waggle_settle_seg];
562 if (waggle_settle_feat >= seg->i->n_movfeats) {
563 waggle_settle_seg++; waggle_settle_feat=0; continue;
566 const MovFeatInfo *feati= &seg->i->movfeats[waggle_settle_feat];
567 if (feati->kind != mfk_relay) {
568 waggle_settle_feat++; continue;
572 waggle_do(&waggle, feati, (seg->movposcomb / feati->weight) & 1);
573 waggle_settle_feat++;
577 void waggle_startup_manual(void) {
581 void waggle_settle(void) {
582 waggle_settle_seg= 0;
583 waggle_settle_feat= 0;
585 waggle_settle_check();
588 void on_pic_waggled(const PicInsnInfo *pii, const PicInsn *pi, int objnum) {
589 if (sta_state == Sta_Settling) {
591 waggle_settle_check();
592 } else if (sta_state >= Sta_Resolving || sta_state == Sta_Manual) {
594 fsq_check_action(&waggle);
599 static FsqMethod waggle= {
601 fsq_prepare, fsq_dispose,
602 fsq_install, fsq_remove,
603 fsq_check, fsq_execute, ignore_all_abandon },
604 { .lag_ms= 5, .slot_ms= 50, .move= waggle_do }
607 /*========== dummy `nomove' kind ==========*/
609 typedef struct NomoveChange {
611 DLIST_NODE(struct NomoveChange) inqueue;
612 int n_motions; /* 0 for reservations */
618 NomoveChange *queuehead; /* contains confirmations only */
621 static ErrorCode nomove_prepare(Method *meth_in, const Segment *move,
622 int n_motions, const Motion *motions,
623 int ms, int confirming,
624 Change **chg_r, int *cost_r) {
628 if (!confirming) n_motions= 0;
629 chg= mmalloc(sizeof(*chg) + sizeof(Motion)*n_motions);
630 chg->n_motions= n_motions;
631 memcpy(chg->motions, motions, sizeof(Motion)*n_motions);
638 static void nomove_dispose(Method *mm, Change *remvchg) {
639 NomoveChange *remv= (void*)remvchg;
643 static ErrorCode nomove_install(Method *mm, Change *instchg) {
644 NomoveMethod *meth= (void*)mm;
645 NomoveChange *inst= (void*)instchg;
647 DLIST1_PREPEND(meth->queuehead, inst, inqueue);
650 static void nomove_remove(Method *mm, Change *remvchg) {
651 NomoveMethod *meth= (void*)mm;
652 NomoveChange *remv= (void*)remvchg;
654 DLIST1_REMOVE(meth->queuehead, remv, inqueue);
657 static ErrorCode nomove_check(Method *mm) { return 0; }
659 static void nomove_execute(Method *mm) {
660 NomoveMethod *meth= (void*)mm;
663 while ((done= meth->queuehead)) {
664 assert(done->n_motions);
666 for (i=0; i<done->n_motions; i++)
667 method_update_feature(&meth->m, done->h.indep, &done->motions[i]);
668 method_change_done(&meth->m, &done->h);
669 DLIST1_REMOVE(meth->queuehead, done, inqueue);
670 nomove_dispose(&meth->m, &done->h);
674 static Method nomove_method= {
676 nomove_prepare, nomove_dispose,
677 nomove_install, nomove_remove,
678 nomove_check, nomove_execute, ignore_all_abandon
681 /*========== method-independent machinery ==========*/
683 #define INDEP_DBG_FMT "<%p:%s/%s[%d]>"
684 #define INDEP_DBG_ARGS(in) (in), \
685 ((in)->move->i->pname), (movpos_pname((in)->move, (in)->target)), \
688 #define INDEP_DPFX_FMT "movpos " INDEP_DBG_FMT " "
689 #define INDEP_DPFX_ARGS(in) INDEP_DBG_ARGS((in))
691 #define METH_DPFX_FMT "%s " INDEP_DBG_FMT " "
692 #define METH_DPFX_ARGS(indep, meth) ((meth).pname), INDEP_DBG_ARGS((indep))
694 static void indep_indep_done(Indep *indep);
696 static Method *methods[]= {
697 [mfk_none] = (Method*)&nomove_method,
698 [mfk_point] = (Method*)&points_method,
699 [mfk_relay] = (Method*)&waggle,
703 /*---------- entrypoints from methods ----------*/
705 static void method_update_feature(Method *m, MovPosChange *indep,
707 int featix= mo->i - indep->move->i->movfeats;
708 assert(featix >= 0 && featix < indep->move->i->n_movfeats);
709 ouposn_feat(indep->move, mo->i, mo->posn, m);
711 movposcomb_update_feature(indep->actualpos, mo->i, mo->posn);
712 indep->actualunk &= (~(UnkMap)1 << featix);
713 ouposn_moving(indep);
716 static void method_change_done(Method *m, Change *chg) {
717 Indep *indep= chg->indep;
720 DPRINTF(movpos,meth, METH_DPFX_FMT "method_change_done...\n",
721 METH_DPFX_ARGS(indep,*m));
723 for (search=indep->changes; *search; search++)
724 if ((*search) == chg) goto found;
725 assert(!"change in indep");
729 if (indep->n_changes) {
730 *search= indep->changes[indep->n_changes];
734 if (!indep->refcount)
735 indep_indep_done(indep);
738 static void indep_indep_done(Indep *indep) {
740 Segment *move= indep->move;
743 move->movposcomb= indep->target;
748 /*---------- internal core machinery ----------*/
750 static Method *feature_method(const MovFeatInfo *feati) {
751 assert(feati->kind >= 0);
752 assert(feati->kind < ARRAY_SIZE(methods));
753 Method *meth= methods[feati->kind];
758 static int change_needed(int featix, const MovFeatInfo *feati,
759 MovPosComb startpointpos, UnkMap startpointunk,
763 r= (startpointunk & ((UnkMap)1 << featix)) ||
764 (target / feati->weight) % feati->posns -
765 (startpointpos / feati->weight) % feati->posns;
767 if (DEBUGP(movpos,eval))
768 DPRINTFA(" { %s:%s(%d*%d) %d..%d => %d }",
769 feature_method(feati)->pname, feati->pname,
770 feati->posns, feati->weight,
771 startpointpos, target, r);
775 static void indep_dispose(MovPosChange *indep) {
778 DPRINTF(movpos,intern, INDEP_DPFX_FMT "dispose...\n",
779 INDEP_DPFX_ARGS(indep));
782 for (changei=0; changei<indep->n_changes; changei++) {
783 Change *chg= indep->changes[changei];
786 Method *meth= chg->meth;
787 DPRINTF(movpos,meth, METH_DPFX_FMT "dispose...\n",
788 METH_DPFX_ARGS(indep,*meth));
789 meth->dispose(meth, chg);
794 #define EVAL_MAX_METHODS 2
795 #define EVAL_MAX_MOTIONS 2
797 static ErrorCode indep_prepare(Segment *move, MovPosComb target,
798 MovPosComb startpointpos,
799 int ms, int confirming,
800 MovPosChange **indep_r /* 0 ok */,
801 int *cost_r /* 0 ok */) {
803 static Method *meths[EVAL_MAX_METHODS];
804 static int n_motions[EVAL_MAX_METHODS];
805 static Motion motions[EVAL_MAX_METHODS][EVAL_MAX_MOTIONS];
807 const SegmentInfo *movei= move->i;
809 UnkMap startpointunk;
811 MovPosChange *indep=0;
813 DPRINTF1(movpos,eval, "movpos prepare %s/%s <-%s", move->i->pname,
814 movpos_pname(move,target), movpos_pname(move,startpointpos));
816 if (SOMEP(startpointpos)) {
820 startpointpos= move->motion->actualpos;
821 startpointunk= move->motion->actualunk;
822 } else if (SOMEP(move->movposcomb)) {
823 startpointpos= move->movposcomb;
827 startpointunk= ((UnkMap)1 << move->i->n_movfeats) - 1;
829 DPRINTF2(" actual <-%s&%"PRunkx, movpos_pname(move,startpointpos),
835 for (feat=0; feat<movei->n_movfeats; feat++) {
836 const MovFeatInfo *feati= &movei->movfeats[feat];
837 if (!change_needed(feat,feati,
838 startpointpos,startpointunk,
841 MovPosComb posn= target / feati->weight % feati->posns;
842 Method *meth= feature_method(feati);
845 for (methi=0; methi<n_meths; methi++)
846 if (meths[methi] == meth) goto found_method;
847 /* need a new method */
849 if (methi >= EVAL_MAX_METHODS) {
850 DPRINTF2(" MovFeatTooManyMethods methi=%d\n",methi);
851 return EC_MovFeatTooManyMethods;
855 DPRINTF2(" meths[%d]=%s", methi,meth->pname);
858 int motioni= n_motions[methi]++;
859 if (motioni >= EVAL_MAX_MOTIONS) {
860 DPRINTF2(" MovFeatTooManyMotions motioni=%d\n",motioni);
861 return EC_MovFeatTooManyMotions;
863 DPRINTF2(" motion[%d][%d]=%s%d", methi, motioni, feati->pname,posn);
864 motions[methi][motioni].i= feati;
865 motions[methi][motioni].posn= posn;
870 indep= mmalloc(sizeof(*indep) + sizeof(Change*) * n_meths);
872 indep->actualpos= startpointpos;
873 indep->actualunk= startpointunk;
874 indep->target= target;
875 indep->n_changes= n_meths;
877 memset(indep->changes, 0, sizeof(Change*) * n_meths);
885 for (changei=0; changei<n_meths; changei++) {
886 Method *meth= meths[changei];
892 DPRINTF(movpos,meth, METH_DPFX_FMT "prepare n_motions=%d...\n",
893 METH_DPFX_ARGS(indep,*meth), n_motions[changei]);
895 DPRINTF(movpos,meth, "%s prepare (costing) n_motions=%d...\n",
896 meth->pname, n_motions[changei]);
898 ec= meth->prepare(meth,move,
899 n_motions[changei],motions[changei],
901 indep ? &indep->changes[changei] : 0,
905 Change *chg= indep->changes[changei];
910 totalcost += thiscost;
913 if (indep_r) *indep_r= indep;
914 if (cost_r) *cost_r= totalcost;
917 DPRINTF(movpos,eval, INDEP_DPFX_FMT "prepare cost=%d ok\n",
918 INDEP_DPFX_ARGS(indep), totalcost);
920 DPRINTF(movpos,eval, "movpos prepare %s/%s cost=%d ok\n",
921 move->i->pname, movpos_pname(move,target), totalcost);
925 indep_dispose(indep);
926 DPRINTF(movpos,entry, "movpos prepare %s/%s err=%s\n", move->i->pname,
927 movpos_pname(move,target), ec2str(ec));
931 static void indep_remove(MovPosChange *remv) {
934 DPRINTF(movpos,intern, INDEP_DPFX_FMT "remove...\n",
935 INDEP_DPFX_ARGS(remv));
938 for (i=0; i<remv->n_changes; i++) {
939 Change *chg= remv->changes[i];
940 if (!chg->installed) continue;
941 Method *meth= chg->meth;
944 DPRINTF(movpos,meth, METH_DPFX_FMT "remove...\n",
945 METH_DPFX_ARGS(remv,*meth));
946 meth->remove(meth, chg);
952 indep_install(MovPosChange *inst, int checknow) {
953 /* if this fails, inst may be left partially installed */
956 DPRINTF(movpos,intern, INDEP_DPFX_FMT "install checknow=%d...\n",
957 INDEP_DPFX_ARGS(inst), checknow);
961 for (i=0; i<inst->n_changes; i++) {
962 Change *chg= inst->changes[i];
963 assert(!chg->installed);
964 Method *meth= chg->meth;
967 ec= meth->install(meth, chg);
968 DPRINTF(movpos,meth, METH_DPFX_FMT "install=%s\n",
969 METH_DPFX_ARGS(inst,*meth), ec2str(ec));
975 ec= meth->check(meth);
976 DPRINTF(movpos,meth, METH_DPFX_FMT "check=%s\n",
977 METH_DPFX_ARGS(inst,*meth), ec2str(ec));
988 static void indep_check_execute(void) {
989 DPRINTF(movpos,intern, "movpos indep_check_execute\n");
991 Method **methwalk, *meth;
992 for (methwalk= methods; (meth= *methwalk); methwalk++) {
993 if (meth->needcheck) {
994 ErrorCode ec= meth->check(meth);
995 DPRINTF(movpos,meth, "%s check=%s\n", meth->pname, ec2str(ec));
999 if (meth->needexec) {
1001 DPRINTF(movpos,meth, "%s execute...\n", meth->pname);
1002 meth->execute(meth);
1007 /*---------- entrypoints from rest of program ----------*/
1010 movpos_reserve(Segment *move, int maxdelay_ms, MovPosChange **res_r,
1011 MovPosComb target, MovPosComb startpoint /*as for findcomb*/) {
1013 MovPosChange *indep= 0;
1015 DPRINTF(movpos,entry, "movpos reserve %s/%s maxdelay=%dms startpoint=%s\n",
1016 move->i->pname, movpos_pname(move,target),
1017 maxdelay_ms, movpos_pname(move,startpoint));
1019 ec= indep_prepare(move,target, startpoint,
1024 ec= indep_install(indep, 1);
1027 indep_check_execute();
1029 DPRINTF(movpos,entry, "movpos reserve %s/%s ok\n",
1030 move->i->pname, movpos_pname(move,target));
1035 indep_remove(indep);
1036 indep_dispose(indep);
1037 indep_check_execute();
1039 DPRINTF(movpos,entry, "movpos reserve %s/%s err=%s\n",
1040 move->i->pname, movpos_pname(move,target), ec2str(ec));
1044 ErrorCode movpos_findcomb_bysegs(Segment *back, Segment *move, Segment *fwd,
1045 MovPosComb startpoint, MovPosComb *chosen_r) {
1046 const SegmentInfo *movei= move->i;
1047 MovPosComb tcomb, bestcomb=-1;
1048 int tcost, bestcost=INT_MAX;
1049 const SegPosCombInfo *pci;
1051 DPRINTF(movpos,eval, "movpos_findcomb_bysegs %s-%s-%s <-%s\n",
1052 back ? back->i->pname : "*", move->i->pname,
1053 fwd ? fwd ->i->pname : "*", movpos_pname(move, startpoint));
1055 for (tcomb=0, pci=movei->poscombs;
1056 tcomb<movei->n_poscombs;
1058 /* these next assignments may generate segments[-1] but we don't
1059 * care because that won't compare equal to back or fwd */
1060 Segment *tback= &segments[pci->link[1].next];
1061 Segment *tfwd= &segments[pci->link[0].next];
1063 DPRINTF(movpos,intern, "movpos_findcomb_bysegs ... %s : %s-%s-%s\n",
1064 movpos_pname(move, tcomb),
1065 SOMEP(pci->link[1].next) ? tback->i->pname : "#",
1067 SOMEP(pci->link[0].next) ? tfwd->i->pname : "#");
1069 if (back && !(back==tback || back==tfwd)) continue;
1070 if (fwd && !(fwd ==tback || fwd ==tfwd)) continue;
1072 /* we have to search for the one which is least effort */
1073 ErrorCode ec= indep_prepare(move,tcomb,startpoint, -1,0, 0,&tcost);
1076 if (tcost >= bestcost) /* prefer low-numbered movposcombs */
1082 DPRINTF(movpos,entry, "movpos_findcomb_bysegs %s..%s..%s <-%s => %s/%s\n",
1083 back ? back->i->pname : "-", move->i->pname,
1084 fwd ? fwd ->i->pname : "-", movpos_pname(move, startpoint),
1085 move->i->pname, movpos_pname(move,bestcomb));
1087 if (chosen_r) *chosen_r= bestcomb;
1089 bestcost==INT_MAX ? EC_MovFeatRouteNotFound :
1093 ErrorCode movpos_change(Segment *move, MovPosComb target,
1094 int maxdelay_ms, MovPosChange *resv) {
1098 DPRINTF1(movpos,entry, "movpos change %s/%s maxdelay=%dms",
1099 move->i->pname, movpos_pname(move, target), maxdelay_ms);
1100 if (resv) DPRINTF2(" resv=%s/%s",
1101 resv->move->i->pname,
1102 movpos_pname(resv->move, resv->target));
1103 if (move->motion) DPRINTF2(" oldmotion=/%s",
1104 movpos_pname(move, move->motion->target));
1107 MovPosChange *inst= 0;
1109 ec= indep_prepare(move,target, NOTA(MovPosComb),
1115 indep_remove(move->motion);;
1117 ec= indep_install(inst, 1);
1120 indep_dispose(resv);
1121 indep_dispose(move->motion);
1126 inst->refcount++; /* prevents method_change_done from destroying it */
1128 ouposn_moving(inst);
1129 indep_check_execute();
1132 if (!inst->n_changes)
1134 indep_indep_done(inst);
1136 DPRINTF(movpos,entry, "movpos change %s/%s ok\n",
1137 move->i->pname, movpos_pname(move, target));
1142 indep_dispose(inst);
1143 ec= indep_install(move->motion, 0); assert(!ec);
1144 ec= indep_install(resv, 0); assert(!ec);
1145 indep_check_execute();
1147 DPRINTF(movpos,entry, "movpos change %s/%s err=%s\n",
1148 move->i->pname, movpos_pname(move, target), ec2str(ec));
1152 void movpos_unreserve(MovPosChange *resv) {
1154 DPRINTF(movpos,entry, "movpos unreserve %s/%s...\n",
1155 resv->move->i->pname, movpos_pname(resv->move, resv->target));
1157 indep_dispose(resv);
1158 indep_check_execute();
1161 MovPosComb movpos_change_intent(MovPosChange *indep) {
1162 return indep->target;
1165 void motions_all_abandon(void) {
1168 DPRINTF(movpos,entry, "movpos motions_all_abandon...\n");
1170 if (!seg->moving) continue;
1172 MovPosChange *abandon= seg->motion;
1173 indep_remove(abandon);
1174 seg->movposcomb= abandon->actualunk ? NOTA(MovPosComb) : abandon->actualpos;
1177 indep_dispose(abandon);
1179 for (meth=methods; *meth; meth++)
1180 (*meth)->all_abandon(*meth);
1183 void movpos_reportall(void) {
1188 assert(!seg->moving);
1189 if (seg->i->n_poscombs <= 1) continue;
1191 if (SOMEP(seg->movposcomb)) {
1192 for (feat=0; feat<seg->i->n_movfeats; feat++) {
1193 const MovFeatInfo *feati= &seg->i->movfeats[feat];
1194 MovPosComb posn= (seg->movposcomb / feati->weight) % feati->posns;
1195 ouposn_feat(seg, feati, posn, feature_method(feati));