From 1665fbf95fb9c804f6e5b10433c11b26e22f2bd2 Mon Sep 17 00:00:00 2001
From: ian <ian>
Date: Mon, 19 Jun 2006 16:54:51 +0000
Subject: [PATCH] implemented actual_polarity_* now

---
 hostside/Makefile   |  1 +
 hostside/actual.c   | 47 +++++++++++++++++++++++++++++++++++++++------
 hostside/realtime.c | 29 +++++++++++++++++++++-------
 hostside/realtime.h |  6 ++++++
 layout/data2safety  |  2 +-
 5 files changed, 71 insertions(+), 14 deletions(-)

diff --git a/hostside/Makefile b/hostside/Makefile
index d4b1c0f..8908f19 100644
--- a/hostside/Makefile
+++ b/hostside/Makefile
@@ -23,6 +23,7 @@ on-bessar:	$(TARGETS)
 		RSYNC_RSH=fsh rsync $^ $(BESSAR)
 
 realtime:	realtime.o startup.o cdumgr.o safety.o trackloc.o	\
+		 actual.o						\
 		 cmdinput.o obc.o eventhelp.o				\
 		 utils.o serialio.o parseutils.o auproto-pic.o		\
 		 ../layout/ours.layout-data.o				\
diff --git a/hostside/actual.c b/hostside/actual.c
index d97195b..ef86d3a 100644
--- a/hostside/actual.c
+++ b/hostside/actual.c
@@ -3,16 +3,51 @@
  * implementation of safety algorithm's decisions
  */
 
-static int maxbytechange;
+#include "realtime.h"
+
 static PicInsn polarityinsn= { { 0x90 }, 0 };
 
+#define SEG						\
+  const SegmentInfo *segi= &info_segments[segn];
+
+#define OPONBIT_BYTE (polarityinsn.d[bytenum])
+#define OPONBIT(body) do{				\
+    BoardObject bo;					\
+    int bytenum, bitnum;				\
+    Byte bitv;						\
+							\
+    bo= segi->invert;					\
+    assert(bo);						\
+    bytenum= (bo + 3) / 7;				\
+    bitnum= bytenum ? 6 - (bo + 3) % 7 : 3 - bo;	\
+    bitv= 1u << bitnum;					\
+							\
+    { body }						\
+  }while(0)
+
+int picinsn_polarity_testbit(const PicInsn *pi, SegmentNum segn) {
+  SEG;
+  OPONBIT({
+    return !!(OPONBIT_BYTE & bitv);
+  });
+}
+
 void actual_inversions_start(void) {
-  polarityinsn.l= 0;
+  polarityinsn.l= (info_maxreverse + 4 + 6) / 7;
 }
 
-void actual_inversions_done(void) {
-  if (polarityinsn.l)
-    serial_transmit(&polarityinsn);
+void actual_inversions_segment(SegmentNum segn) {
+  SEG;
+  State *s= &safety_state;
+  const SegmentState *seg= &s->segments[segn];
+  
+  OPONBIT({
+    Byte *insnbyte= &OPONBIT_BYTE;
+    if (seg->seg_inverted) *insnbyte |= bitv;
+    else *insnbyte &= ~bitv;
+  });
 }
 
-void actual_inversions_segment(SegmentNum);
+void actual_inversions_done(void) {
+  serial_transmit(&polarityinsn);
+}
diff --git a/hostside/realtime.c b/hostside/realtime.c
index d94598e..4827ab3 100644
--- a/hostside/realtime.c
+++ b/hostside/realtime.c
@@ -114,13 +114,28 @@ void serial_transmit(const PicInsn *pi) {
   const PicInsnInfo *pii;
   int objnum;
 
-  fixme decode polarity
-  picinsn_decode(pi, pic_command_infos, &pii, &objnum);
-
-  if (!pii)
-    oprintf(UPO, "picio out unknown\n");
-  else
-    oupicio("out",pii,objnum);
+  if ((pi->d[0] & 0xf8) == 0x90) {
+    SegmentNum segn;
+    const SegmentInfo *segi;
+    const char *delim;
+    
+    oprintf(UPO,"picio out polarity <");
+    for (segn=0, segi=info_segments, delim="";
+	 segn < info_nsegments;
+	 segn++, segi++) {
+      if (!segi->invertible) continue;
+      if (!picinsn_polarity_testbit(pi,segn)) continue;
+      oprintf(UPO,"%s%s", delim, segi->pname);
+      delim= ",";
+    }
+    oprintf(UPO,">\n");
+  } else {
+    picinsn_decode(pi, pic_command_infos, &pii, &objnum);
+    if (!pii)
+      oprintf(UPO, "picio out unknown\n");
+    else
+      oupicio("out",pii,objnum);
+  }
 
   ouhex("picioh out", pi->d, pi->l);
 
diff --git a/hostside/realtime.h b/hostside/realtime.h
index fbaafb6..8738277 100644
--- a/hostside/realtime.h
+++ b/hostside/realtime.h
@@ -74,6 +74,12 @@ void ouhex(const char *word, const Byte *command, int length);
 
 void serial_transmit(const PicInsn *pi);
 
+/*---------- from actual.c ----------*/
+
+int picinsn_polarity_testbit(const PicInsn *pi, SegmentNum segn);
+  /* this belongs in {au,skel}proto-pic.[ch] really but it's
+   * more convenient here. */
+
 /*---------- tbi ----------*/
 
 void abandon_run(void);
diff --git a/layout/data2safety b/layout/data2safety
index 0d4cbae..c6037ca 100755
--- a/layout/data2safety
+++ b/layout/data2safety
@@ -491,7 +491,7 @@ sub writeout () {
 	$delim= ',';
     }
     o("\n};\n");
-    o("const BoardObject info_maxreverse=$maxreverseobjnum;\n");
+    o("const BoardObject info_maxreverse= $maxreverseobjnum;\n");
 }
 
 # writeasm_KIND()
-- 
2.30.2