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_feature_update(const MovFeatInfo *mfi,
135 MovPosComb startpoint, int featpos) {
136 MovPosComb above_weight= mfi->weight * mfi->posns;
137 MovPosComb above= startpoint / above_weight;
138 MovPosComb below= startpoint % mfi->weight;
139 return above*above_weight + featpos*mfi->weight + below;
142 static void ignore_all_abandon(Method *m) { }
144 /*========== points and other fixed timeslot movfeats ==========*/
147 * We maintain two queues, one for reserved one for actually confirmed
148 * requests where we know what we're doing.
150 * We divide time into discrete slots, numbered with clock arithmetic.
152 * cslot cslot+1 cslot+2
154 * currently next in after
157 * We increment cslot when we consider the movfeat to move;
158 * for points and relays this is when we issue the command to the PIC.
159 * In a request, the deadline represents the latest allowable value
160 * of cslot just before that increment.
163 typedef unsigned FsqSlot;
164 typedef int FsqSlotSigned;
166 #define FSQDN (~(FsqSlot)0)
168 typedef struct { /* state Prep Resv Inst Resv Prep Conf Inst Conf */
169 Change h; /* in queue? absent reserved absent confirmed */
170 FsqSlot deadline; /* relative relative absolute absolute */
171 int n_motions; /* 1 1 num undone num undone */
172 Motion motions[]; /* [0].i: 0 0 non-0 non-0 */
173 /* .posn: undef undef defined defined */
176 #define FSQ_MAX_QUEUE 15
180 FsqReq *l[FSQ_MAX_QUEUE];
183 typedef struct FsqMethod FsqMethod;
186 /* set by fsq's client before fsq_init */
188 void (*move)(FsqMethod *m, const MovFeatInfo *mfi, int movfeatposn);
190 int ready; /* >0 means ready; set to 0 by fsq just before move */
191 /* fsq's client must arrange that these start out at all-bits-zero */
193 FsqQueue confirmed, reserved;
199 /* client may put things here */
202 static void fsq_check_action(FsqMethod *m);
203 static ErrorCode fsq_check_plan(FsqMethod *m);
205 static FsqSlotSigned fsq_maxdelay_reldeadline(FsqMethod *m,
206 int maxdelay_ms, int n_motions) {
207 if (maxdelay_ms==-1) return FSQ_MAX_QUEUE*16;
208 return (maxdelay_ms - m->f.lag_ms) / m->f.slot_ms - n_motions;
211 static void fsq_queue_remove_index(FsqQueue *q, int index) {
213 memmove(&q->l[index], &q->l[index+1], sizeof(q->l[0]) * (q->n - index));
216 static int fsq_req_compar_approx(const void *av, const void *bv) {
217 FsqReq *const *a= av;
218 FsqReq *const *b= av;
219 FsqSlotSigned dldiff= (*b)->deadline - (*a)->deadline;
223 static void fsq_queue_remove_item(FsqQueue *q, FsqReq *r) {
226 entry= bsearch(r, q->l, q->n, sizeof(q->l[0]), fsq_req_compar_approx);
229 #define SEARCH_CHECK do{ \
230 if (q->l[i] == r) goto found; \
231 if (q->l[i]->deadline != r->deadline) break; \
233 for(i= entry - q->l; i >= 0; i--) SEARCH_CHECK;
234 for(i= entry - q->l + 1; i < q->n; i++) SEARCH_CHECK;
238 fsq_queue_remove_index(q, i);
241 static FsqQueue *fsq_item_queue(FsqMethod *m, FsqReq *r)
242 { return r->motions[0].i ? &m->f.confirmed : &m->f.reserved; }
246 whichwhen= wh##when, \
249 static ErrorCode fsq_check_plan(FsqMethod *m) {
250 /* Checks whether we can meet the currently queued commitments */
251 /* if this fails, indep machinery calls fsq_prepare to dequeue */
252 int future, conf, resv, whichwhen, DP;
258 DPRINTF1(movpos,fsq, "%s plan", m->m.pname);
260 /* If CDU isn't charged we can't do one right away */
267 FsqReq *confr= conf < m->f.confirmed.n ? m->f.confirmed.l[conf] : 0;
268 FsqReq *resvr= resv < m->f.reserved .n ? m->f.reserved .l[resv] : 0;
269 if (!confr && !resvr) break;
270 DPRINTF2(" %d:",future);
271 int confwhen= confr ? confr->deadline - m->f.cslot : INT_MAX;
272 int resvwhen= resvr ? resvr->deadline : INT_MAX;
273 if (future && resvwhen < confwhen) {
274 WHICH(resv); DPRINTF2("~");
278 future++; DPRINTF2("-");
281 DPRINTF2("%s/%s[%d@t+%d]", whichr->h.indep->move->i->pname,
282 movpos_pname(whichr->h.indep->move, whichr->h.indep->target),
283 whichr->n_motions, whichwhen);
284 if (future > whichwhen) {
285 DPRINTF2("!...bad\n");
286 return EC_MovFeatTooLate;
288 future += whichr->n_motions;
296 static ErrorCode fsq_queue_insert_item(FsqMethod *m, FsqQueue *q, FsqReq *r) {
299 if (q->n == FSQ_MAX_QUEUE)
300 return EC_BufferFull;
303 insat>0 && (FsqSlotSigned)(r->deadline - q->l[insat-1]->deadline) < 0;
305 q->l[insat]= q->l[insat-1];
312 static void fsq_item_debug(FsqMethod *m, FsqReq *r, const char *opwhat) {
314 Segment *move= r->h.indep->move;
315 DPRINTF1(movpos,fsq, "%s %s %s", m->m.pname, opwhat, move->i->pname);
316 if (r->motions[0].i) {
319 for (i=0, mo=r->motions; i<r->n_motions; i++, mo++)
320 DPRINTF2("/%s%d", mo->i->pname, (int)mo->posn);
323 DPRINTF2("(%d)\n", r->n_motions);
327 static ErrorCode fsq_enqueue(FsqMethod *m, FsqReq *r) { /* P->I; err: P->P */
329 fsq_item_debug(m,r,"enqueue");
330 return fsq_queue_insert_item(m, fsq_item_queue(m,r), r);
333 static void fsq_dequeue(FsqMethod *m, FsqReq *r) { /* I->P */
335 fsq_item_debug(m,r,"dequeue");
336 fsq_queue_remove_item(fsq_item_queue(m,r), r);
339 /*---------- method entrypoints ----------*/
341 static ErrorCode fsq_prepare(Method *mm, const Segment *move,
342 int n_motions, const Motion *motions,
343 int ms, int confirmation,
344 Change **chg_r, int *cost_r) {
345 FsqMethod *m= (void*)mm;
347 assert(n_motions > 0);
349 FsqSlotSigned reldeadline= fsq_maxdelay_reldeadline(m, ms, n_motions);
350 if (reldeadline <= 0) return EC_MovFeatTooLate;
353 int alloc_motions= confirmation ? n_motions : 1;
354 /* we need at least one motion in the table so we can tell
355 * the difference between the states by looking at motions[0].i */
356 FsqReq *r= mmalloc(sizeof(*r) + alloc_motions * sizeof(r->motions[0]));
357 r->n_motions= n_motions;
359 r->deadline= reldeadline + m->f.cslot;
360 memcpy(r->motions, motions, sizeof(*r->motions)*n_motions);
362 r->deadline= reldeadline;
368 *cost_r= n_motions * m->f.slot_ms;
374 static void fsq_dispose(Method *mm, Change *chg) {
375 FsqReq *r= (FsqReq*)chg;
379 static void fsq_remove(Method *mm, Change *remvchg) {
380 FsqMethod *m= (void*)mm;
381 FsqReq *remv= (FsqReq*)remvchg;
383 fsq_dequeue(m, remv);
386 static ErrorCode fsq_install(Method *mm, Change *instchg) {
387 FsqMethod *m= (void*)mm;
388 FsqReq *inst= (FsqReq*)instchg;
390 return fsq_enqueue(m, inst);
393 static ErrorCode fsq_check(Method *mm) {
394 FsqMethod *m= (void*)mm;
395 ErrorCode ec= fsq_check_plan(m);
399 static void fsq_execute(Method *mm) {
400 FsqMethod *m= (void*)mm;
404 /*---------- something to do ? ----------*/
406 static void fsq_check_action(FsqMethod *m) {
407 /* client should call this after it sets ready */
410 if (!m->f.confirmed.n) {
411 if (sta_state == Sta_Finalising) resolve_motioncheck();
415 FsqReq *r= m->f.confirmed.l[0];
417 if (r->n_motions && m->f.ready>0) {
418 /* look for something to move */
419 Motion *mo= &r->motions[--r->n_motions];
420 assert(mo->posn < mo->i->posns);
422 m->f.move(m, mo->i, mo->posn);
425 method_update_feature(&m->m, r->h.indep, mo);
429 fsq_queue_remove_index(&m->f.confirmed, 0);
430 method_change_done(&m->m, &r->h);
431 m->m.dispose(&m->m, &r->h);
433 ec= fsq_check_plan(m); assert(!ec);
438 /*========== points ==========*/
441 * CDU and point queue states:
444 * ____________ conf'd
445 * / points_ \ ready .n
449 * |from INACTIVE -1 0
450 * |any <=Sta_Settling
453 * ___________ |turning
464 * | |fsq_check_action
465 * | | calls point_move which fires a point
470 #define CDU_RECHARGE 350 /*ms*/
471 #define POINT_MOVEMENT 50 /*ms*/
473 static ErrorCode point_prepare(Method *mm, const Segment *move,
474 int n_motions, const Motion *motions,
475 int ms, int confirmation,
476 Change **chg_r, int *cost_r) {
477 FsqMethod *m= (void*)mm;
478 assert(m->f.ready>=0);
479 return fsq_prepare(mm,move, n_motions,motions,
480 ms,confirmation, chg_r,cost_r);
483 static void point_move(FsqMethod *m, const MovFeatInfo *mfi, int posn) {
484 /* actually firing points, yay! */
486 enco_pic_point(&piob, mfi->boob[posn]);
487 serial_transmit(&piob);
490 static void points_all_abandon(Method *mm) {
491 FsqMethod *m= (void*)mm;
495 static FsqMethod points_method;
497 void points_turning_on(void) {
498 FsqMethod *m= &points_method;
501 void on_pic_charged(const PicInsnInfo *pii, const PicInsn *pi, int objnum) {
502 FsqMethod *m= &points_method;
503 if (m->f.ready<0) return;
508 static FsqMethod points_method= {
510 point_prepare, fsq_dispose,
511 fsq_install, fsq_remove,
512 fsq_check, fsq_execute, points_all_abandon },
513 { .lag_ms= POINT_MOVEMENT, .slot_ms= CDU_RECHARGE, .move= point_move }
516 /*========== relays ==========*/
521 * ____________ conf'd
522 * / wagglers_ \ ready .n
527 * |any <=Sta_Settling
530 * ___________ |turning
541 * | |fsq_check_action
542 * | | calls waggle_do which switches a relay
547 static FsqMethod waggle;
549 static void waggle_do(FsqMethod *m, const MovFeatInfo *mfi, int posn) {
550 /* actually setting relays */
552 enco_pic_waggle(&piob, mfi->boob[0], posn);
553 serial_transmit(&piob);
556 static SegmentNum waggle_settle_seg;
557 static int waggle_settle_feat;
559 static void waggle_settle_check(void) {
561 if (waggle_settle_seg >= info_nsegments) return;
563 Segment *seg= &segments[waggle_settle_seg];
564 if (waggle_settle_feat >= seg->i->n_movfeats) {
565 waggle_settle_seg++; waggle_settle_feat=0; continue;
568 const MovFeatInfo *feati= &seg->i->movfeats[waggle_settle_feat];
569 if (feati->kind != mfk_relay) {
570 waggle_settle_feat++; continue;
574 waggle_do(&waggle, feati, (seg->movposcomb / feati->weight) & 1);
575 waggle_settle_feat++;
579 void waggle_startup_manual(void) {
583 void waggle_settle(void) {
584 waggle_settle_seg= 0;
585 waggle_settle_feat= 0;
587 waggle_settle_check();
590 void on_pic_waggled(const PicInsnInfo *pii, const PicInsn *pi, int objnum) {
591 if (sta_state == Sta_Settling) {
593 waggle_settle_check();
594 } else if (sta_state >= Sta_Resolving || sta_state == Sta_Manual) {
596 fsq_check_action(&waggle);
601 static FsqMethod waggle= {
603 fsq_prepare, fsq_dispose,
604 fsq_install, fsq_remove,
605 fsq_check, fsq_execute, ignore_all_abandon },
606 { .lag_ms= 5, .slot_ms= 50, .move= waggle_do }
609 /*========== dummy `nomove' kind ==========*/
611 typedef struct NomoveChange {
613 DLIST_NODE(struct NomoveChange) inqueue;
614 int n_motions; /* 0 for reservations */
620 NomoveChange *queuehead; /* contains confirmations only */
623 static ErrorCode nomove_prepare(Method *meth_in, const Segment *move,
624 int n_motions, const Motion *motions,
625 int ms, int confirming,
626 Change **chg_r, int *cost_r) {
630 if (!confirming) n_motions= 0;
631 chg= mmalloc(sizeof(*chg) + sizeof(Motion)*n_motions);
632 chg->n_motions= n_motions;
633 memcpy(chg->motions, motions, sizeof(Motion)*n_motions);
640 static void nomove_dispose(Method *mm, Change *remvchg) {
641 NomoveChange *remv= (void*)remvchg;
645 static ErrorCode nomove_install(Method *mm, Change *instchg) {
646 NomoveMethod *meth= (void*)mm;
647 NomoveChange *inst= (void*)instchg;
649 DLIST1_PREPEND(meth->queuehead, inst, inqueue);
652 static void nomove_remove(Method *mm, Change *remvchg) {
653 NomoveMethod *meth= (void*)mm;
654 NomoveChange *remv= (void*)remvchg;
656 DLIST1_REMOVE(meth->queuehead, remv, inqueue);
659 static ErrorCode nomove_check(Method *mm) { return 0; }
661 static void nomove_execute(Method *mm) {
662 NomoveMethod *meth= (void*)mm;
665 while ((done= meth->queuehead)) {
666 assert(done->n_motions);
668 for (i=0; i<done->n_motions; i++)
669 method_update_feature(&meth->m, done->h.indep, &done->motions[i]);
670 method_change_done(&meth->m, &done->h);
671 DLIST1_REMOVE(meth->queuehead, done, inqueue);
672 nomove_dispose(&meth->m, &done->h);
676 static Method nomove_method= {
678 nomove_prepare, nomove_dispose,
679 nomove_install, nomove_remove,
680 nomove_check, nomove_execute, ignore_all_abandon
683 /*========== method-independent machinery ==========*/
685 #define INDEP_DBG_FMT "<%p:%s/%s[%d]>"
686 #define INDEP_DBG_ARGS(in) (in), \
687 ((in)->move->i->pname), (movpos_pname((in)->move, (in)->target)), \
690 #define INDEP_DPFX_FMT "movpos " INDEP_DBG_FMT " "
691 #define INDEP_DPFX_ARGS(in) INDEP_DBG_ARGS((in))
693 #define METH_DPFX_FMT "%s " INDEP_DBG_FMT " "
694 #define METH_DPFX_ARGS(indep, meth) ((meth).pname), INDEP_DBG_ARGS((indep))
696 static void indep_indep_done(Indep *indep);
698 static Method *methods[]= {
699 [mfk_none] = (Method*)&nomove_method,
700 [mfk_point] = (Method*)&points_method,
701 [mfk_relay] = (Method*)&waggle,
705 /*---------- entrypoints from methods ----------*/
707 static void method_update_feature(Method *m, MovPosChange *indep,
709 int featix= mo->i - indep->move->i->movfeats;
710 assert(featix >= 0 && featix < indep->move->i->n_movfeats);
711 ouposn_feat(indep->move, mo->i, mo->posn, m);
713 movposcomb_feature_update(mo->i, indep->actualpos, mo->posn);
714 indep->actualunk &= ~unkfeatbit(featix);
715 ouposn_moving(indep);
718 static void method_change_done(Method *m, Change *chg) {
719 Indep *indep= chg->indep;
722 DPRINTF(movpos,meth, METH_DPFX_FMT "method_change_done...\n",
723 METH_DPFX_ARGS(indep,*m));
725 for (search=indep->changes; *search; search++)
726 if ((*search) == chg) goto found;
727 assert(!"change in indep");
731 if (indep->n_changes) {
732 *search= indep->changes[indep->n_changes];
736 if (!indep->refcount)
737 indep_indep_done(indep);
740 static void indep_indep_done(Indep *indep) {
742 Segment *move= indep->move;
745 move->movposcomb= indep->target;
750 /*---------- internal core machinery ----------*/
752 static Method *feature_method(const MovFeatInfo *feati) {
753 assert(feati->kind >= 0);
754 assert(feati->kind < ARRAY_SIZE(methods));
755 Method *meth= methods[feati->kind];
760 static int change_needed(int featix, const MovFeatInfo *feati,
761 MovPosComb startpointpos, UnkMap startpointunk,
765 r= (startpointunk & unkfeatbit(featix)) ||
766 (target / feati->weight) % feati->posns -
767 (startpointpos / feati->weight) % feati->posns;
769 if (DEBUGP(movpos,eval))
770 DPRINTFA(" { %s:%s(%d*%d) %d..%d => %d }",
771 feature_method(feati)->pname, feati->pname,
772 feati->posns, feati->weight,
773 startpointpos, target, r);
777 static void indep_dispose(MovPosChange *indep) {
780 DPRINTF(movpos,intern, INDEP_DPFX_FMT "dispose...\n",
781 INDEP_DPFX_ARGS(indep));
784 for (changei=0; changei<indep->n_changes; changei++) {
785 Change *chg= indep->changes[changei];
788 Method *meth= chg->meth;
789 DPRINTF(movpos,meth, METH_DPFX_FMT "dispose...\n",
790 METH_DPFX_ARGS(indep,*meth));
791 meth->dispose(meth, chg);
796 #define EVAL_MAX_METHODS 2
797 #define EVAL_MAX_MOTIONS 2
799 static ErrorCode indep_prepare(Segment *move, MovPosComb target,
800 MovPosComb startpointpos,
801 int ms, int confirming,
802 MovPosChange **indep_r /* 0 ok */,
803 int *cost_r /* 0 ok */) {
805 static Method *meths[EVAL_MAX_METHODS];
806 static int n_motions[EVAL_MAX_METHODS];
807 static Motion motions[EVAL_MAX_METHODS][EVAL_MAX_MOTIONS];
809 const SegmentInfo *movei= move->i;
811 UnkMap startpointunk;
813 MovPosChange *indep=0;
815 DPRINTF1(movpos,eval, "movpos prepare %s/%s <-%s", move->i->pname,
816 movpos_pname(move,target), movpos_pname(move,startpointpos));
818 if (SOMEP(startpointpos)) {
822 startpointpos= move->motion->actualpos;
823 startpointunk= move->motion->actualunk;
824 } else if (SOMEP(move->movposcomb)) {
825 startpointpos= move->movposcomb;
829 startpointunk= unkallfeatbits(move->i->n_movfeats);
832 DPRINTF2(" actual <-%s/", move->i->pname);
833 for (feat=0; feat<movei->n_movfeats; feat++) {
834 const MovFeatInfo *feati= &movei->movfeats[feat];
835 if (startpointunk & unkfeatbit(feat))
836 DPRINTF2("%s?", feati->pname);
838 DPRINTF2("%s%d", feati->pname,
839 startpointpos / feati->weight % feati->posns);
846 for (feat=0; feat<movei->n_movfeats; feat++) {
847 const MovFeatInfo *feati= &movei->movfeats[feat];
848 if (!change_needed(feat,feati,
849 startpointpos,startpointunk,
852 MovPosComb posn= target / feati->weight % feati->posns;
853 Method *meth= feature_method(feati);
856 for (methi=0; methi<n_meths; methi++)
857 if (meths[methi] == meth) goto found_method;
858 /* need a new method */
860 if (methi >= EVAL_MAX_METHODS) {
861 DPRINTF2(" MovFeatTooManyMethods methi=%d\n",methi);
862 return EC_MovFeatTooManyMethods;
866 DPRINTF2(" meths[%d]=%s", methi,meth->pname);
869 int motioni= n_motions[methi]++;
870 if (motioni >= EVAL_MAX_MOTIONS) {
871 DPRINTF2(" MovFeatTooManyMotions motioni=%d\n",motioni);
872 return EC_MovFeatTooManyMotions;
874 DPRINTF2(" motion[%d][%d]=%s%d", methi, motioni, feati->pname,posn);
875 motions[methi][motioni].i= feati;
876 motions[methi][motioni].posn= posn;
881 indep= mmalloc(sizeof(*indep) + sizeof(Change*) * n_meths);
883 indep->actualpos= startpointpos;
884 indep->actualunk= startpointunk;
885 indep->target= target;
886 indep->n_changes= n_meths;
888 memset(indep->changes, 0, sizeof(Change*) * n_meths);
896 for (changei=0; changei<n_meths; changei++) {
897 Method *meth= meths[changei];
903 DPRINTF(movpos,meth, METH_DPFX_FMT "prepare n_motions=%d...\n",
904 METH_DPFX_ARGS(indep,*meth), n_motions[changei]);
906 DPRINTF(movpos,meth, "%s prepare (costing) n_motions=%d...\n",
907 meth->pname, n_motions[changei]);
909 ec= meth->prepare(meth,move,
910 n_motions[changei],motions[changei],
912 indep ? &indep->changes[changei] : 0,
916 Change *chg= indep->changes[changei];
921 totalcost += thiscost;
924 if (indep_r) *indep_r= indep;
925 if (cost_r) *cost_r= totalcost;
928 DPRINTF(movpos,eval, INDEP_DPFX_FMT "prepare cost=%d ok\n",
929 INDEP_DPFX_ARGS(indep), totalcost);
931 DPRINTF(movpos,eval, "movpos prepare %s/%s cost=%d ok\n",
932 move->i->pname, movpos_pname(move,target), totalcost);
936 indep_dispose(indep);
937 DPRINTF(movpos,entry, "movpos prepare %s/%s err=%s\n", move->i->pname,
938 movpos_pname(move,target), ec2str(ec));
942 static void indep_remove(MovPosChange *remv) {
945 DPRINTF(movpos,intern, INDEP_DPFX_FMT "remove...\n",
946 INDEP_DPFX_ARGS(remv));
949 for (i=0; i<remv->n_changes; i++) {
950 Change *chg= remv->changes[i];
951 if (!chg->installed) continue;
952 Method *meth= chg->meth;
955 DPRINTF(movpos,meth, METH_DPFX_FMT "remove...\n",
956 METH_DPFX_ARGS(remv,*meth));
957 meth->remove(meth, chg);
963 indep_install(MovPosChange *inst, int checknow) {
964 /* if this fails, inst may be left partially installed */
967 DPRINTF(movpos,intern, INDEP_DPFX_FMT "install checknow=%d...\n",
968 INDEP_DPFX_ARGS(inst), checknow);
972 for (i=0; i<inst->n_changes; i++) {
973 Change *chg= inst->changes[i];
974 assert(!chg->installed);
975 Method *meth= chg->meth;
978 ec= meth->install(meth, chg);
979 DPRINTF(movpos,meth, METH_DPFX_FMT "install=%s\n",
980 METH_DPFX_ARGS(inst,*meth), ec2str(ec));
986 ec= meth->check(meth);
987 DPRINTF(movpos,meth, METH_DPFX_FMT "check=%s\n",
988 METH_DPFX_ARGS(inst,*meth), ec2str(ec));
999 static void indep_check_execute(void) {
1000 DPRINTF(movpos,intern, "movpos indep_check_execute\n");
1002 Method **methwalk, *meth;
1003 for (methwalk= methods; (meth= *methwalk); methwalk++) {
1004 if (meth->needcheck) {
1005 ErrorCode ec= meth->check(meth);
1006 DPRINTF(movpos,meth, "%s check=%s\n", meth->pname, ec2str(ec));
1010 if (meth->needexec) {
1012 DPRINTF(movpos,meth, "%s execute...\n", meth->pname);
1013 meth->execute(meth);
1018 /*---------- entrypoints from rest of program ----------*/
1021 movpos_reserve(Segment *move, int maxdelay_ms, MovPosChange **res_r,
1022 MovPosComb target, MovPosComb startpoint /*as for findcomb*/) {
1024 MovPosChange *indep= 0;
1026 DPRINTF(movpos,entry, "movpos reserve %s/%s maxdelay=%dms startpoint=%s\n",
1027 move->i->pname, movpos_pname(move,target),
1028 maxdelay_ms, movpos_pname(move,startpoint));
1030 ec= indep_prepare(move,target, startpoint,
1035 ec= indep_install(indep, 1);
1038 indep_check_execute();
1040 DPRINTF(movpos,entry, "movpos reserve %s/%s ok\n",
1041 move->i->pname, movpos_pname(move,target));
1046 indep_remove(indep);
1047 indep_dispose(indep);
1048 indep_check_execute();
1050 DPRINTF(movpos,entry, "movpos reserve %s/%s err=%s\n",
1051 move->i->pname, movpos_pname(move,target), ec2str(ec));
1055 ErrorCode movpos_findcomb_bysegs(Segment *back, Segment *move, Segment *fwd,
1056 MovPosComb startpoint, MovPosComb *chosen_r) {
1057 const SegmentInfo *movei= move->i;
1058 MovPosComb tcomb, bestcomb=-1;
1059 int tcost, bestcost=INT_MAX;
1060 const SegPosCombInfo *pci;
1062 DPRINTF(movpos,eval, "movpos_findcomb_bysegs %s-%s-%s <-%s\n",
1063 back ? back->i->pname : "*", move->i->pname,
1064 fwd ? fwd ->i->pname : "*", movpos_pname(move, startpoint));
1066 for (tcomb=0, pci=movei->poscombs;
1067 tcomb<movei->n_poscombs;
1069 /* these next assignments may generate segments[-1] but we don't
1070 * care because that won't compare equal to back or fwd */
1071 Segment *tback= &segments[pci->link[1].next];
1072 Segment *tfwd= &segments[pci->link[0].next];
1074 DPRINTF(movpos,intern, "movpos_findcomb_bysegs ... %s : %s-%s-%s\n",
1075 movpos_pname(move, tcomb),
1076 SOMEP(pci->link[1].next) ? tback->i->pname : "#",
1078 SOMEP(pci->link[0].next) ? tfwd->i->pname : "#");
1080 if (back && !(back==tback || back==tfwd)) continue;
1081 if (fwd && !(fwd ==tback || fwd ==tfwd)) continue;
1083 /* we have to search for the one which is least effort */
1084 ErrorCode ec= indep_prepare(move,tcomb,startpoint, -1,0, 0,&tcost);
1087 if (tcost >= bestcost) /* prefer low-numbered movposcombs */
1093 DPRINTF(movpos,entry, "movpos_findcomb_bysegs %s..%s..%s <-%s => %s/%s\n",
1094 back ? back->i->pname : "-", move->i->pname,
1095 fwd ? fwd ->i->pname : "-", movpos_pname(move, startpoint),
1096 move->i->pname, movpos_pname(move,bestcomb));
1098 if (chosen_r) *chosen_r= bestcomb;
1100 bestcost==INT_MAX ? EC_MovFeatRouteNotFound :
1104 ErrorCode movpos_change(Segment *move, MovPosComb target,
1105 int maxdelay_ms, MovPosChange *resv) {
1109 DPRINTF1(movpos,entry, "movpos change %s/%s maxdelay=%dms",
1110 move->i->pname, movpos_pname(move, target), maxdelay_ms);
1111 if (resv) DPRINTF2(" resv=%s/%s",
1112 resv->move->i->pname,
1113 movpos_pname(resv->move, resv->target));
1114 if (move->motion) DPRINTF2(" oldmotion=/%s",
1115 movpos_pname(move, move->motion->target));
1118 MovPosChange *inst= 0;
1120 ec= indep_prepare(move,target, NOTA(MovPosComb),
1126 indep_remove(move->motion);;
1128 ec= indep_install(inst, 1);
1131 indep_dispose(resv);
1132 indep_dispose(move->motion);
1137 inst->refcount++; /* prevents method_change_done from destroying it */
1139 ouposn_moving(inst);
1140 indep_check_execute();
1143 if (!inst->n_changes)
1145 indep_indep_done(inst);
1147 DPRINTF(movpos,entry, "movpos change %s/%s ok\n",
1148 move->i->pname, movpos_pname(move, target));
1153 indep_dispose(inst);
1154 ec= indep_install(move->motion, 0); assert(!ec);
1155 ec= indep_install(resv, 0); assert(!ec);
1156 indep_check_execute();
1158 DPRINTF(movpos,entry, "movpos change %s/%s err=%s\n",
1159 move->i->pname, movpos_pname(move, target), ec2str(ec));
1163 void movpos_unreserve(MovPosChange *resv) {
1165 DPRINTF(movpos,entry, "movpos unreserve %s/%s...\n",
1166 resv->move->i->pname, movpos_pname(resv->move, resv->target));
1168 indep_dispose(resv);
1169 indep_check_execute();
1172 MovPosComb movpos_change_intent(MovPosChange *indep) {
1173 return indep->target;
1176 void motions_all_abandon(void) {
1179 DPRINTF(movpos,entry, "movpos motions_all_abandon...\n");
1181 if (!seg->moving) continue;
1183 MovPosChange *abandon= seg->motion;
1184 indep_remove(abandon);
1185 seg->movposcomb= abandon->actualunk ? NOTA(MovPosComb) : abandon->actualpos;
1188 indep_dispose(abandon);
1190 for (meth=methods; *meth; meth++)
1191 (*meth)->all_abandon(*meth);
1194 void movpos_reportall(void) {
1199 assert(!seg->moving);
1200 if (seg->i->n_poscombs <= 1) continue;
1202 if (SOMEP(seg->movposcomb)) {
1203 for (feat=0; feat<seg->i->n_movfeats; feat++) {
1204 const MovFeatInfo *feati= &seg->i->movfeats[feat];
1205 MovPosComb posn= (seg->movposcomb / feati->weight) % feati->posns;
1206 ouposn_feat(seg, feati, posn, feature_method(feati));