safety: in movpos split "actual" into "actualpos" and "actualunk", so we know which...

diff --git a/hostside/commands.c b/hostside/commands.c
index e29eea638ce6e76bce8ed3cfa3187cb54e6e2645..fa5a6cbca036d4af2eec96d0bb20f2d9383b8f5f 100644 (file)
--- a/hostside/commands.c
+++ b/hostside/commands.c
@@ -283,9 +283,9 @@ static int cmd_movfeat(ParseState *ps, const CmdInfo *ci) {
   if (move->motion)
     target= movpos_change_intent(move->motion);
   else
-    target= movpos_poscomb_actual(move);
+    target= move->movposcomb;
 
-  if (target<0) {
+  if (!SOMEP(target)) {
     if (movei->n_movfeats > 1)
       ouprintf("info movfeat-collapsing-unknown %s :"
               " will set previously-unknown, but not set,"

diff --git a/hostside/movpos.c b/hostside/movpos.c
index 5b04d30dd39616a6c2f2a0470fa46787b8e50c7d..6388d5316e9a16c44d1c7e598e6e82f0e073d272 100644 (file)
--- a/hostside/movpos.c
+++ b/hostside/movpos.c
@@ -14,10 +14,14 @@ typedef struct {
 typedef struct Method Method;
 typedef struct Change Change;
 
+#define PRunkx PRIx32
+typedef uint32_t UnkMap;
+
 typedef struct MovPosChange {
   Segment *move;
   /* everything beyond here is private for indep */
-  MovPosComb actual, target;
+  MovPosComb actualpos, target;
+  UnkMap actualunk; /* bit per movfeat, set iff actualpos contains dummy 0 */
   int refcount;
   int n_changes;
   Change *changes[];
@@ -111,7 +115,8 @@ const char *movpos_pname(const Segment *move, MovPosComb poscomb) {
 static void ouposn_moving(const MovPosChange *indep) {
   Segment *move= indep->move;
   ouprintf("movpos %s position %s moving\n",
-          move->i->pname, movpos_pname(move, indep->actual));
+          move->i->pname,
+          indep->actualunk ? "?" : movpos_pname(move, indep->actualpos));
 }
 static void ouposn_stable(const Segment *move) {
   ouprintf("movpos %s position %s stable\n",
@@ -132,10 +137,6 @@ MovPosComb movposcomb_update_feature(MovPosComb startpoint,
   return above*above_weight + featpos*mfi->weight + below;
 }
 
-MovPosComb movpos_poscomb_actual(const Segment *seg) {
-  return seg->moving ? seg->motion->actual : seg->movposcomb;
-}
-
 static void ignore_all_abandon(Method *m) { }
 
 /*========== points and other fixed timeslot movfeats ==========*/
@@ -703,10 +704,12 @@ static Method *methods[]= {
 
 static void method_update_feature(Method *m, MovPosChange *indep,
                                  const Motion *mo) {
+  int featix= mo->i - indep->move->i->movfeats;
+  assert(featix >= 0 && featix < indep->move->i->n_movfeats);
   ouposn_feat(indep->move, mo->i, mo->posn, m);
-  if (SOMEP(indep->actual))
-    indep->actual=
-      movposcomb_update_feature(indep->actual, mo->i, mo->posn);
+  indep->actualpos=
+    movposcomb_update_feature(indep->actualpos, mo->i, mo->posn);
+  indep->actualunk &= (~(UnkMap)1 << featix);
   ouposn_moving(indep);
 }
 
@@ -752,17 +755,20 @@ static Method *feature_method(const MovFeatInfo *feati) {
   return meth;
 }
 
-static int change_needed(const MovFeatInfo *feati,
-                        MovPosComb startpoint, MovPosComb target) {
+static int change_needed(int featix, const MovFeatInfo *feati,
+                        MovPosComb startpointpos, UnkMap startpointunk,
+                        MovPosComb target) {
   int r;
-  r= !SOMEP(startpoint) ||
+
+  r= (startpointunk & ((UnkMap)1 << featix)) ||
     (target / feati->weight) % feati->posns -
-    (startpoint / feati->weight) % feati->posns;
+    (startpointpos / feati->weight) % feati->posns;
+
   if (DEBUGP(movpos,eval))
     DPRINTFA(" { %s:%s(%d*%d) %d..%d => %d }",
             feature_method(feati)->pname, feati->pname,
             feati->posns, feati->weight,
-            startpoint, target, r);
+            startpointpos, target, r);
   return r;
 }
 
@@ -789,7 +795,7 @@ static void indep_dispose(MovPosChange *indep) {
 #define EVAL_MAX_MOTIONS 2
 
 static ErrorCode indep_prepare(Segment *move, MovPosComb target,
-                              MovPosComb startpoint,
+                              MovPosComb startpointpos,
                               int ms, int confirming,
                               MovPosChange **indep_r /* 0 ok */,
                               int *cost_r /* 0 ok */) {
@@ -800,22 +806,38 @@ static ErrorCode indep_prepare(Segment *move, MovPosComb target,
 
   const SegmentInfo *movei= move->i;
   int feat, DP;
+  UnkMap startpointunk;
 
   MovPosChange *indep=0;
 
   DPRINTF1(movpos,eval, "movpos prepare %s/%s <-%s", move->i->pname,
-          movpos_pname(move,target), movpos_pname(move,startpoint));
+          movpos_pname(move,target), movpos_pname(move,startpointpos));
 
-  if (!SOMEP(startpoint)) {
-    startpoint= movpos_poscomb_actual(move);
-    DPRINTF2(" actual <-%s", movpos_pname(move,startpoint));
+  if (SOMEP(startpointpos)) {
+    startpointunk= 0;
+  } else {
+    if (move->moving) {
+      startpointpos= move->motion->actualpos;
+      startpointunk= move->motion->actualunk;
+    } else if (SOMEP(move->movposcomb)) {
+      startpointpos= move->movposcomb;
+      startpointunk= 0;
+    } else {
+      startpointpos= 0;
+      startpointunk= ((UnkMap)1 << move->i->n_movfeats) - 1;
+    }
+    DPRINTF2(" actual <-%s&%"PRunkx, movpos_pname(move,startpointpos),
+            startpointunk);
   }
 
   n_meths= 0;
 
   for (feat=0; feat<movei->n_movfeats; feat++) {
     const MovFeatInfo *feati= &movei->movfeats[feat];
-    if (!change_needed(feati,startpoint,target)) continue;
+    if (!change_needed(feat,feati,
+                      startpointpos,startpointunk,
+                      target))
+      continue;
     MovPosComb posn= target / feati->weight % feati->posns;
     Method *meth= feature_method(feati);
 
@@ -847,7 +869,8 @@ static ErrorCode indep_prepare(Segment *move, MovPosComb target,
     DPRINTF2(" alloc");
     indep= mmalloc(sizeof(*indep) + sizeof(Change*) * n_meths);
     indep->move= move;
-    indep->actual= startpoint;
+    indep->actualpos= startpointpos;
+    indep->actualunk= startpointunk;
     indep->target= target;
     indep->n_changes= n_meths;
     indep->refcount= 0;
@@ -1070,19 +1093,10 @@ ErrorCode movpos_findcomb_bysegs(Segment *back, Segment *move, Segment *fwd,
 ErrorCode movpos_change(Segment *move, MovPosComb target,
                        int maxdelay_ms, MovPosChange *resv) {
   int DP;
-  MovPosComb actual;
   ErrorCode ec;
 
-  if (!move->moving) {
-    actual= move->movposcomb;
-    assert(!move->motion);
-  } else {
-    actual= move->motion->actual;
-  }
-
-  DPRINTF1(movpos,entry, "movpos change %s/%s maxdelay=%dms actual=%s",
-          move->i->pname, movpos_pname(move, target),
-          maxdelay_ms, movpos_pname(move, actual));
+  DPRINTF1(movpos,entry, "movpos change %s/%s maxdelay=%dms",
+          move->i->pname, movpos_pname(move, target), maxdelay_ms);
   if (resv) DPRINTF2(" resv=%s/%s",
                     resv->move->i->pname,
                     movpos_pname(resv->move, resv->target));
@@ -1092,7 +1106,7 @@ ErrorCode movpos_change(Segment *move, MovPosComb target,
 
   MovPosChange *inst= 0;
 
-  ec= indep_prepare(move,target, actual,
+  ec= indep_prepare(move,target, NOTA(MovPosComb),
                    maxdelay_ms,1,
                    &inst, 0);
   if (ec) goto x;
@@ -1157,7 +1171,7 @@ void motions_all_abandon(void) {
 
     MovPosChange *abandon= seg->motion;
     indep_remove(abandon);
-    seg->movposcomb= abandon->actual;
+    seg->movposcomb= abandon->actualunk ? NOTA(MovPosComb) : abandon->actualpos;
     seg->moving= 0;
     seg->motion= 0;
     indep_dispose(abandon);

diff --git a/hostside/realtime.h b/hostside/realtime.h
index 4364d703e15ce254e2875867b525a94ecab5411d..d644ca21de773bdee6b1dc719fdb6551227b35e9 100644 (file)
--- a/hostside/realtime.h
+++ b/hostside/realtime.h
@@ -15,6 +15,7 @@
 
 #include <fcntl.h>
 #include <dirent.h>
+#include <inttypes.h>
 
 #include <sys/types.h>
 #include <sys/time.h>

diff --git a/hostside/safety.h b/hostside/safety.h
index 78447c79e3fd4a75383bf8052432a2c4b1a4eb65..19c9fd9e395b5befc1d6569e345f77ed1083717a 100644 (file)
--- a/hostside/safety.h
+++ b/hostside/safety.h
@@ -227,11 +227,6 @@ movpos_reserve(Segment *move, int maxdelay_ms, MovPosChange **res_r,
 
 void movpos_unreserve(MovPosChange *reservation /* 0 ok */);
 
-MovPosComb movpos_poscomb_actual(const Segment *seg);
-  /* gives actual current position as published by movfeatkind
-   *  -1 means not known or cannot be represented as a MovPosComb
-   */
-
 MovPosComb movpos_change_intent(MovPosChange *chg);
   /* Returns the target value supplied to _reserve or _change */