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));
116 static void ouposn_stable(const Segment *move) {
117 ouprintf("movpos %s position %s stable\n",
118 move->i->pname, movpos_pname(move, move->movposcomb));
121 MovPosComb movposcomb_update_feature(MovPosComb startpoint,
122 const MovFeatInfo *mfi,
124 MovPosComb above_weight= mfi->weight * mfi->posns;
125 MovPosComb above= startpoint / above_weight;
126 MovPosComb below= startpoint % mfi->weight;
127 return above*above_weight + featpos*mfi->weight + below;
130 MovPosComb movpos_poscomb_actual(const Segment *seg) {
131 return seg->moving ? seg->motion->actual : seg->movposcomb;
134 static void ignore_all_abandon(Method *m) { }
136 /*========== points and other fixed timeslot movfeats ==========*/
139 * We maintain two queues, one for reserved one for actually confirmed
140 * requests where we know what we're doing.
142 * We divide time into discrete slots, numbered with clock arithmetic.
144 * cslot cslot+1 cslot+2
146 * currently next in after
149 * We increment cslot when we consider the movfeat to move;
150 * for points and relays this is when we issue the command to the PIC.
151 * In a request, the deadline represents the latest allowable value
152 * of cslot just before that increment.
155 typedef unsigned FsqSlot;
156 typedef int FsqSlotSigned;
158 #define FSQDN (~(FsqSlot)0)
160 typedef struct { /* state Prep Resv Inst Resv Prep Conf Inst Conf */
161 Change h; /* in queue? absent reserved absent confirmed */
162 FsqSlot deadline; /* relative relative absolute absolute */
163 int n_motions; /* 1 1 num undone num undone */
164 Motion motions[]; /* [0].i: 0 0 non-0 non-0 */
165 /* .posn: undef undef defined defined */
168 #define FSQ_MAX_QUEUE 15
172 FsqReq *l[FSQ_MAX_QUEUE];
175 typedef struct FsqMethod FsqMethod;
178 /* set by fsq's client before fsq_init */
180 void (*move)(FsqMethod *m, const MovFeatInfo *mfi, int movfeatposn);
182 int ready; /* >0 means ready; set to 0 by fsq just before move */
183 /* fsq's client must arrange that these start out at all-bits-zero */
185 FsqQueue confirmed, reserved;
191 /* client may put things here */
194 static void fsq_check_action(FsqMethod *m);
195 static ErrorCode fsq_check_plan(FsqMethod *m);
197 static FsqSlotSigned fsq_maxdelay_reldeadline(FsqMethod *m,
198 int maxdelay_ms, int n_motions) {
199 if (maxdelay_ms==-1) return FSQ_MAX_QUEUE*16;
200 return (maxdelay_ms - m->f.lag_ms) / m->f.slot_ms - n_motions;
203 static void fsq_queue_remove_index(FsqQueue *q, int index) {
205 memmove(&q->l[index], &q->l[index+1], sizeof(q->l[0]) * (q->n - index));
208 static int fsq_req_compar_approx(const void *av, const void *bv) {
209 FsqReq *const *a= av;
210 FsqReq *const *b= av;
211 FsqSlotSigned dldiff= (*b)->deadline - (*a)->deadline;
215 static void fsq_queue_remove_item(FsqQueue *q, FsqReq *r) {
218 entry= bsearch(r, q->l, q->n, sizeof(q->l[0]), fsq_req_compar_approx);
221 #define SEARCH_CHECK do{ \
222 if (q->l[i] == r) goto found; \
223 if (q->l[i]->deadline != r->deadline) break; \
225 for(i= entry - q->l; i >= 0; i--) SEARCH_CHECK;
226 for(i= entry - q->l + 1; i < q->n; i++) SEARCH_CHECK;
230 fsq_queue_remove_index(q, i);
233 static FsqQueue *fsq_item_queue(FsqMethod *m, FsqReq *r)
234 { return r->motions[0].i ? &m->f.confirmed : &m->f.reserved; }
238 whichwhen= wh##when, \
241 static ErrorCode fsq_check_plan(FsqMethod *m) {
242 /* Checks whether we can meet the currently queued commitments */
243 /* if this fails, indep machinery calls fsq_prepare to dequeue */
244 int future, conf, resv, whichwhen, DP;
250 DPRINTF1(movpos,fsq, "%s plan", m->m.pname);
252 /* If CDU isn't charged we can't do one right away */
259 FsqReq *confr= conf < m->f.confirmed.n ? m->f.confirmed.l[conf] : 0;
260 FsqReq *resvr= resv < m->f.reserved .n ? m->f.reserved .l[resv] : 0;
261 if (!confr && !resvr) break;
262 DPRINTF2(" %d:",future);
263 int confwhen= confr ? confr->deadline - m->f.cslot : INT_MAX;
264 int resvwhen= resvr ? resvr->deadline : INT_MAX;
265 if (future && resvwhen < confwhen) {
266 WHICH(resv); DPRINTF2("~");
270 future++; DPRINTF2("-");
273 DPRINTF2("%s/%s[%d@t+%d]", whichr->h.indep->move->i->pname,
274 movpos_pname(whichr->h.indep->move, whichr->h.indep->target),
275 whichr->n_motions, whichwhen);
276 if (future > whichwhen) {
277 DPRINTF2("!...bad\n");
278 return EC_MovFeatTooLate;
280 future += whichr->n_motions;
288 static ErrorCode fsq_queue_insert_item(FsqMethod *m, FsqQueue *q, FsqReq *r) {
291 if (q->n == FSQ_MAX_QUEUE)
292 return EC_BufferFull;
295 insat>0 && (FsqSlotSigned)(r->deadline - q->l[insat-1]->deadline) < 0;
297 q->l[insat]= q->l[insat-1];
304 static void fsq_item_debug(FsqMethod *m, FsqReq *r, const char *opwhat) {
306 Segment *move= r->h.indep->move;
307 DPRINTF1(movpos,fsq, "%s %s %s", m->m.pname, opwhat, move->i->pname);
308 if (r->motions[0].i) {
311 for (i=0, mo=r->motions; i<r->n_motions; i++, mo++)
312 DPRINTF2("/%s%d", mo->i->pname, (int)mo->posn);
315 DPRINTF2("(%d)\n", r->n_motions);
319 static ErrorCode fsq_enqueue(FsqMethod *m, FsqReq *r) { /* P->I; err: P->P */
321 fsq_item_debug(m,r,"enqueue");
322 return fsq_queue_insert_item(m, fsq_item_queue(m,r), r);
325 static void fsq_dequeue(FsqMethod *m, FsqReq *r) { /* I->P */
327 fsq_item_debug(m,r,"dequeue");
328 fsq_queue_remove_item(fsq_item_queue(m,r), r);
331 /*---------- method entrypoints ----------*/
333 static ErrorCode fsq_prepare(Method *mm, const Segment *move,
334 int n_motions, const Motion *motions,
335 int ms, int confirmation,
336 Change **chg_r, int *cost_r) {
337 FsqMethod *m= (void*)mm;
339 assert(n_motions > 0);
341 FsqSlotSigned reldeadline= fsq_maxdelay_reldeadline(m, ms, n_motions);
342 if (reldeadline <= 0) return EC_MovFeatTooLate;
345 int alloc_motions= confirmation ? n_motions : 1;
346 /* we need at least one motion in the table so we can tell
347 * the difference between the states by looking at motions[0].i */
348 FsqReq *r= mmalloc(sizeof(*r) + alloc_motions * sizeof(r->motions[0]));
349 r->n_motions= n_motions;
351 r->deadline= reldeadline + m->f.cslot;
352 memcpy(r->motions, motions, sizeof(*r->motions)*n_motions);
354 r->deadline= reldeadline;
360 *cost_r= n_motions * m->f.slot_ms;
366 static void fsq_dispose(Method *mm, Change *chg) {
367 FsqReq *r= (FsqReq*)chg;
371 static void fsq_remove(Method *mm, Change *remvchg) {
372 FsqMethod *m= (void*)mm;
373 FsqReq *remv= (FsqReq*)remvchg;
375 fsq_dequeue(m, remv);
378 static ErrorCode fsq_install(Method *mm, Change *instchg) {
379 FsqMethod *m= (void*)mm;
380 FsqReq *inst= (FsqReq*)instchg;
382 return fsq_enqueue(m, inst);
385 static ErrorCode fsq_check(Method *mm) {
386 FsqMethod *m= (void*)mm;
387 ErrorCode ec= fsq_check_plan(m);
391 static void fsq_execute(Method *mm) {
392 FsqMethod *m= (void*)mm;
396 /*---------- something to do ? ----------*/
398 static void fsq_check_action(FsqMethod *m) {
399 /* client should call this after it sets ready */
402 if (!m->f.confirmed.n) {
403 if (sta_state == Sta_Finalising) resolve_motioncheck();
407 FsqReq *r= m->f.confirmed.l[0];
409 if (r->n_motions && m->f.ready>0) {
410 /* look for something to move */
411 Motion *mo= &r->motions[--r->n_motions];
412 assert(mo->posn < mo->i->posns);
414 m->f.move(m, mo->i, mo->posn);
417 method_update_feature(&m->m, r->h.indep, mo);
421 fsq_queue_remove_index(&m->f.confirmed, 0);
422 method_change_done(&m->m, &r->h);
423 m->m.dispose(&m->m, &r->h);
425 ec= fsq_check_plan(m); assert(!ec);
430 /*========== points ==========*/
433 * CDU and point queue states:
436 * ____________ conf'd
437 * / points_ \ ready .n
441 * |from INACTIVE -1 0
442 * |any <=Sta_Settling
445 * ___________ |turning
456 * | |fsq_check_action
457 * | | calls point_move which fires a point
462 #define CDU_RECHARGE 350 /*ms*/
463 #define POINT_MOVEMENT 50 /*ms*/
465 static ErrorCode point_prepare(Method *mm, const Segment *move,
466 int n_motions, const Motion *motions,
467 int ms, int confirmation,
468 Change **chg_r, int *cost_r) {
469 FsqMethod *m= (void*)mm;
470 assert(m->f.ready>=0);
471 return fsq_prepare(mm,move, n_motions,motions,
472 ms,confirmation, chg_r,cost_r);
475 static void point_move(FsqMethod *m, const MovFeatInfo *mfi, int posn) {
476 /* actually firing points, yay! */
478 enco_pic_point(&piob, mfi->boob[posn]);
479 serial_transmit(&piob);
482 static void points_all_abandon(Method *mm) {
483 FsqMethod *m= (void*)mm;
487 static FsqMethod points_method;
489 void points_turning_on(void) {
490 FsqMethod *m= &points_method;
493 void on_pic_charged(const PicInsnInfo *pii, const PicInsn *pi, int objnum) {
494 FsqMethod *m= &points_method;
495 if (m->f.ready<0) return;
500 static FsqMethod points_method= {
502 point_prepare, fsq_dispose,
503 fsq_install, fsq_remove,
504 fsq_check, fsq_execute, points_all_abandon },
505 { .lag_ms= POINT_MOVEMENT, .slot_ms= CDU_RECHARGE, .move= point_move }
508 /*========== relays ==========*/
513 * ____________ conf'd
514 * / wagglers_ \ ready .n
519 * |any <=Sta_Settling
522 * ___________ |turning
533 * | |fsq_check_action
534 * | | calls waggle_do which switches a relay
539 static FsqMethod waggle;
541 static void waggle_do(FsqMethod *m, const MovFeatInfo *mfi, int posn) {
542 /* actually setting relays */
544 enco_pic_waggle(&piob, mfi->boob[0], posn);
545 serial_transmit(&piob);
548 static SegmentNum waggle_settle_seg;
549 static int waggle_settle_feat;
551 static void waggle_settle_check(void) {
553 if (waggle_settle_seg >= info_nsegments) return;
555 Segment *seg= &segments[waggle_settle_seg];
556 if (waggle_settle_feat >= seg->i->n_movfeats) {
557 waggle_settle_seg++; waggle_settle_feat=0; continue;
560 const MovFeatInfo *feati= &seg->i->movfeats[waggle_settle_feat];
561 if (feati->kind != mfk_relay) {
562 waggle_settle_feat++; continue;
566 waggle_do(&waggle, feati, (seg->movposcomb / feati->weight) & 1);
567 waggle_settle_feat++;
571 void waggle_startup_manual(void) {
575 void waggle_settle(void) {
576 waggle_settle_seg= 0;
577 waggle_settle_feat= 0;
579 waggle_settle_check();
582 void on_pic_waggled(const PicInsnInfo *pii, const PicInsn *pi, int objnum) {
583 if (sta_state == Sta_Settling) {
585 waggle_settle_check();
586 } else if (sta_state >= Sta_Resolving || sta_state == Sta_Manual) {
588 fsq_check_action(&waggle);
593 static FsqMethod waggle= {
595 fsq_prepare, fsq_dispose,
596 fsq_install, fsq_remove,
597 fsq_check, fsq_execute, ignore_all_abandon },
598 { .lag_ms= 5, .slot_ms= 50, .move= waggle_do }
601 /*========== dummy `nomove' kind ==========*/
603 typedef struct NomoveChange {
605 DLIST_NODE(struct NomoveChange) inqueue;
606 int n_motions; /* 0 for reservations */
612 NomoveChange *queuehead; /* contains confirmations only */
615 static ErrorCode nomove_prepare(Method *meth_in, const Segment *move,
616 int n_motions, const Motion *motions,
617 int ms, int confirming,
618 Change **chg_r, int *cost_r) {
622 if (!confirming) n_motions= 0;
623 chg= mmalloc(sizeof(*chg) + sizeof(Motion)*n_motions);
624 chg->n_motions= n_motions;
625 memcpy(chg->motions, motions, sizeof(Motion)*n_motions);
632 static void nomove_dispose(Method *mm, Change *remvchg) {
633 NomoveChange *remv= (void*)remvchg;
637 static ErrorCode nomove_install(Method *mm, Change *instchg) {
638 NomoveMethod *meth= (void*)mm;
639 NomoveChange *inst= (void*)instchg;
641 DLIST1_PREPEND(meth->queuehead, inst, inqueue);
644 static void nomove_remove(Method *mm, Change *remvchg) {
645 NomoveMethod *meth= (void*)mm;
646 NomoveChange *remv= (void*)remvchg;
648 DLIST1_REMOVE(meth->queuehead, remv, inqueue);
651 static ErrorCode nomove_check(Method *mm) { return 0; }
653 static void nomove_execute(Method *mm) {
654 NomoveMethod *meth= (void*)mm;
657 while ((done= meth->queuehead)) {
658 assert(done->n_motions);
660 for (i=0; i<done->n_motions; i++)
661 method_update_feature(&meth->m, done->h.indep, &done->motions[i]);
662 method_change_done(&meth->m, &done->h);
663 DLIST1_REMOVE(meth->queuehead, done, inqueue);
664 nomove_dispose(&meth->m, &done->h);
668 static Method nomove_method= {
670 nomove_prepare, nomove_dispose,
671 nomove_install, nomove_remove,
672 nomove_check, nomove_execute, ignore_all_abandon
675 /*========== method-independent machinery ==========*/
677 #define INDEP_DBG_FMT "<%p:%s/%s[%d]>"
678 #define INDEP_DBG_ARGS(in) (in), \
679 ((in)->move->i->pname), (movpos_pname((in)->move, (in)->target)), \
682 #define INDEP_DPFX_FMT "movpos " INDEP_DBG_FMT " "
683 #define INDEP_DPFX_ARGS(in) INDEP_DBG_ARGS((in))
685 #define METH_DPFX_FMT "%s " INDEP_DBG_FMT " "
686 #define METH_DPFX_ARGS(indep, meth) ((meth).pname), INDEP_DBG_ARGS((indep))
688 static void indep_indep_done(Indep *indep);
690 static Method *methods[]= {
691 [mfk_none] = (Method*)&nomove_method,
692 [mfk_point] = (Method*)&points_method,
693 [mfk_relay] = (Method*)&waggle,
697 /*---------- entrypoints from methods ----------*/
699 static void method_update_feature(Method *m, MovPosChange *indep,
701 ouprintf("movpos %s feat %s %d %s\n", indep->move->i->pname,
702 mo->i->pname, mo->posn, m->pname);
703 if (SOMEP(indep->actual))
705 movposcomb_update_feature(indep->actual, mo->i, mo->posn);
706 ouposn_moving(indep);
709 static void method_change_done(Method *m, Change *chg) {
710 Indep *indep= chg->indep;
713 DPRINTF(movpos,meth, METH_DPFX_FMT "method_change_done...\n",
714 METH_DPFX_ARGS(indep,*m));
716 for (search=indep->changes; *search; search++)
717 if ((*search) == chg) goto found;
718 assert(!"change in indep");
722 if (indep->n_changes) {
723 *search= indep->changes[indep->n_changes];
727 if (!indep->refcount)
728 indep_indep_done(indep);
731 static void indep_indep_done(Indep *indep) {
733 Segment *move= indep->move;
736 move->movposcomb= indep->target;
741 /*---------- internal core machinery ----------*/
743 static Method *feature_method(const MovFeatInfo *feati) {
744 assert(feati->kind >= 0);
745 assert(feati->kind < ARRAY_SIZE(methods));
746 Method *meth= methods[feati->kind];
751 static int change_needed(const MovFeatInfo *feati,
752 MovPosComb startpoint, MovPosComb target) {
754 r= !SOMEP(startpoint) ||
755 (target / feati->weight) % feati->posns -
756 (startpoint / feati->weight) % feati->posns;
757 if (DEBUGP(movpos,eval))
758 DPRINTFA(" { %s:%s(%d*%d) %d..%d => %d }",
759 feature_method(feati)->pname, feati->pname,
760 feati->posns, feati->weight,
761 startpoint, target, r);
765 static void indep_dispose(MovPosChange *indep) {
768 DPRINTF(movpos,intern, INDEP_DPFX_FMT "dispose...\n",
769 INDEP_DPFX_ARGS(indep));
772 for (changei=0; changei<indep->n_changes; changei++) {
773 Change *chg= indep->changes[changei];
776 Method *meth= chg->meth;
777 DPRINTF(movpos,meth, METH_DPFX_FMT "dispose...\n",
778 METH_DPFX_ARGS(indep,*meth));
779 meth->dispose(meth, chg);
784 #define EVAL_MAX_METHODS 2
785 #define EVAL_MAX_MOTIONS 2
787 static ErrorCode indep_prepare(Segment *move, MovPosComb target,
788 MovPosComb startpoint,
789 int ms, int confirming,
790 MovPosChange **indep_r /* 0 ok */,
791 int *cost_r /* 0 ok */) {
793 static Method *meths[EVAL_MAX_METHODS];
794 static int n_motions[EVAL_MAX_METHODS];
795 static Motion motions[EVAL_MAX_METHODS][EVAL_MAX_MOTIONS];
797 const SegmentInfo *movei= move->i;
800 MovPosChange *indep=0;
802 DPRINTF1(movpos,eval, "movpos prepare %s/%s <-%s", move->i->pname,
803 movpos_pname(move,target), movpos_pname(move,startpoint));
805 if (!SOMEP(startpoint)) {
806 startpoint= movpos_poscomb_actual(move);
807 DPRINTF2(" actual <-%s", movpos_pname(move,startpoint));
812 for (feat=0; feat<movei->n_movfeats; feat++) {
813 const MovFeatInfo *feati= &movei->movfeats[feat];
814 if (!change_needed(feati,startpoint,target)) continue;
815 MovPosComb posn= target / feati->weight % feati->posns;
816 Method *meth= feature_method(feati);
819 for (methi=0; methi<n_meths; methi++)
820 if (meths[methi] == meth) goto found_method;
821 /* need a new method */
823 if (methi >= EVAL_MAX_METHODS) {
824 DPRINTF2(" MovFeatTooManyMethods methi=%d\n",methi);
825 return EC_MovFeatTooManyMethods;
829 DPRINTF2(" meths[%d]=%s", methi,meth->pname);
832 int motioni= n_motions[methi]++;
833 if (motioni >= EVAL_MAX_MOTIONS) {
834 DPRINTF2(" MovFeatTooManyMotions motioni=%d\n",motioni);
835 return EC_MovFeatTooManyMotions;
837 DPRINTF2(" motion[%d][%d]=%s%d", methi, motioni, feati->pname,posn);
838 motions[methi][motioni].i= feati;
839 motions[methi][motioni].posn= posn;
844 indep= mmalloc(sizeof(*indep) + sizeof(Change*) * n_meths);
846 indep->actual= startpoint;
847 indep->target= target;
848 indep->n_changes= n_meths;
850 memset(indep->changes, 0, sizeof(Change*) * n_meths);
858 for (changei=0; changei<n_meths; changei++) {
859 Method *meth= meths[changei];
865 DPRINTF(movpos,meth, METH_DPFX_FMT "prepare n_motions=%d...\n",
866 METH_DPFX_ARGS(indep,*meth), n_motions[changei]);
868 DPRINTF(movpos,meth, "%s prepare (costing) n_motions=%d...\n",
869 meth->pname, n_motions[changei]);
871 ec= meth->prepare(meth,move,
872 n_motions[changei],motions[changei],
874 indep ? &indep->changes[changei] : 0,
878 Change *chg= indep->changes[changei];
883 totalcost += thiscost;
886 if (indep_r) *indep_r= indep;
887 if (cost_r) *cost_r= totalcost;
890 DPRINTF(movpos,eval, INDEP_DPFX_FMT "prepare cost=%d ok\n",
891 INDEP_DPFX_ARGS(indep), totalcost);
893 DPRINTF(movpos,eval, "movpos prepare %s/%s cost=%d ok\n",
894 move->i->pname, movpos_pname(move,target), totalcost);
898 indep_dispose(indep);
899 DPRINTF(movpos,entry, "movpos prepare %s/%s err=%s\n", move->i->pname,
900 movpos_pname(move,target), ec2str(ec));
904 static void indep_remove(MovPosChange *remv) {
907 DPRINTF(movpos,intern, INDEP_DPFX_FMT "remove...\n",
908 INDEP_DPFX_ARGS(remv));
911 for (i=0; i<remv->n_changes; i++) {
912 Change *chg= remv->changes[i];
913 if (!chg->installed) continue;
914 Method *meth= chg->meth;
917 DPRINTF(movpos,meth, METH_DPFX_FMT "remove...\n",
918 METH_DPFX_ARGS(remv,*meth));
919 meth->remove(meth, chg);
925 indep_install(MovPosChange *inst, int checknow) {
926 /* if this fails, inst may be left partially installed */
929 DPRINTF(movpos,intern, INDEP_DPFX_FMT "install checknow=%d...\n",
930 INDEP_DPFX_ARGS(inst), checknow);
934 for (i=0; i<inst->n_changes; i++) {
935 Change *chg= inst->changes[i];
936 assert(!chg->installed);
937 Method *meth= chg->meth;
940 ec= meth->install(meth, chg);
941 DPRINTF(movpos,meth, METH_DPFX_FMT "install=%s\n",
942 METH_DPFX_ARGS(inst,*meth), ec2str(ec));
948 ec= meth->check(meth);
949 DPRINTF(movpos,meth, METH_DPFX_FMT "check=%s\n",
950 METH_DPFX_ARGS(inst,*meth), ec2str(ec));
961 static void indep_check_execute(void) {
962 DPRINTF(movpos,intern, "movpos indep_check_execute\n");
964 Method **methwalk, *meth;
965 for (methwalk= methods; (meth= *methwalk); methwalk++) {
966 if (meth->needcheck) {
967 ErrorCode ec= meth->check(meth);
968 DPRINTF(movpos,meth, "%s check=%s\n", meth->pname, ec2str(ec));
972 if (meth->needexec) {
974 DPRINTF(movpos,meth, "%s execute...\n", meth->pname);
980 /*---------- entrypoints from rest of program ----------*/
983 movpos_reserve(Segment *move, int maxdelay_ms, MovPosChange **res_r,
984 MovPosComb target, MovPosComb startpoint /*as for findcomb*/) {
986 MovPosChange *indep= 0;
988 DPRINTF(movpos,entry, "movpos reserve %s/%s maxdelay=%dms startpoint=%s\n",
989 move->i->pname, movpos_pname(move,target),
990 maxdelay_ms, movpos_pname(move,startpoint));
992 ec= indep_prepare(move,target, startpoint,
997 ec= indep_install(indep, 1);
1000 indep_check_execute();
1002 DPRINTF(movpos,entry, "movpos reserve %s/%s ok\n",
1003 move->i->pname, movpos_pname(move,target));
1008 indep_remove(indep);
1009 indep_dispose(indep);
1010 indep_check_execute();
1012 DPRINTF(movpos,entry, "movpos reserve %s/%s err=%s\n",
1013 move->i->pname, movpos_pname(move,target), ec2str(ec));
1017 ErrorCode movpos_findcomb_bysegs(Segment *back, Segment *move, Segment *fwd,
1018 MovPosComb startpoint, MovPosComb *chosen_r) {
1019 const SegmentInfo *movei= move->i;
1020 MovPosComb tcomb, bestcomb=-1;
1021 int tcost, bestcost=INT_MAX;
1022 const SegPosCombInfo *pci;
1024 DPRINTF(movpos,eval, "movpos_findcomb_bysegs %s-%s-%s <-%s\n",
1025 back ? back->i->pname : "*", move->i->pname,
1026 fwd ? fwd ->i->pname : "*", movpos_pname(move, startpoint));
1028 for (tcomb=0, pci=movei->poscombs;
1029 tcomb<movei->n_poscombs;
1031 /* these next assignments may generate segments[-1] but we don't
1032 * care because that won't compare equal to back or fwd */
1033 Segment *tback= &segments[pci->link[1].next];
1034 Segment *tfwd= &segments[pci->link[0].next];
1036 DPRINTF(movpos,intern, "movpos_findcomb_bysegs ... %s : %s-%s-%s\n",
1037 movpos_pname(move, tcomb),
1038 SOMEP(pci->link[1].next) ? tback->i->pname : "#",
1040 SOMEP(pci->link[0].next) ? tfwd->i->pname : "#");
1042 if (back && !(back==tback || back==tfwd)) continue;
1043 if (fwd && !(fwd ==tback || fwd ==tfwd)) continue;
1045 /* we have to search for the one which is least effort */
1046 ErrorCode ec= indep_prepare(move,tcomb,startpoint, -1,0, 0,&tcost);
1049 if (tcost >= bestcost) /* prefer low-numbered movposcombs */
1055 DPRINTF(movpos,entry, "movpos_findcomb_bysegs %s..%s..%s <-%s => %s/%s\n",
1056 back ? back->i->pname : "-", move->i->pname,
1057 fwd ? fwd ->i->pname : "-", movpos_pname(move, startpoint),
1058 move->i->pname, movpos_pname(move,bestcomb));
1060 if (chosen_r) *chosen_r= bestcomb;
1062 bestcost==INT_MAX ? EC_MovFeatRouteNotFound :
1066 ErrorCode movpos_change(Segment *move, MovPosComb target,
1067 int maxdelay_ms, MovPosChange *resv) {
1072 if (!move->moving) {
1073 actual= move->movposcomb;
1074 assert(!move->motion);
1076 actual= move->motion->actual;
1079 DPRINTF1(movpos,entry, "movpos change %s/%s maxdelay=%dms actual=%s",
1080 move->i->pname, movpos_pname(move, target),
1081 maxdelay_ms, movpos_pname(move, actual));
1082 if (resv) DPRINTF2(" resv=%s/%s",
1083 resv->move->i->pname,
1084 movpos_pname(resv->move, resv->target));
1085 if (move->motion) DPRINTF2(" oldmotion=/%s",
1086 movpos_pname(move, move->motion->target));
1089 MovPosChange *inst= 0;
1091 ec= indep_prepare(move,target, actual,
1097 indep_remove(move->motion);;
1099 ec= indep_install(inst, 1);
1102 indep_dispose(resv);
1103 indep_dispose(move->motion);
1108 inst->refcount++; /* prevents method_change_done from destroying it */
1110 ouposn_moving(inst);
1111 indep_check_execute();
1114 if (!inst->n_changes)
1116 indep_indep_done(inst);
1118 DPRINTF(movpos,entry, "movpos change %s/%s ok\n",
1119 move->i->pname, movpos_pname(move, target));
1124 indep_dispose(inst);
1125 ec= indep_install(move->motion, 0); assert(!ec);
1126 ec= indep_install(resv, 0); assert(!ec);
1127 indep_check_execute();
1129 DPRINTF(movpos,entry, "movpos change %s/%s err=%s\n",
1130 move->i->pname, movpos_pname(move, target), ec2str(ec));
1134 void movpos_unreserve(MovPosChange *resv) {
1136 DPRINTF(movpos,entry, "movpos unreserve %s/%s...\n",
1137 resv->move->i->pname, movpos_pname(resv->move, resv->target));
1139 indep_dispose(resv);
1140 indep_check_execute();
1143 MovPosComb movpos_change_intent(MovPosChange *indep) {
1144 return indep->target;
1147 void motions_all_abandon(void) {
1150 DPRINTF(movpos,entry, "movpos motions_all_abandon...\n");
1152 if (!seg->moving) continue;
1154 MovPosChange *abandon= seg->motion;
1155 indep_remove(abandon);
1156 seg->movposcomb= abandon->actual;
1159 indep_dispose(abandon);
1161 for (meth=methods; *meth; meth++)
1162 (*meth)->all_abandon(*meth);