wip debugging

diff --git a/hostside/README.commands b/hostside/README.commands
index adf687e15bd4c41d76a93b8103af2072ea8c5077..1aea6997f9895cb6d0fd64b63daa0af18064807a 100644 (file)
--- a/hostside/README.commands
+++ b/hostside/README.commands
@@ -46,6 +46,10 @@ POSSIBLY-ASYNCHRONOUS REPORTING OF MESSAGES TO/FROM (MASTER) PIC
  U< signalling-problem <train> <foredet> ....
  U< signalling-problem <train> <foredet> detection <nowdet> : <message>
 
+ U< movpos <segment> point <feat><posn>
+ U< movpos <segment> position <overallposn> moving
+ U< movpos <segment> position <overallposn> stable
+
  U< debug <context> : <debug message>
  U< info : <informational message>
 

diff --git a/hostside/movpos.c b/hostside/movpos.c
index 4a89d44f04a275ff9a0ba42329f4ca5330643c3a..512610a81ce9b2e41ded04b2828eb2b0247622a7 100644 (file)
--- a/hostside/movpos.c
+++ b/hostside/movpos.c
@@ -63,6 +63,28 @@ struct KindInfo {
    */
 };
 
+static const char *posnpname(Segment *move, MovPosComb poscomb) {
+  return poscomb<0 ? "?" : move->i->poscombs[poscomb].pname;
+}
+
+static void ouposn_moving(Change *chg) {
+  Segment *move= chg->move;
+  oprintf(UPO, "movpos %s position %s moving\n",
+         move->i->pname, posnpname(move, chg->actual));
+}
+
+static void motion_done(Segment *move) {
+  move->moving= 0;
+  move->motion= 0;
+  move->movposcomb= r->h.actual;
+  oprintf(UPO, "movpos %s position %s stable\n",
+         move->i->pname, posnpname(move, move->movposcomb));
+}
+
+#define PRPOSN_CHG(chg)                                                        \
+  (chg)->move->i->pname,                                               \
+  (chg)->actual<0 ? "?" : (chg)->move->i->poscombs[(chg)->actual].pname
+
 /*========== points ==========*/
 
 /*
@@ -304,7 +326,10 @@ static ErrorCode point_confirm(Change *chg, Segment *move,
   int allow_failure;
   ErrorCode ec;
 
-fprintf(stderr,"  point confirm\n");
+  oprintf(DUPO("point") "confirm %s n=%d maxdelay=%d"
+         " (res: n=%d deadline=[t+]%d)\n",
+         move->i->pname, n_motions, maxdelay_ms,
+         r->n_motions, r->deadline);
 
   /* If the segment is moving, these motions are already based on the
    * actual physical position which is stored in the existing request.
@@ -321,6 +346,8 @@ fprintf(stderr,"  point confirm\n");
     newdeadline= pt_maxdelay_reldeadline(maxdelay_ms);
   }
   allow_failure= newdeadline < r->deadline;
+  oprintf(DUPO("point") " newdeadline=t+%d allow_failure=%d\n",
+         newdeadline, allow_failure);
   newdeadline += pt_cslot;
 
   /* state A or R */
@@ -328,7 +355,14 @@ fprintf(stderr,"  point confirm\n");
                                            /* states of existing: */
   PointReq *existing=
     move->moving ? (PointReq*)move->motion : 0;   /* U or C */
-  if (existing) pt_dequeue(existing);             /* U or CA */
+  if (existing) {
+    oprintf(DUPO("point")
+           " existing %s n=%d deadline=t+%d\n",
+           existing->h.move->i->pname,
+           existing->n_motions,
+           existing->deadline - pt_slot);
+    pt_dequeue(existing);                         /* U or CA */
+  }
 
   /* state A or RA */
   memcpy(r->motions, motions, sizeof(r->motions[0])*n_motions);
@@ -345,6 +379,7 @@ fprintf(stderr,"  point confirm\n");
 
   /* state CA */
   ec= pt_enqueue(&pt_confirmed, r);
+  oprintf(DUPO("point") " pt_enqueue=%s\n", ecstr(ec));
   assert(allow_failure || !ec);
 
   if (existing) {                                  /* CA */
@@ -362,14 +397,14 @@ fprintf(stderr,"  point confirm\n");
    *     or  ec!=0  state C but bad                    C
    */
 
-  if (!ec) {
-    move->moving= 1;
-    move->motion= chg;
-    move->movposcomb= -1;
-    pt_check_action();
-  }
+  if (ec) return;
 
-  return ec;
+  move->moving= 1;
+  move->motion= chg;
+  move->movposcomb= -1;
+  ouposn_moving(chg);
+  pt_check_action();
+  return 0;
 }
 
 static void point_destroy(Change *chg) { /* X->XA and then free it */
@@ -383,6 +418,8 @@ static void point_destroy(Change *chg) { /* X->XA and then free it */
 static void pt_check_action(void) {
   PicInsn piob;
 
+fixme add more oprintf DUPO from about here onwards
+
   if (!pt_confirmed.n) {
     if (sta_state == Sta_Finalising) resolve_motioncheck();
     return;
@@ -396,6 +433,8 @@ static void pt_check_action(void) {
     assert(m->posn < m->i->posns);
     enco_pic_point(&piob, m->i->boob[m->posn]);
     serial_transmit(&piob);
+    oprintf(UPO, "movpos %s point %s%d\n", r->move->i->pname,
+           m->i->pname, m->posn);
     pt_cdu_charged= 0;
 
     MovPosComb above_weight= m->i->weight * m->i->posns;
@@ -404,6 +443,7 @@ static void pt_check_action(void) {
     r->actual= above*above_weight + m->posn*m->i->weight + below;
     if (r->h.actual >= 0 || !r->n_motions)
       r->h.actual= r->actual;
+    ouposn_moving(&r->h);
   }
 
   if (!r->n_motions) {
@@ -415,9 +455,7 @@ static void pt_check_action(void) {
     assert(move->moving && move->motion == (Change*)r);
     pt_queue_remove_index(&pt_confirmed,0);
     pt_mark_as_allocated(r); /* now state A aka Done */
-    move->movposcomb= r->h.actual;
-    move->moving= 0;
-    move->motion= 0;
+    motion_done(move);
     free(r);
     pt_check_action();
   }
@@ -434,9 +472,7 @@ void points_all_abandon(void) {
     PointReq *r= pt_confirmed.l[i];
     Segment *move= r->h.move;
     assert(move->motion == (Change*)r);
-    move->moving= 0;
-    move->motion= 0;
-    move->movposcomb= r->h.actual;
+    motion_done(move);
     free(r);
   }
   pt_confirmed.n= 0;
@@ -456,7 +492,7 @@ void on_pic_charged(const PicInsnInfo *pii, const PicInsn *pi, int objnum) {
 /*========== dummy `nomove' kind ==========*/
 
 static Change *nomove_allocate(int alloc_motions) {
-fprintf(stderr,"  nomove allocate %d\n",alloc_motions);
+  oprintf(DUPO("movfeatkind-momove") "allocate %d\n",alloc_motions);
   return mmalloc(sizeof(Change));
 }
 static void nomove_destroy(Change *chg) {
@@ -464,12 +500,12 @@ static void nomove_destroy(Change *chg) {
 }
 
 static ErrorCode nomove_reserve(Change *chg, Segment *move, int ms) {
-fprintf(stderr,"  nomove reserve\n");
+  oprintf(DUPO("movfeatkind-nomove") "reserve\n");
   return 0;
 }
 static ErrorCode nomove_confirm(Change *chg, Segment *move, int n_motions,
                       const Motion *motions, int ms) {
-fprintf(stderr,"  nomove confirm\n");
+  oprintf(DUPO("movfeatkind-nomove") "confirm\n");
   nomove_destroy(chg);
   return 0;
 }
@@ -582,6 +618,7 @@ ErrorCode movpos_change(Segment *move, MovPosComb target,
     int n_motions=0;
     Motion motions[movei->n_movfeats];
 
+fixme make these debug
 fprintf(stderr," motions...  best=%lu actual=%ld\n",target,actual);
     for (feat=0, feati=movei->movfeats;
         feat<movei->n_movfeats;