perm filename ALHDR.2[EAL,HE] blob
sn#690551 filedate 1982-12-15 generic text, type C, neo UTF8
COMMENT ⊗ VALID 00012 PAGES
C REC PAGE DESCRIPTION
C00001 00001
C00003 00002 (* The following bits are used during calls to the ARM servo *)
C00006 00003 (* Random type declarations for OMSI/SAIL compatibility *)
C00008 00004 (* datatype definitions *)
C00011 00005 (* statement definitions *)
C00015 00006 (* auxiliary definitions: variable, etc. *)
C00017 00007 (* definition of the ubiquitous NODE record *)
C00023 00008 (* records for parser: ident, token, resword *)
C00027 00009 (* process descriptor blocks & environment record definitions *)
C00031 00010 (* definition of AL-ARM messages *)
C00033 00011 (* print related records: *)
C00034 00012 (* Global variables *)
C00042 ENDMK
C⊗;
(* The following bits are used during calls to the ARM servo *)
const
YARMDEV = 1; (* device numbers *)
YHANDDEV = 2;
BARMDEV = 3;
BHANDDEV = 4;
VISEDEV = 5;
DRIVERDEV = 6;
GARMDEV = 7;
GHANDDEV = 8;
RARMDEV = 9;
RHANDDEV = 10;
YELARM = 1B; (* Yellow arm *)
BLUARM = 4B; (* Blue arm *)
FTABLE = 400B; (* Force trans (C) in table coordinates *)
FHAND = 0B; (* " " " " hand coordinate system *)
XFORCE = 0B; (* Force along X direction of C *)
YFORCE = 1000B; (* " " Y " " " *)
ZFORCE = 2000B; (* " " Z " " " *)
XMOMENT = 3000B; (* Moment about X direction of C *)
YMOMENT = 4000B; (* " " Y " " " *)
ZMOMENT = 5000B; (* " " Z " " " *)
FSTOP = 10000B; (* In addition to starting cmon, stop arm *)
SIGMAG = 20000B; (* Test only magnitude of forces *)
SIGGE = 100000B; (* Start cmon if force ≥ specified value *)
SIGLT = 0B; (* " " " " < " " *)
barmpower = 1B; (* bit defs - used in response to initarmscmd *)
yarmpower = 2B;
garmpower = 4B;
rarmpower = 10B;
garmcal = 400B;
rarmcal = 1000B;
nullingcb = 1B; (* control bits for trajectory specs *)
wobblecb = 2B;
durlbcb = 20B; (* Duration: lower, upper & exact bounds *)
durubcb = 40B;
dureqcb = 60B;
veloccb = 100B;
codecb = 200B;
viaptcb = 400B;
deprptcb = 1000B;
apprptcb = 2000B;
destptcb = 10000B;
(* Constants from EDIT *)
maxLines = 28; (* smaller on the 11 than on the 10 *)
maxPPLines = 18;
maxBpts = 25;
maxTBpts = 20; (* max could be exceeded by huge case stmnt *)
listinglength = 2000; (* Length of Listingarray *)
(* Random type declarations for OMSI/SAIL compatibility *)
type
byte = 0..255; (* doesn't really belong here, but... *)
ascii = char;
atext = text;
{ Define all the pointer types here }
vectorp = ↑vector;
transp = ↑trans;
strngp = ↑strng;
eventp = ↑event;
framep = ↑frame;
statementp = ↑statement;
varidefp = ↑varidef;
nodep = ↑node;
identp = ↑ident;
tokenp = ↑token;
reswordp = ↑resword;
pdbp = ↑pdb;
envheaderp = ↑envheader;
enventryp = ↑enventry;
environp = ↑environment;
cmoncbp = ↑cmoncb;
messagep = ↑message;
linerecp = ↑linerec;
cursorpp = ↑cursorp; {Ron's style, not mine}
(* the following get used for misc record types - i.e. we fake out Pascal's type
checking mechanism *)
s4p = ↑s4;
s4 = record next: s4p; filler: array [1..3] of integer; end;
s8p = ↑s8;
s8 = record next: s8p; filler: array [1..7] of integer; end;
s11p = ↑s11;
s11 = record next: s11p; filler: array [1..10] of integer; end;
(* datatype definitions *)
datatypes = (pconstype, varitype, svaltype, vectype, rottype, transtype,
frametype, eventtype, strngtype, labeltype, proctype, arraytype,
reftype, valtype, cmontype, nulltype, undeftype,
dimensiontype, mactype, macargtype, freevartype);
scalar = real;
u = (used,free);
vector = record case u of
used: (refcnt: integer; val: array [1..3] of real);
free: (next: vectorp);
end;
trans = record case u of
used: (refcnt: integer; val: array [1..3,1..4] of real);
free: (next: transp);
end;
cstring = packed array [1..10] of ascii;
c4str = packed array [1..4] of ascii;
c5str = packed array [1..5] of ascii;
c20str = packed array [1..20] of ascii;
linestr = packed array [1..130] of ascii;
strng = record
next: strngp;
ch: cstring;
end;
event = record
next: eventp; (* all events are on one big list *)
count: integer;
waitlist: pdbp;
end;
frame = record
vari: varidefp; (* back pointer to variable name & info *)
calcs: nodep; (* affixment info *)
case ftype: boolean of (* frame = true, device = false *)
true: (valid: integer; val, fdepr: transp; dcntr: integer; dev: framep);
false: (mech: integer; case sdev: boolean of
true: (sdest: real); false: (tdest,appr,depr: transp));
(* sdev = true for scalar devices, false for frames *)
end;
(* statement definitions *)
stmntypes = (progtype, blocktype, coblocktype, endtype, coendtype,
fortype, iftype, whiletype, untiltype, casetype,
calltype, returntype,
printtype, prompttype, pausetype, aborttype, assigntype,
signaltype, waittype, enabletype, disabletype, cmtype,
affixtype, unfixtype,
movetype, operatetype, opentype, closetype, centertype,
stoptype, retrytype,
requiretype, definetype, macrotype, commenttype, dimdeftype,
setbasetype, wristtype, tovaltype, declaretype, emptytype);
(* more??? *)
statement = packed record
next, last: statementp; (* ↑ to lexical tokens? *)
stlab: varidefp;
exprs: nodep; (* any expressions used by this statement *)
nlines: integer;
bpt: boolean;
case stype: stmntypes of
progtype: (pcode: statementp; errors: integer);
blocktype,
declaretype,
endtype,
coendtype: (bcode, bparent: statementp; blkid: identp;
level, numvars: 0..255; variables: varidefp);
coblocktype: (threads: nodep; nthreads: integer; cblkid: identp);
fortype: (forvar, initial, step, final: nodep; fbody: statementp);
whiletype,
untiltype: (cond: nodep; body: statementp);
casetype: (index: nodep; range, ncases: integer; caselist: nodep);
iftype: (icond: nodep; thn, els: statementp);
pausetype: (ptime: nodep);
prompttype,
printtype,
aborttype: (plist: nodep; debugLev: integer);
returntype: (retval, rproc: nodep);
calltype,
assigntype: (what, aval: nodep);
affixtype,
unfixtype: (frame1, frame2, byvar, atexp: nodep; rigid: boolean);
signaltype,
waittype: (event: nodep);
movetype,
operatetype,
opentype,
closetype,
centertype,
stoptype: (cf, clauses: nodep);
retrytype: (rcode, rparent: statementp; olevel: integer);
cmtype: (oncond: nodep; conclusion: statementp;
deferCm, exprCm: boolean; cdef: varidefp);
enabletype,
disabletype: (cmonlab: varidefp);
requiretype: (rfil: boolean; rfils: strngp; rfilen: integer);
definetype: (macname,mpars: varidefp; macdef: tokenp);
commenttype: (len: integer; str: strngp; cbody: statementp);
dimdeftype: (dimname: varidefp; dimexpr: nodep);
setbasetype,
wristtype: (fvec, tvec: nodep);
tovaltype: (vstr: strngp; vlen: integer; waitp: boolean);
end;
(* auxiliary definitions: variable, etc. *)
varidef = packed record
next,dnext: varidefp;
name: identp;
level: 0..255; (* environment level *)
offset: 0..255; (* environment offset *)
dtype: varidefp; (* to hold the dimension info *)
tbits: 0..15; (* special type bits: array = 1, proc = 2, ref = 4 & ? *)
dbits: 0..15; (* for use by debugger/interpreter *)
case vtype: datatypes of
arraytype: (a: nodep);
proctype: (p: nodep);
labeltype,
cmontype: (s: statementp);
mactype: (mdef: statementp);
macargtype: (marg: tokenp);
pconstype: (c: nodep);
dimensiontype: (dim: nodep);
end;
(* definition of the ubiquitous NODE record *)
nodetypes = (exprnode, leafnode, listnode, clistnode, colistnode, forvalnode,
deprnode, viaptnode, apprnode, destnode, durnode,
sfacnode, wobblenode, swtnode, nullingnode, wristnode, cwnode,
arrivalnode, departingnode,
ffnode, forcenode, stiffnode, gathernode, cmonnode, errornode,
calcnode, arraydefnode, bnddefnode, bndvalnode,
waitlistnode, procdefnode, tlistnode, dimnode, commentnode);
exprtypes = ( svalop, (* scalar operators *)
sltop, sleop, seqop, sgeop, sgtop, sneop, (* relations *)
notop, orop, xorop, andop, eqvop, (* logical *)
saddop, ssubop, smulop, sdivop, snegop, sabsop, (* scalar ops *)
sexpop, maxop, minop, intop, idivop, modop,
sqrtop, logop, expop, timeop, (* functions *)
sinop, cosop, tanop, asinop, acosop, atan2op, (* trig *)
vdotop, vmagnop, tmagnop,
vecop, (* vector operators *)
vmakeop, unitvop, vaddop, vsubop, crossvop, vnegop,
svmulop, vsmulop, vsdivop, tvmulop, wrtop,
tposop, taxisop,
transop, (* trans operators *)
tmakeop, torientop, ttmulop, tvaddop, tvsubop, tinvrtop,
vsaxwrop, constrop, ftofop, deproachop, fmakeop, vmkfrcop,
ioop, (* i/o operators *)
queryop, inscalarop,
specop, (* special operators *)
arefop, callop, grinchop, macroop, vmop, adcop, dacop,
badop,
addop, subop, negop, mulop, divop, absop); (* for parsing *)
leaftypes = pconstype..strngtype;
reltypes = sltop..sgtop;
forcetypes = (force,absforce,torque,abstorque,angvelocity);
node = record
next: nodep;
case ntype: nodetypes of
exprnode: (op: exprtypes; arg1, arg2, arg3: nodep; elength: integer);
leafnode: (case ltype: leaftypes of
varitype: (vari: varidefp; vid: identp);
pconstype: (cname: varidefp; pcval: nodep);
svaltype: (s: scalar; wid: integer);
vectype: (v: vectorp);
transtype: (t: transp);
strngtype: (length: integer; str: strngp) ); (* also used by commentnodes *)
listnode: (lval: nodep);
clistnode: (cval: integer; stmnt: statementp; clast: nodep);
colistnode: (prev: nodep; cstmnt: statementp);
forvalnode: (fvar: enventryp; fstep: scalar);
arrivalnode:(evar: varidefp);
deprnode,
apprnode,
destnode: (loc: nodep; code: statementp);
viaptnode: (vlist: boolean; via,duration,velocity: nodep; vcode: statementp);
durnode: (durrel: reltypes; durval: nodep);
sfacnode,
wobblenode,
swtnode: (clval: nodep);
nullingnode,
wristnode,
cwnode: (notp: boolean); (* true = nonulling/don't zero wrist/counter_clockwise *)
ffnode: (ff: nodep; csys, pdef: boolean); (* true = world, false = hand *)
forcenode: (ftype: forcetypes; frel: reltypes; fval, fvec, fframe: nodep);
stiffnode: (fv, mv, coc: nodep);
gathernode: (gbits: integer);
cmonnode: (cmon: statementp; errhandlerp: boolean);
errornode: (eexpr: nodep);
calcnode: (rigid, frame1: boolean; other: framep; case tvarp: boolean of
false: (tval: transp); true: (tvar: enventryp) );
arraydefnode: (numdims: 1..10; bounds: nodep; combnds: boolean);
bnddefnode: (lower, upper: nodep);
bndvalnode: (lb, ub, mult: integer);
waitlistnode: (who: pdbp; when: integer);
procdefnode:(ptype: datatypes; level: 0..255;
pname, paramlist: varidefp; body: statementp);
tlistnode: (tok: tokenp);
dimnode: (time, distance, angle, dforce: integer);
end;
(* records for parser: ident, token, resword *)
ident = record
next: identp;
length: integer;
name: strngp;
predefined: varidefp;
end;
tokentypes = (reswdtype, identtype, constype, comnttype, delimtype, labeldeftype,
macpartype);
constypes = svaltype..strngtype;
reswdtypes = (stmnttype, filtype, clsetype, decltype, optype, edittype);
filtypes = (abouttype,alongtype,attype,bytype,defertype,dotype,elsetype,
errmodestype,fromtype,handtype,intype,nonrigidlytype,rigidlytype,
sourcefiletype,steptype,thentype,totype,untltype,viatype,
withtype,worldtype,zeroedtype,oftype,wheretype,nowaittype,
ontype,offtype,ppsizetype,collecttype,alltype,lextype);
clsetypes = (approachtype,arrivaltype,departuretype,departingtype,durationtype,
errortype,forcetype,forceframetype,forcewristtype,gathertype,
nildeproachtype,nonullingtype,nullingtype,stiffnesstype,
torquetype,velocitytype,wobbletype,
cwtype,ccwtype,stopwaittimetype,angularvelocitytype,
fxtype,fytype,fztype,mxtype,mytype,mztype,
t1type,t2type,t3type,t4type,t5type,t6type,tbltype);
edittypes = (getcmd,savecmd,insertcmd,renamecmd,startcmd,gocmd,proceedcmd,
stepcmd,sstepcmd,nstepcmd,gstepcmd,executecmd,setcmd,tracecmd,
breakcmd,unbreakcmd,tbreakcmd,definecmd,markcmd,unmarkcmd,
popcmd);
token = record
next: tokenp;
case ttype: tokentypes of
constype: (cons: nodep);
comnttype: (len: integer; str: strngp);
delimtype: (ch: ascii);
reswdtype: (case rtype: reswdtypes of
stmnttype: (stmnt: stmntypes);
filtype: (filler: filtypes);
clsetype: (clause: clsetypes);
decltype: (decl: datatypes);
optype: (op: exprtypes);
edittype: (ed: edittypes) );
identtype: (id: identp);
labeldeftype: (lab: varidefp);
macpartype: (mpar: varidefp);
end;
resword = record
next: reswordp;
length: integer;
name: strngp;
case rtype: reswdtypes of
stmnttype: (stmnt: stmntypes);
filtype: (filler: filtypes);
clsetype: (clause: clsetypes);
decltype: (decl: datatypes);
optype: (op: exprtypes);
edittype: (ed: edittypes);
end;
(* process descriptor blocks & environment record definitions *)
queuetypes = (nullqueue,nowrunning,runqueue,inputqueue,eventqueue,sleepqueue,
forcewait,devicewait,joinwait,proccall);
pdb = packed record
nextpdb,next: pdbp; (* for list of all/active pdb's *)
level: 0..255; (* lexical level *)
mode: 0..255; (* expression/statement/sub-statement *)
priority: 0..255;
status: queuetypes; (* what are we doing *)
env: envheaderp;
spc: statementp; (* current statement *)
epc: nodep; (* current expression (if any) *)
sp: nodep; (* intermediate value stack *)
cm: cmoncbp; (* if we're a cmon point to our definition *)
mech: framep; (* current device being used *)
linenum: integer; (* used by editor/debugger *)
case procp: boolean of (* true if we're a procedure *)
true: (opdb: pdbp; (* pdb to restore when procedure exits *)
pdef: nodep); (* procedure definition node *)
false: (evt: eventp; (* event to signal when process goes away *)
sdef: statementp); (* first statement where process was defined *)
end;
envheader = packed record
parent: envheaderp;
env: array [0..4] of environp;
varcnt: 0..255; (* # of variables in use ??? *)
case procp: boolean of (* true if we're a procedure *)
true: (proc: nodep);
false:(block: statementp);
end;
enventry = record
case etype: datatypes of
svaltype: (s: scalar);
vectype: (v: vectorp);
transtype: (t: transp);
frametype: (f: framep);
eventtype: (evt: eventp);
strngtype: (length: integer; str: strngp);
cmontype: (c: cmoncbp);
proctype: (p: nodep; penv: envheaderp);
reftype: (r: enventryp);
arraytype: (a: envheaderp; bnds: nodep);
end;
environment = record
next: environp;
vals: array [0..9] of enventryp;
end;
cmoncb = record
running, enabled: boolean; (* cmon's status *)
cmon: statementp;
pdb: pdbp;
evt: eventp;
fbits: integer; (* bits for force sensing *)
oldcmon: cmoncbp; (* for debugger *)
end;
(* definition of AL-ARM messages *)
msgtypes = (initarmscmd,calibcmd,killarmscmd,wherecmd,
abortcmd,stopcmd,movehdrcmd,movesegcmd,
centercmd,operatecmd,movedonecmd,signalcmd,readjtcmd,drivecmd,
setccmd,forcesigcmd,forceoffcmd,biasoncmd,biasoffcmd,setstiffcmd,
zerowristcmd,wristcmd,gathercmd,getgathercmd,readadccmd,writedaccmd,
errorcmd,floatcmd);
errortypes = (noerror,noarmsol,timerr,durerr,toolong,useopr,nosuchdev,featna,
unkmess,srvdead,adcdead,nozind,exjtfc,paslim,nopower,badpot,devbusy,
baddev,timout,panicb);
message = record
cmd: msgtypes;
ok: boolean;
case integer of
1: (dev, bits, n: integer;
(* (dev, bits, n, evt: integer; (* for arm code version *)
evt: eventp;
dur: real;
case integer of
1: (v1,v2,v3: real);
2: (sfac,wobble,pos: real);
3: (val,angle,mag: real);
4: (max,min: real);
5: (error: errortypes));
2: (fv1,fv2,fv3,mv1,mv2,mv3: real); (* may never use these... *)
3: (t: array [1..6] of real);
end;
interr = record
case integer of
0: (i: integer);
1: (err,foo: errortypes);
end;
(* print related records: *)
cursorp = record
cline,ind: integer;
case stmntp: boolean of
true: (st: statementp);
false: (nd: nodep);
end;
linerec = record
next: linerecp;
start,length: integer
end;
listingarray = packed array [0..listinglength] of ascii;
(* Global variables *)
var
(* From ALMAIN *)
b:boolean;
ch:ascii;
ltime: real;
(* From PARSE *)
reswords: array [0..26] of reswordp;
idents: array [0..26] of identp;
macrostack: array [1..10] of tokenp;
curmacstack: array [1..10] of varidefp;
macrodepth: integer;
curchar, maxchar, curline: integer;
curBlock,newDeclarations: statementp;
curProc: varidefp;
pnode: nodep;
nodim, distancedim, timedim, angledim,
forcedim, torquedim, veldim, angveldim: varidefp;
fvstiffdim, mvstiffdim: nodep;
filedepth: integer;
curpage: integer;
sysVars,unVars: varidefp;
errcount: integer;
outerBlock: statementp;
curVariable: varidefp;
curMotion: statementp;
endOk,coendOk: integer;
moveLevel: integer;
curErrhandler, curCmon: statementp;
endOfLine, backup, expandmacros, flushcomments, dimCheck: boolean;
semiseen, shownline: boolean;
eofError: boolean;
inMove,inCoblock: boolean;
curtoken: token;
file1,file2,file3,file4,file5: atext;
line: linestr;
(* From INTERP *)
curInt, activeInts, readQueue, allPdbs: pdbp;
curEnv, sysEnv: envheaderp;
clkQueue: nodep;
allEvents: eventp;
STLevel: integer; (* set by GO *)
etime: integer; (* used by eval *)
curtime: integer; (* Time of day, in ticks *)
stime: integer; (* used for clock queue on 10 *)
msg: messagep; (* for AL-ARM interaction *)
inputp: integer; (* current offset into inputLine array above *)
debugLevel: integer;
tSingleThreadMode: boolean;
resched, running, escapeI, singleThreadMode: boolean;
msgp: boolean; (* flag set if any messages pending *)
inputReady: boolean;
inputLine: array [1..20] of ascii;
(* From EDIT *)
lines: array [1..maxLines] of linerecp;
ppLines: array [1..maxPPLines] of linerecp;
marks: array [1..20] of integer;
cursorStack: array [1..15] of cursorp;
bpts: array [1..maxBpts] of statementp;
tbpts: array [1..maxTBpts] of statementp;
debugPdbs: array [0..10] of pdbp;
screenheight,dispHeight: integer;
ppBufp,oppBufp,ppOffset,ppSize,nmarks: integer;
lbufp,cursor,ocur,cursorLine,fieldnum,lineNum,findLine,pcLine: integer;
firstDline,topDline,botDline,firstLine,lastLine: integer;
freeLines,oldLines: linerecp;
findStmnt: statementp;
nbpts,ntbpts: integer;
eCurInt: pdbp;
dProg: statementp;
smartTerminal: boolean;
setUp,setExpr,setCursor,dontPrint,outFilep,newVarOk,collect: boolean;
eBackup: boolean;
eSingleThreadMode: boolean;
listing: packed array [0..listinglength] of ascii;
lbuf: array [1..160] of ascii;
ppBuf: array [1..100] of ascii;
outFile: atext;
eCurToken: token;
(* Various device & variable pointers *)
speedfactor: enventryp;
barm: framep;
(* Various constant pointers *)
xhat,yhat,zhat,nilvect: vectorp;
niltrans: transp;
bpark, ypark, gpark, rpark: transp; (* arm park positions *)