perm filename IOV3.2[EAL,HE]3 blob
sn#706559 filedate 1983-04-19 generic text, type C, neo UTF8
COMMENT ⊗ VALID 00007 PAGES
C REC PAGE DESCRIPTION
C00001 00001
C00002 00002 {$NOMAIN Individual statement interpreters }
C00028 00003 { Externally defined routines: }
C00031 00004 procedure doEnable external
C00032 00005 procedure doDisable external
C00033 00006 procedure doAffix external
C00039 00007 procedure doUnfix external
C00040 ENDMK
C⊗;
{$NOMAIN Individual statement interpreters }
const
(* Constants from EDIT *)
maxLines = 28;
maxPPLines = 12;
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;
pdbp = ↑pdb;
envheaderp = ↑envheader;
enventryp = ↑enventry;
environp = ↑environment;
cmoncbp = ↑cmoncb;
messagep = ↑message;
(* This one is used whenever a pointer is needed for which the *)
(* definition is missing from this file; naturally, all *)
(* pointers use the same space *)
dump = ↑integer;
token = array[1..4] of integer; {Uses same space as a token}
cursorp = array[1..4] of integer; {Ditto, for cursorp}
(* 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,jtmovetype,operatetype,opentype,closetype,centertype,
floattype, stoptype, retrytype,
requiretype, definetype, macrotype, commenttype, dimdeftype,
setbasetype, wristtype, saytype, declaretype, emptytype,
evaltype, armmagictype);
(* more??? *)
statement = packed record
next, last: statementp;
stlab: varidefp;
exprs: nodep; (* any expressions used by this statement *)
nlines: integer;
bpt,bad: boolean;
case stype: stmntypes of
affixtype,
unfixtype: (frame1, frame2, byvar, atexp: nodep; rigid: boolean);
enabletype,
disabletype: (cmonlab: varidefp);
cmtype: (oncond: nodep; conclusion: statementp;
deferCm, exprCm: boolean; cdef: varidefp);
end;
(* auxiliary definitions: variable, etc. *)
varidef = packed record
next,dnext: varidefp;
name: dump;
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: dump);
pconstype: (c: nodep);
dimensiontype: (dim: nodep);
end;
(* definition of the ubiquitous NODE record *)
nodetypes = (exprnode, leafnode, listnode, clistnode, colistnode, forvalnode,
deprnode, viaptnode, apprnode, destnode, byptnode, durnode,
sfacnode, wobblenode, swtnode, nullingnode, wristnode, cwnode,
arrivalnode, departingnode,
ffnode, forcenode, stiffnode, gathernode, cmonnode, errornode,
calcnode, arraydefnode, bnddefnode, bndvalnode,
waitlistnode, procdefnode, tlistnode, dimnode, commentnode,
linearnode, elbownode, shouldernode, flipnode, wrtnode,
loadnode,velocitynode);
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, jointop,
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: dump);
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 *)
cmonnode: (cmon: statementp; errhandlerp: boolean);
errornode: (eexpr: nodep);
calcnode: (rigid, frame1: boolean; other: framep; case tvarp: boolean of
false: (tval: transp); true: (tvar: enventryp) );
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; (* probably never greater than 3? *)
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,
setccmd,forcesigcmd,forceoffcmd,biasoncmd,biasoffcmd,setstiffcmd,
zerowristcmd,wristcmd,gathercmd,getgathercmd,readadccmd,writedaccmd,
errorcmd,floatcmd,setloadcmd,
armmagiccmd,realcmd,vectorcmd,transcmd);
errortypes = (noerror,noarmsol,timerr,durerr,toolong,featna,
unkmess,srvdead,adcdead,nozind,exjtfc,paslim,nopower,badpot,devbusy,
baddev,timout,panicb,nocart,cbound,badparm);
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;
listingarray = packed array [0..listinglength] of ascii;
(* global variables *)
var
(* from EDIT *)
listing: listingarray; (* first 150 chars are used by expression editor *)
(* next 40 by header & trailer lines *)
{*} cursorStack: array [1..15] of cursorp; {These are BIG records! }
(* lbuf: array [1..160] of ascii;
ppBuf: array [1..100] of ascii; *)
dum1: array[1..260] of ascii;
lines: array [1..maxLines] of dump;
ppLines: array [1..maxPPLines] of dump;
(* marks: array [1..20] of integer;
reswords: array [0..26] of reswordp;
idents: array [0..26] of identp;
macrostack: array [1..10] of tokenp;
curmacstack: array [1..10] of varidefp;
screenheight,dispHeight: integer;
ppBufp,oppBufp,ppOffset,ppSize,nmarks: integer;
lbufp,cursor,ocur,cursorLine,fieldnum,lineNum,findLine,pcLine: integer;
firstDline,topDline,botDline,firstLine,lastLine,curLine: integer;
freeLines,oldLines: linerecp;
sysVars: varidefp;
dProg: statementp;
curBlock, newDeclarations, findStmnt: statementp;
macrodepth: integer;
filedepth, errCount, sCursor: integer;
curChar, maxChar, curFLine, curPage: integer;
nodim, distancedim, timedim, angledim,
forcedim, torquedim, veldim, angveldim: varidefp;
fvstiffdim, mvstiffdim: nodep;
pnode: nodep;
*) dum2: array[1..141] of dump;
(* smartTerminal: boolean;
setUp,setExpr,setCursor,dontPrint,outFilep,collect,fParse,sParse,
eofError,endOfLine,backup,expandmacros,flushcomments,checkDims,
shownLine: boolean;
*) dum3: array[1..16] of boolean;
curtoken: token;
file1,file2,file3,file4,file5,outFile: atext;
bpts: array [1..maxBpts] of statementp; (* debugging crap *)
tbpts: array [1..maxTBpts] of statementp;
debugPdbs: array [0..10] of pdbp;
(* nbpts,ntbpts,debugLevel: integer;
eCurInt: pdbp;
STLevel: integer;
*) dum4: array[1..5] of integer;
singleThreadMode,tSingleThreadMode: boolean;
(* from INTERP *)
inputLine: array [1..20] of ascii;
talk: text; (* for using the speech synthesizer *)
curInt, activeInts, readQueue, allPdbs: pdbp;
sysEnv: envheaderp;
clkQueue: nodep;
allEvents: eventp;
etime: integer; (* used by eval *)
curtime: integer; (* who knows where this will get updated - an ast? *)
stime: integer; (* used for clock queue on 10 *)
msg: messagep; (* for AL-ARM interaction *)
inputp: integer; (* current offset into inputLine array above *)
resched, running, escapeI, iSingleThreadMode: boolean;
msgp: boolean; (* flag set if any messages pending *)
inputReady: boolean;
(* various constant pointers *)
xhat,yhat,zhat,nilvect: vectorp;
niltrans: transp;
gpark, rpark: transp; (* arm park positions *)
(* various device & variable pointers *)
speedfactor: enventryp;
garm: framep;
{ Externally defined routines: }
(* From ALLOC *)
function newNode: nodep; external;
procedure relNode(n: nodep); external;
(* From IAUX1A *)
function getVar (level, offset: byte): enventryp; external;
function pop: nodep; external;
procedure upTrans (var t: transp; tp: transp); external;
function gtVarn (n: nodep): enventryp; external;
function feval (f: framep): transp; external;
(* From IAUX1B *)
procedure sleep(whenV: integer); external;
procedure cmonDisable(c: cmoncbp); external;
(* From IAUX2A *)
procedure affixaux (f, d: framep; cnt: integer); external;
function unfixaux (f: framep; cnt: integer): boolean; external;
procedure unfix (f1,f2: framep); external;
(* From IAUX2B *)
procedure cmonEnable(e: enventryp); external;
(* Arithmetic Routines *)
function ttmul (t1,t2: transp): transp; external;
function tinvrt (t: transp): transp; external;
(* Display-related Routines *)
procedure ppLine; external;
procedure ppOutNow; external;
procedure ppChar(ch: ascii); external;
procedure pp5(ch: c5str; length: integer); external;
procedure pp10(ch: cstring; length: integer); external;
procedure pp10L(ch: cstring; length: integer); external;
procedure pp20(ch: c20str; length: integer); external;
procedure pp20L(ch: c20str; length: integer); external;
procedure ppInt(i: integer); external;
procedure ppReal(r: real); external;
procedure ppStrng(length: integer; s: strngp); external;
procedure doEnable; external;
procedure doEnable;
begin
with curInt↑ do
begin
if spc↑.cmonlab = nil then
if cm <> nil then cm↑.enabled := true (* re-enabling this cmon *)
else
begin
pp20L('No cmon to enable! ',18); ppLine;
end
else
begin
with spc↑.cmonlab↑.s↑.cdef↑ do
cmonEnable(getVar(level,offset)); (* enable cmon control block *)
end;
mode := 0;
spc := spc↑.next;
end;
end;
procedure doDisable; external;
procedure doDisable;
var e: enventryp;
begin
with curInt↑ do
begin
if spc↑.cmonlab = nil then
if cm <> nil then cm↑.enabled := false (* disabling this cmon *)
else
begin
pp20L('No cmon to disable! ',19); ppLine;
end
else
begin
with spc↑.cmonlab↑.s↑.cdef↑ do
e := getVar(level,offset); (* get cmon control block *)
if e↑.c↑.running then sleep(30) (* if running wait for it to finish *)
else
begin
cmonDisable(e↑.c); (* disable it *)
mode := 0;
spc := spc↑.next;
end;
end;
end;
end;
procedure doAffix; external;
procedure doAffix;
var f1, f2: framep; ev: enventryp; c1, c2: nodep; t: transp; b: boolean;
begin
with curInt↑ do
begin (* stack has subscripts for frame1, frame2 & byvar & atexp value *)
ev := gtVarn(spc↑.frame1); (* access variable *)
f1 := ev↑.f;
ev := gtVarn(spc↑.frame2); (* access variable *)
f2 := ev↑.f;
if spc↑.byvar <> nil then
ev := gtVarn(spc↑.byvar) (* access variable *)
else ev := nil;
if spc↑.atexp <> nil then
begin
c1 := pop; (* get at expression value *)
t := c1↑.t; (* save it for later *)
relNode(c1); (* release node *)
end
else t := ttmul(feval(f1),tinvrt(feval(f2))); (* need to compute it *)
c1 := f1↑.calcs; (* see if frames are already affixed *)
b := true;
while b and (c1 <> nil) do
if c1↑.other = f2 then b := false else c1 := c1↑.next;
if c1 <> nil then (* currently affixed *)
begin
c2 := f2↑.calcs; (* find its mate *)
while c2↑.other <> f1 do c2 := c2↑.next;
if (not c1↑.tvarp) and (spc↑.byvar <> nil) then
begin (* if old affixment was direct and new one isn't *)
upTrans(c1↑.tval,nil); (* release old trans values *)
upTrans(c2↑.tval,nil);
end;
end
else
begin (* get a pair of calc nodes *)
c1 := newNode;
c2 := newNode;
c1↑.ntype := calcnode; (* indicate that we're a calc *)
c2↑.ntype := calcnode;
c1↑.other := f2; (* fill in other field *)
c2↑.other := f1;
c1↑.next := f1↑.calcs; (* link us to list of calcs *)
f1↑.calcs := c1;
c2↑.next := f2↑.calcs;
f2↑.calcs := c2;
c1↑.tval := nil; (* don't have a value yet *)
c2↑.tval := nil;
end;
c1↑.frame1 := true; (* say who's who *)
c2↑.frame1 := false;
c1↑.rigid := spc↑.rigid; (* remember what type of affixment *)
c2↑.rigid := spc↑.rigid;
b := ev <> nil; (* trans by var given? *)
c1↑.tvarp := b;
c2↑.tvarp := b;
if b then
begin (* indirect trans pointer *)
upTrans(ev↑.t,t); (* store away relation trans *)
c1↑.tvar := ev; (* and pointers to trans var *)
c2↑.tvar := ev;
end
else
begin (* direct trans *)
upTrans(c1↑.tval,t); (* store away relation trans *)
upTrans(c2↑.tval,t);
end;
b := false; (* assume no conflict *)
if not f1↑.ftype then (* f1 is a device *)
if not f2↑.ftype then b := f1 <> f2 (* f2 is also a device! *)
else
if f2↑.dev <> nil then b := f2↑.dev <> f1 (* f2 already dynamic *)
else affixaux(f2,f1,1) (* f2 now dynamic *)
else (* f1 is a frame *)
if not f2↑.ftype then (* f2 is a device *)
if f1↑.dev <> nil then b := f1↑.dev <> f2 (* f1 already dynamic *)
else affixaux(f1,f2,1) (* f1 now dynamic *)
else (* both frames *)
if f1↑.dev <> nil then (* f1 is dynamic *)
if f2↑.dev <> nil then b := f1↑.dev <> f2↑.dev (* both dynamic *)
else affixaux(f2,f1↑.dev,f1↑.dcntr+1) (* f2 now dynamic *)
else
if f2↑.dev <> nil then affixaux(f1,f2↑.dev,f2↑.dcntr+1); (* f1 now dynamic *)
if b then
begin
pp20L('Can''t have an affixm',20); pp20('ent chain connecting',20);
pp20(' two devices togethe',20); pp5('r! ',2); ppLine;
end;
mode := 0;
spc := spc↑.next;
end;
end;
procedure doUnfix; external;
procedure doUnfix;
var f1, f2: framep; ev: enventryp;
begin
with curInt↑ do
begin (* subscripts for frame1 & frame2 on stack *)
ev := gtVarn(spc↑.frame1); (* access variable *)
f1 := ev↑.f;
ev := gtVarn(spc↑.frame2); (* access variable *)
f2 := ev↑.f;
unfix(f1,f2); (* now unfix them *)
mode := 0;
spc := spc↑.next;
end;
end;