COMMENT ⊗   VALID 00003 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002	.TITLE  AL INTERPRETER
C00006 00003	 program initialization
C00016 ENDMK
C⊗;
.TITLE  AL INTERPRETER

;Set up the necessary mapping for the Zonker
;	.INSRT ZONKER.PAL[AL,HE]

;.OFFSET -200000		;Put the AL runtime system in the Zonker

;These need only be looked at during the first pass:
    .IF1
        .INSRT ALHEAD.PAL[AL,HE]

	STSW  FLOAT,1	;1 => put in the floating-string conversions
	STSW  KERNEL,1	;1 => use the kernel
	STSW  SMALLB,1	;1 => use the small block routines
	STSW  ONMONS,1	;1 => put in condition monitors
	STSW  GRAPHS,1	;1 => put in graph structure
	STSW  MOVING,1	;1 => assume the servo is loaded too
	STSW  INTLOAD,1	;1 => put in the interpreter
	STSW  ALAID,1	;1 => put in the ALAID debugging stuff
	STSW  DETECT,0	;1 => put in the collision detector only
	STSW  LBDEBUG,0	;1 => first word of any large block is address of maker.
	STSW  YELLOW,0	;1 => the yellow arm is in.

        .INSRT K1DEF.PAL[11,SYS]
    .ENDC

. = INTRP

;PATCH: .BLKW 200	;Patch area

	;If DDT sends us to user I space this will start the Kernel up anyway
;. = KERINI
;	RESTRT		;EMT gets us into Kernel I space

.INSRT ALIO.PAL[AL,HE]

.INSRT LARGEB.PAL[AL,HE]

.IFNZ SMALLB		;Small block allocator
    .INSRT SMALLB.PAL[AL,HE]
.ENDC

.IFNZ INTLOAD		;The interpreter
    .INSRT INTERP.PAL[AL,HE]
    .IFZ MOVING
        .INSRT ARITH.PAL[AL,HE]
        PUTLOC LSQRTF,SQRTF     ;Global declaration
        PUTLOC LSNCSD,SNCOS     ;Global declaration
        PUTLOC LACOS,ACOS	;Global declaration
    .IFF
	ONE: .FLT2	1.0
    .ENDC
.ENDC

.IFNZ FLOAT		;The floating I/O
    .INSRT FLOAT.PAL[AL,HE]
.ENDC

.IFNZ ALAID		;The debugging package
    FLOAT==1		;uses floating output
    .INSRT ALAID.PAL[AL,HE]
.ENDC

.IFNZ GRAPHS		;Graph structure
    .INSRT GRAPHS.PAL[AL,HE]
.ENDC


.IFNZ DETECT		;Collision detector
    .INSRT DETECT.PAL[AL,HE]
.ENDC

;Data areas

MAINBL:	PDBLK 1,20	;Makes a process descriptor for main process
MAININ: PDBLK 1,150,F	;Makes another PDB for the main (1st) interpreter

ISTBLK:	.BLKW ISBS	;Dummy interpreter status block (used in linking only)
ENVLTH == 200
ENVIRO:	.BLKW ENVLTH	;Environment

temp == %OFFSE	;Save the current offset
.OFFSET 0	;We want to use real physical addresses here for the kernel

	PUTLOC JOBDAT, MAINBL
	PUTLOC JOBSA, START
	PUTLOC JOBDM, USRDM

.OFFSET temp	;Restore Offset
; program initialization

START:	
	;initialize the world
	MOV USKMAX+MAINBL,SP	;Make sure we have a good stack pointer
	JSR PC,IOINIT	;Initialize input-output
	JSR PC,FRINIT	;Initialize free storage
    .IFNZ SMALLB
	CALL SBINIT	;Initialize small block space
    .ENDC
    .IFNZ GRAPHS
	JSR PC,GSINIT	;Initialize graph structure
    .ENDC
	;check to see that the PCODE is compatible
	CMP PCDVER,#PCVERSION	;Version compatible?
	BEQ 2$		;Yes
	ALERR STMES	;No
2$:
    .IFNZ MOVING
	MOV #34,R0	;Get a device block
	JSR PC,GTFREE	;
	MOV R0,R1
	MOV R0,-(SP)	;Save address of device block so we can free it
	JSR PC,@LINTARM	;Initialize the arm code
	TST R0		;All well?
	BEQ 1$		;Yes
	ALERR STMES2	;No. complain.
1$:	MOV (SP)+,R0	;R0 ← LOC[device block]
	JSR PC,RLFREE	;Release it
    .ENDC

	CMP ARMVER,#VERSION	;Arm compatible?
	BEQ 3$		;Yes
	ALERR STMES1	;No

3$:
	;set up the first interpreter
    .IFNZ INTLOAD		;Initialize the interpreter
	JSR PC,INTINIT		;Initialize the interpreter events
	MOV #ENVIRO,R0		;Clear out the envrironment
	MOV #ENVLTH,R1
4$:	CLR (R0)+
	SOB R1,4$
	MOV #ISBS,R0		;R0 ← Size (in words) of an interpreter status block
	JSR PC,GTFREE		;R0 ← LOC[new interpreter status block]
	CLR LEV(R0)		;new LEV ← 0
	MOV R0,NXTINT+ISTBLK	;Prime the interpreter list.
	CLR NXTINT(R0)
	MOV #PCODE,IPC(R0)	;new IPC ← interpreter start address
	MOV #ENVIRO,ENV(R0)	;new ENV ← ENVIRO
	EVMAK			;-(SP) ← event for EVT in this interpreter
	MOV (SP),EVT(R0)	;new EVT ← event just created.
	MOV R0,-(SP)		;Save LOC[new interpreter status block]
	MOV #INSTSZ,R0		;R0 ← Size needed for an interpreter stack
	JSR PC,GTFREE		;R0 ← LOC[new interpreter stack]
	MOV (SP)+,R1		;R1 ← LOC[new interpreter status block]
	MOV R0,STKBAS(R1)	;Store away new stack base
	ADD #2*INSTSZ,R0	;R0 ← LOC[top of new stack] (INSTSZ is in bytes)
	MOV #MAININ,R2		;R2 ← LOC[main interpreter process descriptor]
	BIS #UGRSAV+USKSAV,PDBSTA(R2)	;Use saved registers so we can set things up
	MOV R0,PDBR3(R2)	;Store away new interp stack pointer (reg 3)
	MOV R2,PDB(R1)		;Store away LOC[PDB] in new ISB
	MOV R1,PDBR4(R2)	;Store away LOC[ISB] in reg 4 of PDB
	MOV USKMAX(R2),USKP(R2)	;Make sure we have a good stack pointer
    .IFNZ ALAID
	MOV R1,CURNAM	;This is the current interpreter
    .ENDC
	SCHEDU R2,#INTERP,#USRDM,#2 ;Cause the new process to be started, suspended
    .IFNZ ALAID
	JSR PC,ALINIT	;Initialize ALAID
    .ENDC
	EVWAIT 		;Wait for the return signal
	BCC  5$		;All well?
	ALERR TSTMES	;No
5$:	MOV #ENDMES,R0	;Print ALL DONE message
	JSR PC,TYPSTR
    .LIF NZ ALAID
	JSR PC,ALKILL	;Kill ALAID
	DISMIS		;Go away

PNTMES: ASCIE </CAN'T CONTINUE/>
STMES:	ASCIE </INCOMPATIBLE PCODE VERSION.  PROCEED AT YOUR OWN RISK/>
STMES1:	ASCIE </INCOMPATIBLE ARM VERSION.  PROCEED AT YOUR OWN RISK/>
STMES2:	ASCIE </CAN'T INITIALIZE ARM.  ERROR CODE IN R0./>
TSTMES: ASCIE </BAD RETURN FROM MAIN INTERPRETER/>
ENDMES: ASCIE </
ALL DONE NOW.  SEE YOU AROUND!
/>
;End of the interpreter calling sequence

.IFF		;do some test without the interpreter
	.PRINT /Not loading the interpreter
/
	JSR PC,TEST	;Try out whatever test routine has been loaded.
	DISMIS		;
.ENDC

.IFNZ INTLOAD+GRAPHS
	PUTLOC LGETVAL, GETVAL
	PUTLOC LGETARG, GETARG
	PUTLOC LINVLDT, INVLDT
.ENDC

PATCH:

.IF2
	FOO==.
	.INFO <First location after interpreter = >,\FOO
	.IFL ARMCOD-FOO
	  .ERROR Interpreter runs into arm code.
	.ENDC
	.INFO <RETRY = >,\RETRY
.ENDC

.IFNZ MOVING		;Ability to move arms
    ;. ← ARMCOD
    ;.INSRT ARM.PAL[AL,HE]  This is to be overlayed, not assembled with.
    ;.INSRT ARMSOL.PAL[AL,HE] To be overlayed, not assembled with.
.ENDC

.END  KERINI