COMMENT ⊗   VALID 00006 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002	{$NOMAIN	Editor: plain ol' aux routines called by Edit }
C00024 00003	{ Externally defined routines from elsewhere: }
C00026 00004	(* bracketStmnt *)
C00031 00005	(* Marking routines: mark, unmark & gotoMark *)
C00034 00006	(* Aux routine called by edit: atStmnt *)
C00039 ENDMK
C⊗;
{$NOMAIN	Editor: plain ol' aux routines called by Edit }

const

	(* 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 }

strngp = ↑strng;
vectorp = ↑vector;
statementp = ↑statement;
varidefp = ↑varidef;
nodep = ↑node;
identp = ↑ident;
tokenp = ↑token;
reswordp = ↑resword;
pdbp = ↑pdb;
envheaderp = ↑envheader;
enventryp = ↑enventry;
environp = ↑environment;
cmoncbp = ↑cmoncb;
linerecp = ↑linerec;
cursorpp = ↑cursorp;	{Ron's style, not mine}

(* 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;

(* 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;

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;


(* 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);
    movetype,
    operatetype,
    opentype,
    closetype,
    centertype,
    stoptype:	    (cf, clauses: nodep);
    assigntype:     (what, aval: nodep);
    fortype:	    (forvar, initial, step, final: nodep; fbody: statementp);
    untiltype:	    (cond: nodep; body: statementp);
    casetype:	    (index: nodep; range, ncases: integer; caselist: nodep);
    iftype:	    (icond: nodep; thn, els: statementp);
    cmtype:	    (oncond: nodep; conclusion: statementp;
			deferCm, exprCm: boolean; cdef: varidefp);
		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: dump);
	strngtype: (length: integer; str: strngp) ); (* also used by commentnodes *)
    clistnode:	(cval: integer; stmnt: statementp; clast: nodep);
    colistnode:	(prev: nodep; cstmnt: statementp);
    errornode:	(eexpr: nodep);
    bnddefnode:	(lower, upper: nodep);
    waitlistnode: (who: pdbp; when: integer);
    procdefnode:(ptype: datatypes; level: 0..255;
		    pname, paramlist: varidefp; body: statementp);
	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: dump;		(* 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: dump;		(* 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: dump);
  frametype: (f: dump);
  eventtype: (evt: dump);
  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: dump;
	   fbits: integer;			(* bits for force sensing *)
	   oldcmon: cmoncbp;			(* for debugger *)
	 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;	*)
    d1: array[1..13] of dump;
    endOfLine, backup, expandmacros, flushcomments, dimCheck: boolean;
(*  semiseen, shownline: boolean;
    eofError: boolean;
    inMove,inCoblock: boolean;	*)
    d2,d3,d4,d5,d6: boolean;
    curtoken: token;
    file1,file2,file3,file4,file5: atext;
    line: linestr;

	(* From INTERP *)
    curInt, activeInts, readQueue, allPdbs: pdbp;
    curEnv, sysEnv: envheaderp;
    clkQueue: nodep;
    allEvents: dump;
    STLevel: integer;		
    etime: integer;		
    curtime: integer; 		
    stime: integer;		
    msg: dump;			
    inputp: integer;	
    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: dump;

	(* Various constant pointers *)
    xhat,yhat,zhat,nilvect: vectorp;
    niltrans: dump;
    bpark, ypark, gpark, rpark: dump;		(* arm park positions *)

{ Externally defined routines from elsewhere: }

	(* From ALLOC *)
function newStatement: statementp;				external;

	(* From PAUX1 *)
procedure appendEnd(s,so: statementp);				external;

	(* From EAUX1A *)
procedure out1Line(line,start,length: integer); 		external;
procedure clearLine(i: integer);				external;
function eUpperCase(c: ascii): ascii;				external;
procedure borderLines;						external;

	(* From EAUX2C *)
procedure insertLines(start,number,coff: integer);		external;

	(* From ETOKEN *)
procedure eGetToken;						external;

	(* From EPUTST *)
procedure putstmnt(s: statementp; indent, plevel: integer);	external;

	(* From PP *)
procedure relLine(l: linerecp);					external;
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;

	(* From DISP *)
procedure showCursor(line,col: integer); 			external;

(* bracketStmnt *)

procedure bracketStmnt; external;
procedure bracketStmnt;
 var sbeg,sp: statementp; n: nodep; i: integer;
 begin
 with cursorStack[cursor] do
  if (not stmntp) or (fieldNum > 1) then
    begin pp20L('Need to be at a stat',20); pp5('ement',5); ppLine end
   else if (st↑.stype = endtype) or (st↑.stype = coendtype) or (cursor=2) then
    begin pp20L('Can''t enclose statem',20); pp5('ent  ',3); ppLine end
   else
    begin
    cursorLine := cline;		(* in case labelled statement *)
    for i := 1 to cursor-1 do
     with cursorStack[i] do
      if stmntp then st↑.nlines := st↑.nlines + 2;
    sp := st;
    sbeg := newStatement;
    with sbeg↑ do
     begin
     stype := blocktype;
     nlines := sp↑.nlines + 2;
     next := sp↑.next;
     last := sp↑.last;
     sp↑.last := sbeg;
     appendEnd(sbeg,sp);
     bcode := sp;
     bparent := curBlock;
     blkid := nil;
     level := curBlock↑.level + 1;
     numvars := 0;
     variables := nil;
     end;
    with cursorStack[cursor-1] do
     if stmntp then
       case st↑.stype of
blocktype: begin
	   sbeg↑.next↑.last := sbeg;	(* splice us into block *)
	   with sbeg↑.last↑ do		(* check for start of block *)
	    if next = sp then next := sbeg else bcode := sbeg;
	   end;
iftype:    begin
	   if st↑.thn = sp then st↑.thn := sbeg else st↑.els := sbeg;
	   end;
cmtype:    begin
	   st↑.conclusion := sbeg;
	   end;
whiletype,
untiltype: st↑.body := sbeg;
fortype:   st↑.fbody := sbeg;
otherwise {do nothing};
        end
      else
       case nd↑.ntype of
clistnode:   begin
	     n := nd;
	     while n <> nil do
	      if n↑.stmnt = sp then begin n↑.stmnt := sbeg; n := n↑.clast end
	       else n := nil;
	     end;
colistnode:  begin
	     nd↑.cstmnt := sbeg;
	     end;
procdefnode: begin
	     nd↑.body := sbeg;
	     sbeg↑.level := nd↑.level + 1;
	     end;
otherwise   {do nothing};
        end;

    insertLines(cursorLine,1,-1);
    firstLine := cursorLine;
    lastLine := firstLine;
    cursorLine := cursorLine + 1;
    setCursor := true;
    curLine := 0;
    putStmnt(dprog,0,99);		(* display BEGIN & update cursor *)
    setCursor := false;
    if cursorLine + sp↑.nlines <= botDline then
      begin
      firstLine := cursorLine + sp↑.nlines;
      lastLine := firstLine;
      insertLines(firstLine,1,-1);
      curLine := 0;
      putStmnt(dprog,0,99);		(* display END *)
      end;
    showCursor(cursorLine-topDline-firstDline+2,1);
    borderLines;
    end;
 end;

(* Marking routines: mark, unmark & gotoMark *)

procedure mark; external;
procedure mark;
 var i,j: integer;
 begin
 if nmarks >= 20 then
   begin pp20L('Sorry - mark table f',20); pp5('ull  ',3); ppLine end
  else
   begin
   i := 1;
   while (i <= nmarks) and (cursorLine > marks[i]) do i := i + 1;
   if cursorLine = marks[i] then
     begin pp20L('Already marked      ',14); ppLine end
    else
     begin
     for j := nmarks downto i do marks[j+1] := marks[j];
     nmarks := nmarks + 1;
     marks[i] := cursorLine;
     end;
   end;
 end;

procedure unmark(all: boolean); external;
procedure unmark;
 var i,j: integer;
 begin
 if all then
   begin				(* delete all marks *)
   if nmarks = 0 then
     begin pp20L('There are no marks  ',18); ppLine end
    else
     begin
     for i := 1 to 20 do marks[i] := 0;
     nmarks := 0;
     end
   end
  else
   begin
   i := 1;
   while (i <= nmarks) and (cursorLine > marks[i]) do i := i + 1;
   if (i > nmarks) or (cursorLine < marks[i]) then
     begin pp10L('Not marked',10); ppLine end
    else
     begin
     for j := i to nmarks-1 do marks[j] := marks[j+1];
     marks[nmarks] := 0;
     nmarks := nmarks - 1;
     end;
   end;
 end;

procedure gotoMark(n: integer); external;
procedure gotoMark;
 var i: integer;
 begin
 if nmarks = 0 then
   begin pp20L('There are no marks  ',18); ppLine end
  else if n = 0 then
   begin pp10L('There are ',10); ppInt(nmarks); pp10(' marks    ',6); ppLine end
  else
   begin
   i := 1;
   while (i <= nmarks) and (cursorLine > marks[i]) do i := i + 1;
   if (n > 0) and (cursorLine < marks[i]) then n := n - 1;
   i := ((i + n - 1) mod nmarks) + 1;
   if i <= 0 then i := i + nmarks;
   cursorLine := marks[i];
   end;
 end;

(* Aux routine called by edit: atStmnt *)

function atStmnt: boolean; external;
function atStmnt;
 var b: boolean;
 begin
 b := cursorStack[cursor].stmntp;	(* are we pointing to a statement? *)
 if not b then begin pp20L('Must be at statement',20); ppLine end;
 atStmnt := b;
 end;