COMMENT ⊗   VALID 00004 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002	{$NOMAIN	Editor: Statement printing routine Aux routines }
C00024 00003	{ Externally defined routines from elsewhere: }
C00026 00004	(* putStmnt aux routine to handle the other half of the statement types *)
C00035 ENDMK
C⊗;
{$NOMAIN	Editor: Statement printing routine Aux routines }

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;
statementp = ↑statement;
varidefp = ↑varidef;
tokenp = ↑token;
nodep = ↑node;
identp = ↑ident;
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;

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

    untiltype:	    (cond: nodep; body: statementp);
    casetype:	    (index: nodep; range, ncases: integer; caselist: nodep);
    returntype:	    (retval, rproc: nodep);
    calltype,
    assigntype:     (what, aval: nodep);
    pausetype:	    (ptime: nodep);
    prompttype,
    printtype,
    aborttype:	    (plist: nodep; debugLev: integer);
    signaltype,
    waittype:	    (event: nodep);
    enabletype,
    disabletype:    (cmonlab: varidefp);
    affixtype,
    unfixtype:	    (frame1, frame2, byvar, atexp: nodep; rigid: boolean);
    stoptype:	    (cf, clauses: nodep);
    retrytype:	    (rcode, rparent: statementp; olevel: integer);
    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);
		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: dump);
	transtype: (t: dump);
	strngtype: (length: integer; str: strngp) ); (* also used by commentnodes *)
    errornode:	(eexpr: nodep);
    listnode:	(lval: nodep);
    clistnode:	(cval: integer; stmnt: statementp; clast: nodep);
    colistnode:	(prev: nodep; cstmnt: 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: dump);
  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;		*)
    d10: array[1..10] of 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: listingarray;
    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: dump;
    niltrans: dump;
    bpark, ypark, gpark, rpark: dump;		(* arm park positions *)

{ Externally defined routines from elsewhere: }

	(* From EAUX1A *)
procedure pushStmnt(s: statementp; indent: integer);		external;
procedure pushNode(n: nodep);					external;

	(* From EPUT *)
procedure putChar(ch: ascii);					external;
procedure put5(ch: c5str; length: integer);			external;
procedure put10(ch: cstring; length: integer);			external;
procedure putLine;						external;
procedure putReal(s: real);					external;
procedure putInt(r: real);					external;
procedure putStrng(length: integer; s: strngp);			external;
procedure putTlist(t: tokenp);					external;
function getExprLength(n: nodep): integer;			external;

	(* From EPUTST *)
procedure putexpr(n: nodep; opp: integer);			external;
procedure newline(indent: integer);				external;
procedure outExpr(n: nodep);					external;

	(* From EROOT *)
procedure ep3putstmnt(s: statementp; indent, plevel: integer);	external;


procedure ePs3Get; external;
procedure ePs3Get; begin end;
(* putStmnt aux routine to handle the other half of the statement types *)

procedure putst3(s: statementp; indent, plevel: integer; var l: integer); external;
procedure putst3;
 var i,j,k,cnt: integer; n: nodep; st: statementp; v: varidefp; t: tokenp;
     b: boolean;

begin
with s↑ do 
    case stype of
untiltype:	begin
		put5('do   ',2);
		ep3PutStmnt(body,indent+2,plevel);
		newline(indent);
		if setCursor and (cursorLine = curLine) then fieldNum := 2;
		put10('until     ',6);
		outExpr(cond);
		end;
casetype:	begin
		put5('case ',5);
		outExpr(index);
		put5(' of  ',3);
		newline(indent+1);
		put5('begin',5);
		j := indent + 2;
		if setCursor and (cursorLine = curLine) then fieldNum := 2;
		n := caselist;
		if range >= 0 then	(* unlabelled case stmnt *)
		  begin
		  if n <> nil then k := n↑.cval else k := range+1;
		  for i := 0 to range do
		   begin
		   if i >= k then
		     begin
		     if setCursor then
		      if (curLine < cursorLine) and
			 (cursorLine <= curLine + n↑.stmnt↑.nlines) then
			pushNode(n);
		     ep3PutStmnt(n↑.stmnt,j,plevel);
		     n := n↑.next;
		     if n <> nil then k := n↑.cval else k := range + 1;
		     end;
		   if i <> range then putchar(';')
		   end
		  end
		 else
		  while n <> nil do	(* labelled case stmnt *)
		   begin
		   if setCursor then
		    if (curLine < cursorLine) and
		       (cursorLine <= curLine + n↑.stmnt↑.nlines + 1) then
		      begin
		      with cursorStack[cursor] do
		       if (not stmntp) and (nd↑.ntype = clistnode) then
			cursor := cursor - 1;	(* if multiple labels *)
		      pushNode(n);
		      end;
		   newline(indent);
		   if n↑.cval = -1 then put5('else ',4)
		    else if n↑.cval = -2 then put5('[??] ',4)
		    else
		     begin putchar('['); putint(n↑.cval); putchar(']') end;
		   b := n↑.next <> nil;		(* check for multiple labels *)
		   if b then b := n↑.stmnt = n↑.next↑.stmnt;
		   if not b then
		     begin
		     ep3PutStmnt(n↑.stmnt,j,plevel);
		     if n↑.next <> nil then putchar(';')
		     end;
		   n := n↑.next;
		   end;
		ep3PutStmnt(caselist↑.stmnt↑.next,indent+1,2);
		end;
calltype:	begin
		outExpr(what);
		end;
returntype:	begin
		put10('return    ',6);
		if retval <> nil then
		  begin
		  putchar('(');
		  outExpr(retval);
		  putchar(')');
		  end;
		end;
pausetype:	begin
		put10('pause     ',6);
		outExpr(ptime);
		end;
printtype,
prompttype,
aborttype:	begin
		if stype = printtype then put5('print',5)
		 else if stype = prompttype then put10('prompt    ',6)
		 else put5('abort',5);
		n := plist;
		i := 0;
		if n <> nil then putchar('(');
		while n <> nil do
		 begin
		 i := i + 1;
		 if (not setup) and (lbufp + getExprLength(n↑.lval) > 78) then
		   begin
		   newline(indent+6);
		   if setCursor and (curLine = cursorLine) then fieldNum := i;
		   end;
		 outExpr(n↑.lval);
		 if setup and (lbufp > 78) then 
		   begin
		   curline := curline + 1;
		   lbufp := indent + 6 + getExprLength(n↑.lval);
		   end;
		 n := n↑.next;
		 if n <> nil then putchar(',') else putchar(')');
		 end;
		end;
assigntype:	begin
		outExpr(what);
		if aval <> nil then
		 begin
		 put5(' :=  ',4);
		 outExpr(aval);
		 end;
		end;
signaltype,
waittype:	begin
		if stype = signaltype then put10('signal    ',7)
		 else put5('wait ',5);
		outExpr(event);
		end;
enabletype,
disabletype:	begin
		if stype = enabletype then put10('enable    ',7)
		 else put10('disable   ',8);
		if cmonlab <> nil then
		  with cmonlab↑.name↑ do putStrng(length,name);
		end;
affixtype:	begin
		put10('affix     ',6);
		outExpr(frame1);
		put5(' to  ',4);
		outExpr(frame2);
		if rigid then put10(' rigidly  ',8)
		 else begin put10(' nonrigidl',10); putchar('y') end;
		if byvar <> nil then begin put5(' by  ',4);
					 outExpr(byvar) end;
		j := 1;
		if atexp <> nil then
		 begin
		 if (not setup) and (lbufp + getExprLength(atexp) > 75) then
		   begin
		   j := 2;			(* # lines used *)
		   newline(indent+1);
		   if setCursor and (curLine = cursorLine) then fieldNum := 5;
		   end;
		 put5(' at  ',4);
		 outExpr(atexp);
		 if setup and (lbufp > 79) then curLine := curLine + 1;
		 end;
		end;
unfixtype:	begin
		put10('unfix     ',6);
		outExpr(frame1);
		put10(' from     ',6);
		outExpr(frame2);
		end;
stoptype:	begin
		put5('stop ',5);
		if cf <> nil then outExpr(cf);
		end;
retrytype:	put5('retry',5);
requiretype:	begin
		put10('require   ',8);
		if rfil then begin put10('source_fil',10); put5('e "  ',3) end
		 else begin put10('error_mode',10); put5('s "  ',3) end;
		putstrng(rfilen,rfils);
		putchar('"');
		end;
commenttype:	putStrng(len,str);
definetype:	begin
		put10('define    ',7);
		with macname↑.name↑ do putStrng(length,name);
		if mpars <> nil then	(* need to print macro args *)
		 begin
		 v := mpars;
		 putchar('(');
		 while v <> nil do
		  begin
		  with v↑.name↑ do putStrng(length,name);
		  v := v↑.next;
		  if v <> nil then putchar(',')
		   else putchar(')');
		  end;
		 end;
		put5(' = \ ',4);
		putTlist(macdef);
		putchar('\');
		end;
dimdeftype:	begin
		put10('dimension ',10);
		with dimname↑.name↑ do putStrng(length,name);
		put5(' =   ',3);
		outExpr(dimexpr);
		end;
setbasetype:	put10('setbase   ',7);
wristtype:	begin
		put10('wrist(    ',6);
		outExpr(fvec);
		putchar(',');
		outExpr(tvec);
		putchar(')');
		end;
emptytype:	begin
		put10('/* stateme',10); put5('nt */',5);
		end;
(* more??? *)
otherwise	begin put10('Oh no!  3 ',10); put10('Bad ovlay!',10); end;
     end;
end;