perm filename GAL.OLD[AL,HE] blob
sn#531532 filedate 1980-08-26 generic text, type C, neo UTF8
COMMENT ⊗ VALID 00006 PAGES
C REC PAGE DESCRIPTION
C00001 00001
C00002 00002 BEGIN
C00004 00003 ! PEEK, POKE, PEEKARRAY, POKEARRAY, FILL, STRT11, ALINIT
C00013 00004 ! GET, FOVERLAY, NEW_AL_PROG
C00020 00005 ! globals, READ_DATA, GRAPH, PLOT_IT
C00030 00006 ! Main control loop
C00042 ENDMK
C⊗;
BEGIN
REQUIRE "DPYSUB.HDR[SUB,SYS]" SOURCE_FILE;
DEFINE CRLF="('15&'12)",
CR ="'15",
LF ="'12",
! = "COMMENT ",
TIL="STEP 1 UNTIL";
INTEGER ELFCHAN; ! Channel number for I/O to ELF;
EXTERNAL INTEGER _SKIP_;
DEFINE SGNEXT="'4000000"; ! extend sign bit of input data;
DEFINE OWPW ="0"; ! word for word transfer;
DEFINE TWRJ ="'1000000"; ! two words per word, right justified in each halfword;
DEFINE TWRM ="'2000000"; ! two words per word, in right most 32 bits;
DEFINE TWLM ="'3000000"; ! two words per word, in left most 32 bits;
DEFINE GRAB ="'10000000"; ! hold onto the UNIBUS during and after transfer;
DEFINE MAP_OFFSET = "'160000"; ! Converts virtual addresses to physical ones;
DEFINE SAILID = "'0"; ! The location telling what program it is: 2 for us;
DEFINE NOTB10 = "'2"; ! The notebox from 11 to the 10 (byte address);
DEFINE NOTB11 = "'40"; ! The notebox from 10 to the 11 (byte address);
define ttyset = "'047000400121";
! PEEK, POKE, PEEKARRAY, POKEARRAY, FILL, STRT11, ALINIT;
SIMPLE INTEGER PROCEDURE CALLU0(STRING UUO;INTEGER AC;REFERENCE INTEGER ADDR);
BEGIN
INTEGER UUOCODE;
UUOCODE←CALL(CVSIX(UUO),"CALLIT");
IF UUOCODE=0 THEN PRINT("NO SUCH UUO: ",UUO)
ELSE RETURN(CODE(UUOCODE+(AC LSH 23),ADDR));
END;
SIMPLE INTEGER PROCEDURE IOWD(INTEGER N,LOC);
RETURN(((-N)LAND '777777)LSH 18 +(LOC-1));
INTEGER MTAPE_PLUS_ELF;
DEFINE ELFMTAPE(ADDR)="CODE(MTAPE_PLUS_ELF,ADDR)";
! peek,poke and peekarray take the actual address on the unibus;
PROCEDURE ELF_ERROR (STRING caller; INTEGER addr);
BEGIN
INTEGER ELF_STATUS;
PRINT("ELF error - ");
CALLU0("GETSTS",ELFCHAN,ELF_STATUS); ! Get status of 11 interface;
IF ELF_STATUS LAND '40000 THEN PRINT("NXM"&crlf);
IF ELF_STATUS LAND '20000 THEN PRINT("Couldn't get unibus"&crlf);
IF ELF_STATUS LAND '4000 THEN PRINT("Unibus reset in progress"&crlf);
IF ELF_STATUS LAND '2000 THEN PRINT("Parity error"&crlf);
IF ELF_STATUS LAND '1000 THEN PRINT("Interface is hung"&crlf);
IF ¬(ELF_STATUS LAND '67000) THEN PRINT("ELF status = ",CVOS(ELF_STATUS),crlf);
USERERR(0,1,caller & " address = " & CVOS(addr));
SETSTS(ELFCHAN,'17); ! Reset status of 11 interface;
END;
INTEGER PROCEDURE PEEK(INTEGER ADR);
BEGIN "peek" ! Returns the ELF word at unibus address ADR;
INTEGER ARRAY A[1:2];
DEFINE PEEK = "'002000000000";
A[1]←PEEK+(ADR LSH -1);
! CALLU0("MTAPE",ELFCHAN,A[1]);
ELFMTAPE(A[1]);
IF NOT _SKIP_ THEN ELF_ERROR("Couldn't peek at ELF",adr);
RETURN(A[2]);
END "peek";
PROCEDURE POKE(INTEGER ADR, CONTENTS);
BEGIN "poke" ! Stores CONTENTS at unibus address ADR;
DEFINE POKE = "'003000000000";
INTEGER ARRAY A[1:2];
A[1]←POKE+(ADR LSH -1);
A[2]←CONTENTS;
! CALLU0("MTAPE",ELFCHAN,A[1]);
ELFMTAPE(A[1]);
IF NOT _SKIP_ THEN ELF_ERROR("Couldn't poke at ELF",adr);
END "poke";
PROCEDURE POKEARRAY(INTEGER ADR, LTH; INTEGER ARRAY CONTENTS; INTEGER USETBITS(0));
BEGIN "pokearray" ! Sends the CONTENTS[1:LTH] to unibus address ADR
and higher;
INTEGER USETO_WORD,SNDIOWD;
USETO_WORD←'400000400000 + (ADR LSH -1)+USETBITS;
CALLU0("USETO",ELFCHAN,USETO_WORD);
SNDIOWD←IOWD(LTH,LOCATION(CONTENTS[1]));
CALLU0("OUT",ELFCHAN,SNDIOWD);
IF _SKIP_ THEN ELF_ERROR("POKEARRAY failed",adr);
END "pokearray";
PROCEDURE PEEKARRAY(INTEGER ADR, LTH; INTEGER ARRAY CONTENTS; INTEGER USETBITS(0));
BEGIN "peekarray" ! Gets the CONTENTS[1:LTH] from unibus address ADR
and higher;
INTEGER USETI_WORD,GETIOWD;
USETI_WORD←'400000400000 +(ADR LSH -1)+USETBITS;
CALLU0("USETI",ELFCHAN,USETI_WORD);
GETIOWD←IOWD(LTH,LOCATION(CONTENTS[1]));
CALLU0("IN",ELFCHAN,GETIOWD);
IF _SKIP_ THEN ELF_ERROR("PEEKARRAY failed",adr);
END "peekarray";
PROCEDURE FILL(INTEGER ADR(0),LEN('500000/2),CNTNTS(0));
BEGIN "fill"
INTEGER ARRAY A[1:2];
DEFINE FILL = "'001000000000";
A[1]←FILL+(ADR LSH -1);
A[2]←(LEN LSH 18)+CNTNTS;
ELFMTAPE(A[1]);
IF NOT _SKIP_ THEN PRINT("Couldn't fill ELF with ",CVOS(CNTNTS),crlf);
END;
PROCEDURE STRT11(INTEGER STRADR('130000)); ! DDT is default;
BEGIN "strt11" ! Starts 11 at STRADR;
DEFINE START = "'005000000000";
INTEGER ARRAY A[1:2];
A[1]←START;
A[2]←0;
POKE('24,STRADR); ! set starting address;
POKE('26,'340); ! set priority level 7;
ELFMTAPE(A[1]);
IF NOT _SKIP_ THEN PRINT("Couldn't start ELF!"&crlf);
END "strt11";
INTERNAL PROCEDURE ALINIT;
BEGIN "init"
INTEGER COUNT, BRCHAR, EOF, FLAG;
INTEGER I, ARMCHAN;
! Initialize the ARM for output;
! '400 on in mode word and EOF←1 to take silent return if not available;
EOF←1;
OPEN(ARMCHAN←GETCHAN,"ARM",'400,0,0,COUNT,BRCHAR,EOF);
IF EOF THEN
BEGIN
PRINT("ARM is not available. Do you want to wait? ");
IF (INCHRW lor '40) ≠ "y" THEN CALL(0,"EXIT");
CLRBUF; ! Flush anything else typed with the "y";
PRINT(crlf&" Waiting .... ");
DO BEGIN ! Wait for ARM to be free - checking every 1/2 minute;
CALL(30,"SLEEP"); ! Sleep for 30 seconds;
EOF←1;
OPEN(ARMCHAN,"ARM",'400,0,0,COUNT,BRCHAR,EOF);
END UNTIL EOF=0;
PRINT(" Gotcha"&crlf);
END;
! Initialize the ELF for output;
! '400 on in mode word and EOF←1 to take silent return if not available;
EOF←1;
OPEN(ELFCHAN←GETCHAN,"ELF",'417,0,0,COUNT,BRCHAR,EOF);
IF EOF THEN
BEGIN ! This should never happen now that the ELF is sharable, but...;
PRINT("ELF is not available. Do you want to wait? ");
IF (INCHRW lor '40) ≠ "y" THEN CALL(0,"EXIT");
CLRBUF; ! Flush anything else typed with the "y";
PRINT(crlf&" Waiting .... ");
DO BEGIN ! Wait for ELF to be free - checking every 1/2 minute;
CALL(30,"SLEEP"); ! Sleep for 30 seconds;
EOF←1;
OPEN(ELFCHAN←GETCHAN,"ELF",'417,0,0,COUNT,BRCHAR,EOF);
END UNTIL EOF=0;
PRINT(" Gotcha"&crlf);
END;
MTAPE_PLUS_ELF←'072000000000+(ELFCHAN LSH 23);
END "init";
! GET, FOVERLAY, NEW_AL_PROG;
PROCEDURE GET (STRING gfile);
BEGIN "get file"
DEFINE block_size = '4000; ! Load in 2K blocks;
INTEGER ARRAY packed[1:block_size/2]; ! unpacked[1:block_size];
INTEGER addr,eof,chn,i;
chn ← getchan;
OPEN(chn,"DSK",'10,19,0,0,0,eof);
LOOKUP(chn,gfile,i);
IF i THEN BEGIN PRINT("Couldn't lookup ",gfile,crlf); RELEASE(chn); RETURN END;
WORDIN(chn); ! Ignore program starting address;
WORDIN(chn); ! Ignore DDT starting address;
addr ← WORDIN(chn); ! Low address of core image;
packed[1] ← WORDIN(chn); ! First word of core image;
DO BEGIN
ARRYIN(chn,packed[2],block_size/2-1);
! FOR i ← 1 TIL block_size/2 DO
! BEGIN ! Unpack it;
! unpacked[2*i-1] ← packed[i] LSH -18;
! unpacked[2*i] ← packed[i] LAND '777777;
! END;
POKEARRAY(addr,block_size/2,packed,TWRJ); ! block_size,unpacked);
addr ← addr + 2*block_size;
packed[1] ← WORDIN(chn); ! Make sure EOF gets set if no more;
END UNTIL eof;
CLOSE(chn);
RELEASE(chn);
END "get file";
BOOLEAN PROCEDURE FOVERLAY (STRING ofile);
BEGIN "overlay file"
INTEGER ARRAY data[1:500];
INTEGER addr,eof,chn,i,size,cksum;
SIMPLE INTEGER PROCEDURE READ_BYTE;
BEGIN
INTEGER b;
b ← WORDIN(chn); ! Read next byte;
cksum ← cksum + b;
RETURN(b)
END;
chn ← getchan;
OPEN(chn,"DSK",'10,19,0,0,0,eof);
LOOKUP(chn,ofile,i);
IF i THEN BEGIN RELEASE(chn); RETURN(false) END;
WHILE TRUE DO
BEGIN
DO i ← WORDIN(chn) UNTIL eof ∨ i=1; ! Find next data block;
IF eof THEN BEGIN RELEASE(chn); RETURN(TRUE) END;
IF WORDIN(chn) THEN ! Skip over 0 word;
BEGIN PRINT("Bad data in file - aborting"&crlf);
RELEASE(chn); RETURN(FALSE) END;
cksum ← 1;
size ← READ_BYTE + (READ_BYTE LSH 8) - 6; ! # bytes of data;
addr ← READ_BYTE + (READ_BYTE LSH 8); ! address of this block;
IF size≤0 THEN BEGIN RELEASE(chn); RETURN(TRUE) END;
ARRYIN(chn,data[1],size); ! Read in the data;
data[size+1] ← 0; ! In case size is odd;
size ← (size+1) div 2; ! Block size in words;
FOR i ← 1 TIL size DO ! Convert data from bytes to words;
BEGIN
cksum ← cksum + data[2*i] + data[2*i-1]; ! Compute checksum;
data[i] ← (data[2*i] LSH 8) + data[2*i-1]
END;
READ_BYTE; ! Read in the checksum;
IF cksum LAND '377 THEN ! Were low 8 bits of checksum zero?;
BEGIN PRINT("Checksum error - aborting"&crlf);
RELEASE(chn); RETURN(FALSE) END;
POKEARRAY(addr,size,data); ! Ship data over to the 11;
END
END "overlay file";
STRING alprog,oldppn;
PROCEDURE NEW_AL_PROG;
BEGIN "load a bin file"
STRING filnam,name,ext,ppn;
BOOLEAN success;
DO BEGIN ! Get a file name;
PRINT(" file name: ");
filnam ← INCHWL;
IF filnam = NULL ∨ _SKIP_ = '175 THEN
BEGIN
PRINT(" aborted"&crlf);
RETURN;
END;
name ← ext ← ppn ← NULL;
WHILE LENGTH(filnam) > 0 ∧ filnam ≠ "." ∧ filnam ≠ "[" DO
name ← name & LOP(filnam);
WHILE LENGTH(filnam) > 0 ∧ filnam ≠ "[" DO ext ← ext & LOP(filnam);
IF EQU(ext,".") THEN ext ← NULL;
IF filnam = "[" THEN ppn ← filnam;
success ← FOVERLAY(name&ext&ppn); ! Try just what we were given;
IF ¬success ∧ ext = NULL ∧ FOVERLAY(name&".BIN"&ppn) THEN
BEGIN success ← TRUE; ext ← ".BIN" END; ! Try making it a .BIN file;
IF ¬success ∧ ppn = NULL THEN
IF FOVERLAY(name&ext&oldppn) THEN ! Try what we were given on old ppn area;
BEGIN success ← TRUE; ppn ← oldppn END
ELSE IF ext = NULL ∧ FOVERLAY(name&".BIN"&oldppn) THEN
BEGIN success←TRUE;ppn←oldppn;ext←".BIN" END; ! Try making it a .BIN file;
IF ¬success THEN PRINT("Can't find file: ",name,ext,ppn," - Try again."&crlf)
END UNTIL success;
alprog ← name & ext & ppn;
oldppn ← ppn;
END "load a bin file";
! globals, READ_DATA, GRAPH, PLOT_IT;
DEFINE DSIZE = 900; ! Allow for 30 seconds of force sampling;
DEFINE range = 87; ! Use the same scaling for all graphs;
PRELOAD_WITH "FX","FY","FZ","MX","MY","MZ","T1","T2","T3","T4","T5","T6";
STRING ARRAY CTLCHR[1:12];
PRELOAD_WITH 1,2,4,'10,'20,'40,'100,'200,'400,'1000,'2000,'4000;
INTEGER ARRAY CTLMASK[1:12];
PRELOAD_WITH "OZ","OZ","OZ","OZ-IN","OZ-IN","OZ-IN",
"OZ-IN","OZ-IN","OZ","OZ-IN","OZ-IN","OZ-IN";
STRING ARRAY YLAB[1:12];
INTEGER ID,CTL,NPTS,fixed_scaling,graph_mode,POG;
BOOLEAN ARRAY GOT[1:12];
INTEGER ARRAY RDATA[1:12*DSIZE];
REAL ARRAY DATA[1:12,1:DSIZE];
INTEGER ARRAY DISPLY[1:'3000];
PROCEDURE READ_DATA;
BEGIN "read data"
INTEGER i,j,k,addr,ncpn,offset;
addr ← PEEK(NOTB10+MAP_OFFSET); ! Get address of buffer;
id ← PEEK(addr+MAP_OFFSET); ! Get id number;
ctl ← PEEK(addr+2+MAP_OFFSET); ! Get force bits;
npts ← PEEK(addr+4+MAP_OFFSET); ! Get number of data points;
PRINT("Data being gathered"&crlf);
! DETERMINE WHICH DATA WAS COLLECTED;
NCPN←0;
FOR I← 1 STEP 1 UNTIL 12 DO
IF CTL LAND CTLMASK[I] THEN
BEGIN
NCPN←NCPN+1;
GOT[I]←TRUE;
PRINT(" ",CTLCHR[I]," COLLECTED"&CRLF);
END
ELSE GOT[I]←FALSE;
PRINT("*");
! Read in the raw data - left justified;
PEEKARRAY(addr+6+MAP_OFFSET,ncpn*npts,RDATA,TWLM);
! STORE RAW DATA INTO SEPARATE ARRAYS;
OFFSET←1;
FOR I←1 STEP 1 UNTIL 12 DO
IF GOT[I] THEN
BEGIN
K←OFFSET;
FOR J←1 STEP 1 UNTIL NPTS DO
BEGIN
IF RDATA[K]=0 THEN DATA[I,J] ← 0 ELSE
BEGIN ! Convert 11 floating point to 10 integer;
INTEGER SIGNEXPONENT,FRACTION,NEWNUM; REAL X;
SIGNEXPONENT←RDATA[K] LAND '777000000000;
FRACTION← ((RDATA[K] LAND '777777760) LSH -1)+'400000000;
NEWNUM←SIGNEXPONENT+FRACTION;
IF NEWNUM<0 THEN NEWNUM←((LNOT NEWNUM) + 1) LOR '400000000000;
MEMORY[LOCATION(X),INTEGER]←NEWNUM;
DATA[I,J] ← X;
END;
K←K+NCPN
END;
OFFSET←OFFSET+1;
END;
END "read data";
PROCEDURE GRAPH (INTEGER comp);
BEGIN "graph"
INTEGER I;
REAL DX,DY,MAXV,MINV,x,y;
STRING COM2;
SIMPLE INTEGER PROCEDURE DRAW_AXIS(INTEGER X0,Y0;REAL DX,DY,NUMDIST;
INTEGER I0,IM; STRING UNITS);
! Draws an axis scale for a graph. X0,Y0 specify the origin of the
graph. DX,DY specify the direction (and scale) of the axis. I0,IM
specify the numeric range of the axis labelling. UNITS is the name
of the axis. Returns the distance between minor "tic" marks on the
axis;
BEGIN
INTEGER EX,EY,EI,I,DI,DIN,K,XX,YY;
REAL DL;
DL←ABS(DX)+ABS(DY);
DIN←5;K←1;
WHILE DIN*DL<NUMDIST DO
DIN←DIN*(CASE (K←K+1) MOD 3 OF (2.5,2.0,2.0));
DI←DIN DIV 5;
IF ¬UNITS THEN RETURN(DI);
EX←(-10*DX)/DL;
EY←(-10*DY)/DL;
AIVECT(XX←X0+(IM-I0)*DX,YY←Y0+(IM-I0)*DY);
DPYSST(UNITS);
AIVECT(XX,YY);
EI←I0 MOD DI;
IF EI≠0 THEN EI←DI-EI;
X0←X0+EI*DX;
Y0←Y0+EI*DY;
AVECT(X0,Y0);
I0←I0+EI;
FOR I←I0 STEP DI UNTIL IM DO
BEGIN
IF I MOD DIN =0 THEN
BEGIN
RVECT(3*EY,3*EX);
RIVECT(4*EY+EX,3*EX+EY);
IF I < 0 THEN RIVECT(-20,0);
K ← LOG(ABS(I) MAX 1)/LOG(10.0) - 1;
RIVECT(-20*K,0);
DPYSST(CVS(I));
END
ELSE RVECT(EY,EX);
AIVECT(X0←X0+DI*DX,Y0←Y0+DI*DY);
END;
RETURN(DI);
END "DRAW_AXIS";
DEFINE X0 = -475; ! Graph orgin;
DEFINE Y0 = -260;
DEFINE NX = 800; ! Axis lengths;
DEFINE NY = 700;
SETFORMAT(1,0);
IF ¬GOT[comp] THEN
BEGIN
PRINT("Data not collected for that component"&CRLF);
RETURN;
END;
DPYSET(DISPLY);
IF fixed_scaling THEN
BEGIN
MINV ← -range;
MAXV ← range
END
ELSE
BEGIN ! Determine the min and max;
MINV ← MAXV ← data[comp,1];
FOR I ← 2 STEP 1 UNTIL npts DO
IF (y←data[comp,I]) > MAXV THEN MAXV←y
ELSE IF y < MINV THEN MINV←y
END;
DX ← NX DIV (npts-1); ! Scale the axes;
DY ← NY DIV (MAXV-MINV);
IF DX < 1 THEN DX ← NX/(npts-1); ! May need to rescale so DX,DY ≠ 0;
IF DY < 1 THEN DY ← NY/(MAXV-MINV);
DPYBIG(4);
DRAW_AXIS(X0,Y0,DX,0,100,1,npts," Samples"); ! Draw the axes;
DRAW_AXIS(X0,Y0,0,DY,40,MINV,MAXV," "&CTLCHR[comp]&" "&YLAB[comp]);
DPYBIG(2);
IF graph_mode THEN
BEGIN ! Continuous;
AIVECT(X0,dy*(data[comp,1]-MINV)+Y0); ! Graph it;
FOR I ← 2 STEP 1 UNTIL npts DO AVECT(dx*(I-1)+X0,dy*(data[comp,I]-MINV)+Y0);
END
ELSE
BEGIN ! Discrete;
y ← dy*(data[comp,1]-MINV)+Y0;
AIVECT(X0-dx/2,y);
x ← X0+dx/2;
AVECT(x,y);
FOR I ← 2 STEP 1 UNTIL npts DO
BEGIN
y ← dy*(data[comp,I]-MINV)+Y0;
AVECT(x,y);
x ← X0+dx*(I-0.5);
AVECT(x,y);
END
END;
x ← X0 + dx * (npts -30); ! Show where the arm servo stopped;
FOR I ← 20 STEP 70 UNTIL NY DO
BEGIN
AIVECT(x,Y0+I);
RVECT(0,10)
END;
COM2←" DURATION = "&CVS(NPTS/60)&"."&CVS((NPTS MOD 60)/6)&" SECONDS";
AIVECT(-400,-350);
DPYBIG(4);
DPYSST(COM2);
TYPLOC(-365,-500);
DPYOUT(POG);
quick_code
hrroi 1,['004000000120]; comment [004000,,"P"];
ttyset 1, ; ! this last stuff does an esc-P;
end;
END "graph";
PROCEDURE PLOT_IT;
BEGIN "plot" ! SAVE PLT FILE IF REQUESTED;
STRING FILNAM;
INTEGER FLG,CHN,POG;
CHN ← getchan;
OPEN(CHN,"DSK",8,0,3,0,0,0);
DO BEGIN
PRINT("lot file name: ");
FILNAM←INCHWL;
IF FILNAM = NULL ∨ _SKIP_ = '175 THEN
BEGIN
PRINT(" aborted"&crlf);
RELEASE(CHN);
RETURN;
END;
ENTER(CHN,FILNAM&".PLT",FLG);
END UNTIL ¬FLG;
PRINT("Plot title: ");
FILNAM ← INCHWL & " "; ! Add some padding since XIP clips it;
AIVECT(-350,-400);
DPYBIG(4);
DPYSST(FILNAM);
POG←GETPOG;
DPYOUT(POG);
ARRYOUT(CHN,DISPLY[1],DISPLY[2]);
CLOSE(CHN);
RELEASE(CHN);
END "plot";
! Main control loop;
INTEGER i,j,k,command,dum,dat11,auto_continue,freeze11,idle;
STRING ANS,DISCM;
PRELOAD_WITH CVSIX("DSK"),CVSIX("11TTY"),CVSIX("DMP"),0,CVSIX(" 1 3"),0;
SAFE INTEGER ARRAY RUN[1:6]; ! This is used to swap to 11TTY;
PRINT(crlf&"AL Force Data Gathering Module"&crlf&crlf&crlf);
! Set up our default operating modes;
auto_continue ← FALSE;
fixed_scaling ← FALSE;
graph_mode ← TRUE; ! Continuous;
freeze11 ← TRUE;
alprog ← NULL;
oldppn ← "[f,arg]";
dat11 ← FALSE;
idle ← 0;
alinit; ! Grab the elf;
POKE(SAILID+MAP_OFFSET,2); ! Tell AL that we're here to talk to it;
POG←GETPOG;
WHILE true DO
BEGIN
PRINT("*");
WHILE (command←INCHRS)<0 DO
BEGIN
IF ¬dat11 ∧ PEEK(NOTB10+MAP_OFFSET) ∧ PEEK(NOTB10+2+MAP_OFFSET) THEN
BEGIN ! Buffer present & data valid;
READ_DATA;
IF auto_continue THEN POKE(NOTB10+MAP_OFFSET,0) ! Clear buffer pointer;
ELSE dat11 ← TRUE;
IF ¬freeze11 THEN POKE(NOTB10+2+MAP_OFFSET,0); ! Clear valid data flag;
idle ← 0;
END
ELSE CALL(0,"SLEEP"); ! Sleep for 1 tick;
idle ← idle + 1;
IF idle = 20000 THEN PRINT("Are you still there???" & crlf & "*");
IF idle ≥ 36000 THEN
BEGIN
PRINT("Auto-exit!!!" & crlf);
POKE(SAILID+MAP_OFFSET,0); ! Tell AL that we're no longer here to talk to it;
CALL(0,"EXIT");
END;
END;
IF command ≥ "A" THEN command ← command LOR '40; ! Make it lower case;
idle ← 0;
CASE command OF ! = a,c,e,f,g,h,l,m,p,q,r,s,t,w,x,z,?,1;
BEGIN
["f"] BEGIN "display force"
i ← (INCHRW LOR '40) - "w"; ! Get which force component;
IF 1 ≤ i ≤ 3 THEN
BEGIN ! Okay value;
PRINT(crlf);
GRAPH(i);
END
ELSE PRINT("?"&crlf);
END "display force";
["m"] BEGIN "display moment"
i ← (INCHRW LOR '40) - "w" + 3; ! Get which moment component;
IF 4 ≤ i ≤ 6 THEN
BEGIN ! Okay value;
PRINT(crlf);
GRAPH(i);
END
ELSE PRINT("?"&crlf);
END "display moment";
["t"] BEGIN "display joint torque"
i ← (INCHRW LOR '40) - "0" + 6; ! Get which joint torque component;
IF 7 ≤ i ≤ 12 THEN
BEGIN ! Okay value;
PRINT(crlf);
GRAPH(i);
END
ELSE PRINT("?"&crlf);
END "display joint torque";
["d"] BEGIN "start"
PRINT("dt started"&crlf);
STRT11('130000);
END "start";
["z"] BEGIN "zero"
PRINT("ero memory [Confirm] ");
IF (i←INCHRW) = cr ∨ (i LOR '40) = "y" THEN
FILL(0,'500000/2,0)
ELSE PRINT(" Aborted"&crlf);
IF (i LOR '40) = "y" THEN PRINT(crlf) ELSE INCHRS
END "zero";
["c"] BEGIN "continue"
PRINT("ontinue"&crlf);
POKE(NOTB10+MAP_OFFSET,0); ! Clear buffer pointer;
POKE(NOTB10+2+MAP_OFFSET,0); ! Clear valid data flag;
dat11 ← FALSE;
END "continue";
["a"] BEGIN "auto_continue"
PRINT("uto-continue now ");
auto_continue ← ¬ auto_continue; ! Toggle auto_continue;
IF auto_continue THEN PRINT("on"&crlf) ELSE PRINT("off"&crlf);
IF auto_continue THEN freeze11 ← FALSE; ! Don't stop after each gathering move;
END "auto_continue";
["w"] BEGIN "wait"
PRINT("ait after gathering moves now ");
freeze11 ← ¬ freeze11; ! Toggle waiting;
IF freeze11 THEN PRINT("on"&crlf) ELSE PRINT("off"&crlf);
END "wait";
["s"] BEGIN "fixed_scaling"
PRINT("caling is now ");
fixed_scaling ← ¬ fixed_scaling; ! Toggle fixed_scaling;
IF fixed_scaling THEN PRINT("fixed"&crlf) ELSE PRINT("automatic"&crlf);
END "fixed_scaling";
["g"] BEGIN "graph_mode"
PRINT("raph mode is now ");
graph_mode ← ¬ graph_mode; ! Toggle graph_mode;
IF graph_mode THEN PRINT("continuous"&crlf) ELSE PRINT("discrete"&crlf);
END "graph_mode";
["p"] BEGIN "plot file"
PLOT_IT;
END "plot file";
["l"] BEGIN "load new bin file"
PRINT("oad new AL program"&crlf);
NEW_AL_PROG;
STRT11('130000); ! Start up DDT too;
END "load new bin file";
["r"] BEGIN "reload AL runtime"
PRINT("eload AL runtime system [Confirm] ");
IF (i←INCHRW) = cr ∨ (i LOR '40) = "y" THEN
BEGIN
IF (i LOR '40) = "y" THEN PRINT(crlf) ELSE INCHRS;
FILL(0,'500000/2,0); ! Zero memory;
GET("AL.SAV[AL,HE]");
IF alprog ≠ NULL THEN FOVERLAY(alprog) ! Load the old one;
ELSE BEGIN PRINT("AL program"); NEW_AL_PROG; END; ! or get a new one;
POKE(SAILID+MAP_OFFSET,2); ! Tell AL that we're here to talk to it;
STRT11('130000); ! Start up DDT too;
END
ELSE PRINT(" Aborted"&crlf);
END "reload AL runtime";
["x"] BEGIN "reload ALX runtime"
PRINT("perimental AL runtime system being loaded [Confirm] ");
IF (i←INCHRW) = cr ∨ (i LOR '40) = "y" THEN
BEGIN
IF (i LOR '40) = "y" THEN PRINT(crlf) ELSE INCHRS;
FILL(0,'500000/2,0); ! Zero memory;
GET("ALX.SAV[AL,HE]");
IF alprog ≠ NULL THEN FOVERLAY(alprog) ! Load the old one;
ELSE BEGIN PRINT("AL program"); NEW_AL_PROG; END; ! or get a new one;
POKE(SAILID+MAP_OFFSET,2); ! Tell AL that we're here to talk to it;
STRT11('130000); ! Start up DDT too;
END
ELSE PRINT(" Aborted"&crlf);
END "reload ALX runtime";
["1"] BEGIN "11TTY"
PRINT("1TTY being swapped in [Confirm] ");
IF (i←INCHRW) = cr ∨ (i LOR '40) = "y" THEN
BEGIN
PRINT(crlf&crlf);
POKE(SAILID+MAP_OFFSET,0); ! Tell AL that we're no longer here to talk to it;
CALL('1000000+LOCATION(RUN[1]),"RUN")
END
ELSE PRINT(" Aborted"&crlf);
END "11TTY";
["e"] BEGIN "exit"
PRINT("xit"&crlf);
POKE(SAILID+MAP_OFFSET,0); ! Tell AL that we're no longer here to talk to it;
DONE;
END "exit";
["q"] BEGIN "quit"
PRINT("uit"&crlf);
POKE(SAILID+MAP_OFFSET,0); ! Tell AL that we're no longer here to talk to it;
DONE;
END "quit";
["?"]
["h"] BEGIN "help"
IF command = "h" THEN PRINT("elp"&crlf);
quick_code
hrroi 1,['004000000516]; comment [004000,,'400+"N"];
ttyset 1, ; ! this last stuff does a brk-N;
end;
PRINT("Commands are:
FX, FY, FZ - display force data along specified axis
MX, MY, MZ - display torque data about specified axis
T1, T2, T3, T4, T5, T6 - display torque data about specified joint
Graph mode select - toggles between continuous or discrete
Scaling for force axis of graphs - toggles between fixed & automatic
Plot, produces plot file for xgp (via XIP) - asks for file name
Continue with next gathering move
Wait after each gathering move - toggled (cleared by Auto-continue)
Auto-continue, if on AL won't stop between gathering moves - toggled
DDT started
Zero 11's memory
Reload AL runtime system (or X for experimental AL system)
Load new AL program - asks for file name
11TTY should be loaded and run
Exit or Quit
Help or ? for this text
if a command asks for Confirmation type a ""y"""&crlf);
END "help";
[cr] BEGIN "crlf"
IF INCHRS< 0 THEN PRINT("?"&crlf); ! Gobble the line feed;
END "crlf";
[lf] BEGIN "lf" ! Ignore the line feed;
PRINT(cr&'0);
END "lf";
ELSE PRINT("?"&crlf)
END
END;
quick_code
hrroi 1,['004000000516]; comment [004000,,'400+"N"];
ttyset 1, ; ! this last stuff does a brk-N;
end;
CALL(0,"EXIT");
END