perm filename GAL.SAI[AL,HE]2 blob
sn#508912 filedate 1980-05-08 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
C00028 00006 ! Main control loop
C00039 ENDMK
C⊗;
BEGIN
REQUIRE "DPYSUB.HDR[SUB,SYS]" SOURCE_FILE;
DEFINE CRLF="('15&'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;
DEFINE X0 = -400; ! 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);
MKSCALE(X0,Y0,DX,0,100,1,npts," Samples"); ! Draw the axes;
MKSCALE(X0,Y0,0,DY,40,MINV,MAXV," "&CTLCHR[comp]&" "&YLAB[comp]);
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";
DPYBIG(2);
AIVECT(-200,-316);
DPYSST(COM2);
TYPLOC(-340,-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;
DPYBIG(2);
AIVECT(-200,-350);
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;
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"&crlf);
FILL(0,'500000/2,0);
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"&crlf);
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 "reload AL runtime";
["x"] BEGIN "reload ALX runtime"
PRINT("perimental AL runtime system being loaded"&crlf);
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 "reload ALX runtime";
["1"] BEGIN "11TTY"
PRINT("1TTY being swapped in"&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 "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"&crlf);
END "help";
["-"] BEGIN "crlf" ! cr LOR '40 = "-";
IF INCHRS< 0 THEN PRINT("?"&crlf); ! Gobble the line feed;
END "crlf";
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