COMMENT ⊗   VALID 00006 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002	This file was created by Ray Finkel circa 1976 and has not been fully maintained.
C00003 00003	SAIL files
C00013 00004	FAIL files
C00015 00005	PAL files
C00022 00006	Document files
C00025 ENDMK
C⊗;
This file was created by Ray Finkel circa 1976 and has not been fully maintained.
Occasionally changes/updates have been made by myself (arg) & by and large the
files mentionned herein still exist and do what they are said to do. The source
code for the AL system resides on [AL,HE] (which prior to 77 was [HAL,HE] for
you DART users).  POINTY source code is on [PNT,HE].  Other interesting areas
include: [DOC,HE], [11,SYS] & [11,DOC].

SAIL files

ALC.SAI[AL,HE]
ALC.REL[AL,HE]
   Driver program for the AL compiler.


INTDEF.SAI[AL,HE]
INTDEF.REL[AL,HE]
   Defines the interpreter operations, like (SMUL_PSOP).  The SAI
   file is required by PASS3.SAI, TCALC.SAI.  The SAI file, when
   required, will require the REL file, which has the string array
   PSOP initialized: PSOP[SMUL_PSOP] = XSMUL.  Stand-alone
   compilation is used to generate the REL.  This file is parallel to
   INTOPS.PAL[AL,HE]. 

EMITER.HDR[AL,HE]
EMITER.SAI[AL,HE]
EMITER.REL[AL,HE]
   The HDR file defines the relocation and PC constants for the
   emiter, and declares the procedures in the SAI, but does not
   require the REL.  The SAI file includes I/O initialization
   (INITOUT, CLOSEOUT), conversion (INT_TO_11FLOAT), error handling
   (COMERR), and the emitter (EMIT, MAKE_REMARK).  The HDR file is
   required by PASS3.SAI and TCALC.SAI.  The REL file is required by
   PASS3.SAI.  (Sometimes we want to use TCALC with non-standard
   emitters.) Stand-alone compilation is used to generate the REL. 

TTEST.SAI[AL,HE]
TTEST.REL[AL,HE]
TTEST.DMP[AL,HE]
   A routine for testing trajectory calculation.  Allows one to see
   what the trajectories look like.  Requires MAKETF.REL to make the
   trajectories and TRJDPY.REL to interpret them.

MAKETF.SAI[AL,HE]
MAKETF.REL[AL,HE]
   Makes a trajectory file according to specifications from the user
   console, and puts it in file TTEST.DAT.  Can handle either arm or
   hand.  Major routine is MAKETFILE.  Requires HLRECF.SAI,
   TCALC.REL, EMITE2.REL.

TRJDPY.SAI[AL,HE]
TRJDPY.REL[AL,HE]
   Reads TTEST.DAT to display the trajectory.  Requires the Quam
   display package, FAITRG. 

EMITE2.SAI[AL,HE]
EMITE2.REL[AL,HE]
   These are like the equivalent EMITER files, except that the data
   streams are restricted to TJFILE.  This is to be used with TCALC
   in test programs (like TTEST) which wish to examine the
   trajectory files directly. 

TCALC.HDR[AL,HE]
TCALC.SAI[AL,HE]
TCALC.REL[AL,HE]
   The HDR file requires the REL file and declares TRJCLC and NEWARY. 
   The SAI file is the trajectory calculator.  The HDR file should
   eventually be required by PASS3.SAI.  Stand-alone compilation is
   used to generate the REL.  Requires HALREC.SAI, INTDEF.SAI,
   EMITER.HDR, BEJCZY.REL[AL,HE].

ARMSOL.SAI[AL,HE]
ARMSOL.REL[AL,HE]
   Uses the arm solution method from the third NSF progress report.
   Contains routines HANDSOL and ARMSOL which take location scalars 
   (HANDSOL) or transforms (ARMSOL) and return joint angles within
   the proper limits. All arm-dependent measurements are stored in 
   this file.  The REL file, created by stand-alone compilation, is
   required by TCALC.

PASS3.SAI[AL,HE]
PASS3.REL[AL,HE]
   This is the bound-parse-tree scanner and code generator.  The one
   internal procedure is TSCAN.  Requires HLRECF.SAI, INTDEF.SAI,
   EMITER.HDR, EMITER.REL. 

ALREQ.HDR[AL,HE]
   This file is required by EXPRS, WLDMOD, GOBBLE, ALPRIN, etc.
   It consists of a number of REQUIRE "foo" SOURCE_FILES.  Relies on a 
   predefined macro RHT ("TRUE" or "FALSE") to select sone special
   RHT-oriented features.

ALREC.SAI[AL,HE]
ALREC.REL[AL,HE]
   Contains standard record class declarations for all of the AL
   compiler, data types (like SVAL_DTYPE), operators for expressions
   (like RVMUL_OP), predeclared variables (like BLUE), and some
   pattern things (like AFFIXED).  When required as a source file,
   ALREC sets up EXTERNAL requests for all record classes & requires
   ALREC.REL[AL,HE] as a load module.  (Uses the fact that
   ABBREV.SAI[AL,HE] defines π to decide whether it is being compiled
   by itself or required as a source file.)

RHTREC.SAI[HAL,RHT]	WHO KNOWS IF THIS STILL EXISTS???
   Constructs used by RHT in the VHL part of AL. Body structure
   things, things required by CNSTRN.

WLDMOD.HDR[AL,HE]
WLDMOD.SAI[AL,HE]
WLDMOD.REL[AL,HE]
   This it the main interpreter for the planning model simulator. 
   Principal routines: WLDASG (assigns worlds to a parse tree),
   NEW_VAR, NEW_EPRN, STMAKE, NEW_STMNT, STINTERP (updates worlds to
   account for the results of statements).  Currently, includes a
   conditionally assembled test loop.  Requires the whole batch of
   files in ALREQ.HDR[AL,HE]. 

ARITH.HDR[AL,HE]
ARITH.SAI[AL,HE]
ARITH.REL[AL,HE]
   This file consists of arithmetic routines for AL compiler, like
   MAKE_VAR, NEW_SVAL, NEW_V3ECT, NEW_TRANS, NEW_FRAME, arithmetic
   operations.  Self-contained; if ALREC is not in, will define all
   the record classes required.

EXPRS.HDR[AL,HE]
EXPRS.SAI[AL,HE]
EXPRS.REL[AL,HE]
   Arithmetic routines needed for managing plan values of variables
   in the compiler.  Knows about graph structure.

ALPRIN.HDR[AL,HE]
ALPRIN.SAI[AL,HE]
ALPRIN.REL[AL,HE]
   This file contains print routines for various AL intermediate
   structures.  Procedures ALPRIN, PRCRLF, PVDO, PVLDO. 

GOBBLE.HDR[AL,HE]
GOBBLE.SAI[AL,HE]
GOBBLE.REL[AL,HE]
   Read routines for AL intermediate forms.  Procedures READ,
   GROVEL. 

PMATCH.HDR[AL,HE]	*** NO LONGER EXIST ***
PMATCH.SAI[AL,HE]
PMATCH.REL[AL,HE]
   Pattern matching and data base management routines for the AL
   system. 

ALSAI.SAI[AL,HE]
ALSAI.REL[AL,HE]
ALSAI.DMP[AL,HE]
   Used for taking advantage of the extended compilation feature of
   SAIL.  Requires ALREQ.HDR[AL,HE].  Should be compiled /X and
   the core image saved as ALSAI.DMP.  This saves enormous time in
   recompiling certain files.  Files currently set up to be compiled
   with ALSAI instead of SAIL are GOBBLE, WLDMOD, EXPRS, ALPRIN.

ALSAIF.SAI[AL,HE]
ALSAIF.REL[AL,HE]
ALSAIF.DMP[AL,HE]
   Just like ALSAI except that it requires only ALREC.SAI[AL,HE].
   Files currently set up to be compiled by ALSAIF instead of SAIL
   are MAKETF, PASS3.

PARSER.SAI[AL,HE]
   Source code for BBMs parser.

ALAID.SAI[AL,HE]
ALAID.REL[AL,HE]
   Communications package for running AL programs.  Procedures
   TREATREQUEST, ALAIDINIT.

ALTST.SAI[AL,HE]
ALTST.DMP[AL,HE]
   A driver for ALAID that takes one line from the TTY and sends it
   to the ELF, then prints the response.  Requires ALAID.REL.
FAIL files

BEJCZY[AL,HE]
BEJCZY.REL[AL,HE]
   Contains the subroutine DTERMS which computes the joint inertia
   and gravity loading for the Scheinman arms given the joint angles.

FAITRG[AL,HE]
FAITRG.REL[AL,HE]
   Contains the trigonometric routines SNCOSR, SNCOSD, ASIN, ACOS,
   SQRT, ATAN, ATAN2.  Used in TRJDPY. 

UPDATE.FAI[AL,HE]
UPDATE.REL[AL,HE]
   Routine UPDATE to convert from joint angles to transforms.  Used
   by TRJDPY, which is used in TTEST.
PAL files

All these files are coded by RF (now arg or jks) unless noted otherwise.
PALX does not have a facility for requiring BIN files, but it is possible to
overlay BIN files at 11TTY time.  Such linkages cannot fix up global
references, so absolute cross-addresses must be used. 

ALHEAD.PAL[AL,HE]
   Defines assembly flags, absolute core locations, macros for
   calling and defining routines, defining tables and blocks. 

ALIO.PAL[AL,HE]
   Basic I/O routines: TYPSTR, TYPDEC, TYPOCT, TYPCHR, INSTR. Macros:
   OUTSTR, NUMOUT, ASCIE, CRLF, HALERR

FLOAT.PAL[AL,HE]
   Floating point conversion routines: CVF, CVE, CVG, FORMAT, RSTFOR.
   Scanning routine RELSCN.  Coded by BES.

VALIO.PAL[AL,HE]
   Routines for getting values: SCALIN, VECTIN, TRNSIN.  Routines for
   printing values: SCLOUT, VCTOUT, TRNOUT. 

ARITH.PAL[AL,HE]
   Arithmetic routines: SQRT, ASIN, ACOS, ATAN, ATAN2, SNCOS.  Mostly
   coded by BES. 

AL.PAL[AL,HE]
   The interpeter driver.  To be loaded, with the kernel overlaid,
   with the compiled code overlaid, to run the interpreter. 

K1DOC.PAL[11,SYS]
   Formerly KDEF.PAL, contains Kernel definitions and documentation
   of system calls and Kernel operation.  This file is  required by
   the Kernel code contained in K1.PAL.

K1DEF.PAL[11,SYS]
   Definitions of macros used for Kernel system calls.  Should be
   Inserted into any code that calls the Kernel.  Coded by BO with
   modifications by BES.

K1.PAL[11,SYS]
K1.BIN[11,SYS]
   The Kernel.  To be overlaid on top of AL.  Coded by BO with
   modifications by BES.  This Kernel doesn't do any ADC work
   and is much faster at swapping in and swapping out level 7 jobs
   than the previous version.  It also understands some mapping.

K3.PAL[11,SYS]
K3DEF.PAL[11,SYS]
   Old back-up version of the Kernel.

LARGEB.PAL[AL,HE]
   Large block free storage routines: FRINIT, GTFREE, RLFREE.
   Inserted by AL.PAL. 

INTERP.PAL[AL,HE]
   The interpreter routines (arithmetic, stack control, etc.)

INTOPS.PAL[AL,HE]
   List of interpreter operations.  Inserted by both INTERP and COMP. 
   This file is parallel to INTDEF.SAI[AL,HE]. 

GRAPHS.PAL[AL,HE]
   Graph structure manipulators.   Coded by RHT. 

SMALLB.PAL[AL,HE]
   Small block allocator.  Coded by RHT. 

COMP1.PAL[AL,HE]
COMP2.PAL[AL,HE]
   These files bracket the three files which result from an AL
   compilation, namely, user.ALP[foo,baz] and brothers .ALT & .ALV.
   It sets the absolute address so the resulting BIN file can be
   overlaid on top of the AL interpreter (AL.SAV). It also requires
   INTOPS.PAL[AL,HE].

user.ALP[foo,baz] - pseudocode
user.ALT[foo,baz] - trajectories
user.ALV[foo,baz] - constant values
user.ALS[foo,baz] - symbols used by ALAID
   Files generated by the AL compiler. The compiler passes control to PALX
   asking it to assemble:
	COMP1.PAL[AL,HE],user.ALP[foo,baz],user.ALT,user.ALV,COMP2.PAL[AL,HE].

COMT.PAL[AL,HE]
   Hand-written pseudo-code, to debug the interpreter.  Inserted
   by COMP.

ARMSOL.PAL[AL,HE]
   A suite of programs involving arm kinematics.  SOLVE, UPDATE,
   FORCE, CROSS, SECOND, ANGLE, MULTA, ARAY.  Holds all physical arm
   constants. 

ARM.PAL[AL,HE]
   The servo program.  Has routines for MOVE, CENTER, HANDOP. 

ALARM.PAL[AL,HE]
   Header to set up arm code for runtime system. Inserts ARM.PAL

ALAID.PAL[AL,HE]
   Communications and debugging package for AL programs to the ten.
Document files

WATSUP.DOC[AL,HE]
   A short description of all the known SAIL, FAIL, PAL, and document
   files related to the AL compiler and runtime.

BAT[AL,HE]
   File used by BATCH to build an AL compiler.

STATUS.BLU[SYS,HE]
   Status of Blue arm, gripes, etc.

AL.SUM[DOC,HE]
   A brief summary of the AL language. The entire AL users manual is
   also available on-line in pox format on [DOC,HE].

AL.WRU[AL,HE]
    Information about compiling AL programs and and a description of the
    intermediate files produced by the compile time system.  Obsoletes some
    information in ALCODE.POX.

INT10.DOC[1,KRK]
   Documentation on the interrupt 10-11 and 11-10 interface.

K1DOC.PAL[11,SYS]
   Documentation of Kernel operation and system calls.

*******	The following files are on DART tape *********

SCNPRS.DOC[HAL,HE]
   A brief description of BBMs scanner-parser building system.

PL.DOC[HAL,HE]
   A lengthy description of BBMs scanner-parser building system.

SCAN.BBM[UP,DOC]
   Documentation for BBMs scanner.

AL.POX[HAL,HE]
ALHEAD.POX[HAL,HE]
ALKERN.POX[HAL,HE]
ALINTP.POX[HAL,HE]
ALCONT.POX[HAL,HE]
ALDDT.POX[HAL,HE]
AL.XGP[HAL,HE]
   Part of the November, 1975 progress report.  ALHEAD has some
   general info on the code generator; ALKERN describes the kernel
   (taken from K1DEF.PAL[11,SYS]); ALINTP describes the interpreter,
   including details on graph structure, free storage, and the
   pseudo-code interpreter; ALCONT describes the control code, and
   ALDDT describes 11DDT (taken from DDT.JBR[11,DOC]).

THROW.DOC[HAL,HE]
   A short description of the throwing routines in WAVE that RF put
   in during summer 73.  These routines are usually kept commented
   out.