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Re: OT: ANS Forth

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Paul Rubin wrote:

> Disclosure: I've never worked on hard-real-time stuff, so maybe my
> picture of this kind of coding is unrealistic.  But I'd imagine using
> some combination of:

From one who has then...
 
> 1) stopping the arm when it misbehaves, so that debugger inspection
> happens with the arm not moving, and/or
>
> 2) using a simulator instead of the actual robot mechanism for debugging
> the control software, to the extent possible,

In a robotic application it is usual to have fully resolved all the motion 
issues before one lets the control system loose on the mechanical bit. This 
is usually done with an appropriate level of bench testing. So your number 2 
option is often the more likely during development. However, if you notice 
problems after the control system and arm are coupled you take a trace of 
all the possible data you can grab and return to the simulator to try and 
re-produce it there.

Of course, not all hard real-time issues are to do with robotics. Sensing 
activities for which one needs to raise alarms in order to preserve life are 
extremely hard real-time issues. Getting a very time dependent series of 
readings from sensors and ensuring that all values are within the right zone 
at the right timing is an extremely vexing task and only running code at 
full speed and tracing the data streams will do (experience from a medical 
device project).
 
> 3) modelling the entire system in something like Matlab before even
> messing with the physical robot or with fixed-point Forth code.  That
> gives you something to compare your Forth program's behavior against.

Yes. I quite often use a simple spreadsheet for such tasks as well. 
 
>> If you need to know the value of Y you can just look at it; if it's
>> changing rapidly you need a trace.
> 
> OK, you've got a trace: you've recorded all the sensor readings and
> motor signals while the arm was running, including when it started
> misbehaving after some particular motions.  Your Forth algorithm's
> output are reasonably close to the more precise Matlab output over most
> of the test, but they go seriously wrong at a particular place.  So now
> you've got a misbehaving, serial numerical algorithm to debug,
> completely separated from the realtime aspect.  It is crunching a bunch
> of numbers and going wrong someplace.

You can "chunk-run" the code by inserting a ".S KEY DROP" sequence into 
suitable places in the code. This allows most of the code to run at full 
speed but gives you points at which you have a bunch of stacked data values 
available to examine before you step on for the next chunk. Even with the 
code running the real machine this sort of thing still assists in finding 
the reasons for weird motions (even if they are actually mechanical in 
nature).
 
> Unless the calculation was horribly complex, I'd tend to approach that
> sort of problem by single stepping the program and observing the
> intermediate results until I saw something go wrong.

The most complex calculations are always reducible to a series of smaller 
and much simpler ones. Those issues are the ones to be rid of before 
attaching to the machine. Hence the bench-test and simulator run 
requirements.
 
> Another place where I find single stepping incredibly useful is in just
> understanding what a big unfamiliar piece of code is doing.  E.g.  the
> program is building a certain output and I can see where the result
> becomes available, and I have to add a feature somewhere before that.
> How did the output get to be what it is?  I send in some input,
> and start single stepping, observing, interacting, exploring.

If this is from the perspective of having code and no source, then I will 
agree that single stepping the machine can help but it can also hinder in so 
many ways, especially with interrupts coming in that need quick responses.
 
> The old Lisp Machine environments were fantastically good at this sort
> of thing, one reason I regret never having used them.  It sounds very
> much in the spirit of Forth as well, so I'm really surprised that the
> Forthers here aren't embracing it.

We have our ways.

-- 
********************************************************************
Paul E. Bennett...............<email://Paul_E.Bennett@topmail.co.uk>
Forth based HIDECS Consultancy
Mob: +44 (0)7811-639972
Tel: +44 (0)1235-510979
Going Forth Safely ..... EBA. www.electric-boat-association.org.uk..
********************************************************************

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3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-07 22:51 +0100
  Re: 3D-graphics calculations using integers? "Paul E. Bennett" <Paul_E.Bennett@topmail.co.uk> - 2013-02-07 22:08 +0000
  Re: 3D-graphics calculations using integers? AKE <assadebrahim2000@gmail.com> - 2013-02-07 14:32 -0800
    Re: 3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-07 23:40 +0100
      Re: 3D-graphics calculations using integers? AKE <assadebrahim2000@gmail.com> - 2013-02-07 17:06 -0800
      Re: 3D-graphics calculations using integers? AKE <assadebrahim2000@gmail.com> - 2013-02-07 17:07 -0800
  Re: 3D-graphics calculations using integers? Pablo Hugo Reda <pabloreda@gmail.com> - 2013-02-07 14:36 -0800
    Re: 3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-07 23:46 +0100
      Re: 3D-graphics calculations using integers? "Elizabeth D. Rather" <erather@forth.com> - 2013-02-07 16:38 -1000
        Re: 3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-08 10:22 +0100
      Re: 3D-graphics calculations using integers? anton@mips.complang.tuwien.ac.at (Anton Ertl) - 2013-02-08 10:26 +0000
  Re: 3D-graphics calculations using integers? "Elizabeth D. Rather" <erather@forth.com> - 2013-02-07 12:50 -1000
    Re: 3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-08 00:15 +0100
      Re: 3D-graphics calculations using integers? kenney@cix.compulink.co.uk - 2013-02-08 14:51 -0600
        Re: 3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-08 22:02 +0100
  Re: 3D-graphics calculations using integers? rickman <gnuarm@gmail.com> - 2013-02-07 18:21 -0500
    Re: 3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-08 00:30 +0100
      Re: 3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-08 00:39 +0100
        Re: 3D-graphics calculations using integers? rickman <gnuarm@gmail.com> - 2013-02-07 18:51 -0500
          Re: 3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-08 12:28 +0100
            Re: 3D-graphics calculations using integers? albert@spenarnc.xs4all.nl (Albert van der Horst) - 2013-02-08 12:25 +0000
              Re: 3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-08 22:04 +0100
                Re: 3D-graphics calculations using integers? albert@spenarnc.xs4all.nl (Albert van der Horst) - 2013-02-09 15:27 +0000
                Re: 3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-09 16:36 +0100
            Re: 3D-graphics calculations using integers? Mark Wills <forthfreak@gmail.com> - 2013-02-08 05:01 -0800
              Re: 3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-08 21:58 +0100
            Re: 3D-graphics calculations using integers? Roberto Waltman <usenet@rwaltman.com> - 2013-02-08 10:08 -0500
              Re: 3D-graphics calculations using integers? Roberto Waltman <usenet@rwaltman.com> - 2013-02-08 10:11 -0500
                Re: 3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-08 22:05 +0100
              Re: 3D-graphics calculations using integers? Pablo Hugo Reda <pabloreda@gmail.com> - 2013-02-08 08:29 -0800
                Re: 3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-08 18:48 +0100
            Re: 3D-graphics calculations using integers? rickman <gnuarm@gmail.com> - 2013-02-08 17:20 -0500
              Re: 3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-08 23:32 +0100
                Re: 3D-graphics calculations using integers? rickman <gnuarm@gmail.com> - 2013-02-09 23:57 -0500
              Re: 3D-graphics calculations using integers? "Elizabeth D. Rather" <erather@forth.com> - 2013-02-08 15:02 -1000
                Re: 3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-09 02:24 +0100
                Re: 3D-graphics calculations using integers? "Elizabeth D. Rather" <erather@forth.com> - 2013-02-08 15:58 -1000
                Re: 3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-09 16:43 +0100
                Re: 3D-graphics calculations using integers? "Elizabeth D. Rather" <erather@forth.com> - 2013-02-09 10:03 -1000
                Re: 3D-graphics calculations using integers? "Ed" <invalid@nospam.com> - 2013-02-10 11:35 +1100
                Re: 3D-graphics calculations using integers? humptydumpty <ouatubi@gmail.com> - 2013-02-08 23:48 -0800
                Re: 3D-graphics calculations using integers? Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-09 16:37 +0100
                OT: ANS Forth Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-09 17:27 +0100
                Re: OT: ANS Forth "Elizabeth D. Rather" <erather@forth.com> - 2013-02-09 10:06 -1000
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-09 12:26 -0800
                Re: OT: ANS Forth Elizabeth D Rather <erather@forth.com> - 2013-02-09 14:38 -1000
                Re: OT: ANS Forth "Rod Pemberton" <do_not_have@notemailnotz.cnm> - 2013-02-22 12:52 -0500
                Re: OT: ANS Forth "Elizabeth D. Rather" <erather@forth.com> - 2013-02-22 09:25 -1000
                Re: OT: ANS Forth Andrew Haley <andrew29@littlepinkcloud.invalid> - 2013-02-10 08:15 -0600
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-10 23:34 -0800
                Re: OT: ANS Forth Josh Grams <josh@qualdan.com> - 2013-02-11 22:14 +0000
                Re: OT: ANS Forth "Elizabeth D. Rather" <erather@forth.com> - 2013-02-11 13:34 -1000
                Re: OT: ANS Forth "Ed" <invalid@nospam.com> - 2013-02-11 11:52 +1100
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-10 17:11 -0800
                Re: OT: ANS Forth "Elizabeth D. Rather" <erather@forth.com> - 2013-02-10 22:06 -1000
                Re: OT: ANS Forth "Charles Childers" <crc@retroforth.org> - 2013-02-11 17:17 -0500
                Re: OT: ANS Forth "Ed" <invalid@nospam.com> - 2013-02-13 11:42 +1100
                Re: OT: ANS Forth "Elizabeth D. Rather" <erather@forth.com> - 2013-02-12 16:07 -1000
                Re: OT: ANS Forth "Ed" <invalid@nospam.com> - 2013-02-15 09:42 +1100
                Re: OT: ANS Forth Zbiggy <zbigniew2011REMOVE@gmail.REMOVE.com> - 2013-02-15 00:16 +0100
                Re: OT: ANS Forth "Ed" <invalid@nospam.com> - 2013-02-17 16:05 +1100
                Re: OT: ANS Forth Howerd <howerdo@yahoo.co.uk> - 2013-02-17 04:16 -0800
                Re: OT: ANS Forth albert@spenarnc.xs4all.nl (Albert van der Horst) - 2013-02-17 13:12 +0000
                Re: OT: ANS Forth Howerd <howerdo@yahoo.co.uk> - 2013-02-17 09:15 -0800
                Re: OT: ANS Forth Brad Eckert <hwfwguy@gmail.com> - 2013-02-19 09:35 -0800
                Re: OT: ANS Forth Andy Valencia <user@vsta.org> - 2013-02-19 19:25 +0000
                Re: OT: ANS Forth Andrew Haley <andrew29@littlepinkcloud.invalid> - 2013-02-19 15:35 -0600
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-21 00:37 -0800
                Re: OT: ANS Forth "Elizabeth D. Rather" <erather@forth.com> - 2013-02-20 23:07 -1000
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-21 01:38 -0800
                Re: OT: ANS Forth "Elizabeth D. Rather" <erather@forth.com> - 2013-02-21 08:50 -1000
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-23 15:44 -0800
                Re: OT: ANS Forth albert@spenarnc.xs4all.nl (Albert van der Horst) - 2013-02-24 03:41 +0000
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-23 20:00 -0800
                Re: OT: ANS Forth stephenXXX@mpeforth.com (Stephen Pelc) - 2013-02-24 13:49 +0000
                Re: OT: ANS Forth albert@spenarnc.xs4all.nl (Albert van der Horst) - 2013-02-24 15:04 +0000
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-24 14:52 -0800
                Re: OT: ANS Forth albert@spenarnc.xs4all.nl (Albert van der Horst) - 2013-02-24 23:51 +0000
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-24 16:23 -0800
                Re: OT: ANS Forth Andrew Haley <andrew29@littlepinkcloud.invalid> - 2013-02-21 03:55 -0600
                Re: OT: ANS Forth "Rod Pemberton" <do_not_have@notemailnotz.cnm> - 2013-02-22 13:01 -0500
                Re: OT: ANS Forth Andrew Haley <andrew29@littlepinkcloud.invalid> - 2013-02-22 12:26 -0600
                Re: OT: ANS Forth Andy Valencia <user@vsta.org> - 2013-02-19 21:54 +0000
                Re: OT: ANS Forth Andrew Haley <andrew29@littlepinkcloud.invalid> - 2013-02-19 18:21 -0600
                Re: OT: ANS Forth Brad Eckert <hwfwguy@gmail.com> - 2013-02-20 08:45 -0800
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-20 11:01 -0800
                Re: OT: ANS Forth "Elizabeth D. Rather" <erather@forth.com> - 2013-02-20 11:25 -1000
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-21 00:22 -0800
                Re: OT: ANS Forth "Elizabeth D. Rather" <erather@forth.com> - 2013-02-20 22:50 -1000
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-21 01:08 -0800
                Re: OT: ANS Forth albert@spenarnc.xs4all.nl (Albert van der Horst) - 2013-02-21 12:42 +0000
                Re: OT: ANS Forth Bernd Paysan <bernd.paysan@gmx.de> - 2013-02-21 13:50 +0100
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-21 09:36 -0800
                Re: OT: ANS Forth Bernd Paysan <bernd.paysan@gmx.de> - 2013-02-22 01:32 +0100
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-23 00:50 -0800
                Re: OT: ANS Forth Bernd Paysan <bernd.paysan@gmx.de> - 2013-02-24 03:03 +0100
                Re: OT: ANS Forth Brad Eckert <hwfwguy@gmail.com> - 2013-02-21 09:12 -0800
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-23 00:38 -0800
                Re: OT: ANS Forth "Elizabeth D. Rather" <erather@forth.com> - 2013-02-21 09:01 -1000
                Re: OT: ANS Forth mhx@iae.nl (Marcel Hendrix) - 2013-02-22 00:05 +0200
                Re: OT: ANS Forth Bernd Paysan <bernd.paysan@gmx.de> - 2013-02-21 13:24 +0100
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-21 09:33 -0800
                Re: OT: ANS Forth Andrew Haley <andrew29@littlepinkcloud.invalid> - 2013-02-21 13:04 -0600
                Re: OT: ANS Forth Bernd Paysan <bernd.paysan@gmx.de> - 2013-02-22 01:41 +0100
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-23 00:31 -0800
                Re: OT: ANS Forth "Paul E. Bennett" <Paul_E.Bennett@topmail.co.uk> - 2013-02-23 09:15 +0000
                Re: OT: ANS Forth Andrew Haley <andrew29@littlepinkcloud.invalid> - 2013-02-23 04:33 -0600
                Re: OT: ANS Forth albert@spenarnc.xs4all.nl (Albert van der Horst) - 2013-02-23 13:49 +0000
                Re: OT: ANS Forth Roberto Waltman <usenet@rwaltman.com> - 2013-02-23 13:35 -0500
                Re: OT: ANS Forth Roberto Waltman <usenet@rwaltman.com> - 2013-02-23 13:46 -0500
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-23 15:26 -0800
                Re: OT: ANS Forth Roberto Waltman <usenet@rwaltman.com> - 2013-02-24 09:41 -0500
                Re: OT: ANS Forth "Elizabeth D. Rather" <erather@forth.com> - 2013-02-21 09:09 -1000
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-23 00:37 -0800
                Re: OT: ANS Forth albert@spenarnc.xs4all.nl (Albert van der Horst) - 2013-02-23 13:57 +0000
                Re: OT: ANS Forth "Elizabeth D. Rather" <erather@forth.com> - 2013-02-23 08:47 -1000
                Re: OT: ANS Forth Bernd Paysan <bernd.paysan@gmx.de> - 2013-02-22 01:27 +0100
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-23 00:16 -0800
                Re: OT: ANS Forth Andrew Haley <andrew29@littlepinkcloud.invalid> - 2013-02-23 04:36 -0600
                Re: OT: ANS Forth anton@mips.complang.tuwien.ac.at (Anton Ertl) - 2013-02-23 16:52 +0000
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-23 12:39 -0800
                Re: OT: ANS Forth anton@mips.complang.tuwien.ac.at (Anton Ertl) - 2013-02-25 16:27 +0000
                Re: OT: ANS Forth "Rod Pemberton" <do_not_have@notemailnotz.cnm> - 2013-02-23 18:08 -0500
                Re: OT: ANS Forth Bernd Paysan <bernd.paysan@gmx.de> - 2013-02-24 02:20 +0100
                Re: OT: ANS Forth Paul Rubin <no.email@nospam.invalid> - 2013-02-24 20:16 -0800
                Re: OT: ANS Forth Bernd Paysan <bernd.paysan@gmx.de> - 2013-02-25 16:04 +0100
                Re: OT: ANS Forth albert@spenarnc.xs4all.nl (Albert van der Horst) - 2013-02-25 17:12 +0000
                Re: OT: ANS Forth Bernd Paysan <bernd.paysan@gmx.de> - 2013-02-25 20:44 +0100
                Re: OT: ANS Forth Bernd Paysan <bernd.paysan@gmx.de> - 2013-02-25 16:45 +0100
                Re: OT: ANS Forth Andy Valencia <user@vsta.org> - 2013-02-24 02:09 +0000
                Re: OT: ANS Forth Bernd Paysan <bernd.paysan@gmx.de> - 2013-02-24 04:03 +0100
                Re: OT: ANS Forth anton@mips.complang.tuwien.ac.at (Anton Ertl) - 2013-02-25 17:58 +0000
                Re: OT: ANS Forth Bernd Paysan <bernd.paysan@gmx.de> - 2013-02-25 20:57 +0100
                Re: OT: ANS Forth anton@mips.complang.tuwien.ac.at (Anton Ertl) - 2013-03-02 16:43 +0000
                Re: OT: ANS Forth Bernd Paysan <bernd.paysan@gmx.de> - 2013-03-02 18:14 +0100
                Re: OT: ANS Forth anton@mips.complang.tuwien.ac.at (Anton Ertl) - 2013-03-03 13:56 +0000
                Re: OT: ANS Forth Andrew Haley <andrew29@littlepinkcloud.invalid> - 2013-02-24 03:45 -0600
                Re: OT: ANS Forth Andrew Haley <andrew29@littlepinkcloud.invalid> - 2013-02-13 04:12 -0600
                Re: OT: ANS Forth stephenXXX@mpeforth.com (Stephen Pelc) - 2013-02-13 12:24 +0000
                Re: OT: ANS Forth anton@mips.complang.tuwien.ac.at (Anton Ertl) - 2013-02-11 14:41 +0000
                Re: OT: ANS Forth Andy Valencia <user@vsta.org> - 2013-02-11 19:44 +0000
                Re: OT: ANS Forth albert@spenarnc.xs4all.nl (Albert van der Horst) - 2013-02-11 21:14 +0000
                Re: 3D-graphics calculations using integers? Andrew Haley <andrew29@littlepinkcloud.invalid> - 2013-02-09 18:14 -0600
                Re: 3D-graphics calculations using integers? rickman <gnuarm@gmail.com> - 2013-02-10 00:06 -0500

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