void Set_insert (T set, Poly_t x)
{
if (Set_exists (set, x))
return;
List_insertLast (set->list, x);
return;
}
static List_t transBlocks (List_t blocks)
{
List_t tmp, result = List_new ();
Assert_ASSERT(blocks);
tmp = List_getFirst (blocks);
while (tmp){
Ssa_Block_t b = (Ssa_Block_t)tmp->data;
if (Property_get (visited, b))
List_insertLast (result, b);
tmp = tmp->next;
}
return result;
}
static void addRunningNode(ListNode* node) {
static bool adding = false;
// validate //
if(node == NULL) return;
Command* cmd = (Command*) node->data;
if(cmd == NULL) { freeNode(node); return; }
if(adding) {
Info("Cannot start command during cancel(). Ignoring: %s", Command_getName(cmd));
freeNode(node);
return;
}
// make sure command is not already running //
ListNode* xnode = runningList.firstNode;
while(xnode != NULL) {
if((Command*)xnode->data == cmd) {
freeNode(node);
return;
}
xnode = xnode->next;
}
// check that required Subsystems are available //
Command* current;
xnode = cmd->requiresList.firstNode;
while(xnode != NULL) {
current = ((Subsystem*) xnode->data)->currentCommand;
if(current && !current->interruptible) {
freeNode(node);
return;
}
xnode = xnode->next;
}
// claim required Subsystems //
adding = true;
xnode = cmd->requiresList.firstNode;
while(xnode != NULL) {
Subsystem* sys = (Subsystem*) xnode->data;
current = sys->currentCommand;
if(current) {
Command_cancel(current);
// find the node with the command and remove it //
ListNode* xnode2 = runningList.firstNode;
while(xnode2 != NULL) {
if((Command*)xnode2->data == current) {
removeRunningNode(xnode2);
break;
}
xnode2 = xnode2->next;
}
}
sys->currentCommand = cmd;
xnode = xnode->next;
}
adding = false;
// add to command list //
List_insertLast(&runningList, node);
Command_startRunning(cmd);
}
static void freeNode(ListNode* node) {
List_insertLast(&nodeCache, node);
}
void Scheduler_addButtonScheduler(ButtonScheduler* sched) {
if(sched == NULL) return;
List_insertLast(&buttonList, getNode(sched));
}
void Scheduler_add(Command* cmd) {
if(cmd == NULL) return;
List_insertLast(&queuedList, getNode(cmd));
}