Made the Scade example compile
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Cédric Pasteur
parent
5843869adb
commit
ace0cec555
5 changed files with 57 additions and 41 deletions
29
examples/MissionComputer_for_Core/build
Executable file
29
examples/MissionComputer_for_Core/build
Executable file
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@ -0,0 +1,29 @@
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HEPTC=../../compiler/heptc.byte
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HEPTC_OPTIONS=
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VERBOSE=1
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interfaces=(typeBase.epi typeTracks.epi typeArray.epi cstArrayInit.epi cstBaseInit.epi cstPhysics.epi cstTracksInit.epi mc_TypeInputs.epi mc_TypeLists.epi mc_TypeSensors.epi)
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ext_libs=(mc_ext.epi mathext.epi)
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sources=(math.ept trackslib.ept digital.ept mc.ept dv.ept verif.ept debug.ept)
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for f in ${interfaces[@]}; do
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if [ $VERBOSE ] ; then
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echo "**** Compiling interface: $f *******"
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fi
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$HEPTC $f
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done
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for f in ${ext_libs[@]}; do
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if [ $VERBOSE ] ; then
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echo "**** Compiling external lib: $f *******"
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fi
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$HEPTC $f
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done
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for f in ${sources[@]}; do
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if [ $VERBOSE ] ; then
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echo "**** Compiling source file: $f *******"
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fi
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$HEPTC -target c $f
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done
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@ -1,4 +1,5 @@
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open TypeArray
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open TypeTracks
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open CstArrayInit
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open Mc_TypeSensors
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open Mc
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@ -27,7 +28,7 @@ fun dv_tracknumberexist(missiontrack : TypeTracks.tmissiontrack;
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var l36 : bool;
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let
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l36 =
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fold dv_sametracknumber <<ksizemissiontracksarray>>(
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fold<<ksizemissiontracksarray>> dv_sametracknumber(
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missiontrack^ksizemissiontracksarray, missiontracks, false);
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accout = accin or l36;
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tel
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@ -48,7 +49,7 @@ fun dv_proof2(ifftracks : TypeArray.tifftracksarray;
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var l33 : bool;
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let
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l33 =
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fold dv_detectedbyiff <<ksizemissiontracksarray>>(missiontracks, true);
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fold<<ksizemissiontracksarray>> dv_detectedbyiff(missiontracks, true);
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proof2 = Verif.implies(ifftracks = kinitifftrackarray, l33);
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tel
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@ -58,7 +59,7 @@ fun dv_proof3(missiontracks : TypeArray.tmissiontracksarray)
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var l33 : bool;
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let
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l33 =
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fold dv_tracknumberexist <<ksizemissiontracksarray>>(
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fold<<ksizemissiontracksarray>> dv_tracknumberexist(
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missiontracks, missiontracks^ksizemissiontracksarray, false);
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proof3 = not l33;
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tel
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@ -8,5 +8,5 @@ tel
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-- and 0.0 if input is equal to 0.0 *)
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fun sign(a : float) returns (o : float)
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let
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o = if a >. 0.0 then 1.0 else if 0.0 =. a then 0.0 else -. 1.0;
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o = if a >. 0.0 then 1.0 else if 0.0 = a then 0.0 else -. 1.0;
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tel
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@ -113,9 +113,9 @@ var
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l30 : TypeTracks.trdrtrack^ksizerdrtracksarray;
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let
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rdrtracks = if st = TState_ON then l30 else kinitrdrtrackarray;
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l30 = map Trackslib.elaboraterdrtrack <<ksizerdrtracksarray>>(l22);
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l30 = map<<ksizerdrtracksarray>> Trackslib.elaboraterdrtrack(l22);
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l22 =
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map Trackslib.selectdetectedtrack <<ksizerdrtracksarray>>(
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map<<ksizerdrtracksarray>> Trackslib.selectdetectedtrack(
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rdrdetectedtracks, tracks^ksizerdrtracksarray,
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CstTracksInit.kinittrack^ksizerdrtracksarray);
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tel
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@ -171,10 +171,10 @@ var l34 : TypeTracks.ttrack^TypeArray.ksizeifftracksarray;
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l40 : TypeArray.tifftracksarray;
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let
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l34 =
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map Trackslib.selectdetectedtrack <<ksizeifftracksarray>>(
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map<<ksizeifftracksarray>> Trackslib.selectdetectedtrack(
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iffdetectedtracks, tracks^ksizeifftracksarray,
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CstTracksInit.kinittrack^ksizeifftracksarray);
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l40 = map ifftrack_of_track <<ksizeifftracksarray>>(l34);
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l40 = map<<ksizeifftracksarray>> ifftrack_of_track(l34);
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ifftracks = if st = TState_ON then l40 else kinitifftrackarray;
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tel
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@ -250,10 +250,7 @@ tel
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node createtracks_rand(res : bool)
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returns (tracks : TypeArray.ttracksarray)
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let
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tracks =
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map
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createtracks_createonetrack_rand
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<<ksizetracksarray>>(res^ksizetracksarray);
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tracks = map<<ksizetracksarray>> createtracks_createonetrack_rand(res^ksizetracksarray);
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tel
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node createalltracks(res : bool)
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@ -309,7 +306,7 @@ fun mc_tracks_fusion_onerdrwithifftracks(rdrtrack : TypeTracks.tmissiontrack;
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fusionnedifftracks : TypeTracks.tmissiontrack^ksizeifftracksarray)
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let
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(fusionnedifftracks, fusionnedrdrtrack) =
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mapfold fusionrdrifftracks <<ksizeifftracksarray>>(ifftracks, rdrtrack);
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mapfold<<ksizeifftracksarray>> fusionrdrifftracks(ifftracks, rdrtrack);
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tel
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(* merge tracks data received from both radar and iff sensors *)
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@ -324,16 +321,9 @@ var
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let
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missiontracks = mergedrdrtracks @ mergedifftracks;
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(mergedrdrtracks, mergedifftracks) =
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mapfold mc_tracks_fusion_onerdrwithifftracks <<ksizerdrtracksarray>>(
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l140, l139);
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l140 =
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map
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Trackslib.convertrdrtracktomissiontrack
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<<ksizerdrtracksarray>>(rdrtracks);
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l139 =
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map
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Trackslib.convertifftracktomissiontrack
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<<ksizeifftracksarray>>(ifftracks);
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mapfold<<ksizerdrtracksarray>> mc_tracks_fusion_onerdrwithifftracks(l140, l139);
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l140 = map<<ksizerdrtracksarray>> Trackslib.convertrdrtracktomissiontrack(rdrtracks);
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l139 = map<<ksizeifftracksarray>> Trackslib.convertifftracktomissiontrack(ifftracks);
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tel
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@ -358,7 +348,7 @@ let
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not Trackslib.trackalowerprioritythanb(missiontrack,
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accprioritymissiontrack);
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missiontracknotinpriorittiesarray =
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fold prio_tracknumbernotinarray <<4>>(missiontrack.m_tracknumber^4,
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fold<<4>> prio_tracknumbernotinarray(missiontrack.m_tracknumber^4,
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prioritiesarray, true);
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prioritymissiontrack =
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if missiontracknotinpriorittiesarray & missiontrackhashigherprioritythanacc
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@ -379,9 +369,7 @@ let
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[ prioritiesarray with [indexpriority] =
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missiontrackwithhighestpriority.m_tracknumber ];
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missiontrackwithhighestpriority =
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fold
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prio_selecthighestprioritynotinpriorityarray
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<<ksizemissiontracksarray>>(
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fold<<ksizemissiontracksarray>> prio_selecthighestprioritynotinpriorityarray(
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missiontracks,
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prioritiesarray^ksizemissiontracksarray, CstTracksInit.kinitmissiontrack);
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tel
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@ -402,7 +390,7 @@ fun prio_setpriorityinmissiontrackarray(priorityarray : Mc_TypeLists.tpriorityLi
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returns (missiontrackwithprio : TypeTracks.tmissiontrack)
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let
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missiontrackwithprio =
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foldi prio_setpriorityinmissiontrack <<4>>(priorityarray, missiontrack);
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foldi<<4>> prio_setpriorityinmissiontrack(priorityarray, missiontrack);
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tel
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@ -426,7 +414,7 @@ node mc_tracks_prio(missiontracks : TypeArray.tmissiontracksarray)
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var prioritytracknumbers : Mc_TypeLists.tpriorityList;
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let
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missiontrackswithprio =
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map prio_setpriorityinmissiontrackarray <<ksizemissiontracksarray>>(
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map<<ksizemissiontracksarray>> prio_setpriorityinmissiontrackarray(
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prioritytracknumbers^ksizemissiontracksarray, missiontracks);
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prioritytracknumbers =
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prio_selectprioritarymissiontracks(missiontracks,
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@ -442,10 +430,8 @@ node mc_tracks_tracknumber(withouttracknb : TypeArray.tmissiontracksarray)
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var l81 : int;
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let
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(withtracknumber, l81) =
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mapfold
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Trackslib.calculatemissiontracknumber
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<<ksizemissiontracksarray>>((kinitmissiontrackarray ->
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pre withtracknumber)^ksizemissiontracksarray,
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mapfold<<ksizemissiontracksarray>> Trackslib.calculatemissiontracknumber
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((kinitmissiontrackarray -> pre withtracknumber)^ksizemissiontracksarray,
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withouttracknb, 0 -> pre l81);
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tel
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@ -474,7 +460,7 @@ node mc(currentrdrstate : tsensorstate;
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currentiffstate : tsensorstate;
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ifftracks : TypeArray.tifftracksarray)
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returns (rdronoffcmd, rdrmodecmd : bool;
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missiontracks : Typearray.tmissiontracksarray;
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missiontracks : TypeArray.tmissiontracksarray;
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iffonoffcmd : bool)
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let
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missiontracks = mc_tracks(rdrtracks, ifftracks);
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@ -224,7 +224,7 @@ let
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newtracknumber =
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if setnewtracknumber then currenttracknumber + 1 else currenttracknumber;
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previoustracknumber =
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fold missiontrackexist <<TypeArray.ksizemissiontracksarray>>
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fold <<TypeArray.ksizemissiontracksarray>> missiontrackexist
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(missiontrack^TypeArray.ksizemissiontracksarray,
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previousmissiontracks, 0);
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newmissiontrack =
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@ -239,7 +239,7 @@ fun calculatetracktargettypefromid(id : int)
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let
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targettype =
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if 0 = id
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then Typebase.Ttargettype_unknown
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then TypeBase.Ttargettype_unknown
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else if id <= 500
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then TypeBase.Ttargettype_friend
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else TypeBase.Ttargettype_foe;
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@ -247,15 +247,15 @@ tel
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(* calculate the derivative of a value x(n) according to its
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ante-previous value x(n-2) *)
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node myderivative(in, period : float) returns (out : float)
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node myderivative(inv, period : float) returns (out : float)
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var l2 : float;
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let
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(* l2 = fby (in; 2; 0.0); *)
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l2 = 0.0 fby (0.0 fby in);
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(* l2 = fby (inv; 2; 0.0); *)
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l2 = 0.0 fby (0.0 fby inv);
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out =
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if Math.abs(l2) <. 0.1 or Math.abs(in) <. 0.1
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if Math.abs(l2) <. 0.1 or Math.abs(inv) <. 0.1
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then 0.0
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else 0.0 -> (in -. l2) /. (2.0 *. period);
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else 0.0 -> (inv -. l2) /. (2.0 *. period);
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tel
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(* calculate a track speed vector according to the position vector *)
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