119 lines
2.5 KiB
Go
119 lines
2.5 KiB
Go
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package main
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import (
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"fmt"
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"time"
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)
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// barrier represents a multi-position light barrier attached to a motor.
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type barrier struct {
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// npos is the number of the positions of the light barrier.
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npos uint
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// cur is the current position of the motor.
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cur float64
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}
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// pins returns an npos-length array representing the interruption state of the
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// barrier given cur. An interrupted light barrier is represented by a true
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// value, an uninterrupted one with a false value.
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//
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// Every light barrier position is half a unit away from eachother, with the
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// first light barrier at unit 1.
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func (b *barrier) pins() []bool {
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res := make([]bool, b.npos)
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for i := uint(0); i < b.npos; i++ {
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pos := float64(i) * float64(1.0)
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pos += 1.0
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if b.cur*2.0 >= pos {
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res[i] = true
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}
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}
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return res
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}
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// status returns a human-readable status of the barrier like '||..' for a
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// 4-position light barrier with the first two barrier interrupted.
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func (b *barrier) status() string {
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res := ""
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for _, v := range b.pins() {
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if v {
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res += "|"
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} else {
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res += "."
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}
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}
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return res
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}
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// motor represents an electrical motor which drives a linear actuator at 1 unit per second.
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type motor struct {
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// en is true if the motor is enabled.
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en bool
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// dir is used to select the direction of the motor. If true, the motor
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// actuator moves towards positive values.
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dir bool
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// pos is the current position of the motor actuator.
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pos float64
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// barrier attached to this motor, will be automatically updated when the
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// motor simulation runs.
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barrier *barrier
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}
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// status returns a human-readable staus of the motor like '<-ID ' indicating
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// whether the motor is moving, and if so, in which direction.
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func (s *motor) status(id string) string {
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res := ""
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if s.en {
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if s.dir {
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res += fmt.Sprintf(" %s->", id)
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} else {
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res += fmt.Sprintf("<-%s ", id)
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}
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} else {
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res += fmt.Sprintf(" %s ", id)
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}
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return res
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}
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// sim runs a simulation step of the motor given a delta time.
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func (s *motor) sim(dt time.Duration) {
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if !s.en {
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return
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}
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d := dt.Seconds()
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if s.dir {
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s.pos += d
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} else {
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s.pos -= d
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}
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s.barrier.cur = s.pos
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}
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type indicators struct {
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indEvac bool
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indHTReadyN bool
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indPumpDown bool
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}
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func (i indicators) String() string {
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res := ""
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if i.indEvac {
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res += "EVAC "
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} else {
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res += "---- "
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}
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if !i.indHTReadyN {
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res += "HT READY "
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} else {
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res += "-------- "
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}
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if i.indPumpDown {
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res += "PUMP DOWN "
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} else {
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res += "VENT "
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}
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return res
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}
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