ph00524: add emulator

modules/ph00524/emu/scope.go

@@ -0,0 +1,118 @@
+package main
+
+import (
+	"fmt"
+	"time"
+)
+
+// barrier represents a multi-position light barrier attached to a motor.
+type barrier struct {
+	// npos is the number of the positions of the light barrier.
+	npos uint
+	// cur is the current position of the motor.
+	cur float64
+}
+
+// pins returns an npos-length array representing the interruption state of the
+// barrier given cur. An interrupted light barrier is represented by a true
+// value, an uninterrupted one with a false value.
+//
+// Every light barrier position is half a unit away from eachother, with the
+// first light barrier at unit 1.
+func (b *barrier) pins() []bool {
+	res := make([]bool, b.npos)
+	for i := uint(0); i < b.npos; i++ {
+		pos := float64(i) * float64(1.0)
+		pos += 1.0
+		if b.cur*2.0 >= pos {
+			res[i] = true
+		}
+	}
+	return res
+}
+
+// status returns a human-readable status of the barrier like '||..' for a
+// 4-position light barrier with the first two barrier interrupted.
+func (b *barrier) status() string {
+	res := ""
+	for _, v := range b.pins() {
+		if v {
+			res += "|"
+		} else {
+			res += "."
+		}
+	}
+	return res
+}
+
+// motor represents an electrical motor which drives a linear actuator at 1 unit per second.
+type motor struct {
+	// en is true if the motor is enabled.
+	en bool
+	// dir is used to select the direction of the motor. If true, the motor
+	// actuator moves towards positive values.
+	dir bool
+	// pos is the current position of the motor actuator.
+	pos float64
+
+	// barrier attached to this motor, will be automatically updated when the
+	// motor simulation runs.
+	barrier *barrier
+}
+
+// status returns a human-readable staus of the motor like '<-ID  ' indicating
+// whether the motor is moving, and if so, in which direction.
+func (s *motor) status(id string) string {
+	res := ""
+	if s.en {
+		if s.dir {
+			res += fmt.Sprintf("  %s->", id)
+		} else {
+			res += fmt.Sprintf("<-%s  ", id)
+		}
+	} else {
+		res += fmt.Sprintf("  %s  ", id)
+	}
+	return res
+}
+
+// sim runs a simulation step of the motor given a delta time.
+func (s *motor) sim(dt time.Duration) {
+	if !s.en {
+		return
+	}
+	d := dt.Seconds()
+	if s.dir {
+		s.pos += d
+	} else {
+		s.pos -= d
+	}
+	s.barrier.cur = s.pos
+}
+
+type indicators struct {
+	indEvac     bool
+	indHTReadyN bool
+	indPumpDown bool
+}
+
+func (i indicators) String() string {
+	res := ""
+	if i.indEvac {
+		res += "EVAC "
+	} else {
+		res += "---- "
+	}
+	if !i.indHTReadyN {
+		res += "HT READY "
+	} else {
+		res += "-------- "
+	}
+	if i.indPumpDown {
+		res += "PUMP DOWN "
+	} else {
+		res += "VENT      "
+	}
+
+	return res
+}