Initial implementation of instruction set

bin/app.php

@@ -1,16 +1,15 @@
 <?php
 
-use Automata\Machine;
+use Automata\NC;
 use Automata\ToolData;
 
 require_once __DIR__ . '/../vendor/autoload.php';
 
-$machine = new Machine();
+$nc = new NC();
-$machine->TM->write(new ToolData(1, 5500, 2));
+$nc->TM->write(new ToolData(1, 5500, 2));
-$machine->TM->write(new ToolData(2, 3000, 61379));
+$nc->TM->write(new ToolData(2, 3000, 61379));
-(new ProgramLoader)->loadPrograms($machine);
+(new ProgramLoader)->loadPrograms($nc);
+
+$nc->loadProgram(9002);
+$nc->run();
 
-$machine->loadProgram(9002);
-while ($machine->PPMC->ready()) {
-	$machine->step();
-}

src/Automata/DataRegisters.php

@@ -16,15 +16,19 @@ class DataRegisters
 	public int $S = 0;  // Spindle speed in RPM
 	public int $T = 0;  // Tool number
 	public int $H = 0;  // Additional functions (unused)
-	public int $M = 0;  // Auxiliary functions
 	public int $E = 0;  // Number of repetitions / multiple meanings
 	// Modals
-	public int $TM = 0;     // Traverse (0, 1, 2, 3)
+	public int $G_TRAVERSE = 0;
-	public int $PS = 18;    // Plane Selection (18, 19, 20)
+	public int $G_PLANE_SELECTION = 18;
-	public int $RC = 40;    // Radius Compensation
+	public int $G_RADIUS_COMPENSATION = 40;
-	public int $DM = 90;    // Dimension (90, 91)
+	public int $G_DIMENSION_PROGRAMMING = 90;
-	public int $WC = 0;     // Work Cycle (null, 81, 84, 85, 86)
+	public int $G_WORKCYCLE = 0;
-	public int $CM = 8;     // Coolant (8, 9)
+	public int $X_WORKCYCLE = 0;
-	public int $SM = 5;     // Spindle (3, 4, 5)
+	public int $Y_WORKCYCLE = 0;
-	public int $TC = 10;    // Table Clamping (10, 11)
+	public int $Z_WORKCYCLE = 0;
+	public int $B_WORKCYCLE = 0;
+	public int $M_PROGRAM = 0;
+	public int $M_COOLANT = 8;
+	public int $M_SPINDLE = 5;
+	public int $M_TABLE_CLAMPING = 10;
 }

src/Automata/InstructionSet.php

@@ -2,41 +2,330 @@
 
 namespace Automata;
 
+use InvalidArgumentException;
 use Program\Block;
+use RuntimeException;
 
 class InstructionSet
 {
-	private Machine $machine;
+	private const SPEEDS = [0, 40, 50, 63, 80, 100, 125, 160, 200, 250, 315, 400, 500, 630, 800, 1000, 1250, 1600, 2000];
-	/** @var callable<Machine>[] */
+
-	private array $map;
+	private NC $machine;
 
 
-	public function __construct(Machine $machine)
+	public function __construct(NC $machine)
 	{
 		$this->machine = $machine;
-		$this->map = [];
 	}
 
 
 	public function apply(Block $block): void
 	{
-		print("$block\n");
+		system('clear');
-		$words = $block->words;
+		print("\n$block\n\n");
-		while ($word = array_shift($words)) {
+		foreach ($block->words as $word) {
-			$method = "{$word}";
+			if (method_exists($this, "$word")) {
-			if (!method_exists($this, $method)) {
+				// There's a method dedicated to handling the full word (eg G22)
-				continue;
+				$this->{"$word"}($block);
+				@$block->pop($word->register);
+			}
+			if (method_exists($this, $word->register)) {
+				// There's a method dedicated to handling data for the given register (eg T, S)
+				$this->{$word->register}($block->pop($word->register));
 			}
-			$this->{$method}($block);
-			break;
 		}
+		foreach ($block->words as $word) {
+			// The word value may be put into the machine registers directly
+			if (property_exists($this->machine->DR, $word->register)) {
+				$this->machine->DR->{$word->register} = $block->pop($word->register);
+			} else {
+				print("WARNING: No method or register for word '{$word}'\n");
+			}
+		}
+		dump($this->machine->DR);
+		readline();
+	}
+
+
+	protected function E(int $value): void
+	{
+		print("WARNING: Line repetitions are not implemented yet");
+	}
+
+
+	protected function T(int $value): void
+	{
+		// Triggers an exception if not found, good enough for now.
+		// Might implement compensations and more explicit tool registers later on
+		$this->machine->TM->read($value);
+		$this->machine->DR->T = $value;
+	}
+
+
+	protected function S(int $value): void
+	{
+		if (!in_array($value, self::SPEEDS)) {
+			throw new InvalidArgumentException(sprintf(
+				"Speed not supported: '$value'. Supported are: \n%s\n",
+				implode(', ', self::SPEEDS)
+			));
+		}
+		$this->machine->DR->S = $value;
+	}
+
+
+	protected function G0(Block $block): void
+	{
+		$this->machine->DR->G_TRAVERSE = $block->read('G');
+	}
+
+
+	protected function G1(Block $block): void
+	{
+		$this->machine->DR->G_TRAVERSE = $block->read('G');
+	}
+
+
+	protected function G2(Block $block): void
+	{
+		$this->machine->DR->G_TRAVERSE = $block->read('G');
+	}
+
+
+	protected function G3(Block $block): void
+	{
+		$this->machine->DR->G_TRAVERSE = $block->read('G');
+	}
+
+
+	protected function G4(Block $block): void
+	{
+		print("Ignoring dwell setting: {$block->pop('X')}\n");
+	}
+
+
+	protected function G17(Block $block): void
+	{
+		$this->machine->DR->G_PLANE_SELECTION = $block->read('G');
+	}
+
+
+	protected function G18(Block $block): void
+	{
+		$this->machine->DR->G_PLANE_SELECTION = $block->read('G');
+	}
+
+
+	protected function G19(Block $block): void
+	{
+		$this->machine->DR->G_PLANE_SELECTION = $block->read('G');
 	}
 
 
 	protected function G22(Block $block): void
 	{
-		$number = $block->valueOf('X');
+		$N = $block->pop('X');
-		$this->machine->SPMC->loadProgram($number);
+		$this->machine->SPMC->loadProgram($N);
 		$this->machine->AMC = $this->machine->SPMC;
 	}
+
+
+	protected function G40(Block $block): void
+	{
+		$this->machine->DR->G_RADIUS_COMPENSATION = $block->read('G');
+	}
+
+
+	protected function G41(Block $block): void
+	{
+		$this->machine->DR->G_RADIUS_COMPENSATION = $block->read('G');
+	}
+
+
+	protected function G42(Block $block): void
+	{
+		$this->machine->DR->G_RADIUS_COMPENSATION = $block->read('G');
+	}
+
+
+	protected function G43(Block $block): void
+	{
+		$this->machine->DR->G_RADIUS_COMPENSATION = $block->read('G');
+	}
+
+
+	protected function G44(Block $block): void
+	{
+		$this->machine->DR->G_RADIUS_COMPENSATION = $block->read('G');
+	}
+
+
+	protected function G79(Block $block): void
+	{
+		// Ignore... ?? The action will be executed on set location
+		if ($this->machine->DR->B_WORKCYCLE === 0) {
+			throw new RuntimeException('No workcycle prepared!');
+		}
+	}
+
+
+	protected function G81(Block $block): void
+	{
+		$this->machine->DR->G_WORKCYCLE = $block->read('G');
+		$this->getWorkcycleParameters($block);
+	}
+
+
+	protected function G84(Block $block): void
+	{
+		$this->machine->DR->G_WORKCYCLE = $block->read('G');
+		$this->getWorkcycleParameters($block);
+	}
+
+
+	protected function G85(Block $block): void
+	{
+		$this->machine->DR->G_WORKCYCLE = $block->read('G');
+		$this->getWorkcycleParameters($block);
+	}
+
+
+	protected function G86(Block $block): void
+	{
+		$this->machine->DR->G_WORKCYCLE = $block->read('G');
+		$this->getWorkcycleParameters($block);
+	}
+
+
+	private function getWorkcycleParameters(Block $block): void
+	{
+		$this->machine->DR->X_WORKCYCLE = $block->has('X') ? $block->pop('X') : 0;
+		$this->machine->DR->Y_WORKCYCLE = $block->has('Y') ? $block->pop('Y') : 0;
+		$this->machine->DR->Z_WORKCYCLE = $block->has('Z') ? $block->pop('Z') : 0;
+		$this->machine->DR->B_WORKCYCLE = $block->has('B') ? $block->pop('B') : 0;
+	}
+
+
+	protected function G90(Block $block): void
+	{
+		$this->machine->DR->G_DIMENSION_PROGRAMMING = $block->read('G');
+	}
+
+
+	protected function G91(Block $block): void
+	{
+		$this->machine->DR->G_DIMENSION_PROGRAMMING = $block->read('G');
+	}
+
+
+	protected function G92(Block $block): void
+	{
+		// Incremental
+		foreach (['X', 'Y', 'Z'] as $R) {
+			if ($block->has($R)) {
+				$this->machine->DR->{$R} = -$block->pop($R);
+			}
+		}
+	}
+
+
+	protected function G93(Block $block): void
+	{
+		// Absolute zero datum shift
+		foreach (['X', 'Y', 'Z'] as $R) {
+			if ($block->has($R)) {
+				$this->machine->DR->{$R} -= $block->pop($R);
+			}
+		}
+	}
+
+
+	protected function G98(Block $block): void
+	{
+		// Automatic positioning to reference datum point
+		print("Ignoring automatic positioning to zero datum point\n");
+	}
+
+
+	protected function M0(Block $block): void
+	{
+		$this->machine->DR->M_PROGRAM = 0;
+		$this->machine->DR->M_SPINDLE = 5;
+		$this->machine->DR->M_COOLANT = 9;
+	}
+
+
+	protected function M2(Block $block): void
+	{
+		$this->machine->DR->M_PROGRAM = 2;
+		$this->machine->DR->M_SPINDLE = 5;
+		$this->machine->DR->M_COOLANT = 9;
+	}
+
+
+	protected function M3(Block $block): void
+	{
+		$this->machine->DR->M_SPINDLE = 3;
+	}
+
+
+	protected function M4(Block $block): void
+	{
+		$this->machine->DR->M_SPINDLE = 4;
+	}
+
+
+	protected function M5(Block $block): void
+	{
+		$this->machine->DR->M_SPINDLE = 5;
+	}
+
+
+	protected function M6(Block $block): void
+	{
+		$this->machine->DR->M_SPINDLE = 5;
+		$this->machine->DR->M_COOLANT = 9;
+	}
+
+
+	protected function M8(Block $block): void
+	{
+		$this->machine->DR->M_COOLANT = 8;
+	}
+
+
+	protected function M9(Block $block): void
+	{
+		$this->machine->DR->M_COOLANT = 9;
+	}
+
+
+	protected function M10(Block $block): void
+	{
+		$this->machine->DR->M_TABLE_CLAMPING = 10;
+	}
+
+
+	protected function M11(Block $block): void
+	{
+		$this->machine->DR->M_TABLE_CLAMPING = 11;
+	}
+
+
+	protected function M30(Block $block): void
+	{
+		$this->machine->DR->M_SPINDLE = 5;
+		$this->machine->DR->M_COOLANT = 9;
+		$N = $this->machine->PPMC->N;
+		$this->machine->PPMC->reset();
+		$this->machine->SPMC->reset();
+		$this->machine->PPMC->loadProgram($N);
+		$this->machine->AMC = $this->machine->PPMC;
+	}
+
+
+	protected function M67(Block $block): void
+	{
+		throw new RuntimeException('[Enter new tool information without machine stop] is not implemented');
+	}
 }

src/Automata/Memory/MemoryController.php

@@ -10,14 +10,16 @@ use RuntimeException;
 class MemoryController implements Countable
 {
 	private ProgramMemory $memory;
+	public ?int $N = null;
 	/** @var Block[]|null */
-	private ?array $blocks;
+	private ?array $blockBuffer;
+	private int $index;
 
 
 	public function __construct(ProgramMemory $memory)
 	{
 		$this->memory = $memory;
-		$this->blocks = null;
+		$this->blockBuffer = null;
 	}
 
 
@@ -27,39 +29,53 @@ class MemoryController implements Countable
 		if (!$program) {
 			throw new InvalidArgumentException("Program N{$N} not found");
 		}
-		$this->blocks = $program->getIterator()->getArrayCopy();
+		$this->N = $N;
+		$this->blockBuffer = $program->getIterator()->getArrayCopy();
+		$this->index = 0;
 	}
 
 
 	public function reset(): void
 	{
-		$this->blocks = null;
+		$this->N = null;
+		$this->blockBuffer = null;
+		$this->index = 0;
 	}
 
 
 	public function count()
 	{
-		return count($this->blocks);
+		return count($this->blockBuffer) - $this->index;
+	}
+
+
+	public function previous(): ?Block
+	{
+		$this->guardNoProgramLoaded();
+		$block = $this->blockBuffer[$this->index--];
+
+		return $block ? clone $block : null;
 	}
 
 
 	public function next(): ?Block
 	{
 		$this->guardNoProgramLoaded();
+		$block = $this->blockBuffer[$this->index++];
 
-		return array_shift($this->blocks);
+		return $block ? clone $block : null;
 	}
 
 
 	public function ready(): bool
 	{
-		return !empty($this->blocks);
+		return $this->count() > 0;
 	}
 
 
 	private function guardNoProgramLoaded(): void
 	{
-		if (is_null($this->blocks)) {
+		if (is_null($this->blockBuffer)) {
 			throw new RuntimeException('No program loaded in memory');
 		}
 	}

src/Automata/Modes/G/DimensionMode.php

@@ -1,11 +0,0 @@
-<?php
-
-namespace Automata\Modes\G;
-
-class DimensionMode extends G
-{
-	public function supports(int $G): bool
-	{
-		return in_array($G, [90, 91]);
-	}
-}

src/Automata/Modes/G/G.php

@@ -1,24 +0,0 @@
-<?php
-
-namespace Automata\Modes\G;
-
-abstract class G
-{
-	public int $G;
-
-	public function __construct(int $G)
-	{
-		$this->G = $G;
-	}
-
-
-	public final function apply(int $G): void
-	{
-		if ($this->supports($G)) {
-			$this->G = $G;
-		}
-	}
-
-
-	public abstract function supports(int $G): bool;
-}

src/Automata/Modes/G/PlaneSelection.php

@@ -1,11 +0,0 @@
-<?php
-
-namespace Automata\Modes\G;
-
-class PlaneSelection extends G
-{
-	public function supports(int $G): bool
-	{
-		return in_array($G, [17, 18, 19]);
-	}
-}

src/Automata/Modes/G/RadiusCompensation.php

@@ -1,11 +0,0 @@
-<?php
-
-namespace Automata\Modes\G;
-
-class RadiusCompensation extends G
-{
-	public function supports(int $G): bool
-	{
-		return in_array($G, [40, 41, 42, 43, 44]);
-	}
-}

src/Automata/Modes/G/TraverseMode.php

@@ -1,11 +0,0 @@
-<?php
-
-namespace Automata\Modes\G;
-
-class TraverseMode extends G
-{
-	public function supports(int $G): bool
-	{
-		return in_array($G, [0, 1, 2, 3]);
-	}
-}

src/Automata/Modes/G/WorkCycle.php

@@ -1,17 +0,0 @@
-<?php
-
-namespace Automata\Modes\G;
-
-class WorkCycle extends G
-{
-	public int $X = 0;
-	public int $Y = 0;
-	public int $Z = 0;
-	public int $B = 0;
-
-
-	public function supports(int $G): bool
-	{
-		return in_array($G, [81, 84, 85, 86]);
-	}
-}

src/Automata/Modes/M/CoolantMode.php

@@ -1,29 +0,0 @@
-<?php
-
-namespace Automata\Modes\M;
-
-class CoolantMode extends M
-{
-
-	public function supports(int $M): bool
-	{
-		return in_array($M, [0, 2, 6, 8, 9, 30]);
-	}
-
-
-	public function apply(int $M): void
-	{
-		if (!$this->supports($M)) {
-			return;
-		}
-		if (in_array($M, [0, 2, 6, 30])) {
-			$this->M = 9;
-
-			return;
-		}
-
-		// 8 or 9
-		$this->M = $M;
-	}
-
-}

src/Automata/Modes/M/M.php

@@ -1,24 +0,0 @@
-<?php
-
-namespace Automata\Modes\M;
-
-abstract class M
-{
-	public int $M;
-
-	public function __construct(int $M)
-	{
-		$this->M = $M;
-	}
-
-
-	public function apply(int $M): void
-	{
-		if ($this->supports($M)) {
-			$this->M = $M;
-		}
-	}
-
-
-	public abstract function supports(int $M): bool;
-}

src/Automata/Modes/M/SpindleMode.php

@@ -1,26 +0,0 @@
-<?php
-
-namespace Automata\Modes\M;
-
-class SpindleMode extends M
-{
-	public function supports(int $M): bool
-	{
-		return in_array($M, [0, 2, 3, 4, 5, 6, 30]);
-	}
-
-
-	public function apply(int $M): void
-	{
-		if (!$this->supports($M)) {
-			return;
-		}
-		if (in_array($M, [0, 2, 6, 30])) {
-			$this->M = 5;
-
-			return;
-		}
-		// 3, 4 or 5
-		$this->M = $M;
-	}
-}

src/Automata/Modes/M/TableClampingMode.php

@@ -1,11 +0,0 @@
-<?php
-
-namespace Automata\Modes\M;
-
-class TableClampingMode extends M
-{
-	public function supports(int $M): bool
-	{
-		return in_array($M, [10, 11]);
-	}
-}

src/Automata/NC.php

@@ -6,7 +6,7 @@ use Automata\Memory\MemoryController;
 use Automata\Memory\ProgramMemory;
 use Automata\Memory\ToolMemory;
 
-class Machine
+class NC
 {
 	public DataRegisters $DR;
 	public InstructionSet $IS;
@@ -15,7 +15,7 @@ class Machine
 	public ProgramMemory $PPM;
 	public MemoryController $SPMC;
 	public MemoryController $PPMC;
-	public ?MemoryController $AMC;
+	public MemoryController $AMC;
 
 
 	public function __construct()
@@ -48,6 +48,14 @@ class Machine
 	}
 
 
+	public function run(): void
+	{
+		while ($this->PPMC->ready()) {
+			$this->step();
+		}
+	}
+
+
 	public function reset(): void
 	{
 		$this->PPMC->reset();

src/Program/Block.php

@@ -24,10 +24,36 @@ class Block
 	}
 
 
-	public function valueOf(string $register): int
+	public function has(string $register): bool
 	{
 		foreach ($this->words as $word) {
 			if ($word->register === $register) {
+				return true;
+			}
+		}
+
+		return false;
+	}
+
+
+	public function read(string $register): int
+	{
+		foreach ($this->words as $index => $word) {
+			if ($word->register === $register) {
+				return $word->value;
+			}
+		}
+
+		throw new RuntimeException("No word in block for register '$register'");
+	}
+
+
+	public function pop(string $register): int
+	{
+		foreach ($this->words as $index => $word) {
+			if ($word->register === $register) {
+				unset($this->words[$index]);
+
 				return $word->value;
 			}
 		}
@@ -38,7 +64,7 @@ class Block
 
 	public function __toString()
 	{
-		$buffer = "$this->N\t";
+		$buffer = "N$this->N\t\t";
 		foreach ($this->words as $word) {
 			$buffer .= "$word\t";
 		}

src/ProgramLoader.php

@@ -1,11 +1,11 @@
 <?php
 
-use Automata\Machine;
+use Automata\NC;
 use Program\ProgramParser;
 
 class ProgramLoader
 {
-	public function loadPrograms(Machine $machine): void
+	public function loadPrograms(NC $machine): void
 	{
 		$parser = new ProgramParser();