117 lines
2.1 KiB
Plaintext
117 lines
2.1 KiB
Plaintext
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/*
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**********************************************************************
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*
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* CLP(R) Version 2.0 (Example Programs Release)
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* (C) Copyright, March 1986, Monash University
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*
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**********************************************************************
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*/
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%
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% Program to translate declarative machine tool path descriptions into
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% code for a programmable controller.
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%
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move_p(p(_,X,Y)):-
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printf("G00 X%-.3f Y%-.3f\n",[X,Y]).
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draw_p(p(_,X,Y)):-
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printf("G01 X%-.3f Y%-.3f\n",[X,Y]).
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lookup(X,[X|T]).
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lookup(X,[H|T]):-
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lookup(X,T).
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path([p(N)|T],DB):-
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lookup(p(N,X,Y),DB),
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move_p(p(N,X,Y)),
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rest_path(T,DB).
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rest_path([p(N)|T],DB):-
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lookup(p(N,X,Y),DB),
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draw_p(p(N,X,Y)),
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rest_path(T,DB).
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rest_path([],_).
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make_vars([H|T],V,[NV|EV]):-
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get_vars(H,NV),
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make_vars(T,V,EV).
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make_vars([],V,V).
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get_vars(p(N,xy(X,Y)),p(N,X,Y)).
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get_vars(p(N,l(A),l(B)),p(N,X,Y)).
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get_vars(l(N,mc(M,C)),l(N,M,C)).
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get_vars(l(N,p(A),p(B)),l(N,M,C)).
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make_constraints([H|T],V):-
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get_constraint(H,V),
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make_constraints(T,V).
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make_constraints([],_).
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get_constraint(p(N,l(A),l(B)),V):-
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Y = M1 * X + C1,
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Y = M2 * X + C2,
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lookup(p(N,X,Y),V),
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lookup(l(A,M1,C1),V),
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lookup(l(B,M2,C2),V).
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get_constraint(l(N,p(A),p(B)),V):-
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X1 = X2,
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M = 10000000,
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Y1 = M * X1 + C,
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lookup(l(N,M,C),V),
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lookup(p(A,X1,Y1),V),
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lookup(p(B,X2,Y2),V).
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get_constraint(l(N,p(A),p(B)),V):-
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Y1 = M * X1 + C,
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Y2 = M * X2 + C,
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neq_r(X1,X2),
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lookup(l(N,M,C),V),
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lookup(p(A,X1,Y1),V),
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lookup(p(B,X2,Y2),V).
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get_constraint(p(_,xy(_,_)),_).
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get_constraint(l(_,mc(_,_)),_).
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neq_r(X,Y):- Y > X .
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neq_r(X,Y):- X > Y .
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make_db([p(N,X,Y)|T],DB,[p(N,X,Y)|EDB]):-
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make_db(T,DB,EDB).
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make_db([l(N,M,C)|T],DB,EDB):-
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make_db(T,DB,EDB).
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make_db([],DB,DB).
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geometry(X,DB):-
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make_vars(X,[],V),
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make_db(V,[],DB),
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make_constraints(X,V).
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go:- geometry(
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[
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p(1,xy(10,10)),
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p(2,xy(10,20)),
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p(3,xy(20,10)),
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p(4,xy(20,20)),
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l(1,p(1),p(4)),
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l(2,p(2),p(3)),
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p(5,l(1),l(2))
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],
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DB
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),
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path(
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[
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p(1),
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p(2),
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p(5),
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p(1)
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],
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DB
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).
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% Output:
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% G00 X10.000 Y10.000
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% G01 X10.000 Y20.000
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% G01 X15.000 Y15.000
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% G01 X10.000 Y10.000
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?- printf("\n>>> Sample goal: go/0\n", []).
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