func Run_Elevator(localStatusCh chan Elevator, sendBtnCallCh chan [2]int, receiveAllBtnCallsCh chan [Driver.NUMFLOORS][Driver.NUMBUTTONS - 1]bool, setLights_setExtBtnsCh chan [4][2]bool, errorCh chan int) {
if Driver.ElevGetFloorSensorSignal() == -1 {
fsm_onInitBetweenFloors()
}
fsm_elevatorUninitialized()
fmt.Println("Elev ID: ", elevator.Elev_ID)
running := true
var prev_button [Driver.NUMFLOORS][Driver.NUMBUTTONS]int
var prev_floor int
prev_floor = Driver.ElevGetFloorSensorSignal()
go Update_ExtBtnCallsInElevControl(setLights_setExtBtnsCh)
go checkElevMoving(errorCh)
update_status_count := 0
update_lights_count := 0
localStatusCh <- elevator
for running {
for f := 0; f < Driver.NUMFLOORS; f++ {
for b := 0; b < Driver.NUMBUTTONS; b++ {
v := Driver.ElevGetButtonSignal(b, f)
if v&int(v) != prev_button[f][b] {
if fsm_onRequestButtonPress(f, Button(b), sendBtnCallCh) { //Hvis true er det innvendig knappetrykk
temp_Behaviour := elevator.Behaviour
fsm_onNewActiveRequest(f, Button(b))
if temp_Behaviour != elevator.Behaviour {
localStatusCh <- elevator
}
} else {
fsm_SendNewOrderToMaster(f, Button(b), sendBtnCallCh)
}
}
prev_button[f][b] = v
}
}
f := Driver.ElevGetFloorSensorSignal()
if f != -1 {
if f != prev_floor {
fsm_onFloorArrival(f)
localStatusCh <- elevator
}
}
prev_floor = f
if timer_timedOut() {
fsm_onDoorTimeout()
timer_stop()
localStatusCh <- elevator
}
if update_status_count == 50 {
localStatusCh <- elevator
update_status_count = 0
}
if update_lights_count == 10 {
setLights_setExtBtnsCh <- allExtBtns
update_lights_count = 0
}
time.Sleep(25 * time.Millisecond)
update_status_count += 1
update_lights_count += 1
}
}
func initMain() {
driver.ElevInit()
driver.ElevSetMotorDirection(1)
var previousFloor = -1
for {
if driver.ElevGetFloorSensorSignal() >= 0 {
driver.ElevSetMotorDirection(0)
previousFloor = driver.ElevGetFloorSensorSignal()
fmt.Println("I've reached floor", previousFloor)
break
}
}
}
func RequestButtons() {
for {
var previousRequests = [driver.NUMFLOORS][3]bool{}
for floor := 0; floor < driver.NUMFLOORS; floor++ {
for btn := 0; btn < 3; btn++ {
buttonPressed := driver.ElevGetButtonSignal(btn, floor)
if buttonPressed && buttonPressed != previousRequests[floor][btn] {
if btn != int(INSIDEBUTTON) {
if driver.ElevGetFloorSensorSignal() == floor {
FsmOnOrderReceived(floor, ButtonType(btn))
} else {
E.LocalRequests[floor][btn] = true
}
} else {
E.MasterOrders[floor][btn] = true
FsmOnOrderReceived(floor, ButtonType(btn))
}
//FsmOnOrderReceived(floor, ButtonType(btn)) //move to orderReceived
}
previousRequests[floor][btn] = buttonPressed
}
}
time.Sleep(25 * time.Millisecond)
}
}
func fsm_onInitBetweenFloors() {
Driver.ElevSetMotorDirection(int(D_Down))
elevator.Dir = D_Down
elevator.Behaviour = EB_Moving
lastFloorTime = time.Now().Unix()
for Driver.ElevGetFloorSensorSignal() == -1 {
}
Driver.ElevSetMotorDirection(int(D_Idle))
}
func init() {
driver.ElevInit()
driver.ElevSetMotorDirection(1)
for {
if driver.ElevGetFloorSensorSignal() >= 0 {
driver.ElevSetMotorDirection(0)
break
}
}
}
func fsm_elevatorUninitialized() {
elevator.Dir = D_Idle
elevator.Behaviour = EB_Idle
elevator.Floor = Driver.ElevGetFloorSensorSignal()
elevator.Elev_ID = GetActiveTime()
for f := 0; f < Driver.NUMFLOORS; f++ {
for b := 0; b < Driver.NUMBUTTONS; b++ {
elevator.Requests[f][b] = false
}
}
}
func FloorSensor() {
for {
var previousFloor = E.Floor
floorSensor := driver.ElevGetFloorSensorSignal()
if floorSensor != -1 && floorSensor != previousFloor {
FsmOnFloorArrival(floorSensor)
}
previousFloor = floorSensor
time.Sleep(25 * time.Millisecond)
}
}