//Called by executeOrder
//Start the elevator ordered direction. Also starts the motorstop timer
func goToFloor(currentFloor uint, status *driver.LiftStatus, stopFloor *uint, motorDirectionCh chan<- driver.MotorDirection, statusCh chan<- driver.LiftStatus) {
if !status.Door && !status.Running {
if currentFloor < *stopFloor {
motorDirectionCh <- driver.MD_up
status.Direction = true
} else {
motorDirectionCh <- driver.MD_down
status.Direction = false
}
motorStopTimerRunning = true
timeGoToFloor = time.Now()
status.Running = true
statusCh <- *status
}
}
//Called by Init
func executeOrder(orderedFloorCh <-chan uint, lightCh chan<- driver.Light, statusCh chan<- driver.LiftStatus, floorSensorCh <-chan uint, doorTimerCh chan bool, motorDirectionCh chan<- driver.MotorDirection, motorStopCh chan<- bool, quitCh <-chan bool) {
var (
currentFloor uint
stopFloor uint
status driver.LiftStatus
)
status.Direction = true
// not in state, go up until floor
motorDirectionCh <- driver.MD_up
for {
currentFloor = <-floorSensorCh
if currentFloor != 0 {
log.Println("found floor")
break
}
}
motorDirectionCh <- driver.MD_stop
status.Floor = currentFloor
log.Println(currentFloor)
status.Running = false
status.Door = false
statusCh <- status
for {
select {
case <-quitCh:
return
case stopFloor = <-orderedFloorCh:
//Got new stopFloor
case <-doorTimerCh:
lightCh <- driver.Light{0, driver.Door, false}
status.Door = false
statusCh <- status
case currentFloor = <-floorSensorCh:
updateStatus(currentFloor, &status, motorDirectionCh, statusCh)
default:
time.Sleep(5 * time.Millisecond)
if stopFloor != 0 {
stopAtFloor(currentFloor, &status, &stopFloor, motorDirectionCh, lightCh, statusCh, doorTimerCh, motorStopCh)
goToFloor(currentFloor, &status, &stopFloor, motorDirectionCh, statusCh)
}
}
}
}