func readChannels(ch fsm.Channels) {
buttonChan := getButtons()
for {
select {
case dir := <-ch.MotorDir:
driver.Elev_set_motor_direction(dir)
case doorLight := <-ch.DoorLight:
driver.Elev_set_door_open_lamp(doorLight)
case floor := <-ch.NewFloor:
driver.Elev_set_floor_indicator(floor)
case buttonPressed := <-buttonChan:
switch buttonPressed.Button {
case def.BUTTON_COMMAND:
queue.SetLocalOrder(buttonPressed)
case def.BUTTON_DOWN, def.BUTTON_UP:
cost.ChooseElevator(onlineLifts, buttonPressed, true)
}
//Incoming messages
case tcpMessage := <-incomingTcpMsg:
switch tcpMessage.Type {
case def.ORDER:
queue.SetLocalOrder(tcpMessage.Order)
case def.UPDATEREMOTELIGHT:
def.SyncLight <- tcpMessage.Order
ch.OrderTimerReset <- true
}
case message := <-incomingMsg:
handleMsg(ch, message)
//Outgoing messages
case button := <-def.SyncRemoteLights:
for i := range onlineLifts {
if i == def.LocalElevator.Addr {
def.SyncLight <- button
} else {
go network.TcpConnect(i, def.TcpPort, def.TcpMessage{Type: def.UPDATEREMOTELIGHT, Order: button})
}
}
//Handles if motor stops working
case <-ch.OrderTimerTimeout:
for f := 0; f < def.N_FLOORS; f++ {
for b := 0; b < def.BUTTON_COMMAND; b++ {
if def.LocalElevator.Orders[f][b] {
cost.ChooseElevator(onlineLifts, def.ButtonPress{b, f, true, def.LocalElevator.Addr}, false)
}
}
}
}
}
}
func ChooseElevator(onlineLifts map[string]def.Elevator, order def.ButtonPress, includeSelf bool) {
bestLift := "0"
bestCost := 1000
for i := range onlineLifts {
if (i == def.LocalElevator.Addr && includeSelf) || i != def.LocalElevator.Addr {
thisCost := calculateCost(onlineLifts[i], order.Floor, order.Button)
if thisCost < bestCost {
bestCost = thisCost
bestLift = i
}
}
}
if bestLift != "0" {
if bestLift == def.LocalElevator.Addr {
queue.SetLocalOrder(order)
} else {
go network.TcpConnect(bestLift, def.TcpPort, def.TcpMessage{Type: def.ORDER, Order: order})
}
}
}