func (elev *ElevatorState) goToStateIdle() {
if DEBUG_FSM {
fmt.Println("fsm: Going idle in floor = ", elev.floor)
}
driver.RunStop()
elev.motorErrorTimer.Stop()
elev.setState(STATE_IDLE)
}
func motorError() {
driver.RunStop()
fmt.Printf("\n\n================== ERROR, ELEVATOR MOTOR NOT WORKING PROPERLY ==========\n\n")
if floor := driver.GetFloorSignal(); floor != -1 {
fmt.Printf("Elevator at floor %d, door opened\n", floor)
}
fmt.Printf("took %d seconds to reach new floor when running, try fixing the problem and restart\n", MOTOR_ERROR_SEC)
fmt.Printf("Program exiting now!\n")
fmt.Printf("\n===============================================================================\n\n\n")
os.Exit(1)
}
func (elev *ElevatorState) goToStateDoorOpen() {
if DEBUG_FSM {
fmt.Printf("fsm: Door Opening in floor = %d\n", elev.floor)
}
if elev.State() == STATE_DOOR_OPEN {
if DEBUG_FSM {
fmt.Println("fsm: Door alredy open")
}
elev.doorTimerMutex.Lock()
elev.doorTimer.Reset(time.Second * 3)
elev.doorTimerMutex.Unlock()
elev.OrderDone <- int(elev.floor)
return
}
driver.RunStop()
elev.motorErrorTimer.Stop()
elev.setState(STATE_DOOR_OPEN)
elev.OrderDone <- int(elev.floor)
driver.SetDoorOpen(true)
doorClose := func() {
if DEBUG_FSM {
fmt.Printf("fsm: Door closing, currentDestination = %d\n", elev.Destination())
}
driver.SetDoorOpen(false)
if elev.Destination() == NO_DESTINATION {
elev.goToStateIdle()
} else {
elev.goToStateMoving(calculateDir(elev.Destination(), elev.Floor()))
}
}
elev.doorTimerMutex.Lock()
elev.doorTimer = time.AfterFunc(time.Second*3, doorClose)
elev.doorTimerMutex.Unlock()
}
func NewElevator() *ElevatorState {
var elev ElevatorState
elev.setDestination(NO_DESTINATION)
elev.OrderDone = make(chan int, 1)
floorEvent := eventmgr.CheckFloorSignal()
driver.RunDown()
elev.motorErrorTimer = time.AfterFunc(time.Second*MOTOR_ERROR_SEC, motorError)
elev.NewFloorReached(<-floorEvent)
driver.RunStop()
elev.motorErrorTimer.Stop()
elev.goToStateIdle()
go func() {
for {
newFloor := <-floorEvent
elev.NewFloorReached(newFloor)
}
}()
fmt.Printf("fsm: init done at floor %d, NewElevator returned\n\n", elev.Floor())
return &elev
}
