Ejemplo n.º 1
0
func watchObs() {
	for {

		if elevdriver.GetObs() {
			go elevdriver.SetDoor()
		} else {
			go elevdriver.ClearDoor()
		}
	}
}
Ejemplo n.º 2
0
func (elevinf *Elevatorinfo) SetEvent() {
	currentFloor := elevdriver.GetFloor()
	switch {
	case elevdriver.GetStopButton() && elevinf.state != EMERGENCY:
		elevinf.event = STOP
	case elevdriver.GetObs():
		elevinf.event = OBSTRUCTION
	case elevinf.DetermineDirection() != 2 && elevinf.state != ASCENDING && elevinf.state != DECENDING:
		elevinf.event = ORDER
	case currentFloor != -1:
		elevinf.event = SENSOR
		elevinf.last_floor = currentFloor
	default:
		elevinf.event = NO_EVENT
	}
	fmt.Printf("updated event\n")
}
Ejemplo n.º 3
0
func (elevinf *Elevatorinfo) statemachineEmergency() {
	// for elevinf.state == EMERGENCY {
	switch elevinf.event {
	case ORDER:
		for i := 0; i < 4; i++ {
			if elevinf.internal_orders[i][2] == 1 {
				elevdriver.ClearStopButton()
				if elevinf.DetermineDirection() != 2 && elevdriver.GetFloor() == -1 {
					for elevdriver.GetFloor() == -1 {
						StartMotor(-1)
						elevinf.ReceiveOrders()
						elevinf.CheckLights()
						if elevinf.StopAtCurrentFloor() == 2 {
							elevinf.StopMotor()
							elevinf.state = OPEN_DOOR
							elevinf.DeleteOrders()
							break
						}
						if elevdriver.GetStopButton() || elevdriver.GetObs() {
							elevinf.StopButtonPushed()
							elevinf.state = EMERGENCY
							break
						}
					}
					break
				}
				if elevinf.DetermineDirection() == -2 {
					elevinf.state = OPEN_DOOR
				} else if elevinf.DetermineDirection() == -1 {
					elevinf.state = DECENDING
					StartMotor(-1)
				} else if elevinf.DetermineDirection() == 1 {
					elevinf.state = ASCENDING
					StartMotor(1)
				}
			}
		}
	case STOP:
	case OBSTRUCTION:
	case SENSOR:
	case NO_EVENT:
	}
	time.Sleep(1 * time.Millisecond)
	// }
}
Ejemplo n.º 4
0
func (elevinf *Elevatorinfo) statemachineOpendoor() {
	switch elevinf.event {
	case ORDER:
		fmt.Printf("The door is open\n")
		elevdriver.SetDoor()
		elevinf.DeleteOrders()
		for i := 0; i < 300; i++ {
			if elevdriver.GetFloor() == -1 && elevdriver.GetObs() == false {
				elevdriver.ClearDoor()
				elevinf.state = IDLE
				break
			} else if elevdriver.GetStopButton() == true {
				elevinf.StopButtonPushed()
				elevinf.state = EMERGENCY
				break
			}
			elevinf.ReceiveOrders()
			elevinf.CheckLights()
			time.Sleep(10 * time.Millisecond)
			if elevdriver.GetObs() == true {
				fmt.Printf("Obstruction detected, door staying open\n")
				i = 0
			}
		}
		elevdriver.ClearDoor()
		elevinf.DeleteOrders()
		fmt.Printf("Door cleared\n")
		if elevinf.DetermineDirection() == -2 {
			elevinf.state = OPEN_DOOR
		} else if elevinf.DetermineDirection() == -1 {
			elevinf.state = DECENDING
			StartMotor(-1)
		} else if elevinf.DetermineDirection() == 1 {
			elevinf.state = ASCENDING
			StartMotor(1)
		} else if elevinf.DetermineDirection() == 2 {
			elevinf.state = IDLE
		}
	case STOP:
		elevinf.StopButtonPushed()
		elevinf.state = EMERGENCY
	case OBSTRUCTION:
	case SENSOR:
		fmt.Printf("Elevator reached floor %d\n", elevdriver.GetFloor())
		elevdriver.SetDoor()
		for i := 0; i < 300; i++ {
			if elevdriver.GetFloor() == -1 && elevdriver.GetObs() == false {
				elevdriver.ClearDoor()
				elevinf.state = IDLE
				break
			} else if elevdriver.GetStopButton() == true {
				elevinf.StopButtonPushed()
				elevinf.state = EMERGENCY
				break
			}
			elevinf.ReceiveOrders()
			elevinf.CheckLights()
			if elevdriver.GetObs() == true {
				i = 0
			}
		}
		elevinf.DeleteOrders()
		elevdriver.ClearDoor()
		if elevinf.DetermineDirection() == -2 {
			elevinf.state = OPEN_DOOR
		} else if elevinf.DetermineDirection() == -1 {
			elevinf.state = DECENDING
			StartMotor(-1)
		} else if elevinf.DetermineDirection() == 1 {
			elevinf.state = ASCENDING
			StartMotor(1)
		} else if elevinf.DetermineDirection() == 2 {
			elevinf.state = IDLE
		}
	case NO_EVENT:
	}
}