func main() {
ch := fsm.Channels{
NewOrder: make(chan bool, 10),
FloorReached: make(chan int, 10),
MotorDir: make(chan int, 10),
DoorLight: make(chan bool),
NewFloor: make(chan int),
OrderTimerReset: make(chan bool),
OrderTimerTimeout: make(chan bool),
}
driver.Elev_init()
fsm.Init(ch)
network.Init(outgoingMsg, incomingMsg, incomingTcpMsg)
go readChannels(ch)
go getButtons()
go updateFloor(ch)
go syncLights()
go handleDeadElevator(ch)
go def.MegaPrint(onlineLifts)
go safeKill()
for {
time.Sleep(time.Second)
}
}
//Functions relating to internal behaviour
func controlInit(initializeAddressChannel chan string, blockUserChannel chan bool, blockNetworkChannel chan bool, sendNetworkChannel chan map[string]ElevatorNode, receiveNetworkChannel chan map[string]ElevatorNode, sendElevatorChannel chan map[string]ElevatorNode, receiveElevatorChannel chan map[string]ElevatorNode) {
driver.Elev_init() //Initialize hardware
var tempMatrix = make(map[string]ElevatorNode)
elevatorMatrix = make(map[string]ElevatorNode)
var preInitialOrders = new(ElevatorNode)
err := Load(backupOrderFilePath, preInitialOrders)
elevatorHasPreviouslyCrashed := Check(err)
blockUserChannel <- elevatorHasPreviouslyCrashed
blockNetworkChannel <- elevatorHasPreviouslyCrashed
if elevatorHasPreviouslyCrashed {
completePreCrashOrders(preInitialOrders, sendElevatorChannel, receiveElevatorChannel)
blockUserChannel <- false
blockNetworkChannel <- false
}
LocalAddress = receiveAddressFromNetwork(initializeAddressChannel)
LocalElevator := getElevatorState()
elevatorMatrix[LocalAddress] = LocalElevator
if LocalAddress == "0" {
elevatorIsOffline = true
} else {
elevatorIsOffline = false
copyMapByValue(elevatorMatrix, tempMatrix)
sendNetworkChannel <- tempMatrix
tempMatrix = <-receiveNetworkChannel
copyMapByValue(tempMatrix, elevatorMatrix)
}
}
//Initialization function
func elevatorModuleInit() {
elevatorMatrix = make(map[string]control.ElevatorNode)
matrixBeingHandled = make(map[string]control.ElevatorNode)
for i := 0; i < driver.N_BUTTONS; i++ {
for j := 0; j < driver.N_FLOORS; j++ {
lightArray[i][j] = 0
}
}
for i := 0; i < 2; i++ {
for j := 0; j < driver.N_FLOORS; j++ {
orderArray[i][j] = false
}
}
driver.Elev_init()
floor := getCurrentFloor()
for floor == -1 {
setDirection(driver.DIRN_DOWN)
floor = getCurrentFloor()
}
setDirection(driver.DIRN_STOP)
currentFloor = floor
driver.Elev_set_floor_indicator(currentFloor)
currentDirection = Still
}
func userModuleInit(blockUserChan chan bool) {
driver.Elev_init()
waitBecauseElevatorsHavePreviouslyCrashed := <-blockUserChan
if waitBecauseElevatorsHavePreviouslyCrashed {
waitBecauseElevatorsHavePreviouslyCrashed = <-blockUserChan
}
}
func Elev_init() {
fmt.Printf("%sInitialising elevator, please wait...%s\n", def.ColG, def.ColN)
driver.Elev_init()
driver.Set_motor_dir(-1)
defer driver.Set_motor_dir(0)
queue.Get_backup_from_file()
for {
if driver.Get_floor_sensor_signal() != -1 {
fmt.Printf("%sInitialising was successful%s\n", def.ColG, def.ColN)
return
}
}
}