func (elev *ElevatorState) goToStateMoving(direction Direction_t) {
if DEBUG_FSM {
fmt.Printf("fsm: Starting to move in dir = %d against destination = %d\n\n\n", direction, elev.destination)
}
switch direction {
case DIR_UP:
driver.RunUp()
elev.motorErrorTimer.Reset(time.Second * MOTOR_ERROR_SEC)
case DIR_DOWN:
driver.RunDown()
elev.motorErrorTimer.Reset(time.Second * MOTOR_ERROR_SEC)
default:
if DEBUG_FSM {
fmt.Printf("fsm: unknown direction")
}
return
}
elev.setDir(direction)
elev.setState(STATE_MOVING)
}
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
}