//This function returns the next state for the elevator
func Nextstate(myip string, elevators []extra.Elevator, mystate string) (string, []Network.Request) {
if Elevator.GetElevObstructionSignal() {
Elevator.SetElevStopLamp(1)
return "ERROR", nil
} else if mystate == "ERROR" {
Elevator.SetElevStopLamp(0)
return "INIT", nil
}
stop := Stop(myip, mystate)
if len(stop) != 0 {
return "DOOR_OPEN", stop
}
next := Nextrequest(myip, elevators)
if Elevator.AtFloor() && next.Floor == Elevator.CurrentFloor() {
return "DOOR_OPEN", append(stop, next)
}
if next.Floor > Elevator.CurrentFloor() {
return "UP", nil
} else if next.Floor < Elevator.CurrentFloor() && next.Floor != 0 {
return "DOWN", nil
} else if Elevator.AtFloor() {
return "IDLE", nil
} else {
return mystate, nil
}
}
//This function return orders the elevator should stop for
func Stop(myip string, mystate string) []Network.Request {
var takerequest []Network.Request
requestlist := Network.GetRequestList()
for _, request := range requestlist {
if (request.Direction == Elevator.BUTTON_COMMAND && request.Source == myip) || (request.Direction == Elevator.BUTTON_CALL_UP && mystate == "UP") || (request.Direction == Elevator.BUTTON_CALL_DOWN && mystate == "DOWN") {
if request.Floor == Elevator.CurrentFloor() && Elevator.AtFloor() {
takerequest = append(takerequest, request)
}
}
}
return takerequest
}
func main() {
var myinfo Network.Info
var takerequest []Network.Request
runtime.GOMAXPROCS(runtime.NumCPU())
myip := Network.GetLocalIP()
Println(myip)
myinfo.Source = myip
conf := extra.LoadConfig("./config/conf.json")
generatedmessages_c := make(chan Network.Networkmessage, 100)
go Network.TCPPeerToPeer(conf, myip, generatedmessages_c)
state := "INIT"
driver.IoInit()
Elevator.ElevInit()
for {
time.Sleep(10 * time.Millisecond)
myinfo.State = state
Elevator.UpdateFloor()
myinfo.LastFloor = Elevator.CurrentFloor()
Network.NewInfo(myinfo, generatedmessages_c)
switch state {
case "INIT":
{
Elevator.SetElevSpeed(-300)
}
case "IDLE":
{
Elevator.SetElevSpeed(0)
}
case "UP":
{
Elevator.SetElevSpeed(300)
}
case "DOWN":
{
Elevator.SetElevSpeed(-300)
}
case "DOOR_OPEN":
{
Elevator.SetElevDoorOpenLamp(1)
for _, request := range takerequest {
request.InOut = 0
Println("Deleting request: ", request)
time.Sleep(10 * time.Millisecond)
Network.Newrequest(generatedmessages_c, request)
}
Elevator.SetElevSpeed(0)
time.Sleep(3000 * time.Millisecond)
Elevator.etElevDoorOpenLamp(0)
}
case "ERROR":
{
Elevator.SetElevSpeed(0)
}
}
state, takerequest = ElevatorLogic.Nextstate(myip, conf.Elevators, myinfo.State)
}
}