func FloorIndicator() {
for {
if elevdriver.GetFloor() > 0 {
elevdriver.SetFloor(elevdriver.GetFloor())
}
time.Sleep(100 * time.Millisecond)
}
}
func (elevinf *Elevatorinfo) statemachineAscending() {
time.Sleep(1 * time.Millisecond)
switch elevinf.event {
case ORDER:
case STOP:
elevinf.StopButtonPushed()
elevinf.state = EMERGENCY
case OBSTRUCTION:
elevinf.StopButtonPushed()
elevinf.state = EMERGENCY
case SENSOR:
fmt.Printf("FLOOR DETECTED\n")
if elevinf.StopAtCurrentFloor() == 1 {
fmt.Printf("GOING TO STOP HERE\n")
elevinf.StopMotor()
elevinf.state = OPEN_DOOR
elevinf.DeleteOrders()
break
} else if elevdriver.GetFloor() == 4 {
elevinf.StopMotor()
elevinf.state = IDLE
}
case NO_EVENT:
}
}
func (elevinf *Elevatorinfo) statemachineIdle() {
switch elevinf.event {
case ORDER:
if elevinf.DetermineDirection() != 2 && elevdriver.GetFloor() == -1 {
elevinf.Initiate()
elevinf.state = IDLE
break
}
if elevinf.DetermineDirection() == -2 {
elevinf.state = OPEN_DOOR
} else if elevinf.DetermineDirection() == -1 {
elevinf.state = DECENDING
StartMotor(-1)
} else if elevinf.DetermineDirection() == 1 {
/*if elevdriver.GetFloor() == -1 {
elevinf.Initiate()
elevinf.state = IDLE
break
}*/
elevinf.state = ASCENDING
StartMotor(1)
}
case STOP:
elevinf.StopButtonPushed()
elevinf.state = EMERGENCY
case OBSTRUCTION:
elevinf.StopButtonPushed()
elevinf.state = EMERGENCY
case SENSOR:
case NO_EVENT:
}
}
func (elevinf *Elevatorinfo) statemachineAscending() {
// for elevinf.state == ASCENDING {
time.Sleep(1 * time.Millisecond)
switch elevinf.event {
case ORDER:
case STOP:
elevinf.StopButtonPushed()
elevinf.state = EMERGENCY
case OBSTRUCTION:
elevinf.StopButtonPushed()
elevinf.state = EMERGENCY
case SENSOR: // Destination reached || someone wants to go UP || no orders above DECENDING
fmt.Printf("FLOOR DETECTED\n")
if elevinf.StopAtCurrentFloor() == 1 {
fmt.Printf("GOING TO STOP HERE\n")
elevinf.StopMotor()
elevinf.state = OPEN_DOOR
elevinf.DeleteOrders()
break
} else if elevdriver.GetFloor() == 4 {
elevinf.StopMotor()
elevinf.state = IDLE
}
case NO_EVENT:
}
// }
}
func (elevinf *Elevatorinfo) DetermineDirection() int { // The elevators "brain", choosing which way to go depending on direction and orders
current_floor := elevdriver.GetFloor()
orders_over := 0
orders_under := 0
orders_at_current := 0
for i := 0; i < 4; i++ {
for j := 0; j < 3; j++ {
if elevinf.internal_orders[i][j] == 1 && i < current_floor-1 {
orders_under++
} else if elevinf.internal_orders[i][j] == 1 && i > current_floor-1 {
orders_over++
} else if elevinf.internal_orders[i][j] == 1 && i == current_floor-1 {
orders_at_current++
}
}
}
if orders_at_current > 0 {
return -2 //Stay at floor
} else if (orders_under > 0 && elevinf.last_direction == 2) || (orders_under > 0 && orders_over == 0) {
return -1 //Keep going down
} else if (orders_over > 0 && elevinf.last_direction == 1) || (orders_over > 0 && orders_under == 0) {
return 1 //Keep going up
} else {
return 2 //No orders, no direction
}
return 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)
// }
}
func turnAround() {
for {
floor := elevdriver.GetFloor()
go elevdriver.SetFloor(floor)
switch floor {
case 1:
go elevdriver.MotorUp()
case 4:
go elevdriver.MotorDown()
}
}
}
func (elevinf *Elevatorinfo) Initiate() {
fmt.Printf("Halla\n")
elevdriver.Init()
fmt.Printf("Balle\n")
StartMotor(-1)
elevinf.last_direction = 2
for elevdriver.GetFloor() == -1 {
}
elevinf.StopMotor()
fmt.Printf("Elevator initiation complete!\n")
}
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")
}
func (elevinf *Elevatorinfo) DetermineDirection() int { // The elevators "brain", choosing which way to go depending on direction and orders
current_floor := elevdriver.GetFloor()
last_dir := elevinf.last_direction - 1
orders_over := 0
orders_under := 0
orders_at_current := 0
for i := 0; i < 4; i++ {
for j := 0; j < 3; j++ {
if elevinf.internal_orders[i][j] == 1 && i < current_floor-1 {
orders_under++
} else if elevinf.internal_orders[i][j] == 1 && i > current_floor-1 {
orders_over++
} else if elevinf.internal_orders[i][j] == 1 && i == current_floor-1 {
orders_at_current++
fmt.Printf("%dorders, %dfloor, %dbutton\n", orders_at_current, i, j)
}
}
}
if orders_at_current > 0 && (elevinf.internal_orders[current_floor-1][2] == 1 || elevinf.external_orders[current_floor-1][last_dir] == 1) {
fmt.Printf("Stay at floor\n")
return -2 //Stay at floor
} else if (orders_under > 0 && elevinf.last_direction == 2) || (orders_under > 0 && orders_over == 0) {
fmt.Printf("blabla1\n")
return -1 //Keep going down
} else if (orders_over > 0 && elevinf.last_direction == 1) || (orders_over > 0 && orders_under == 0) {
fmt.Printf("blabla1\n")
return 1 //Keep going up
} else {
fmt.Printf("two is returned, do nothing\n")
return 2 //No orders, no direction
}
return 2
}
func (elevinf *Elevatorinfo) DeleteOrders() {
if elevdriver.GetFloor() == 1 {
for i := 0; i < 3; i++ {
elevinf.internal_orders[0][i] = 0
elevinf.external_orders[0][0] = 0
go ExternalSendDelete(0, 0)
}
} else if elevdriver.GetFloor() == 2 && elevinf.last_direction == UP {
for i := 0; i < 3; i = i + 2 {
elevinf.internal_orders[1][i] = 0
elevinf.external_orders[1][0] = 0
go ExternalSendDelete(1, 0)
}
} else if elevdriver.GetFloor() == 2 && elevinf.last_direction == DOWN {
for i := 1; i < 3; i++ {
elevinf.internal_orders[1][i] = 0
elevinf.external_orders[1][1] = 0
go ExternalSendDelete(1, 1)
}
} else if elevdriver.GetFloor() == 3 && elevinf.last_direction == UP {
for i := 0; i < 3; i = i + 2 {
elevinf.internal_orders[2][i] = 0
elevinf.external_orders[2][0] = 0
go ExternalSendDelete(2, 0)
}
} else if elevdriver.GetFloor() == 3 && elevinf.last_direction == DOWN {
for i := 1; i < 3; i++ {
elevinf.internal_orders[2][i] = 0
elevinf.external_orders[2][1] = 0
go ExternalSendDelete(2, 1)
}
} else if elevdriver.GetFloor() == 4 {
for i := 0; i < 3; i++ {
elevinf.internal_orders[3][i] = 0
elevinf.external_orders[3][1] = 0
go ExternalSendDelete(3, 1)
}
}
}
func (elevinf *Elevatorinfo) DeleteOrders() {
fmt.Printf("gonna delete...\n")
if elevdriver.GetFloor() == 1 {
for i := 0; i < 3; i++ {
elevinf.internal_orders[0][i] = 0
elevinf.external_orders[0][0] = 0
go ExternalSendDelete(0, 0)
}
} else if elevdriver.GetFloor() == 2 && elevinf.last_direction == UP {
for i := 0; i < 3; i = i + 2 {
elevinf.internal_orders[1][i] = 0
elevinf.external_orders[1][0] = 0
if elevinf.NoOrdersAbove() {
elevinf.external_orders[1][1] = 0
elevinf.internal_orders[1][1] = 0
go ExternalSendDelete(1, 1)
}
go ExternalSendDelete(1, 0)
}
} else if elevdriver.GetFloor() == 2 && elevinf.last_direction == DOWN {
for i := 1; i < 3; i++ {
elevinf.internal_orders[1][i] = 0
elevinf.external_orders[1][1] = 0
if elevinf.NoOrdersBelow() {
fmt.Printf("Deleting order KNUUUT\n")
elevinf.internal_orders[1][0] = 0
elevinf.external_orders[1][0] = 0
go ExternalSendDelete(1, 0)
}
go ExternalSendDelete(1, 1)
}
} else if elevdriver.GetFloor() == 3 && elevinf.last_direction == UP {
for i := 0; i < 3; i = i + 2 {
elevinf.internal_orders[2][i] = 0
elevinf.external_orders[2][0] = 0
if elevinf.NoOrdersAbove() {
elevinf.external_orders[2][1] = 0
elevinf.internal_orders[2][1] = 0
go ExternalSendDelete(2, 1)
}
go ExternalSendDelete(2, 0)
}
} else if elevdriver.GetFloor() == 3 && elevinf.last_direction == DOWN {
for i := 1; i < 3; i++ {
elevinf.internal_orders[2][i] = 0
elevinf.external_orders[2][1] = 0
if elevinf.NoOrdersBelow() {
elevinf.external_orders[2][0] = 0
elevinf.internal_orders[2][0] = 0
go ExternalSendDelete(2, 0)
}
go ExternalSendDelete(2, 1)
}
} else if elevdriver.GetFloor() == 4 {
for i := 0; i < 3; i++ {
elevinf.internal_orders[3][i] = 0
elevinf.external_orders[3][1] = 0
go ExternalSendDelete(3, 1)
}
}
}
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:
}
}