// StopButtonListener should be spawned as a goroutine, and will trigger on press
func StopButtonListener(ch chan<- bool) {
var stopButtonState bool
for {
mutex.Lock()
newState := C.elev_get_stop_signal() != 0
mutex.Unlock()
if newState != stopButtonState {
stopButtonState = newState
if newState {
log.Debug("Stop button pressed")
} else {
log.Debug("Stop button released")
}
ch <- newState
}
}
}
// SendOrder sends the parameter order struct to the network
func SendOrder(order OrderMessage) {
if order.Direction == driver.DirectionNone {
log.Warning("Transmitted order cannot have no direction")
return
}
order.SenderID = elevatorID
str := orderToStr(order)
log.Debug("Sending message: ", str)
udpSendCh <- udp.Udp_message{Raddr: "broadcast", Data: str}
}
//AddToLog adds a floor from the log file, if the floor is not already in the queue. If added, the file size increases by one character.
func AddToLog(floor int) {
if isInLog(floor) {
return
}
intSlice := append(ReadLog(), floor)
writeLog(intSlice)
log.Debug("Logged floor: ", floor)
}
//RemoveFromLog removes a floor from the log file, shortening the file by one character. If the floor is not present in the log, nothing happens.
func RemoveFromLog(floor int) {
oldSlice := ReadLog()
var newSlice []int
for i := 0; i < len(oldSlice); i++ {
if oldSlice[i] != floor {
newSlice = append(newSlice, oldSlice[i])
}
}
writeLog(newSlice)
log.Debug("Removed from log: ", floor)
}
// Reset makes sure the elevator is at a safe floor on startup
// Blocking, should never be called when listeners are running
func Reset() Floor {
log.Debug("Resetting floor")
currentFloor := getFloor()
if currentFloor == -1 {
log.Warning("Unknown floor")
// Move down until we hit something
RunDown()
for {
currentFloor = getFloor()
if currentFloor != -1 {
break
}
}
log.Info("At floor ", currentFloor, ", ready for service")
setFloorIndicator(currentFloor)
Stop()
OpenDoor()
time.Sleep(time.Second)
CloseDoor()
}
return currentFloor
}
// FloorButtonListener should be spawned as a goroutine
func FloorButtonListener(ch chan<- ButtonEvent) {
var floorButtonState [3][NumFloors]bool
for {
for direction := DirectionUp; direction <= DirectionNone; direction++ {
for floor := Floor(0); floor < NumFloors; floor++ {
mutex.Lock()
newState := C.elev_get_button_signal(C.elev_button_type_t(direction), C.int(floor)) != 0
mutex.Unlock()
if newState != floorButtonState[direction][floor] {
floorButtonState[direction][floor] = newState
// Only dispatch an event if it's pressed
if newState {
log.Debug("Button type ", direction, " floor ", floor, " pressed")
ch <- ButtonEvent{Dir: direction, Floor: floor}
} else {
log.Bullshit("Button type ", direction, " floor ", floor, " released")
}
}
}
}
}
}
func main() {
id := flag.Uint("id", 1337, "Elevator ID")
flag.Parse()
if *id > 9 {
log.Error("Elevator ID must be between 0 and 9")
os.Exit(1)
}
log.Info("Id: ", *id)
queue.SetID(*id)
currentDirection := driver.DirectionDown
lastFloor := driver.Floor(0)
doorOpen := false
// Init driver and make sure elevator is at a floor
driver.Init()
queue.ImportInternalLog()
lastFloor = driver.Reset()
queue.Update(lastFloor)
queue.ClearOrderLocal(lastFloor, currentDirection)
floorCh := make(chan driver.Floor)
go driver.FloorListener(floorCh)
floorBtnCh := make(chan driver.ButtonEvent, 8)
go driver.FloorButtonListener(floorBtnCh)
orderReceiveCh := make(chan net.OrderMessage, 8)
go net.InitAndHandle(orderReceiveCh, *id)
timeoutCh := make(chan bool, 8)
queue.SetTimeoutCh(timeoutCh)
// Oh, God almighty, please spare our ears
sigtermCh := make(chan os.Signal)
signal.Notify(sigtermCh, os.Interrupt, syscall.SIGTERM)
go func(ch <-chan os.Signal) {
<-ch
driver.Stop()
os.Exit(0)
}(sigtermCh)
// Ping timeout so we start in case we have logged orders from a previous crash
timeoutCh <- true
// Main event loop
for {
select {
// Elevator has arrived at a new floor
case fl := <-floorCh:
queue.Update(fl)
if queue.ShouldStop(fl) {
driver.Stop()
queue.ClearOrderLocal(fl, currentDirection)
log.Debug("Stopped at floor ", fl)
net.SendOrder(net.OrderMessage{Type: net.CompletedOrder, Floor: fl, Direction: currentDirection})
go func() {
doorOpen = true
driver.OpenDoor()
time.Sleep(1 * time.Second)
doorOpen = false
driver.CloseDoor()
timeoutCh <- true
}()
}
// A floor button was pressed
case btn := <-floorBtnCh:
queue.NewOrder(btn.Floor, btn.Dir)
if btn.Dir != driver.DirectionNone {
net.SendOrder(net.OrderMessage{Type: net.NewOrder, Floor: btn.Floor, Direction: btn.Dir})
}
if !doorOpen {
currentDirection = queue.NextDirection()
driver.Run(currentDirection)
}
// A message came in from the network
case o := <-orderReceiveCh:
switch o.Type {
case net.NewOrder:
log.Debug("New order, floor: ", o.Floor, ", dir: ", o.Direction)
queue.NewOrder(o.Floor, o.Direction)
case net.AcceptedOrder:
log.Debug("Remote accepted order, floor: ", o.Floor, ", dir: ", o.Direction)
queue.OrderAcceptedRemotely(o.Floor, o.Direction)
case net.CompletedOrder:
log.Debug("Remote completed order, floor: ", o.Floor, ", dir: ", o.Direction)
queue.ClearOrder(o.Floor, o.Direction)
}
// Something timed out. Wake if idle.
case <-timeoutCh:
currentDirection = queue.NextDirection()
if !doorOpen {
driver.Run(currentDirection)
}
}
}
}
// Init initializes the elevator, resets all lamps.
func Init() {
log.Debug("Initializing driver")
C.elev_init()
}
