func fsm_onInitBetweenFloors() {
Driver.ElevSetMotorDirection(int(D_Down))
elevator.Dir = D_Down
elevator.Behaviour = EB_Moving
lastFloorTime = time.Now().Unix()
for Driver.ElevGetFloorSensorSignal() == -1 {
}
Driver.ElevSetMotorDirection(int(D_Idle))
}
func init() {
driver.ElevInit()
driver.ElevSetMotorDirection(1)
for {
if driver.ElevGetFloorSensorSignal() >= 0 {
driver.ElevSetMotorDirection(0)
break
}
}
}
func initMain() {
driver.ElevInit()
driver.ElevSetMotorDirection(1)
var previousFloor = -1
for {
if driver.ElevGetFloorSensorSignal() >= 0 {
driver.ElevSetMotorDirection(0)
previousFloor = driver.ElevGetFloorSensorSignal()
fmt.Println("I've reached floor", previousFloor)
break
}
}
}
func FsmOnOrderReceived(btnFloor int, btnType ButtonType) { //should be made to orderReceived
switch E.Behaviour {
case DOOROPEN:
if E.Floor == btnFloor {
TimerStart()
} else {
E.MasterOrders[btnFloor][btnType] = true
}
case IDLE:
E.MasterOrders[btnFloor][btnType] = true
E.Dir = ChooseDirection(E)
if E.Dir == STOP {
driver.ElevSetDoorLight(true)
E = ClearOrdersAtFloor(E)
TimerStart()
E.Behaviour = DOOROPEN
} else {
driver.ElevSetMotorDirection(int(E.Dir))
E.Behaviour = MOVING
}
case MOVING:
E.MasterOrders[btnFloor][btnType] = true
}
SetAllLights(E)
}
func fsm_onNewActiveRequest(btn_floor int, btn_type Button) {
switch elevator.Behaviour {
case EB_DoorOpen:
if elevator.Floor == btn_floor {
timer_start(3000 * time.Millisecond)
} else {
elevator.Requests[btn_floor][btn_type] = true
}
break
case EB_Moving:
elevator.Requests[btn_floor][btn_type] = true
break
case EB_Idle:
elevator.Requests[btn_floor][btn_type] = true
elevator.Dir = requests_chooseDirection(elevator)
if elevator.Dir == D_Idle {
Driver.ElevSetDoorLight(true)
elevator = requests_clearAtCurrentFloor(elevator)
timer_start(3000 * time.Millisecond)
elevator.Behaviour = EB_DoorOpen
} else {
Driver.ElevSetMotorDirection(int(elevator.Dir))
elevator.Behaviour = EB_Moving
lastFloorTime = time.Now().Unix()
}
break
}
setAllLights()
}
func FsmOnDoorTimeout() {
if E.Behaviour == DOOROPEN {
E.Dir = ChooseDirection(E)
driver.ElevSetDoorLight(false)
driver.ElevSetMotorDirection(int(E.Dir))
if E.Dir == STOP {
E.Behaviour = IDLE
} else {
E.Behaviour = MOVING
}
}
}
func FsmOnFloorArrival(newFloor int) {
E.Floor = newFloor
driver.ElevSetFloorIndicator(newFloor)
if ShouldStop(E) && E.Behaviour == MOVING {
driver.ElevSetMotorDirection(int(STOP))
driver.ElevSetDoorLight(true)
E = ClearOrdersInDirection(E)
TimerStart()
SetAllLights(E)
E.Behaviour = DOOROPEN
}
}
func fsm_onDoorTimeout() {
switch elevator.Behaviour {
case EB_DoorOpen:
elevator.Dir = requests_chooseDirection(elevator)
Driver.ElevSetMotorDirection(int(elevator.Dir))
Driver.ElevSetDoorLight(false)
if elevator.Dir == D_Idle {
elevator.Behaviour = EB_Idle
} else {
elevator.Behaviour = EB_Moving
lastFloorTime = time.Now().Unix()
}
break
default:
break
}
}
func fsm_onFloorArrival(newFloor int) {
lastFloorTime = time.Now().Unix()
elevator.Floor = newFloor
Driver.ElevSetFloorIndicator(newFloor)
switch elevator.Behaviour {
case EB_Moving:
if requests_shouldStop(elevator) {
Driver.ElevSetMotorDirection(int(D_Idle))
Driver.ElevSetDoorLight(true)
elevator = requests_clearAtCurrentFloor(elevator)
timer_start(3000 * time.Millisecond)
setAllLights()
elevator.Behaviour = EB_DoorOpen
}
break
default:
break
}
}
func main() {
driver.ElevInit()
driver.ElevSetMotorDirection(0)
}
