func main() {
driver.IOInit()
time.Sleep(time.Second * 1)
hardware.ResetLights()
hardware.SetMotorDirection(0)
time.Sleep(time.Second * 1)
}
func Init(buttonChannel chan<- ButtonEvent, lightChannel <-chan LightEvent, motorChannel <-chan int, floorChannel chan<- FloorEvent, pollingDelay time.Duration) error {
if initialized {
return fmt.Errorf("Hardware is already initialized.")
}
initSuccess := driver.IOInit()
if initSuccess != nil {
return fmt.Errorf("Unable to initialize hardware.")
}
resetLights()
setMotorDirection(typedef.DIR_STOP)
// If initialized between floors, move down to nearest floor.
if checkFloor() == -1 {
fmt.Printf("HARDWARE:\t Starting between floors, going down.\n")
setMotorDirection(typedef.DIR_DOWN)
for {
if floor := checkFloor(); floor != -1 {
fmt.Printf("HARDWARE:\t INIT -> Arrived at floor: %d\n", floor)
setMotorDirection(typedef.DIR_STOP)
floorChannel <- FloorEvent{CurrentDirection: typedef.DIR_STOP, Floor: floor}
break
} else {
time.Sleep(pollingDelay)
}
}
}
// Start goroutines to handle hardware events.
go controlLights(lightChannel)
go controlMotor(motorChannel)
go readButtons(buttonChannel, pollingDelay)
go readFloorSensors(floorChannel, pollingDelay)
return nil
// TODO -> Acceptance test!!!
}