/*
This function sets the value of the stop lamp.
*/
func setStopLamp(value bool) {
if value {
driver.IOSetBit(LIGHT_STOP)
} else {
driver.IOClearBit(LIGHT_STOP)
}
}
/*
This function sets the value of the door lamp
*/
func setDoorLamp(value bool) {
if value {
driver.IOSetBit(LIGHT_DOOR_OPEN)
} else {
driver.IOClearBit(LIGHT_DOOR_OPEN)
}
}
/*
This function sets the indicator at a given floor.
*/
func setFloorIndicator(floor int) {
// Binary encoding, one light is always on 00, 01, 10 or 11
if floor >= typedef.N_FLOORS || floor < 0 {
log.Println("HARDWARE:\t Tried to set indicator on invalid floor.")
// todo set floor to nearest valid floor.
}
if bool((floor & 0x02) != 0) {
driver.IOSetBit(LIGHT_FLOOR_IND1)
} else {
driver.IOClearBit(LIGHT_FLOOR_IND1)
}
if bool((floor & 0x01) != 0) {
driver.IOSetBit(LIGHT_FLOOR_IND2)
} else {
driver.IOClearBit(LIGHT_FLOOR_IND2)
}
}
/*
This function/channel (called from another goroutine) sets the light of a
specific type at the given floor to the specified value.
*/
func setButtonLight(floor, buttonType int, value bool) error {
// TODO -> Some acceptance test for the arguments..
if value {
driver.IOSetBit(lightChannelMatrix[floor][buttonType])
} else {
driver.IOClearBit(lightChannelMatrix[floor][buttonType])
}
return nil
}
/*
This function/channel(called from another goroutine) sets the direction of
the motor(any other direction than 0/STOP means it will run in this direction
immediately).
*/
func setMotorDirection(direction int) error {
fmt.Printf("HARDWARE:\t Setting motor direction: %d\n", direction)
if direction == 0 {
driver.IOWriteAnalog(MOTOR, 0)
} else if direction > 0 {
driver.IOClearBit(MOTORDIR)
driver.IOWriteAnalog(MOTOR, motorspeed)
} else if direction < 0 {
driver.IOSetBit(MOTORDIR)
driver.IOWriteAnalog(MOTOR, motorspeed)
}
// TODO -> Do some acceptance test to see if the direction was set.
// return some error.New()..
// If acceptance test completes.
return nil
}