//Called by Init
//Polls and sets the GPIO
func driverLoop(lightCh <-chan driver.Light, buttonCh chan<- driver.Button, floorSensorCh chan<- uint, motorDirectionCh <-chan driver.MotorDirection, quitCh <-chan bool) {
for {
select {
case <-quitCh:
driver.ClearAll()
return
default:
driver.ReadButtons(buttonCh)
driver.ReadFloorSensors(floorSensorCh)
driver.RunMotor(motorDirectionCh)
driver.SetLight(lightCh)
time.Sleep(5 * time.Millisecond)
}
}
}
//Called by control.RunLift
//Initializes the driver, runs polling from driver to channels and executes orders from channel
func Init(orderedFloorCh <-chan uint, lightCh chan driver.Light, statusCh chan driver.LiftStatus, buttonCh chan<- driver.Button, motorStopCh chan<- bool, quitCh <-chan bool) bool {
if !driver.Init() {
log.Fatal("could not initialize driver")
return false
}
// clear all lights and stop motor
driver.ClearAll()
log.Println("cleared all lights and stopped motor.")
var floorSensorCh = make(chan uint, 5)
var doorTimerCh = make(chan bool, 2)
var motorDirectionCh = make(chan driver.MotorDirection, 5)
go driverLoop(lightCh, buttonCh, floorSensorCh, motorDirectionCh, quitCh)
go executeOrder(orderedFloorCh, lightCh, statusCh, floorSensorCh, doorTimerCh, motorDirectionCh, motorStopCh, quitCh)
log.Println("fsmElev initialized")
return true
}