//Called by executeOrder
//Start the elevator ordered direction. Also starts the motorstop timer
func goToFloor(currentFloor uint, status *driver.LiftStatus, stopFloor *uint, motorDirectionCh chan<- driver.MotorDirection, statusCh chan<- driver.LiftStatus) {
if !status.Door && !status.Running {
if currentFloor < *stopFloor {
motorDirectionCh <- driver.MD_up
status.Direction = true
} else {
motorDirectionCh <- driver.MD_down
status.Direction = false
}
motorStopTimerRunning = true
timeGoToFloor = time.Now()
status.Running = true
statusCh <- *status
}
}
//Called by RunLift
func runQueue(liftStatus driver.LiftStatus, floorOrder chan<- uint) {
floor := liftStatus.Floor
if liftStatus.Running {
if liftStatus.Direction {
floor++
} else {
floor--
}
}
order, direction := localqueue.GetOrder(floor, liftStatus.Direction)
if liftStatus.Floor == order && liftStatus.Door {
removeFromQueue(order, direction)
lastOrder = 0
liftStatus.Door = true
time.Sleep(20 * time.Millisecond)
} else if order == 0 && !liftStatus.Door {
isIdle = true
} else if order != 0 {
isIdle = false
if lastOrder != order && !liftStatus.Door {
lastOrder = order
floorOrder <- order
}
}
}
//Called by executeOrder
//Stops at ordered floor, sets lights,motor and door. Also detects motorstop
func stopAtFloor(currentFloor uint, status *driver.LiftStatus, stopFloor *uint, motorDirectionCh chan<- driver.MotorDirection, lightCh chan<- driver.Light, statusCh chan<- driver.LiftStatus, doorTimerCh chan<- bool, motorStopCh chan<- bool) {
if status.Floor == *stopFloor {
motorDirectionCh <- driver.MD_stop
status.Running = false
status.Door = true
lightCh <- driver.Light{0, driver.Door, true}
go func() {
time.Sleep(3 * time.Second)
doorTimerCh <- true
}()
*stopFloor = 0
motorStopCh <- false
statusCh <- *status
} else if time.Now().Sub(timeGoToFloor) > time.Duration(motorStopTimeoutBase)*time.Second && motorStopTimerRunning {
//motorstop detected
motorStopTimerRunning = false
motorStopCh <- true
}
}
//Called by executeOrder
func updateStatus(currentFloor uint, status *driver.LiftStatus, motorDirectionCh chan<- driver.MotorDirection, statusCh chan<- driver.LiftStatus) {
switch currentFloor {
case 0:
if status.Door {
log.Fatal("lift should not be moving, door is open")
}
if !status.Running {
log.Fatal("lift should not be moving, motor is off")
}
return
case 1, 4:
motorDirectionCh <- driver.MD_stop
status.Floor = currentFloor
status.Running = false
statusCh <- *status
case 2, 3:
if currentFloor != status.Floor {
status.Floor = currentFloor
statusCh <- *status
}
default:
log.Println("found unknown floor", currentFloor)
}
}
//Called by Init
func executeOrder(orderedFloorCh <-chan uint, lightCh chan<- driver.Light, statusCh chan<- driver.LiftStatus, floorSensorCh <-chan uint, doorTimerCh chan bool, motorDirectionCh chan<- driver.MotorDirection, motorStopCh chan<- bool, quitCh <-chan bool) {
var (
currentFloor uint
stopFloor uint
status driver.LiftStatus
)
status.Direction = true
// not in state, go up until floor
motorDirectionCh <- driver.MD_up
for {
currentFloor = <-floorSensorCh
if currentFloor != 0 {
log.Println("found floor")
break
}
}
motorDirectionCh <- driver.MD_stop
status.Floor = currentFloor
log.Println(currentFloor)
status.Running = false
status.Door = false
statusCh <- status
for {
select {
case <-quitCh:
return
case stopFloor = <-orderedFloorCh:
//Got new stopFloor
case <-doorTimerCh:
lightCh <- driver.Light{0, driver.Door, false}
status.Door = false
statusCh <- status
case currentFloor = <-floorSensorCh:
updateStatus(currentFloor, &status, motorDirectionCh, statusCh)
default:
time.Sleep(5 * time.Millisecond)
if stopFloor != 0 {
stopAtFloor(currentFloor, &status, &stopFloor, motorDirectionCh, lightCh, statusCh, doorTimerCh, motorStopCh)
goToFloor(currentFloor, &status, &stopFloor, motorDirectionCh, statusCh)
}
}
}
}