func elevatorMovementThread() {
for {
//setElevatorMatrixFloor(currentFloor)
time.Sleep(time.Millisecond * 10)
if receivedFirstMatrix {
switch currentDirection {
case Still:
//fmt.Println("Still state")
setElevatorMatrixDirection(driver.Elev_motor_direction_t(currentDirection))
if getOrderArray(UpIndex, currentFloor) || getOrderArray(DownIndex, currentFloor) {
floorIsReached()
}
//elevatorMatrixMutex.Lock()
currentDirection = calculateCurrentDirection()
deleteOrders()
//elevatorMatrixMutex.Unlock()
//time.Sleep(time.Second)
case Downward:
//fmt.Println("Down state")
setElevatorMatrixDirection(driver.Elev_motor_direction_t(currentDirection))
if noPendingOrdersDirection(DownIndex) {
if getOrderArray(UpIndex, currentFloor) || getOrderArray(DownIndex, currentFloor) {
floorIsReached()
}
} else {
if getOrderArray(DownIndex, currentFloor) {
floorIsReached()
}
}
if currentDirection == Downward {
moveElevator(driver.DIRN_DOWN)
}
case Upward:
//fmt.Println("Up state")
setElevatorMatrixDirection(driver.Elev_motor_direction_t(currentDirection))
if noPendingOrdersDirection(UpIndex) {
if getOrderArray(UpIndex, currentFloor) || getOrderArray(DownIndex, currentFloor) {
floorIsReached()
}
} else {
if getOrderArray(UpIndex, currentFloor) {
floorIsReached()
}
}
if currentDirection == Upward {
moveElevator(driver.DIRN_UP)
}
default:
setDirection(driver.DIRN_STOP)
}
}
}
}
func floorIsReached() {
//driver.Elev_set_floor_indicator(currentFloor)
stopElevator()
deleteOrders()
currentDirection = calculateCurrentDirection()
deleteOrders()
//fmt.Println("Deleting orders before looping")
setElevatorMatrixDirection(driver.Elev_motor_direction_t(currentDirection))
}