func Elev_init() {
fmt.Printf("%sInitialising elevator, please wait...%s\n", def.ColG, def.ColN)
driver.Elev_init()
driver.Set_motor_dir(-1)
defer driver.Set_motor_dir(0)
queue.Get_backup_from_file()
for {
if driver.Get_floor_sensor_signal() != -1 {
fmt.Printf("%sInitialising was successful%s\n", def.ColG, def.ColN)
return
}
}
}
func Run_elev(outgoingMsg chan def.Message) {
for {
update_current_floor()
//If we have orders and we are not between floors
if (len(queue.Get_Orders()) > 0) && (driver.Get_cur_floor() != -1) {
set_direction(queue.Get_Orders()[0], driver.Get_cur_floor())
if arrived_at_destination() {
driver.Set_motor_dir(0)
if handleOrders.ImConnected {
send_order_complete_msg(queue.Get_Orders()[0], outgoingMsg)
} else {
turn_off_lights()
}
//fmt.Printf("%sOrder to floor %d deleted, current floor = %d\n",def.ColB,queue.Get_Orders()[0],driver.Get_cur_floor())
queue.Remove_first_element_in_orders()
queue.Save_backup_to_file()
driver.Set_button_lamp(def.BtnInside, driver.Get_cur_floor(), 0)
open_and_close_door()
}
}
}
}
func set_direction(order, curFloor int) {
if (math.Abs(float64(order)) - float64(curFloor)) != 0 {
//difference between cur floor and desired floor divided with abs(difference) gives direction = -1 or 1
dir := (math.Abs(float64(order)) - float64(curFloor)) / (float64(helpFunc.Difference_abs(order, curFloor)))
driver.Set_motor_dir(int(dir))
driver.Set_dir(int(dir))
}
}
func quit_program(quit chan int) {
for {
time.Sleep(time.Second)
if driver.Get_stop_signal() == 1 {
driver.Set_motor_dir(0)
quit <- 1
}
}
}