Пример #1
0
func FloorIndicator() {
	for {
		if elevdriver.GetFloor() > 0 {
			elevdriver.SetFloor(elevdriver.GetFloor())
		}
		time.Sleep(100 * time.Millisecond)
	}
}
Пример #2
0
func (elevinf *Elevatorinfo) statemachineAscending() {
	time.Sleep(1 * time.Millisecond)
	switch elevinf.event {
	case ORDER:
	case STOP:
		elevinf.StopButtonPushed()
		elevinf.state = EMERGENCY
	case OBSTRUCTION:
		elevinf.StopButtonPushed()
		elevinf.state = EMERGENCY
	case SENSOR:
		fmt.Printf("FLOOR DETECTED\n")
		if elevinf.StopAtCurrentFloor() == 1 {
			fmt.Printf("GOING TO STOP HERE\n")
			elevinf.StopMotor()
			elevinf.state = OPEN_DOOR
			elevinf.DeleteOrders()
			break
		} else if elevdriver.GetFloor() == 4 {
			elevinf.StopMotor()
			elevinf.state = IDLE
		}
	case NO_EVENT:
	}
}
Пример #3
0
func (elevinf *Elevatorinfo) statemachineIdle() {
	switch elevinf.event {
	case ORDER:
		if elevinf.DetermineDirection() != 2 && elevdriver.GetFloor() == -1 {
			elevinf.Initiate()
			elevinf.state = IDLE
			break
		}
		if elevinf.DetermineDirection() == -2 {
			elevinf.state = OPEN_DOOR
		} else if elevinf.DetermineDirection() == -1 {
			elevinf.state = DECENDING
			StartMotor(-1)
		} else if elevinf.DetermineDirection() == 1 {
			/*if elevdriver.GetFloor() == -1 {
				elevinf.Initiate()
					elevinf.state = IDLE
				break
			}*/
			elevinf.state = ASCENDING
			StartMotor(1)
		}
	case STOP:
		elevinf.StopButtonPushed()
		elevinf.state = EMERGENCY
	case OBSTRUCTION:
		elevinf.StopButtonPushed()
		elevinf.state = EMERGENCY
	case SENSOR:
	case NO_EVENT:
	}
}
Пример #4
0
func (elevinf *Elevatorinfo) statemachineAscending() {
	// for elevinf.state == ASCENDING {
	time.Sleep(1 * time.Millisecond)
	switch elevinf.event {
	case ORDER:
	case STOP:
		elevinf.StopButtonPushed()
		elevinf.state = EMERGENCY
	case OBSTRUCTION:
		elevinf.StopButtonPushed()
		elevinf.state = EMERGENCY
	case SENSOR: // Destination reached || someone wants to go UP || no orders above DECENDING
		fmt.Printf("FLOOR DETECTED\n")
		if elevinf.StopAtCurrentFloor() == 1 {
			fmt.Printf("GOING TO STOP HERE\n")
			elevinf.StopMotor()
			elevinf.state = OPEN_DOOR
			elevinf.DeleteOrders()
			break
		} else if elevdriver.GetFloor() == 4 {
			elevinf.StopMotor()
			elevinf.state = IDLE
		}
	case NO_EVENT:
	}
	// }
}
Пример #5
0
func (elevinf *Elevatorinfo) DetermineDirection() int { // The elevators "brain", choosing which way to go depending on direction and orders

	current_floor := elevdriver.GetFloor()
	orders_over := 0
	orders_under := 0
	orders_at_current := 0

	for i := 0; i < 4; i++ {
		for j := 0; j < 3; j++ {
			if elevinf.internal_orders[i][j] == 1 && i < current_floor-1 {
				orders_under++
			} else if elevinf.internal_orders[i][j] == 1 && i > current_floor-1 {
				orders_over++
			} else if elevinf.internal_orders[i][j] == 1 && i == current_floor-1 {
				orders_at_current++
			}
		}
	}

	if orders_at_current > 0 {
		return -2 //Stay at floor
	} else if (orders_under > 0 && elevinf.last_direction == 2) || (orders_under > 0 && orders_over == 0) {
		return -1 //Keep going down
	} else if (orders_over > 0 && elevinf.last_direction == 1) || (orders_over > 0 && orders_under == 0) {
		return 1 //Keep going up
	} else {
		return 2 //No orders, no direction
	}

	return 0

}
Пример #6
0
func (elevinf *Elevatorinfo) statemachineEmergency() {
	// for elevinf.state == EMERGENCY {
	switch elevinf.event {
	case ORDER:
		for i := 0; i < 4; i++ {
			if elevinf.internal_orders[i][2] == 1 {
				elevdriver.ClearStopButton()
				if elevinf.DetermineDirection() != 2 && elevdriver.GetFloor() == -1 {
					for elevdriver.GetFloor() == -1 {
						StartMotor(-1)
						elevinf.ReceiveOrders()
						elevinf.CheckLights()
						if elevinf.StopAtCurrentFloor() == 2 {
							elevinf.StopMotor()
							elevinf.state = OPEN_DOOR
							elevinf.DeleteOrders()
							break
						}
						if elevdriver.GetStopButton() || elevdriver.GetObs() {
							elevinf.StopButtonPushed()
							elevinf.state = EMERGENCY
							break
						}
					}
					break
				}
				if elevinf.DetermineDirection() == -2 {
					elevinf.state = OPEN_DOOR
				} else if elevinf.DetermineDirection() == -1 {
					elevinf.state = DECENDING
					StartMotor(-1)
				} else if elevinf.DetermineDirection() == 1 {
					elevinf.state = ASCENDING
					StartMotor(1)
				}
			}
		}
	case STOP:
	case OBSTRUCTION:
	case SENSOR:
	case NO_EVENT:
	}
	time.Sleep(1 * time.Millisecond)
	// }
}
Пример #7
0
func turnAround() {
	for {
		floor := elevdriver.GetFloor()
		go elevdriver.SetFloor(floor)
		switch floor {
		case 1:
			go elevdriver.MotorUp()
		case 4:
			go elevdriver.MotorDown()
		}
	}
}
Пример #8
0
func (elevinf *Elevatorinfo) Initiate() {
	fmt.Printf("Halla\n")
	elevdriver.Init()
	fmt.Printf("Balle\n")
	StartMotor(-1)
	elevinf.last_direction = 2
	for elevdriver.GetFloor() == -1 {
	}

	elevinf.StopMotor()

	fmt.Printf("Elevator initiation complete!\n")
}
Пример #9
0
func (elevinf *Elevatorinfo) SetEvent() {
	currentFloor := elevdriver.GetFloor()
	switch {
	case elevdriver.GetStopButton() && elevinf.state != EMERGENCY:
		elevinf.event = STOP
	case elevdriver.GetObs():
		elevinf.event = OBSTRUCTION
	case elevinf.DetermineDirection() != 2 && elevinf.state != ASCENDING && elevinf.state != DECENDING:
		elevinf.event = ORDER
	case currentFloor != -1:
		elevinf.event = SENSOR
		elevinf.last_floor = currentFloor
	default:
		elevinf.event = NO_EVENT
	}
	fmt.Printf("updated event\n")
}
Пример #10
0
func (elevinf *Elevatorinfo) DetermineDirection() int { // The elevators "brain", choosing which way to go depending on direction and orders

	current_floor := elevdriver.GetFloor()
	last_dir := elevinf.last_direction - 1
	orders_over := 0
	orders_under := 0
	orders_at_current := 0

	for i := 0; i < 4; i++ {
		for j := 0; j < 3; j++ {
			if elevinf.internal_orders[i][j] == 1 && i < current_floor-1 {
				orders_under++
			} else if elevinf.internal_orders[i][j] == 1 && i > current_floor-1 {
				orders_over++
			} else if elevinf.internal_orders[i][j] == 1 && i == current_floor-1 {
				orders_at_current++
				fmt.Printf("%dorders, %dfloor, %dbutton\n", orders_at_current, i, j)
			}
		}
	}

	if orders_at_current > 0 && (elevinf.internal_orders[current_floor-1][2] == 1 || elevinf.external_orders[current_floor-1][last_dir] == 1) {
		fmt.Printf("Stay at floor\n")
		return -2 //Stay at floor
	} else if (orders_under > 0 && elevinf.last_direction == 2) || (orders_under > 0 && orders_over == 0) {
		fmt.Printf("blabla1\n")
		return -1 //Keep going down
	} else if (orders_over > 0 && elevinf.last_direction == 1) || (orders_over > 0 && orders_under == 0) {
		fmt.Printf("blabla1\n")
		return 1 //Keep going up
	} else {
		fmt.Printf("two is returned, do nothing\n")
		return 2 //No orders, no direction
	}

	return 2
}
Пример #11
0
func (elevinf *Elevatorinfo) DeleteOrders() {
	if elevdriver.GetFloor() == 1 {
		for i := 0; i < 3; i++ {
			elevinf.internal_orders[0][i] = 0
			elevinf.external_orders[0][0] = 0
			go ExternalSendDelete(0, 0)

		}
	} else if elevdriver.GetFloor() == 2 && elevinf.last_direction == UP {
		for i := 0; i < 3; i = i + 2 {
			elevinf.internal_orders[1][i] = 0
			elevinf.external_orders[1][0] = 0
			go ExternalSendDelete(1, 0)
		}
	} else if elevdriver.GetFloor() == 2 && elevinf.last_direction == DOWN {
		for i := 1; i < 3; i++ {
			elevinf.internal_orders[1][i] = 0
			elevinf.external_orders[1][1] = 0
			go ExternalSendDelete(1, 1)
		}
	} else if elevdriver.GetFloor() == 3 && elevinf.last_direction == UP {
		for i := 0; i < 3; i = i + 2 {
			elevinf.internal_orders[2][i] = 0
			elevinf.external_orders[2][0] = 0
			go ExternalSendDelete(2, 0)
		}
	} else if elevdriver.GetFloor() == 3 && elevinf.last_direction == DOWN {
		for i := 1; i < 3; i++ {
			elevinf.internal_orders[2][i] = 0
			elevinf.external_orders[2][1] = 0
			go ExternalSendDelete(2, 1)
		}
	} else if elevdriver.GetFloor() == 4 {
		for i := 0; i < 3; i++ {
			elevinf.internal_orders[3][i] = 0
			elevinf.external_orders[3][1] = 0
			go ExternalSendDelete(3, 1)
		}
	}
}
Пример #12
0
func (elevinf *Elevatorinfo) DeleteOrders() {

	fmt.Printf("gonna delete...\n")
	if elevdriver.GetFloor() == 1 {
		for i := 0; i < 3; i++ {
			elevinf.internal_orders[0][i] = 0
			elevinf.external_orders[0][0] = 0
			go ExternalSendDelete(0, 0)

		}
	} else if elevdriver.GetFloor() == 2 && elevinf.last_direction == UP {
		for i := 0; i < 3; i = i + 2 {
			elevinf.internal_orders[1][i] = 0
			elevinf.external_orders[1][0] = 0
			if elevinf.NoOrdersAbove() {
				elevinf.external_orders[1][1] = 0
				elevinf.internal_orders[1][1] = 0
				go ExternalSendDelete(1, 1)
			}
			go ExternalSendDelete(1, 0)
		}
	} else if elevdriver.GetFloor() == 2 && elevinf.last_direction == DOWN {
		for i := 1; i < 3; i++ {
			elevinf.internal_orders[1][i] = 0
			elevinf.external_orders[1][1] = 0
			if elevinf.NoOrdersBelow() {
				fmt.Printf("Deleting order KNUUUT\n")
				elevinf.internal_orders[1][0] = 0
				elevinf.external_orders[1][0] = 0
				go ExternalSendDelete(1, 0)
			}
			go ExternalSendDelete(1, 1)
		}
	} else if elevdriver.GetFloor() == 3 && elevinf.last_direction == UP {
		for i := 0; i < 3; i = i + 2 {
			elevinf.internal_orders[2][i] = 0
			elevinf.external_orders[2][0] = 0
			if elevinf.NoOrdersAbove() {
				elevinf.external_orders[2][1] = 0
				elevinf.internal_orders[2][1] = 0
				go ExternalSendDelete(2, 1)
			}
			go ExternalSendDelete(2, 0)
		}
	} else if elevdriver.GetFloor() == 3 && elevinf.last_direction == DOWN {
		for i := 1; i < 3; i++ {
			elevinf.internal_orders[2][i] = 0
			elevinf.external_orders[2][1] = 0
			if elevinf.NoOrdersBelow() {
				elevinf.external_orders[2][0] = 0
				elevinf.internal_orders[2][0] = 0
				go ExternalSendDelete(2, 0)
			}
			go ExternalSendDelete(2, 1)
		}
	} else if elevdriver.GetFloor() == 4 {
		for i := 0; i < 3; i++ {
			elevinf.internal_orders[3][i] = 0
			elevinf.external_orders[3][1] = 0
			go ExternalSendDelete(3, 1)
		}
	}

}
Пример #13
0
func (elevinf *Elevatorinfo) statemachineOpendoor() {
	switch elevinf.event {
	case ORDER:
		fmt.Printf("The door is open\n")
		elevdriver.SetDoor()
		elevinf.DeleteOrders()
		for i := 0; i < 300; i++ {
			if elevdriver.GetFloor() == -1 && elevdriver.GetObs() == false {
				elevdriver.ClearDoor()
				elevinf.state = IDLE
				break
			} else if elevdriver.GetStopButton() == true {
				elevinf.StopButtonPushed()
				elevinf.state = EMERGENCY
				break
			}
			elevinf.ReceiveOrders()
			elevinf.CheckLights()
			time.Sleep(10 * time.Millisecond)
			if elevdriver.GetObs() == true {
				fmt.Printf("Obstruction detected, door staying open\n")
				i = 0
			}
		}
		elevdriver.ClearDoor()
		elevinf.DeleteOrders()
		fmt.Printf("Door cleared\n")
		if elevinf.DetermineDirection() == -2 {
			elevinf.state = OPEN_DOOR
		} else if elevinf.DetermineDirection() == -1 {
			elevinf.state = DECENDING
			StartMotor(-1)
		} else if elevinf.DetermineDirection() == 1 {
			elevinf.state = ASCENDING
			StartMotor(1)
		} else if elevinf.DetermineDirection() == 2 {
			elevinf.state = IDLE
		}
	case STOP:
		elevinf.StopButtonPushed()
		elevinf.state = EMERGENCY
	case OBSTRUCTION:
	case SENSOR:
		fmt.Printf("Elevator reached floor %d\n", elevdriver.GetFloor())
		elevdriver.SetDoor()
		for i := 0; i < 300; i++ {
			if elevdriver.GetFloor() == -1 && elevdriver.GetObs() == false {
				elevdriver.ClearDoor()
				elevinf.state = IDLE
				break
			} else if elevdriver.GetStopButton() == true {
				elevinf.StopButtonPushed()
				elevinf.state = EMERGENCY
				break
			}
			elevinf.ReceiveOrders()
			elevinf.CheckLights()
			if elevdriver.GetObs() == true {
				i = 0
			}
		}
		elevinf.DeleteOrders()
		elevdriver.ClearDoor()
		if elevinf.DetermineDirection() == -2 {
			elevinf.state = OPEN_DOOR
		} else if elevinf.DetermineDirection() == -1 {
			elevinf.state = DECENDING
			StartMotor(-1)
		} else if elevinf.DetermineDirection() == 1 {
			elevinf.state = ASCENDING
			StartMotor(1)
		} else if elevinf.DetermineDirection() == 2 {
			elevinf.state = IDLE
		}
	case NO_EVENT:
	}
}