// RunUp runs up
func RunUp() {
if getFloor() == NumFloors-1 {
log.Error("Trying to go up from the top floor?!")
return
}
mutex.Lock()
C.elev_set_motor_direction(1)
mutex.Unlock()
}
// RunDown runs down
func RunDown() {
if getFloor() == 0 {
log.Error("Trying to go down from the bottom floor?!")
return
}
mutex.Lock()
C.elev_set_motor_direction(-1)
mutex.Unlock()
}
func strToOrder(str string) OrderMessage {
// Check for CRC mismatch. Not tamper-proof, but should be corruption-proof.
calculatedCrc := crc16.Crc16([]byte(str[:6]))
receivedCrc := (uint16(str[6]) << 8) + uint16(str[7])
if calculatedCrc != receivedCrc {
log.Error("CRC mismatch in " + str[:4] + " message!")
return OrderMessage{Type: InvalidOrder} // Probably corrupted
}
senderID, _ := strconv.Atoi(string(str[3]))
floorNum, _ := strconv.Atoi(string(str[4]))
dirNum, _ := strconv.Atoi(string(str[5]))
return OrderMessage{Type: OrderType(str[:2]), SenderID: uint(senderID), Floor: driver.Floor(floorNum), Direction: driver.Direction(dirNum)}
}
func main() {
id := flag.Uint("id", 1337, "Elevator ID")
flag.Parse()
if *id > 9 {
log.Error("Elevator ID must be between 0 and 9")
os.Exit(1)
}
log.Info("Id: ", *id)
queue.SetID(*id)
currentDirection := driver.DirectionDown
lastFloor := driver.Floor(0)
doorOpen := false
// Init driver and make sure elevator is at a floor
driver.Init()
queue.ImportInternalLog()
lastFloor = driver.Reset()
queue.Update(lastFloor)
queue.ClearOrderLocal(lastFloor, currentDirection)
floorCh := make(chan driver.Floor)
go driver.FloorListener(floorCh)
floorBtnCh := make(chan driver.ButtonEvent, 8)
go driver.FloorButtonListener(floorBtnCh)
orderReceiveCh := make(chan net.OrderMessage, 8)
go net.InitAndHandle(orderReceiveCh, *id)
timeoutCh := make(chan bool, 8)
queue.SetTimeoutCh(timeoutCh)
// Oh, God almighty, please spare our ears
sigtermCh := make(chan os.Signal)
signal.Notify(sigtermCh, os.Interrupt, syscall.SIGTERM)
go func(ch <-chan os.Signal) {
<-ch
driver.Stop()
os.Exit(0)
}(sigtermCh)
// Ping timeout so we start in case we have logged orders from a previous crash
timeoutCh <- true
// Main event loop
for {
select {
// Elevator has arrived at a new floor
case fl := <-floorCh:
queue.Update(fl)
if queue.ShouldStop(fl) {
driver.Stop()
queue.ClearOrderLocal(fl, currentDirection)
log.Debug("Stopped at floor ", fl)
net.SendOrder(net.OrderMessage{Type: net.CompletedOrder, Floor: fl, Direction: currentDirection})
go func() {
doorOpen = true
driver.OpenDoor()
time.Sleep(1 * time.Second)
doorOpen = false
driver.CloseDoor()
timeoutCh <- true
}()
}
// A floor button was pressed
case btn := <-floorBtnCh:
queue.NewOrder(btn.Floor, btn.Dir)
if btn.Dir != driver.DirectionNone {
net.SendOrder(net.OrderMessage{Type: net.NewOrder, Floor: btn.Floor, Direction: btn.Dir})
}
if !doorOpen {
currentDirection = queue.NextDirection()
driver.Run(currentDirection)
}
// A message came in from the network
case o := <-orderReceiveCh:
switch o.Type {
case net.NewOrder:
log.Debug("New order, floor: ", o.Floor, ", dir: ", o.Direction)
queue.NewOrder(o.Floor, o.Direction)
case net.AcceptedOrder:
log.Debug("Remote accepted order, floor: ", o.Floor, ", dir: ", o.Direction)
queue.OrderAcceptedRemotely(o.Floor, o.Direction)
case net.CompletedOrder:
log.Debug("Remote completed order, floor: ", o.Floor, ", dir: ", o.Direction)
queue.ClearOrder(o.Floor, o.Direction)
}
// Something timed out. Wake if idle.
case <-timeoutCh:
currentDirection = queue.NextDirection()
if !doorOpen {
driver.Run(currentDirection)
}
}
}
}