//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)
}
}
}
}