func watchObs() {
for {
if elevdriver.GetObs() {
go elevdriver.SetDoor()
} else {
go elevdriver.ClearDoor()
}
}
}
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")
}
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)
// }
}
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:
}
}