func main() {
driver.IOInit()
time.Sleep(time.Second * 1)
hardware.ResetLights()
hardware.SetMotorDirection(0)
time.Sleep(time.Second * 1)
}
func EventOrderReceived() {
for {
button := <-ch_order_received
var target string
if button.Button_type == config.BUTTON_COMMAND {
target = config.Laddr
} else {
target = queue.GetOptimalElev(button)
}
queue.AddOrder(button, target, ch_order_received)
if target == config.Laddr {
if config.Local_elev.Door_open {
if queue.ShouldStopOnFloor(config.Local_elev.Last_floor) {
ch_door_open <- true
time.Sleep(time.Millisecond)
queue.DeleteOrder(config.Local_elev.Last_floor, ch_outgoing, true)
}
} else if config.Local_elev.Is_idle {
if queue.ShouldStopOnFloor(config.Local_elev.Last_floor) {
ch_door_open <- true
time.Sleep(time.Millisecond)
queue.DeleteOrder(config.Local_elev.Last_floor, ch_outgoing, true)
} else {
dir := ChooseNewDirection()
config.Local_elev.Is_idle = false
config.Local_elev.Direction = dir
hardware.SetMotorDirection(dir)
}
}
}
}
}
func CloseDoor() {
config.Local_elev.Door_open = false
hardware.SetDoorOpenLamp(0)
dir := ChooseNewDirection()
config.Local_elev.Is_idle = (dir == config.DIR_STOP)
config.Local_elev.Direction = dir
hardware.SetMotorDirection(dir)
}
func EventReachedFloor(floor int) {
config.Local_elev.Last_floor = floor
hardware.SetFloorIndicator(floor)
if queue.ShouldStopOnFloor(floor) {
config.Local_elev.Is_idle = true
hardware.SetMotorDirection(config.DIR_STOP)
queue.DeleteOrder(floor, ch_outgoing, true)
ch_door_open <- true
}
}
func main() {
if _, err := os.Open(config.QUEUE_FILENAME); err == nil {
BackupHold()
queue.FileRead(config.QUEUE_FILENAME)
network.Init(ch_outgoing_msg, ch_incoming_msg, ch_new_elev, ch_main_alive)
} else {
network.Init(ch_outgoing_msg, ch_incoming_msg, ch_new_elev, ch_main_alive)
time.Sleep(time.Millisecond)
if _, err := os.Create(config.QUEUE_FILENAME); err != nil {
log.Fatal("FATAL: Could not create queue file!")
}
}
backup := exec.Command("gnome-terminal", "-x", "sh", "-c", "go run main/main.go")
backup.Run()
if !hardware.Init() {
log.Fatal("Unable to initialize elevator hardware!")
}
hardware.SetMotorDirection(fsm.ChooseNewDirection())
go MessageServer()
go hardware.ReadButtons(ch_button_pressed)
go hardware.SetLights()
go hardware.FloorPoller(ch_floor_poll)
go StateSpammer()
go fsm.EventOrderReceived()
fsm.Init(ch_outgoing_msg, ch_new_order)
log.Printf("Elev addr: %s", config.Laddr)
for {
select {
case button := <-ch_button_pressed:
ch_new_order <- button
if button.Button_type != config.BUTTON_COMMAND {
ch_outgoing_msg <- config.Message{Msg_type: config.ADD_ORDER, Button: button}
}
case floor := <-ch_floor_poll:
fsm.EventReachedFloor(floor)
}
}
}