int main(){
printf("\nInitialization starting...\n");
if(!elev_init()){
printf("\nFailed to initialize elevator...\n");
return 0;
}
printf("\nInitialization complete\n");
int state = BOOT;
int event = STOP;
int order_table[N_FLOORS][N_BUTTONS];
clear_order_table(order_table);
while(1){
//printf("\nCurrent state: %d, Current event: %d", state, event);
state = handle_event(state, event, order_table);
get_orders(order_table, state);
set_lights(order_table);
int temp_event = get_direction(order_table, state);
if(get_emergency(state)){
event = EMERGENCY_BUTTON;
}else if(get_obstruction(order_table, state)){
event = OBSTRUCTION;
}else if(temp_event != -1){
event = temp_event;
}
}
return 0;
} // End main
int main(){
// Initialize hardware
if (!elev_init()) {
printf(__FILE__ ": Unable to initialize elevator hardware\n");
return 1;
}
printf("Press STOP button to stop elevator and exit program.\n");
elev_set_speed(300);
while (1) {
if (elev_get_floor_sensor_signal() == 0){
elev_set_speed(300);
} else if (elev_get_floor_sensor_signal() == N_FLOORS-1){
elev_set_speed(-300);
}
if (elev_get_stop_signal()) {
elev_set_speed(0);
break;
}
}
return 0;
}
int main()
{
// Initialize hardware
if (!elev_init()) {
printf(__FILE__ ": Unable to initialize elevator hardware\n");
return 1;
}
printf("Best Elevator Software, version: 2.27.14\n" );
initialize();
lastFloorReached = N_FLOORS+1;
while (1) {
queueIsEmpty = emptyQueue();
obstructionSignal = elev_get_obstruction_signal();
stoppedSignal = elev_get_stop_signal();
thisFloor = elev_get_floor_sensor_signal();
duration = clock()-start;
if ( timerActive && duration > seconds ) {
timerActive = 0;
duration = 0;
stateMachine( TIMEROUT );
}
if ( obstructionSignal != lastObstructionSignal ) {
if ( obstructionSignal == 1 )
stateMachine( OBSTRON );
if ( obstructionSignal == 0 )
stateMachine( OBSTROFF );
lastObstructionSignal = obstructionSignal;
}
if ( stoppedSignal != lastStoppedSignal ) {
if ( stoppedSignal == 1 )
stateMachine( STOP );
lastStoppedSignal = stoppedSignal;
}
if ( thisFloor != -1 && ( lastFloorReached != thisFloor ) ) {
if ( thisFloor-lastFloorReached < 0 )
direction = DOWN;
if ( thisFloor-lastFloorReached > 0 )
direction = UP;
lastFloorReached = thisFloor;
elev_set_floor_indicator( thisFloor );
}
if ( order() && directionToGo( thisFloor, getNextOrder( thisFloor ) ) == 0 )
stateMachine( NEWORDERCURRENTFLOOR );
if ( thisFloor != -1 && directionToGo( thisFloor , getNextOrder( thisFloor ) ) == 0 && !timerActive )
stateMachine( FLOORREACHED );
if( queueIsEmpty == 1 && order() )
stateMachine( NEWORDEREMPTYQUEUE );
}
return 0;
}
int main(void){
// Initialize hardware
if (!elev_init()) {
printf("Unable to initialize elevator hardware!\n");
return 1;
}
States fsm_state = init;
States fsm_previous_state = init;
States fsm_new_state = init;
system_state_t system_state;
system_state.motor_direction = 0;
system_state.current_floor = -1;
reset_active_floors(&system_state);
reset_called_floors(&system_state);
while (1){
fsm_previous_state = fsm_state;
fsm_state = fsm_new_state;
switch (fsm_state){
case init:
fsm_new_state = fsm_init_state(&system_state, fsm_previous_state);
break;
case idle:
fsm_new_state = fsm_idle_state(&system_state,fsm_previous_state);
break;
case door_open:
fsm_new_state = fsm_door_open(&system_state, fsm_previous_state);
break;
case going_down:
fsm_new_state = fsm_going_down(&system_state, fsm_previous_state);
break;
case going_up:
fsm_new_state = fsm_going_up(&system_state, fsm_previous_state);
break;
case stop:
fsm_new_state = fsm_stop_button_pressed(&system_state, fsm_previous_state);
break;
default:
elev_set_stop_lamp(1);
break;
}
}
}
int main()
{
// Initialize hardware
if (!elev_init()) {
printf(__FILE__ ": Unable to initialize elevator hardware\n");
return 1;
}
ctrl_initiateElevator();
while (1) {
ui_checkStop();
ui_checkButtons();
ctrl_checkSensor();
ui_checkObstruction();
timer_checkDoorTimer();
}
return 0;
}
Driver::Driver(EventQueue& logic_queue, bool use_simulator)
: logic_queue(logic_queue),
fsm(logic_queue)
{
std::string driver_string = use_simulator ? "simulated" : "hardware";
elev_init(use_simulator ? ET_Simulation : ET_Comedi);
LOG_INFO("Driver started (" << driver_string << ")");
int current_floor = initialize_position();
if (current_floor >= 0) {
LOG_INFO("Elevator is now at floor " << current_floor);
}
else {
throw InitException("Failed to position the elevator at a known floor!");
}
fsm.set_floor(current_floor);
}
// Initialize statemachine
int sm_init(){
// Initialize hardware
if (!elev_init())
{
printf(__FILE__ ": Unable to initialize elevator hardware\n");
return 1;
}
// Initialize User interface
if (!ui_init())
{
printf(__FILE__ ": Unable to initialize elevator user interface\n");
return 1;
}
return 1;
}
int main(void){
printf("Main start 123\n");
FLAG_REBOOT=1;
pthread_create(&thread_5,NULL,tcp_receive,NULL);
pthread_create(&thread_6,NULL,receive_echo,NULL);
while(FLAG_REBOOT){
FLAG_REBOOT=0;
printf("Start while i main\n");
elev_init();
pthread_create(&thread_1, NULL, button_func, NULL);
pthread_create(&thread_2,NULL,elev_logic,NULL);
pthread_create(&thread_3,NULL,send_udp,NULL);
pthread_create(&thread_4,NULL,receive_udp,NULL);
pthread_join(thread_1, NULL);
pthread_join(thread_2,NULL);
pthread_join(thread_3, NULL);
pthread_join(thread_4, NULL);
}
return 0;
}
void start_elevator(){
elev_init();
elev_goto_nearest_floor();
init_buttonVectors();
for (int i = 0; i < N_FLOORS; i++){
printf("%i\n", internalButtonVector[i]);
}
lastFloor = elev_get_floor_sensor_signal();
pthread_mutex_init(&fileLock, NULL);
pthread_mutex_lock(&fileLock);
printf("Trying to read internal orders and set internalButtonVector\n");
internalOrdersText = fopen("internal.txt", "r");
int character;
if (internalOrdersText != NULL){
for (int i = 0; i < N_FLOORS; i++){
character = fgetc(internalOrdersText);
if((character-48) == 1){
internalButtonVector[i] = 1;
}
else{
internalButtonVector[i] = 0;
}
printf("%i\n", internalButtonVector[i]);
elev_set_button_lamp(BUTTON_COMMAND, i, internalButtonVector[i]);
}
fclose(internalOrdersText);
}
else{
printf("Inititating internalOrdersText\n");
init_internalOrdersText();
}
pthread_mutex_unlock(&fileLock);
printf("Hva faen?\n");
init_socket(&broadCastSocket);
bind_socket(&broadCastSocket, BROADCAST_PORT, "255.255.255.255");
int reuseEnable = 1;
if (setsockopt(broadCastSocket, SOL_SOCKET, SO_REUSEADDR, &reuseEnable, sizeof(reuseEnable)) < 0){
error("setsockopt");
}
init_socket(&sendSock);
int broadcastEnable = 1;
if (setsockopt(sendSock, SOL_SOCKET, SO_BROADCAST, &broadcastEnable, sizeof(broadcastEnable))){
error("setsockopt");
}
pthread_create(&connectMasterThread, NULL, &connect_to_master, NULL);
pthread_join(connectMasterThread, NULL);
printf("First init finished, lytter på port: %i ip: %s\n", slp, masterIPAddr);
pthread_mutex_init(&internalOrdersLock, NULL);
pthread_create(&internalOrdersThread, NULL, &thread_check_internal_orders, NULL);
pthread_mutex_init(&externalOrdersLock, NULL);
pthread_create(&checkExternalOrderThread, NULL, &check_external_orders, NULL);
pthread_mutex_init(&receiveLock, NULL);
pthread_create(&receiveThread, NULL, &thread_udp_receive_from_master, NULL);
pthread_mutex_init(&sendLock, NULL);
pthread_create(&threadSendLocDir, NULL, &thread_send_loc_dir_master, NULL);
printf("Initialization complete\n");
sleep(1);
elev_slave_waiting_with_network();
pthread_join(internalOrdersThread, NULL);
pthread_join(receiveThread, NULL);
}
/*
* Class: no_ntnu_stud_torbjovn_comedielevator_NativeInterface
* Method: elev_init
* Signature: (Z)V
*/
JNIEXPORT void JNICALL Java_no_ntnu_stud_torbjovn_comedielevator_NativeInterface_elev_1init
(JNIEnv * env, jobject obj, jboolean simulated) {
if (simulated) elev_init(ET_Simulation);
else elev_init(ET_Comedi);
}
int main()
{
if (!elev_init()) {
printf(__FILE__ ": Unable to initialize elevator hardware\n");
return 1;
}
slettAlleOrdre();
elev_set_speed(0);
initHeisstyring();
int forgjeEtasje = 0;
int etasje;
bool forgjeStopp;
bool stopp;
bool forgjeObstruksjon;
bool obstruksjon;
bool forgjeOpp[4];
bool opp[4];
bool forgjeInne[4];
bool inne[4];
bool forgjeNed[4];
bool ned[4];
while(1)
{
stopp = elev_get_stop_signal();
obstruksjon = elev_get_obstruction_signal();
etasje = elev_get_floor_sensor_signal();
for(int i = 0; i < N_FLOORS; i++) // poller masse, fix
{
if(i != N_FLOORS-1)
opp[i] = elev_get_button_signal(BUTTON_CALL_UP, i);
if(i != 0)
ned[i] = elev_get_button_signal(BUTTON_CALL_DOWN, i);
inne[i] = elev_get_button_signal(BUTTON_COMMAND, i);
}
for(int i = 0; i < N_FLOORS; i++)
{
if(opp[i] && !forgjeOpp[i])
leggTilOrdre(i, false, true);
if(ned[i] && !forgjeNed[i])
leggTilOrdre(i, false, false);
if(inne[i] && !forgjeInne[i])
leggTilOrdre(i, true, true);
forgjeOpp[i] = opp[i];
forgjeNed[i] = ned[i];
forgjeInne[i] = inne[i];
}
if(harTimetUt())
timeOut();
if (etasje != -1 && etasje != forgjeEtasje)
{
elev_set_floor_indicator(etasje);
etasjeAnkommet(etasje);
forgjeEtasje = etasje;
}
if(obstruksjon && !forgjeObstruksjon)
{
forgjeObstruksjon = obstruksjon;
forgjeEtasje = -1;
if(obstruksjon)
obstruksjonPa();
else
obstruksjonAv();
}
if(stopp && !forgjeStopp)
{
forgjeStopp = stopp;
forgjeEtasje = -1;
if(stopp)
nodStopp();
}
}
return 0;
}
void elevator_thread(){
int sum=0;
int stop=0;
Message message_send;
elevator.queue[0] = 0;
elevator.queue[1] = 0;
elevator.queue[2] = 0;
elevator.queue[3] = 0;
FILE *fp;
char buff[255];
fp = fopen("local_order_queue.txt", "a+");
for(int i=0;i<N_FLOORS;i++){
fscanf(fp, "%s", buff);
printf("%d : %s\n", i, buff );
if(buff[0] == '1'){
elevator.queue[i]=1;
sum++;
}
else
elevator.queue[i]=0;
}
fclose(fp);
if(!sum){
elev_init();
elevator.floor_current = 0;
elevator.direction=DIRN_STOP;
}
message_send.elevator.direction = elevator.direction;
message_send.elevator.floor_current = elevator.floor_current;
char transmit[BUFSIZE];
serialization(ELEV_UPDATE, message_send, transmit);
pthread_t message_send_thread;
pthread_create(&message_send_thread, NULL , tcp_send, (void*)transmit);
int floor_update_not_sent=1;
while(1){
if(sum != 0){
elevator.floor_current = elev_get_floor_sensor_signal();
int orders_up=0;
int orders_down=0;
if(elevator.direction == DIRN_STOP){
for(int i=elevator.floor_current+1;i<N_FLOORS;i++){
if(elevator.queue[i] != 0){
orders_up++;
puts("Order up");
}
}
for( int i=elevator.floor_current-1;i>=0;i--){
if(elevator.queue[i] != 0){
orders_down++;
puts("Order down");
}
}
if (orders_up == 0 && orders_down == 0){
elevator.direction=DIRN_STOP;
}
else if(orders_up>orders_down){
elevator.direction=DIRN_UP;
puts("DIRN UP");
}
else{
elevator.direction=DIRN_DOWN;
puts("DIRN DOWN");
}
}
for(int i=0;i<N_FLOORS;i++){
message_send.elevator.queue[i]=elevator.queue[i];
}
message_send.elevator.direction = elevator.direction;
message_send.elevator.floor_current = elevator.floor_current;
char transmit[BUFSIZE];
serialization(ELEV_UPDATE, message_send, transmit);
pthread_t message_send_thread;
pthread_create(&message_send_thread, NULL , tcp_send, (void*)transmit);
elev_set_motor_direction(elevator.direction);
}
while(sum){
elevator.floor_current=elev_get_floor_sensor_signal();
if(elevator.floor_current!=-1){
elev_set_floor_indicator(elevator.floor_current);
if((elevator.floor_current==0 && elevator.direction==DIRN_DOWN) || (elevator.floor_current==N_FLOORS&&elevator.direction==DIRN_UP)){
elevator.direction=DIRN_STOP;
elev_set_motor_direction(elevator.direction);
stop=1;
}
if(elevator.queue[elevator.floor_current]==1){
stop=1;
}
else if(elevator.queue[elevator.floor_current]==2){
sum=0;
if(elevator.direction==DIRN_UP){
for(int i=elevator.floor_current;i<N_FLOORS;i++){
if(elevator.queue[i]==1){
sum++;
}
}
switch (elevator.floor_current){
case 1:
if(elev_orders[elevator.floor_current][1]==my_ID){
stop=1;
break;
}
case 2:
if(elev_orders[elevator.floor_current][1]==my_ID){
stop=1;
break;
}
default:
if(sum==0){
stop=1;
}
}
}
else if(elevator.direction==DIRN_DOWN){
for(int i=elevator.floor_current;i>=0;i--){
if(elevator.queue[i]==1){
sum++;
}
}
switch (elevator.floor_current){
case 1:
if(elev_orders[elevator.floor_current+2][1]==my_ID){
stop=1;
break;
}
case 2:
if(elev_orders[elevator.floor_current+2][1]==my_ID){
stop=1;
break;
}
default:
if(sum==0){
stop=1;
}
}
}
}
if(stop){
stop=0;
elev_set_motor_direction(DIRN_STOP);
elev_set_button_lamp(BUTTON_INSIDE,elevator.floor_current,0);
elevator.queue[elevator.floor_current]=0;
printf("Elevator queue updated: \t");
sum = 0;
for(int i=0;i<N_FLOORS;i++){
message_send.elevator.queue[i]=elevator.queue[i];
sum+=elevator.queue[i];
printf("%d ", elevator.queue[i]);
}
FILE *fp;
fp = fopen("local_order_queue.txt", "w+");
fprintf(fp,"%d %d %d %d", elevator.queue[0], elevator.queue[1], elevator.queue[2], elevator.queue[3] );
fclose(fp);
message_send.elevator.prev_direction = elevator.direction;
elevator.direction = DIRN_STOP;
message_send.elevator.direction = elevator.direction;
message_send.elevator.floor_current = elevator.floor_current;
printf("Floor current: %d\n", message_send.elevator.floor_current);
for(int i = 0;i<6;i++){
message_send.orders[i][0] = elev_orders[i][0];
message_send.orders[i][1] = elev_orders[i][1];
}
switch (elevator.floor_current){
case 0:
message_send.orders[0][0] = 0;
message_send.orders[0][1] = my_ID;
elevator.next_direction = DIRN_UP;
break;
case 1:
if(elev_orders[1][1] == my_ID){
message_send.orders[1][0] = 0;
message_send.orders[1][1] = my_ID;
elevator.next_direction = DIRN_UP;
}
else {
message_send.orders[3][0] = 0;
message_send.orders[3][1] = my_ID;
elevator.next_direction = DIRN_DOWN;
}
break;
case 2:
if(elev_orders[2][1] == my_ID){
message_send.orders[2][0] = 0;
message_send.orders[2][1] = my_ID;
elevator.next_direction = DIRN_UP;
}
else {
message_send.orders[4][0] = 0;
message_send.orders[4][1] = my_ID;
elevator.next_direction = DIRN_DOWN;
}
break;
case 3:
message_send.orders[5][0] = 0;
message_send.orders[5][1] = my_ID;
elevator.next_direction = DIRN_DOWN;
break;
}
puts("ORDER UPDATE");
for(int i = 0;i<6;i++){
printf("Order: %d \t ID: %d\n",message_send.orders[i][0], message_send.orders[i][1]);
}
char transmit[BUFSIZE];
serialization(ORDER_UPDATE, message_send, transmit);
pthread_t message_send_thread;
pthread_create(&message_send_thread, NULL , tcp_send, (void*)transmit);
floor_update_not_sent=0;
elev_set_door_open_lamp(1);
elev_set_button_lamp(BUTTON_INSIDE,elevator.floor_current,0);
sleep(2);
elev_set_door_open_lamp(0);
sum = 0;
switch (elevator.next_direction){
case DIRN_DOWN:
for(int i = elevator.floor_current;i>=0;i--){
sum += elevator.queue[i];
}
if(sum!=0){
elevator.direction = DIRN_DOWN;
}
else {
for(int i = elevator.floor_current;i<N_FLOORS;i++){
sum+=elevator.queue[i];
}
if(sum!=0)
elevator.direction = DIRN_UP;
}
break;
case DIRN_UP:
for(int i = elevator.floor_current;i<N_FLOORS;i++){
sum += elevator.queue[i];
}
if(sum!=0){
elevator.direction = DIRN_UP;
}
else {
for(int i = elevator.floor_current;i>=0;i--){
sum+=elevator.queue[i];
}
if(sum!=0)
elevator.direction = DIRN_DOWN;
}
break;
}
elev_set_motor_direction(elevator.direction);
}
else if(floor_update_not_sent){
message_send.elevator.direction = elevator.direction;
message_send.elevator.prev_direction = elevator.direction;
message_send.elevator.floor_current = elevator.floor_current;
char transmit[BUFSIZE];
serialization(ELEV_UPDATE, message_send, transmit);
pthread_t message_send_thread;
pthread_create(&message_send_thread, NULL , tcp_send, (void*)transmit);
floor_update_not_sent=0;
}
}
else
floor_update_not_sent=1;
}
for(int i=0;i<N_FLOORS;i++){
sum+=elevator.queue[i];
}
if(!connection){
break;
}
}
}
