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;
}
States fsm_going_up(system_state_t* system_state, States fsm_previous_state){
if (elev_get_stop_signal()){
return stop;
}
system_state->next_floor = system_state->current_floor + system_state->motor_direction;
elev_set_door_open_lamp(0);
elev_set_motor_direction(DIRN_UP);
check_cmd_buttons(system_state);
check_call_buttons(system_state);
check_floor(system_state);
if (elev_get_floor_sensor_signal() >= 0) {
elev_set_floor_indicator(system_state->current_floor);
if (should_stop(system_state, system_state->current_floor)){
elev_set_direction(system_state, 0);
orders_clearAt(system_state, system_state->current_floor);
reset_button_indicators(system_state);
return door_open;
}
}
return going_up;
}
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;
}
current_state_t sm_stop(int queues[N_QUEUES][N_FLOORS]) {
elev_set_speed(0);
ui_set_stop_lamp(1);
//this takes the elevator out of the stop state
if(queue_has_orders(queues) && !elev_get_stop_signal())
{
ui_set_stop_lamp(0);
return STATE_UNDEF;
}
queue_clear(queues);
return STATE_STOP;
}
//1 is up and 0 is down
current_state_t sm_door_open(int queues[N_QUEUES][N_FLOORS], int previousState) {
elev_set_speed(0);
int timer = 0;
int currentFloor = elev_get_floor_sensor_signal();
ui_set_door_open_lamp(1);
startTimer();
//bool
while(timer != 1)
{
if(elev_get_stop_signal())
{
return STATE_STOP;
}
//listens for button signals, to take stop and order while the door is open
ui_button_signals(queues);
timer = checkTimer(3);
}
while(elev_get_obstruction_signal() != 0)
{
if(elev_get_stop_signal())
{
ui_set_door_open_lamp(0);
return STATE_STOP;
}
ui_set_door_open_lamp(1);
}
ui_set_door_open_lamp(0);
if (previousState == STATE_UP)
{
queues[QUEUE_COMMAND][currentFloor] = 0;
//if on the top floor
if(currentFloor == (N_FLOORS-1))
{
queues[QUEUE_DOWN][currentFloor] = 0;
}
//if orders over current in up queue
else if(!queue_up_empty(queues, QUEUE_UP, currentFloor))
{
queues[QUEUE_UP][currentFloor] = 0;
}
//if no orders over current in up queue AND orders below in down queue
else if(queue_up_empty(queues, QUEUE_UP, currentFloor) && !queue_down_empty(queues, QUEUE_DOWN, currentFloor))
{
queues[QUEUE_DOWN][currentFloor] = 0;
return STATE_DOWN;
}
return STATE_UP;
}
else if(previousState == STATE_DOWN)
{
queues[QUEUE_COMMAND][currentFloor] = 0;
//if on bottom floor
if(currentFloor == 0)
{
queues[QUEUE_UP][currentFloor] = 0;
//return IDLE??????????????????????????????
}
//if orders below in down queue
else if(!queue_down_empty(queues, QUEUE_DOWN, currentFloor))
{
queues[QUEUE_DOWN][currentFloor] = 0;
}
//if no orders below in down queue and orders over in up queue
else if(queue_down_empty(queues, QUEUE_DOWN, currentFloor) && !queue_up_empty(queues, QUEUE_UP, currentFloor))
{
queues[QUEUE_UP][currentFloor] = 0;
return STATE_UP;
}
return STATE_DOWN;
}
return STATE_IDLE;
}
States fsm_idle_state(system_state_t* system_state, States fsm_previous_state){
int floor = elev_get_floor_sensor_signal();
system_state->next_floor = system_state->prev_floor + system_state->motor_direction;
if (elev_get_stop_signal()){
return stop;
}
if (floor == 0){
if (elev_get_button_signal(BUTTON_COMMAND, floor) ||
elev_get_button_signal(BUTTON_CALL_UP, floor)){
return door_open;
}
}
else if (floor == 3){
if (elev_get_button_signal(BUTTON_COMMAND, floor) ||
elev_get_button_signal(BUTTON_CALL_DOWN, floor)){
return door_open;
}
}
else{
if (elev_get_button_signal(BUTTON_COMMAND, floor) ||
elev_get_button_signal(BUTTON_CALL_UP, floor) ||
elev_get_button_signal(BUTTON_CALL_DOWN, floor)){
return door_open;
}
}
check_cmd_buttons(system_state);
for (int i = 0; i < N_FLOORS; ++i){
if (system_state->elev_active_floors[i] == 1){
if (i < floor){
system_state->motor_direction = -1;
return going_down;
}
else if (i > floor){
system_state->motor_direction = 1;
return going_up;
}
}
}
check_call_buttons(system_state);
for (int i=0; i<N_FLOORS;++i){
if (system_state->elev_called_floors_down[i] || system_state->elev_called_floors_up[i]){
if (i < floor){
system_state->motor_direction = -1;
return going_down;
}
else if (i > floor){
system_state->motor_direction = 1;
return going_up;
}
}
}
return idle;
}
States fsm_stop_button_pressed(system_state_t* system_state, States fsm_previous_state){
system_state->next_floor = system_state->current_floor + system_state->motor_direction;
elev_set_motor_direction(DIRN_STOP);
reset_active_floors(system_state);
reset_called_floors(system_state);
initialize_button_indicators(system_state);
if (elev_get_floor_sensor_signal() >= 0){
elev_set_stop_lamp(1);
elev_set_door_open_lamp(1);
if (!elev_get_stop_signal()){
elev_set_stop_lamp(0);
return idle;
}
return stop;
}
else{
while (elev_get_stop_signal())
elev_set_stop_lamp(1);
if (!elev_get_stop_signal()){
elev_set_stop_lamp(0);
check_cmd_buttons(system_state);
for (int i = 0; i < N_FLOORS; ++i){
if (system_state->elev_active_floors[i] == 1){
if (i < system_state->current_floor){
return going_down;
}
else if (i > system_state->current_floor){
return going_up;
}
else{ // if i is the floor currently indicated
if (system_state->next_floor > system_state->current_floor){
return going_down;
}
else
return going_up;
}
}
}
check_call_buttons(system_state);
for (int i = 0; i < N_FLOORS; ++i){
if (system_state->elev_called_floors_down[i] ||
system_state->elev_called_floors_up[i]){
if (i < system_state->current_floor){
return going_down;
}
else if (i > system_state->current_floor){
return going_up;
}
else{ // if i is the floor currently indicated0
if (system_state->next_floor > system_state->current_floor)
return going_down;
else
return going_up;
}
}
}
}
}
return stop;
}
/*
* Class: no_ntnu_stud_torbjovn_comedielevator_NativeInterface
* Method: elev_get_stop_signal
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_no_ntnu_stud_torbjovn_comedielevator_NativeInterface_elev_1get_1stop_1signal
(JNIEnv * env, jobject obj) {
return elev_get_stop_signal();
}
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 tilstandsMaskin2(event_t event)
{
switch(tilstand2)
{
case(KLAR):
switch(event)
{
case(NOD_STOPP):
nodstopEntry();
break;
case(OBSTRUKSJON_PA):
obstruksjonEntry();
break;
}
break;
case(OBSTRUKSJON):
switch(event)
{
case(NOD_STOPP):
obstruksjonStoppEntry();
break;
case(OBSTRUKSJON_AV):
klarEntry();
}
break;
case(NODSTOPP):
switch(event)
{
case(NY_ORDRE):
if(finnestOrdreInniHeis() && !elev_get_stop_signal())
{
klarEntry();
} else
{
nodstopEntry();
}
break;
case(OBSTRUKSJON_PA):
obstruksjonStoppEntry();
}
break;
case(OBSTRUKSJON_STOPP):
switch(event)
{
case(NY_ORDRE):
if(finnestOrdreInniHeis() && !elev_get_stop_signal())
obstruksjonEntry();
else
obstruksjonStoppEntry();
break;
case(OBSTRUKSJON_AV):
nodstopEntry();
}
if(tilstand2 != NODSTOPP && tilstand2 != OBSTRUKSJON_STOPP)
elev_set_stop_lamp(false);
break;
}
}