void sensorFeedback(CPipe motorDone, CPipe motor, MotorData ST400, CSerial serial){
while(motorDone.TestForData() == 0){
//Check if a sensor detects something, otherwise wait until
//motor indicates it has completed current instructions
/*Insert sensor logic here (maybe a separate thread or new class?)*/
//Make sure ST400.stop is set to 1 if a sensor interrupt occurs
//and write to ST400Control
if (serial.Open(4, 9600))
{
char* lpBuffer = new char[100];
int nBytesRead = serial.ReadData(lpBuffer, 100);
strtok(lpBuffer,"\n");
if(atoi(lpBuffer) == 1){
ST400.stop=1;
cout<<"HIT"<<endl;
//cout<<"YAY I READ FROM ARDRUINO!"<<endl;
motor.Write(&ST400, sizeof(ST400));
ST400.stop=0;
ST400.leftWheel=0; //Prevent rover from executing remaining steps
ST400.rightWheel=0;
break;
}
else{
ST400.stop=0;
cout<<"MISS"<<endl;
}
}
}
};
BOOL CRKey::Set(LPCTSTR pName, CRKey *pRk)
{_STTEX();
if ( !pRk || !pRk->Size() )
{
// Clear data
Set( pName, "" );
return TRUE;
} // end if
// Serialize variables
CPipe pipe;
pRk->EncodeUrl( &pipe );
// Write a NULL character
pipe.Write( "", 1 );
// Save the serialized variables
Set( pName, (LPCTSTR)pipe.GetBuffer() );
return TRUE;
}
UINT __stdcall elevator_console(void *args)
{
char str[3];
int val[2]; // save str as int
int priority = 0;
Sleep(2000);
while (1) {
// gets request entry
sema_io_console.Wait();
MOVE_CURSOR(0, 2);
printf("Please enter command:\n");
sema_io_console.Signal();
str[0] = _getch();
// Clears out the enter message
sema_io_console.Wait();
MOVE_CURSOR(0, 3);
printf("\t\t\t\t\t");
MOVE_CURSOR(0, 3);
printf("Servicing: %c", str[0]);
sema_io_console.Signal();
str[1] = _getch();
str[2] = '\0';
sema_io_console.Wait();
MOVE_CURSOR(0, 3);
printf("\t\t\t\t\t");
MOVE_CURSOR(0, 3);
printf("Entered: %s\n", str);
// convert input to integers if valid
if (atoi(&str[1]) && str[1] != '0') {
val[1] = atoi(&str[1]);
}
else if (str[1] == '0') {
val[1] = 0;
}
MOVE_CURSOR(0, 4);
printf("\t\t\t\t\t\t\t\t\t\t");
MOVE_CURSOR(0, 4);
if (!strcmp(str, "ee")) { // exit case
printf("Shutting down elevators\n");
// Write request and priority type to pipe
mypip1 = { 99, 99 }; // exit code
pipe.Write(&mypip1, sizeof(mypip1));
// redezvous type here before the return 0
return 0;
}
else if ((str[0] == 'u' && (0 <= val[1] && val[1] < 9)) ||
(str[0] == 'd' && (0 < val[1] && val[1] < 10))) { // calling the elevator case
printf("Please wait, going %c from floor %c\n", str[0], str[1]);
// Write request and priority type to pipe
// "3-" is an up request and "4-" is a down request
if (str[0] == 'u') {
mypip1 = { 30 + val[1],priority }; // exit code
}
else if (str[0] == 'd') {
mypip1 = { 40 + val[1],priority }; // exit code
}
pipe.Write(&mypip1, sizeof(mypip1));
priority++;
}
else if ((str[0] == '1' || str[0] == '2') && (0 <= val[1] && val[1] < 10)) { // inside the elevator case
printf("Closing door, moving elevator %c to floor %c \n", str[0], str[1]);
if (str[0] == '1') {
mypip1 = { 10 + val[1],priority }; // exit code
}
else if (str[0] == '2') {
mypip1 = { 20 + val[1],priority }; // exit code
}
pipe.Write(&mypip1, sizeof(mypip1));
priority++;
}
else if ((str[0] == '+' || str[0] == '-') && (val[1] == 1 || val[1] == 2)) // servicing elevators and faults
{
if (!strcmp(str, "+1"))
{
printf("elevator 1 is in service \n");
}
else if (!strcmp(str, "-1"))
{
printf("elevator 1 is out of service \n");
}
else if (!strcmp(str, "+2"))
{
printf("elevator 2 is in service \n");
}
else if (!strcmp(str, "-2"))
{
printf("elevator 2 is out of service \n");
}
// Write request and priority type to pipe
// "5-" is an up request and "6-" is a down request
if (str[0] == '+') {
mypip1 = { 50 + val[1],0 }; // exit code
}
else if (str[0] == '-') {
mypip1 = { 60 + val[1],0 }; // exit code
}
pipe.Write(&mypip1, sizeof(mypip1));
}
else {
printf("INVALID ENTRY!\n");
}
sema_io_console.Signal();
val[0] = -1; //if val[0] isn't what we want then set it to -1
val[1] = -1; //if val[1] isn't what we want then set it to -1
}
}
//@ MAIN
int main(){
char KeyData;
char KeyData1;
int iKeyData;
int preflag = 1;
int termination_code = 99;
//@ SEQ: STARTUP RENDEZVOUS
printf("Pretending to rendezvous by sleeping 3 seconds...\n");
Sleep(3000);
r1.Wait();
printf("let's go!");
Sleep(1000);
MOVE_CURSOR(0,0);
printf("----------+---+---------------------+---+--------------------");
MOVE_CURSOR(0,4);
printf("----------+---+---------------------+---+--------------------");
MOVE_CURSOR(0,8);
printf("----------+---+---------------------+---+--------------------");
MOVE_CURSOR(0,12);
printf("----------+---+---------------------+---+--------------------");
MOVE_CURSOR(0,16);
printf("----------+---+---------------------+---+--------------------");
MOVE_CURSOR(0,20);
printf("----------+---+---------------------+---+--------------------");
MOVE_CURSOR(0,24);
printf("----------+---+---------------------+---+--------------------");
MOVE_CURSOR(0,28);
printf("----------+---+---------------------+---+--------------------");
MOVE_CURSOR(0,32);
printf("----------+---+---------------------+---+--------------------");
MOVE_CURSOR(0,36);
printf("----------+---+---------------------+---+--------------------");
MOVE_CURSOR(0,40);
printf("----------+---+---------------------+---+--------------------");
fflush(stdout);
//@ INIT: THREADS
CThread t1(IOToElevator1, ACTIVE, NULL) ;
CThread t2(IOToElevator2, ACTIVE, NULL) ;
//printf("\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n");
//MOVE_CURSOR(0,0);
//printf("Press x at any time to exit... ");
//fflush(stdout);
while(flag) {
// Master Termination.
if (preflag == 0) {
pipe3.Write(&termination_code, sizeof(int));
pipe4.Write(&termination_code, sizeof(int));
flag = 0;
Sleep(50);
pipe1.Write(&termination_code, sizeof(int));
break;
}
if (TEST_FOR_KEYBOARD() != 0) {
KeyData = getch() ; // read next character from keyboard
m1->Wait();
MOVE_CURSOR(0,50);
printf("first character = %c \n", KeyData);
printf("second character? \n");
printf(" \n");
printf(" \n");
fflush(stdout);
m1->Signal();
while (TEST_FOR_KEYBOARD() == 0) {}
KeyData1 = getch();
m1->Wait();
MOVE_CURSOR(0,51);
printf("second character = %c \n", KeyData1);
printf("command entered is: %c%c \n", KeyData, KeyData1);
//Command Organization.
if (KeyData == 'e' && KeyData1 == 'e'){
preflag = 0;
printf("terminating. (2 seconds) \n ");
Sleep(2000);
}
else if (KeyData == '-' && KeyData1 == '1') {
iKeyData = 70;
pipe1.Write(&iKeyData, sizeof(int));
printf("FREEZING Elevator 1! ");
}
else if (KeyData == '-' && KeyData1 == '2') {
iKeyData = 71;
pipe1.Write(&iKeyData, sizeof(int));
printf("FREEZING Elevator 2! ");
}
else if (KeyData == '+' && KeyData1 == '1') {
iKeyData = 75;
pipe1.Write(&iKeyData, sizeof(int));
printf("FAULT FIXED for Elevator 1! ");
}
else if (KeyData == '+' && KeyData1 == '2') {
iKeyData = 76;
pipe1.Write(&iKeyData, sizeof(int));
printf("FAULT FIXED for Elevator 2! ");
}
else if (KeyData == 'u'&& ( (KeyData1-'0') >= 0 && (KeyData1-'0') < 10 ) ) {
iKeyData = 10 + KeyData1 - '0';
pipe1.Write(&iKeyData, sizeof(int));
printf("Someone Outside Floor %d wants to go UP. ", (KeyData1 - '0') );
}
else if (KeyData == 'd'&& ( (KeyData1-'0') >= 0 && (KeyData1-'0') < 10 )) {
iKeyData = 20 + KeyData1 - '0';
pipe1.Write(&iKeyData, sizeof(int));
printf("Someone Outside Floor %d wants to go DOWN. ", (KeyData1 - '0') );
}
else if (KeyData == '1'&& ( (KeyData1-'0') >= 0 && (KeyData1-'0') < 10 )) {
iKeyData = 50 + KeyData1 - '0';
pipe1.Write(&iKeyData, sizeof(int));
printf("Someone Inside Elevator 1 Pressed Floor %d. ", (KeyData1 - '0') );
}
else if (KeyData == '2'&& ( (KeyData1-'0') >= 0 && (KeyData1-'0') < 10 )) {
iKeyData = 60 + KeyData1 - '0';
pipe1.Write(&iKeyData, sizeof(int));
printf("Someone Inside Elevator 2 Pressed Floor %d. ", (KeyData1 - '0') );
}
else{
printf("ERROR: illegible code. ");
}
fflush(stdout);
m1->Signal();
KeyData = '0';
KeyData1 = '0';
iKeyData = 0;
}
m1->Wait();
// 9
MOVE_CURSOR(20,2);
printf(" |");
if (Ele1Status.updir[9] == 1 || Ele2Status.updir[9] == 1)
TEXT_COLOUR(14);
printf("UP ");
TEXT_COLOUR(7);
if (Ele1Status.downdir[9] == 1 || Ele2Status.downdir[9] == 1)
TEXT_COLOUR(14);
printf("DOWN");
TEXT_COLOUR(7);
printf("| ");
//8
MOVE_CURSOR(20,6);
printf(" |");
if (Ele1Status.updir[8] == 1 || Ele2Status.updir[8] == 1)
TEXT_COLOUR(14);
printf("UP ");
TEXT_COLOUR(7);
if (Ele1Status.downdir[8] == 1 || Ele2Status.downdir[8] == 1)
TEXT_COLOUR(14);
printf("DOWN");
TEXT_COLOUR(7);
printf("| ");
//7
MOVE_CURSOR(20,10);
printf(" |");
if (Ele1Status.updir[7] == 1 || Ele2Status.updir[7] == 1)
TEXT_COLOUR(14);
printf("UP ");
TEXT_COLOUR(7);
if (Ele1Status.downdir[7] == 1 || Ele2Status.downdir[7] == 1)
TEXT_COLOUR(14);
printf("DOWN");
TEXT_COLOUR(7);
printf("| ");
//6
MOVE_CURSOR(20,14);
printf(" |");
if (Ele1Status.updir[6] == 1 || Ele2Status.updir[6] == 1)
TEXT_COLOUR(14);
printf("UP ");
TEXT_COLOUR(7);
if (Ele1Status.downdir[6] == 1 || Ele2Status.downdir[6] == 1)
TEXT_COLOUR(14);
printf("DOWN");
TEXT_COLOUR(7);
printf("| ");
//5
MOVE_CURSOR(20,18);
printf(" |");
if (Ele1Status.updir[5] == 1 || Ele2Status.updir[5] == 1)
TEXT_COLOUR(14);
printf("UP ");
TEXT_COLOUR(7);
if (Ele1Status.downdir[5] == 1 || Ele2Status.downdir[5] == 1)
TEXT_COLOUR(14);
printf("DOWN");
TEXT_COLOUR(7);
printf("| ");
//4
MOVE_CURSOR(20,22);
printf(" |");
if (Ele1Status.updir[4] == 1 || Ele2Status.updir[4] == 1)
TEXT_COLOUR(14);
printf("UP ");
TEXT_COLOUR(7);
if (Ele1Status.downdir[4] == 1 || Ele2Status.downdir[4] == 1)
TEXT_COLOUR(14);
printf("DOWN");
TEXT_COLOUR(7);
printf("| ");
//3
MOVE_CURSOR(20,26);
printf(" |");
if (Ele1Status.updir[3] == 1 || Ele2Status.updir[3] == 1)
TEXT_COLOUR(14);
printf("UP ");
TEXT_COLOUR(7);
if (Ele1Status.downdir[3] == 1 || Ele2Status.downdir[3] == 1)
TEXT_COLOUR(14);
printf("DOWN");
TEXT_COLOUR(7);
printf("| ");
//2
MOVE_CURSOR(20,30);
printf(" |");
if (Ele1Status.updir[2] == 1 || Ele2Status.updir[2] == 1)
TEXT_COLOUR(14);
printf("UP ");
TEXT_COLOUR(7);
if (Ele1Status.downdir[2] == 1 || Ele2Status.downdir[2] == 1)
TEXT_COLOUR(14);
printf("DOWN");
TEXT_COLOUR(7);
printf("| ");
//1
MOVE_CURSOR(20,34);
printf(" |");
if (Ele1Status.updir[1] == 1 || Ele2Status.updir[1] == 1)
TEXT_COLOUR(14);
printf("UP ");
TEXT_COLOUR(7);
if (Ele1Status.downdir[1] == 1 || Ele2Status.downdir[1] == 1)
TEXT_COLOUR(14);
printf("DOWN");
TEXT_COLOUR(7);
printf("| ");
//0
MOVE_CURSOR(20,38);
printf(" |");
if (Ele1Status.updir[0] == 1 || Ele2Status.updir[0] == 1)
TEXT_COLOUR(14);
printf("UP ");
TEXT_COLOUR(7);
if (Ele1Status.downdir[0] == 1 || Ele2Status.downdir[0] == 1)
TEXT_COLOUR(14);
printf("DOWN");
TEXT_COLOUR(7);
printf("| ");
fflush(stdout);
MOVE_CURSOR(0,50);
fflush(stdout);
m1->Signal();
Sleep(1);
}
t1.WaitForThread() ;
t2.WaitForThread() ;
printf("\nExiting... (waiting on other processes)");
r2.Wait();
return 0;
}