int elev_init(void) {
int i;
// Init hardware
if (!io_init())
return 0;
// Zero all floor button lamps
for (i = 0; i < N_FLOORS; ++i) {
if (i != 0)
elev_set_button_lamp(BUTTON_CALL_DOWN, i, 0);
if (i != N_FLOORS - 1)
elev_set_button_lamp(BUTTON_CALL_UP, i, 0);
elev_set_button_lamp(BUTTON_COMMAND, i, 0);
}
// Clear stop lamp, door open lamp, and set floor indicator to ground floor.
elev_set_stop_lamp(0);
elev_set_door_open_lamp(0);
elev_set_floor_indicator(0);
// Return success.
return 1;
}
void nodstopEntry()
{
elev_set_stop_lamp(true);
slettAlleOrdre();
elev_set_speed(0);
tilstand2 = NODSTOPP;
}
int elev_init(void) {
int init_success = io_init();
if (!init_success){
return 0;
}
for (int f = 0; f < N_FLOORS; f++) {
for (elev_button_type_t b = 0; b < N_BUTTONS; b++){
elev_set_button_lamp(b, f, 0);
}
}
//drive down to valid floor
if (elev_get_floor_sensor_signal() == -1){
elev_set_motor_direction(DIRN_DOWN);
}
while (elev_get_floor_sensor_signal() == -1)
{
///Keep driving down until reached a floor
}
elev_set_motor_direction(DIRN_STOP);
elev_set_stop_lamp(0);
elev_set_door_open_lamp(0);
elev_set_floor_indicator(elev_get_floor_sensor_signal());
return 1;
}
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;
}
}
}
void klarEntry()
{
elev_set_stop_lamp(false);
if(tilstand1 == BEVEGER)
bevegerEntry();
if(tilstand1 == APNE_DORER)
startTimer();
tilstand2 = KLAR;
}
void elev_reset_all_lamps(void) {
elev_set_speed(0);
elev_set_stop_lamp(0);
elev_set_door_open_lamp(0);
int floor;
for (floor = 0; floor < N_FLOORS; ++floor) {
elev_set_button_lamp(ELEV_DIR_DOWN, floor, 0);
elev_set_button_lamp(ELEV_DIR_UP, floor, 0);
elev_set_button_lamp(ELEV_DIR_COMMAND, floor, 0);
}
}
void elev_init(void) {
int init_success = io_init();
assert(init_success && "Unable to initialize elevator hardware!");
for (int f = 0; f < N_FLOORS; f++) {
for (elev_button_type_t b = 0; b < N_BUTTONS; b++){
elev_set_button_lamp(b, f, 0);
}
}
elev_set_stop_lamp(0);
elev_set_door_open_lamp(0);
elev_set_floor_indicator(0);
}
int elev_init(void) {
int init_success = io_init();
if (!init_success){
return 0;
}
for (int f = 0; f < N_FLOORS; f++) {
for (elev_button_type_t b = 0; b < N_BUTTONS; b++){
elev_set_button_lamp(b, f, 0);
}
}
elev_set_stop_lamp(0);
elev_set_door_open_lamp(0);
elev_set_floor_indicator(0);
return 1;
}
void elev_init(void) {
puts("ELEVATOR INIT CALLED");
int init_success = io_init();
assert(init_success && "Unable to initialize elevator hardware!");
elev_set_stop_lamp(0);
elev_set_door_open_lamp(0);
for (int f = 0; f < N_FLOORS; f++) {
for (elev_button_type_t b = 0; b < N_BUTTONS; b++){
elev_set_button_lamp(b, f, 0);
}
}
while(elev_get_floor_sensor_signal() != 0){
elev_set_motor_direction(DIRN_DOWN);
}
elev_set_motor_direction(DIRN_STOP);
elev_set_floor_indicator(0);
}
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_set_stop_lamp
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_no_ntnu_stud_torbjovn_comedielevator_NativeInterface_elev_1set_1stop_1lamp
(JNIEnv * env, jobject obj, jint value) {
elev_set_stop_lamp(value);
}
void obstruksjonStoppEntry()
{
slettAlleOrdre();
elev_set_stop_lamp(true);
tilstand2 = OBSTRUKSJON_STOPP;
}
void obstruksjonEntry()
{
elev_set_stop_lamp(false);
elev_set_speed(0);
tilstand2 = OBSTRUKSJON;
}
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;
}
}
