sm_state_t sm_undefined(int queues[N_QUEUES][N_FLOORS]){
ui_set_door_open_lamp(0); //Closes the door after stop state
if(elev_get_floor_sensor_signal()==-1){
elev_set_speed(-100);
queue_clear_all_orders(queues);
return STATE_UNDEFINED;
}
return STATE_IDLE;
}
sm_state_t sm_stop(int queues[N_QUEUES][N_FLOORS]) {
elev_set_speed(0); //Stops the elevator
ui_set_stop_lamp(1); //Light the stop light
//Checks if command queues has order if not return stop state.
if(queue_command_has_orders(queues) && !ui_get_stop_signal())
{
ui_set_stop_lamp(0);//Turns of the stop light
ui_set_door_open_lamp(0);
return STATE_UNDEFINED;
}
else
{
if(elev_get_floor_sensor_signal() >= 0)
{
ui_set_door_open_lamp(1);
}
queue_clear_all_orders(queues); //Clear all the queue orders.
return STATE_STOP;
}
}
int ui_init(void)
{
int i;
// Zero all floor button lamps
for (i = 0; i < N_FLOORS; ++i) {
if (i != 0)
ui_set_button_lamp(BUTTON_CALL_DOWN, i, 0);
if (i != N_FLOORS-1)
ui_set_button_lamp(BUTTON_CALL_UP, i, 0);
ui_set_button_lamp(BUTTON_COMMAND, i, 0);
}
// Clear stop lamp, door open lamp, sets floor indicator to ground floor
ui_set_stop_lamp(0);
ui_set_door_open_lamp(0);
ui_set_floor_indicator(0);
// Return success.
return 1;
}
//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;
}
sm_state_t sm_open_door(int queues[N_QUEUES][N_FLOORS],sm_state_t previousState){
elev_set_speed(0); //Stops the elevator
int currentFloor = elev_get_floor_sensor_signal(); //Gets the current floor the elevator.
// If the elevator has an obstruction between floors stop the elevator
while(elev_get_obstruction_signal() && currentFloor == -1)
{
return previousState;
}
if(currentFloor == -1)
{
return previousState;
}
ui_set_door_open_lamp(1); //Open doors
startTimer();
while(checkTimer(3) != 1){
if(elev_get_floor_sensor_signal() == -1)
{
break; //return previousState? both possible depends on wanted behaviour
}
else if(ui_get_stop_signal()) //Checks stop button for input while the door is open.
{
return STATE_STOP;
}
ui_button_signals(queues); //Checks for button input while the door is open.
}
while(elev_get_obstruction_signal() != 0){
ui_button_signals(queues); //Checks for button input while the obstruction is active.
if(ui_get_stop_signal()) //Checks stop button for input when obstructed.
{
return STATE_STOP;
}
ui_set_door_open_lamp(1); //Sets door lamp to Open.
}
ui_set_door_open_lamp(0); //Sets door lamp to closed.
//If it came from the state of moving up the it checks the following cases.
if (previousState == STATE_MOVE_UP)
{
queues[QUEUE_COMMAND][currentFloor] = 0; //Reached ordered command floor and clears queue element.
//If the top floor is reached it switches state to check if there is any orders bellow.
if(currentFloor == N_FLOORS-1)
{
queues[QUEUE_DOWN][currentFloor] = 0; //Clear ordered floor in down queue.
return STATE_MOVE_DOWN;
}
//Reached queue element in up that is ordered and clears it.
else if(!queue_from_and_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_from_and_up_empty(queues, QUEUE_UP, currentFloor) && !queue_from_and_down_empty(queues, QUEUE_DOWN, currentFloor))
{
queues[QUEUE_DOWN][currentFloor] = 0;
return STATE_MOVE_DOWN;
}
//More orders in up queue so returns to its previous state and continoues.
return STATE_MOVE_UP;
}
//If it came from the state of moving down the it checks the following cases.
else if(previousState == STATE_MOVE_DOWN)
{
queues[QUEUE_COMMAND][currentFloor] = 0; //Reached ordered command floor and clears queue element
//If the bottom floor is reached it switches state to check if there is any orders abow.
if(currentFloor == 0)
{
queues[QUEUE_UP][currentFloor] = 0;
return STATE_MOVE_UP;
}
//Reached queue element in down that is ordered and clears it.
else if(!queue_from_and_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_from_and_down_empty(queues, QUEUE_DOWN, currentFloor) && !queue_from_and_up_empty(queues, QUEUE_UP, currentFloor))
{
queues[QUEUE_UP][currentFloor] = 0;
return STATE_MOVE_UP;
}
//More orders in down queue so returns to its previous state and continoues.
return STATE_MOVE_DOWN;
}
//Returns to previous state
else if(previousState == STATE_MOVE_UP)
{
return STATE_MOVE_UP;
}
else
{
return STATE_MOVE_DOWN;
}
}
