void open_door(){
// printf("En kjøring av open_door\n");
elev_set_door_open_lamp(1);
time_t start, end;
double elapsed = 0;
time(&start);
while(elapsed < 2){
time(&end);
elapsed = difftime(end, start);
}
elev_set_door_open_lamp(0);
}
States fsm_door_open(system_state_t* system_state, States fsm_previous_state){
elev_set_direction(system_state, 0);
elev_set_door_open_lamp(1);
if (!fsm_pause_3_sec(system_state))
return stop;
elev_set_door_open_lamp(0);
check_floor(system_state);
if (fsm_previous_state == idle){
elev_set_button_lamp (BUTTON_COMMAND, system_state->current_floor,0);
orders_clearAt(system_state, system_state->current_floor);
if (system_state->current_floor < 3)
elev_set_button_lamp (BUTTON_CALL_UP, system_state->current_floor,0);
if (system_state->current_floor > 0)
elev_set_button_lamp (BUTTON_CALL_DOWN, system_state->current_floor,0);
return idle;
}
else if (fsm_previous_state == going_down) {
for (int i = system_state->current_floor; i >= 0; --i){
if (system_state->elev_active_floors[i] ||
system_state->elev_called_floors_up[i] ||
system_state->elev_called_floors_down[i]){
system_state->motor_direction = -1;
return going_down;
}
}
return idle;
}
else if (fsm_previous_state == going_up){
for (int i = system_state->current_floor; i < N_FLOORS; ++i){
if (system_state->elev_active_floors[i] ||
system_state->elev_called_floors_up[i] ||
system_state->elev_called_floors_down[i]){
system_state->motor_direction = 1;
return going_up;
}
}
}
return idle;
}
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 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 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 bevegerEntry()
{
elev_set_door_open_lamp(false);
int neste = hentNesteOrdre(etasje, opp);
if(neste == etasje)
{
if(opp)
{
opp = false;
elev_set_speed(-300);
} else
{
opp = true;
elev_set_speed(300);
}
} else if(neste > etasje)
{
elev_set_speed(300);
opp = true;
} else
{
elev_set_speed(-300);
opp = false;
}
tilstand1 = BEVEGER;
}
void idleEntry()
{
elev_set_door_open_lamp(false);
elev_set_speed(0);
etasje = elev_get_floor_sensor_signal();
tilstand1 = IDLE;
}
/* From DOOR_CLOSED, go to DOOR_OPENED */
static void
action_closed_open (void)
{
elev_set_door_open_lamp(1);
door_last_state = door_current_state;
door_current_state = DOOR_OPENED;
}
void dorerEntry()
{
elev_set_door_open_lamp(true);
elev_set_speed(0);
slettOrdre(etasje, opp);
startTimer();
tilstand1 = APNE_DORER;
}
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);
}
}
/* From DOOR_OPENED, go to DOOR_CLOSED */
static void
action_opened_close (void)
{
if (elev_get_obstruction_signal())
{
door_set_timer();
return;
}
elev_set_door_open_lamp(0);
door_last_state = door_current_state;
door_current_state = DOOR_CLOSED;
}
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);
}
States fsm_init_state(system_state_t* system_state, States fsm_previous_state){
if (system_state->motor_direction == 0){
elev_set_direction(system_state, -1);
}
int floor = elev_get_floor_sensor_signal();
if (floor >= 0){
elev_set_floor_indicator(floor);
elev_set_direction(system_state, 0);
system_state->current_floor = floor;
elev_set_door_open_lamp(0);
return idle;
}
reset_active_floors(system_state);
reset_called_floors(system_state);
return init;
}
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);
}
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;
}
}
}
/*
* Class: no_ntnu_stud_torbjovn_comedielevator_NativeInterface
* Method: elev_set_door_open_lamp
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_no_ntnu_stud_torbjovn_comedielevator_NativeInterface_elev_1set_1door_1open_1lamp
(JNIEnv * env, jobject obj, jint value) {
elev_set_door_open_lamp(value);
}
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;
}
