def Assign_Component():
global my_status
global component_status
global commands_queue
global flag_assign_component_thread_created
while flag_master == 1:
for command in commands_queue:
if command[2] == "":
flag_free_component = 0 # 0 = All components are Busy, 1 = At least one component is Free
while flag_free_component == 0:
if my_status == 0:
# The Master takes the order
flag_free_component = 1
my_status = 1
command[2] = my_address
receive_time = datetime.datetime.now().second
command[3] = receive_time
network.Broadcast_Message(
connection,
"[Lemur] " + "[Assignment] " + str(command[0]) +
" " + str(command[1]) + " " + my_address)
thread.start_new_thread(Execute_Command,
(command[0], command[1], 0))
else:
# Try to find a free component
try:
free_component_index = component_status.index(0)
except:
pass
else:
# A free component was found and the order is assigned to it
flag_free_component = 1
component_status[free_component_index] = 1
command[2] = address[free_component_index]
receive_time = datetime.datetime.now().second
command[3] = receive_time
network.Broadcast_Message(
connection, "[Lemur] " + "[Assignment] " +
str(command[0]) + " " + str(command[1]) + " " +
address[free_component_index])
time.sleep(0.1)
else:
current_time = datetime.datetime.now().second
difference_time = current_time - command[3]
if difference_time < 0:
difference_time = difference_time + 60
if difference_time >= elev_driver.ELEVATOR_STUCK_THRESHOLD:
# Elevator stuck
if command[2] != my_address:
network.Broadcast_Message(
connection, "[Lemur] " + "[Stuck] " +
str(command[0]) + " " + str(command[1]))
command[2] = ""
command[3] = -1
time.sleep(0.1)
flag_assign_component_thread_created = 0
def Send_Status():
while True:
if my_status == 0:
network.Broadcast_Message(connection,
"[Lemur] " + "[Status] " + "Free")
else:
network.Broadcast_Message(connection,
"[Lemur] " + "[Status] " + "Busy")
time.sleep(1)
def Connect_To_Components():
global connection
global address
while True:
for addr in ADDRESS_ELEVATOR:
if (addr > my_address) and (addr not in address):
try:
conn = network.Create_Socket(addr, PORT_NUMBER)
except:
pass
else:
connection.append(conn)
address.append(addr)
flag_component_alive.append(1)
component_status.append(0)
print "Connected to: ", addr
thread.start_new_thread(Receive_From_Component,
(conn, addr))
thread.start_new_thread(Watchdog_Component_Alive,
(conn, addr))
## Synchronize queues (sending)
for command in commands_queue:
if command[2] == "":
network.Broadcast_Message(
connection,
"[Lemur] " + "[Queue] " + str(command[0]) +
" " + str(command[1]) + " " + command[2])
time.sleep(0.5)
def Listen_To_Components():
global connection
global address
s = network.Bind_Socket(my_address, PORT_NUMBER)
while True:
s.listen(1)
(conn, addr) = network.Accept_Connection(s)
addr = addr[0]
connection.append(conn)
address.append(addr)
flag_component_alive.append(1)
component_status.append(0)
print "Connected to: ", addr
thread.start_new_thread(Receive_From_Component, (conn, addr))
thread.start_new_thread(Watchdog_Component_Alive, (conn, addr))
## Synchronize queues (sending)
for command in commands_queue:
if command[2] == "":
network.Broadcast_Message(
connection, "[Lemur] " + "[Queue] " + str(command[0]) +
" " + str(command[1]) + " " + command[2])
def Execute_Command(button, floor, internal):
# internal = 1 if it is an internal (cab) command, 0 if it is an external (hall) command
global my_status
global commands_queue
global my_stuck_times
my_status = 1
network.Broadcast_Message(connection, "[Lemur] " + "[Status] " + "Busy")
if internal == 0:
if elev_driver.elev_driver_go_to_floor(floor) == -1:
# It is stuck
my_stuck_times = my_stuck_times + 1
print my_address, "is STUCK for the ", my_stuck_times, " time"
network.Broadcast_Message(
connection,
"[Lemur] " + "[Stuck] " + str(button) + " " + str(floor))
for command in commands_queue:
if command[2] == my_address and command[1] == floor:
command[2] = ""
command[3] = -1
elev_driver.libelev.elev_set_motor_direction(
elev_driver.ELEV_MOTOR_DIRECTION['STOP'])
if my_stuck_times < STUCK_TIMES_THRESHOLD:
time.sleep(3)
elev_driver.elev_driver_init_after_stuck()
my_status = 0
network.Broadcast_Message(connection,
"[Lemur] " + "[Status] " + "Free")
else:
# It is not stuck
for command in commands_queue:
if command[2] == my_address and command[
1] == elev_driver.libelev.elev_get_floor_sensor_signal(
):
network.Broadcast_Message(
connection, "[Lemur] " + "[Accomplishment] " +
str(command[0]) + " " + str(command[1]))
commands_queue.pop(commands_queue.index(command))
break
elev_driver.libelev.elev_set_button_lamp(command[0], floor, 0)
my_status = 0
network.Broadcast_Message(connection,
"[Lemur] " + "[Status] " + "Free")
else:
elev_driver.elev_driver_go_to_floor(floor)
elev_driver.libelev.elev_set_button_lamp(
elev_driver.ELEV_LAMP['BUTTON_COMMAND'], floor, 0)
my_status = 0
network.Broadcast_Message(connection,
"[Lemur] " + "[Status] " + "Free")
# Find the role in the network (the Master is the one with the smallest IP)
if not address:
flag_master = 1 # 1 if it is the Master, 0 if it is not
else:
if my_address < min(address):
flag_master = 1
else:
flag_master = 0
(button, floor) = elev_driver.elev_driver_poll_buttons()
if button != -2 and floor != -2:
if button == elev_driver.ELEV_BUTTON['BUTTON_COMMAND']:
thread.start_new_thread(Execute_Command, (button, floor, 1))
else:
network.Broadcast_Message(
connection,
"[Lemur] " + "[Button] " + str(button) + " " + str(floor))
if [
item for item in commands_queue
if item[0] == button and item[1] == floor
] == []:
commands_queue.append([button, floor, "", -1])
if flag_master == 1:
# Master part
if old_flag_master != flag_master:
print "I am the Master!"
if flag_assign_component_thread_created == 0:
flag_assign_component_thread_created = 1
thread.start_new_thread(Assign_Component, ())