class ElevatorWrapper:
topFloor = 3
botFloor = 0
def __init__(self):
self.elevator = Driver()
self.direction = 0
self.lastFloor = self.getFloor() if self.getFloor() != None else -1
self.destination = 0
self.externalFloorListener = None
self.stop = self.elevator.stop
self.addListener = self.elevator.addListener
for i, floor in enumerate(INPUT.SENSORS):
self.elevator.addListener(floor, partial(self.floorListener, i))
self.addListener(INPUT.STOP, self.stopstruction)
self.addListener(INPUT.OBSTRUCTION, self.stopstruction)
def moveToFloor(self, floor):
if self.elevator.readChannel(INPUT.OBSTRUCTION):
print "Obstruction"
return
if floor > self.topFloor:
print "Too much floor: %i > %i , WAT" % (floor, self.topFloor)
return
print "Moving to floor", floor
if floor > self.lastFloor:
print "Going up"
self.elevator.move(OUTPUT.MOTOR_UP)
self.direction = 1
elif floor < self.lastFloor:
print "Going down"
self.elevator.move(OUTPUT.MOTOR_DOWN)
self.direction = 0
else:
print "Open doors"
self.destination = floor
def floorListener(self, floor, en, to): # TODO: en, to
print "At floor", floor
if floor == self.destination and self.floorListener == None:
print "At destination"
self.elevator.stop()
elif floor >= self.topFloor and self.direction == 1:
print "Stop it! (top)", floor, self.topFloor, self.direction
self.elevator.stop()
elif floor <= self.botFloor and self.direction == 0:
print "Stop it! (bot)", floor, self.botFloor, self.direction
self.elevator.stop()
"""if self.lastFloor < floor: self.direction = 1
elif self.lastFloor > floor: self.direction = 0
else: print "derp" """
self.lastFloor = floor;
print type(floor)
self.elevator.setFloorIndicator(floor)
self.externalFloorListener(floor)
def buttonListener(self, where, what, floor, en, to): #TODO en, to
print where, what, floor
if where == "in":
self.moveToFloor(floor)
elif where == "out":
if what == "up":
self.moveToFloor(floor)
elif what == "down":
self.moveToFloor(floor)
else:
raise ValueError("Invalid \"where\"")
def stopstruction(self, en, to): # TODO: en, to
self.elevator.stop()
if self.lastFloor % 1.0 != 0.5 and self.getFloor() == None: self.lastFloor = self.lastFloor + (0.5 if self.direction else -0.5)
print "Stopped, now at", self.lastFloor
def isObstructed(self):
return self.elevator.readChannel(INPUT.OBSTRUCTION)
def down(self):
self.elevator.move(OUTPUT.MOTOR_DOWN)
sleep(2.0)
self.elevator.stop()
def getFloor(self):
return self.elevator.getCurrentFloor()
def addButtonListener(self, listener):
self.addListener(INPUT.FLOOR_UP1, partial(listener, "out", "up", 0))
self.addListener(INPUT.FLOOR_UP2, partial(listener, "out", "up", 1))
self.addListener(INPUT.FLOOR_UP3, partial(listener, "out", "up", 2))
self.addListener(INPUT.FLOOR_DOWN2, partial(listener, "out", "down", 1))
self.addListener(INPUT.FLOOR_DOWN3, partial(listener, "out", "down", 2))
self.addListener(INPUT.FLOOR_DOWN4, partial(listener, "out", "down", 3))
self.addListener(INPUT.FLOOR_COMMAND1, partial(listener, "in", "", 0))
self.addListener(INPUT.FLOOR_COMMAND2, partial(listener, "in", "", 1))
self.addListener(INPUT.FLOOR_COMMAND3, partial(listener, "in", "", 2))
self.addListener(INPUT.FLOOR_COMMAND4, partial(listener, "in", "", 3))
def addFloorListener(self, listener):
self.externalFloorListener = listener
class Elevator:
DIRECTION_UP = 1
DIRECTION_DOWN = -1
DIRECTION_STAND = 0
LEAVE_DOORS_OPEN = 2
def __init__(self):
self.driver = Driver()
self.previous_floor = 1
self.direction = self.DIRECTION_UP
self.queue = [] # A Queue of orders
self.task = [] # The current order that is being taken care of
self.motor_speed = 1000
self.elevator = None # *** hva brukes denne til og hvor settes den til en verdi? ***
def go_to_floor(self, floor, lock):
"""does what its name implies"""
current_floor = self.driver.getCurrentFloor()
if not current_floor:
current_floor = self.previous_floor
if current_floor < floor:
self.direction = self.DIRECTION_UP
self.driver.move(OUTPUT.MOTOR_UP, self.motor_speed)
elif current_floor == floor:
self.driver.stop()
self.pop_task(lock)
elif current_floor > floor:
self.driver.move(OUTPUT.MOTOR_DOWN, self.motor_speed)
self.direction = self.DIRECTION_DOWN
def pop_task(self, lock):
"""removes a task from the list of tasks and preforms cleanup"""
lock.acquire()
floor = self.task.pop()
lock.release()
light = self.driver.getAccordingLight(INPUT.IN_BUTTONS, floor)
self.driver.setChannel(light, 0)
self.open_doors()
def open_doors(self):
"""simulates opening the doors of the elevator and waiting"""
start = time.clock()
while time.clock() < self.LEAVE_DOORS_OPEN + start:
self.driver.stop()
def add_job(self, floor, direction, lock):
"""adds a job to the queue or task"""
if task:
# check whether this could be added as a subtask
if (
self.direction == self.DIRECTION_UP == direction
and self.previous_floor < floor <= self.task[len(self.task) - 1][0]
):
self.add_subtask(floor, direction, lock)
elif (
self.direction == self.DIRECTION_DOWN == direction
and self.previous_floor > floor >= self.task[len(self.task) - 1][0]
):
self.add_subtask(floor, direction, lock)
else:
lock.acquire()
self.queue.append((floor, direction))
lock.release()
else:
lock.acquire()
task.append((floor, direction))
lock.release()
def add_subtask(self, floor, direction, lock):
"""adds a subtask to the task in correct order"""
lock.acquire()
for i, sub in enumerate(self.task):
if direction == self.DIRECTION_DOWN:
if sub >= self.task[i]:
self.task.insert(sub, i)
else:
if sub <= self.task[i]:
self.task.insert(sub, i)
lock.release()
def read_inputs(self, lock):
"""reads inputs and processes them"""
for sig in INPUT.BUTTONS:
if self.driver.readChannel(sig):
(floor, type) = self.driver.channelToFloor(sig)
light = self.driver.getAccordingLight(type, floor)
self.driver.setChannel(light, 1)
if type == INPUT.IN_BUTTONS:
self.add_subtask(floor, self.direction, lock)
elif type == INPUT.DOWN_BUTTONS:
job = (floor, self.DIRECTION_DOWN)
if self.check_job(job):
self.add_job(floor, self.DIRECTION_DOWN, lock)
else:
ElevatorProcess(target=self.elevator.send_job, args=(self.elevator, job)).start()
elif type == INPUT.UP_BUTTONS:
job = (floor, self.DIRECTION_UP)
if self.check_job(job):
self.add_job(floor, self.DIRECTION_UP, lock)
else:
ElevatorProcess(target=self.elevator.send_job, args=(self.elevator, job)).start()
if self.driver.readChannel(INPUT.OBSTRUCTION):
self.driver.stop()
floor = self.driver.getCurrentFloor()
if floor:
self.driver.setFloorIndicator(floor)
self.previous_floor = floor
def check_job(self, job):
"""checks whether or not this elevator wants the given job"""
(floor, direction) = job
if not task:
return True
elif (
self.direction == self.DIRECTION_UP == direction
and self.previous_floor < floor <= self.task[len(self.task) - 1][0]
):
return True
elif (
self.direction == self.DIRECTION_DOWN == direction
and self.previous_floor > floor >= self.task[len(self.task) - 1][0]
):
return True
else:
return False
def reset_lights(self):
for l in OUTPUT.LIGHTS:
self.driver.setChannel(l, 0)
def pick_from_queue(self):
"""picks the next suitable job from the queue"""
counter = 0
while True:
for i in len(self.queue):
if abs(self.queue[i][0] - counter) <= counter:
self.task.append(self.queue[i])
self.queue.remove(self.queue[i])
return
counter += 1
def start(self, handler):
"""starts the elevator"""
self.handler = handler
lock = Lock()
input_reader = ElevatorProcess(target=read_inputs, args=(self, lock))
input_reader.start()
while True:
if self.task:
self.go_to_floor(self.task[0][0], lock)
elif self.queue:
lock.acquire()
self.pick_from_queue()
lock.release()
input_reader.terminate()
