def Statemachine():
while True:
while (orderlist.orderlist_empty()): #Waits for orders
time.sleep(0.01)
if not (elevator.controller(shared.local_elevator.last_floor, shared.target_dir)): #If the controller isn't stopping on the last floor
time.sleep(0.1)
continue
floor_reached = driver.elev.elev_get_floor_sensor_signal()
if (shared.target_floor != floor_reached): #Waits for floor reached to be equal to target_floor
while(driver.elev.elev_get_floor_sensor_signal() != -1):
time.sleep(0.01)
while(driver.elev.elev_get_floor_sensor_signal() == -1): #Wait in between floors
time.sleep(0.01)
floor_reached = driver.elev.elev_get_floor_sensor_signal()
if (elevator.should_stop(floor_reached)): #Calls to see if the elevator should stop
elevator.set_speed(0)
orderlist.mark_completed(floor_reached, shared.local_elevator.direction) #Calls to mark order as completed
elevator.open_door()
elif (floor_reached == 0) or (floor_reached == shared.N_FLOORS-1): #Always stop if it reaches top or bottom
elevator.set_speed(0)
time.sleep(0.01)
return
def open_door():
ftelevator.open_door()
elevator.open_door()
def open_door(): ftelevator.open_door() elevator.open_door()
