def setButtonIndicator(self, floor, direction, onoff):
if direction: # Up
if floor == 3: return
io.setBit(OUTPUT.UP_LIGHTS[floor], onoff)
else: #Down
if floor == 0: return
io.setBit(OUTPUT.DOWN_LIGHTS[floor-1], onoff)
def setButtonLamp(self, floor, buttonType, value): assert(floor >= 0), "ERR_ floor < 0" assert(floor < self.NUM_FLOORS), "ERR_ floor > NUM_FLOORS" assert(buttonType >= 0), "ERR_ buttonType < 0" assert(buttonType < self.NUM_FLOORS - 1), "ERR_ buttonType > NUM_FLOORS" io.setBit(INPUT.BUTTON_FLOORS[floor][buttonType], value)
def setButtonLamp(self, floor, buttonType, value): assert(floor >= 0), "ERR_ floor < 0" assert(floor < self.NUM_FLOORS), "ERR_ floor > NUM_FLOORS" assert(buttonType >= 0), "ERR_ buttonType < 0" assert(buttonType < self.NUM_FLOORS - 1), "ERR_ buttonType > NUM_FLOORS" io.setBit(INPUT.BUTTON_FLOORS[floor][buttonType], value)
def __init__(self):
self.moving = False
self.direction = OUTPUT.MOTOR_DOWN
self.NUM_FLOORS = INPUT.NUM_FLOORS
for light in OUTPUT.LIGHTS:
if light != -1:
io.setBit(light, 0)
def stop(self):
"""Stops the elevator, and flips direction for smoother stopping."""
if self.direction is OUTPUT.MOTOR_UP:
io.setBit(OUTPUT.MOTORDIR,OUTPUT.MOTOR_DOWN)
elif self.direction is OUTPUT.MOTOR_DOWN:
io.setBit(OUTPUT.MOTORDIR,OUTPUT.MOTOR_UP)
io.write(OUTPUT.MOTOR,2048)
def __init__(self): self.moving = False self.direction = OUTPUT.MOTOR_DOWN self.NUM_FLOORS = INPUT.NUM_FLOORS for light in OUTPUT.LIGHTS: if light != -1: io.setBit(light, 0)
def stop(self):
"""Stops the elevator, and flips direction for smoother stopping."""
if self.direction is OUTPUT.MOTOR_UP:
io.setBit(OUTPUT.MOTORDIR, OUTPUT.MOTOR_DOWN)
elif self.direction is OUTPUT.MOTOR_DOWN:
io.setBit(OUTPUT.MOTORDIR, OUTPUT.MOTOR_UP)
io.write(OUTPUT.MOTOR, 2048)
def stop(self):
if not self.moving:
return
if self.direction is OUTPUT.MOTOR_DOWN:
io.setBit(OUTPUT.MOTORDIR, OUTPUT.MOTOR_UP)
else:
io.setBit(OUTPUT.MOTORDIR, OUTPUT.MOTOR_DOWN)
sleep(0.02)
io.writeAnalog(OUTPUT.MOTOR, 2048)
def stop(self): if not self.moving: return if self.direction is OUTPUT.MOTOR_DOWN: io.setBit(OUTPUT.MOTORDIR, OUTPUT.MOTOR_UP) else: io.setBit(OUTPUT.MOTORDIR, OUTPUT.MOTOR_DOWN) sleep(0.02) io.writeAnalog(OUTPUT.MOTOR, 2048)
def setSpeed(self, speed):
if speed > 0:
self.direction = OUTPUT.MOTOR_UP
elif speed < 0:
self.direction = OUTPUT.MOTOR_DOWN
else:
self.stop()
io.setBit(OUTPUT.MOTORDIR, self.direction)
io.writeAnalog(OUTPUT.MOTOR, 2048 + 4 * abs(speed))
self.moving = True
def setSpeed(self, speed): if speed > 0: self.direction = OUTPUT.MOTOR_UP elif speed < 0: self.direction = OUTPUT.MOTOR_DOWN else: self.stop() io.setBit(OUTPUT.MOTORDIR, self.direction) io.writeAnalog(OUTPUT.MOTOR, 2048+4*abs(speed)) self.moving = True
def move(self,direction,speed=1000):
"""Asks the motor to move in a given direction and with a given speed.
direction -- OUTPUT.MOTOR_UP or OUTPUT.MOTOR_DOWN, tells the direction to move in.
speed -- Defaults to 1000. Used for debugging purposes only.
"""
self.direction = direction
if (speed > 0):
io.setBit(OUTPUT.MOTORDIR,direction)
elif (speed < 0):
io.setBit(OUTPUT.MOTORDIR,direction)
io.write(OUTPUT.MOTOR,2048 + 2*abs(speed))
def move(self, direction, speed=1000):
"""Asks the motor to move in a given direction and with a given speed.
direction -- OUTPUT.MOTOR_UP or OUTPUT.MOTOR_DOWN, tells the direction to move in.
speed -- Defaults to 1000. Used for debugging purposes only.
"""
self.direction = direction
if (speed > 0):
io.setBit(OUTPUT.MOTORDIR, direction)
elif (speed < 0):
io.setBit(OUTPUT.MOTORDIR, direction)
io.write(OUTPUT.MOTOR, 2048 + 2 * abs(speed))
def stop(self):
"""Stops the elevator, and flips direction for smoother stopping."""
if not self.moving: return
self.moving = False
sleep(0.16)
if self.direction is OUTPUT.MOTOR_UP:
io.setBit(OUTPUT.MOTORDIR,OUTPUT.MOTOR_DOWN)
elif self.direction is OUTPUT.MOTOR_DOWN:
io.setBit(OUTPUT.MOTORDIR,OUTPUT.MOTOR_UP)
io.write(OUTPUT.MOTOR,2048 + 1000)
sleep(0.01)
io.write(OUTPUT.MOTOR,2048)
self.moving = False
def setFloorIndicator(self,floor):
"""Sets the floor indicator light in a floor and turns off the others."""
#self.setChannel(OUTPUT.FLOOR_LIGHTS[0], (floor-1)%2)
#self.setChannel(OUTPUT.FLOOR_LIGHTS[1], (floor-1)/2)
if floor & 0x1: io.setBit(OUTPUT.FLOOR_IND1, 1)
else: io.setBit(OUTPUT.FLOOR_IND1, 0)
if floor & 0x2: io.setBit(OUTPUT.FLOOR_IND2, 1)
else: io.setBit(OUTPUT.FLOOR_IND2, 0)
def setFloorIndicator(self, floor):
assert (floor >= 0), "ERR_ floor < 0"
assert (floor < self.NUM_FLOORS), "ERR_ floor > NUM_FLOORS"
if floor & 0x02:
io.setBit(OUTPUT.FLOOR_IND1, 1)
else:
io.setBit(OUTPUT.FLOOR_IND1, 0)
if floor & 0x01:
io.setBit(OUTPUT.FLOOR_IND2, 1)
else:
io.setBit(OUTPUT.FLOOR_IND2, 0)
def setFloorIndicator(self, floor): assert(floor >= 0), "ERR_ floor < 0" assert(floor < self.NUM_FLOORS), "ERR_ floor > NUM_FLOORS" if floor & 0x02: io.setBit(OUTPUT.FLOOR_IND1, 1) else: io.setBit(OUTPUT.FLOOR_IND1, 0) if floor & 0x01: io.setBit(OUTPUT.FLOOR_IND2, 1) else: io.setBit(OUTPUT.FLOOR_IND2, 0)
def floor_listener(self, floor):
print "Current floor:", self.current_floor
if self.current_floor != floor:
self.current_floor = floor
self.send_event("update,%s,%s" % (floor, self.direction))
print "New current floor:", self.current_floor
# check if current floor is destination and poke system
if floor == int(self.current_action.rsplit(',')[1]):
io.setBit(OUTPUT.DOOR_OPEN, 1)
if floor == 0:
io.setBit(OUTPUT.LIGHT_COMMAND1, 0)
elif floor == 1:
io.setBit(OUTPUT.LIGHT_COMMAND2, 0)
elif floor == 2:
io.setBit(OUTPUT.LIGHT_COMMAND3, 0)
elif floor == 3:
io.setBit(OUTPUT.LIGHT_COMMAND4, 0)
print 'I has done work %s' % self.current_action
self.elevator.stop()
self.send_event('done,%s,%s' % (self.current_action, self.elevator.direction))
def setChannels(self, channels, value):
for channel in channels:
io.setBit(channel, value)
def recv(self, msg):
# msg[0]: type - msg[1]: floor
msg = msg.rsplit(',')
if msg[0] == 'lighton':
# turn on floor light
self.elevator.elevator.setButtonIndicator(int(msg[1]), int(msg[2]), 1)
pass
elif msg[0] == 'lightoff':
# turn off floor light
self.elevator.elevator.setButtonIndicator(int(msg[1]), int(msg[2]), 0)
pass
elif msg[0] == 'light_in_on':
if int(msg[1]) == 0:
io.setBit(OUTPUT.LIGHT_COMMAND1, 1)
elif int(msg[1]) == 1:
io.setBit(OUTPUT.LIGHT_COMMAND2, 1)
elif int(msg[1]) == 2:
io.setBit(OUTPUT.LIGHT_COMMAND3, 1)
elif int(msg[1]) == 3:
io.setBit(OUTPUT.LIGHT_COMMAND4, 1)
elif msg[0] == 'goto':
io.setBit(OUTPUT.DOOR_OPEN, 0)
# up: 1 - down: 0
self.direction = 1 if msg[1] > self.current_floor else 0
self.current_action = 'goto,%s,%i' % (int(msg[1]), self.direction)
self.elevator.moveToFloor(int(msg[1]))
if self.current_floor == int(msg[1]):
if self.current_floor == 0:
io.setBit(OUTPUT.LIGHT_COMMAND1, 0)
elif self.current_floor == 1:
io.setBit(OUTPUT.LIGHT_COMMAND2, 0)
elif self.current_floor == 2:
io.setBit(OUTPUT.LIGHT_COMMAND3, 0)
elif self.current_floor == 3:
io.setBit(OUTPUT.LIGHT_COMMAND4, 0)
print 'I will not move to %s' % self.current_action
self.send_event('done,%s,%s' % (self.current_action, self.elevator.direction))
elif msg[0] == 'stop':
self.elevator.stop()
self.send_event('done,%s,%s' % (msg[0]+','+msg[1], self.elevator.direction))
for l in OUTPUT.IN_LIGHTS:
io.setBit(l, 0)
def switch_lighting(self, channels, val):
for chan in channels:
io.setBit(chan, val)
def setChannels(self, channels, value):
for channel in channels:
io.setBit(channel, value)
def setDoorLamp(self, value): assert(value >= 0), "ERR: door lamp value < 0" assert(value < 1), "ERR: door lamp value > 1" io.setBit(OUTPUT.DOOROPEN, value)
def setDoorLamp(self, value):
assert (value >= 0), "ERR: door lamp value < 0"
assert (value < 1), "ERR: door lamp value > 1"
io.setBit(OUTPUT.DOOROPEN, value)