public Dispatcher(int numFloors, SimTime period, boolean verbose) {
super("Dispatcher", verbose);
this.period = period;
this.numFloors = numFloors;
lastClosedAt = 0;
overweight = false;
curr_f = 1;
lastFloor = 1;
curr_pos = 0;
curr_h = Hallway.BOTH;
curr_d = Direction.STOP;
floor = 1;
hallway = Hallway.BACK;
// represents the next direction
direction = Direction.STOP;
// promised_d = Direction.STOP;
nextHallCall = Direction.STOP;
waitForCall = false;
log("Created Dispatcher with period = ", period);
// Initialize network interface
// Outputs
networkDesiredFloor = CanMailbox.getWriteableCanMailbox(MessageDictionary.DESIRED_FLOOR_CAN_ID);
mDesiredFloor = new DesiredFloorCanPayloadTranslator(networkDesiredFloor);
canInterface.sendTimeTriggered(networkDesiredFloor, period);
// Inputs
// CarWeight
networkCarWeight = CanMailbox.getReadableCanMailbox(MessageDictionary.CAR_WEIGHT_CAN_ID);
mCarWeight = new CarWeightCanPayloadTranslator(networkCarWeight);
canInterface.registerTimeTriggered(networkCarWeight);
// AtFloor
networkAtFloor = new CanMailbox.ReadableCanMailbox[Elevator.numFloors * 2];
mAtFloor = new AtFloorCanPayloadTranslator[Elevator.numFloors * 2];
for (int floors = 1; floors <= Elevator.numFloors; floors++) {
for (Hallway h : Hallway.replicationValues) {
int index = ReplicationComputer.computeReplicationId(floors, h);
networkAtFloor[index] =
CanMailbox.getReadableCanMailbox(
MessageDictionary.AT_FLOOR_BASE_CAN_ID
+ ReplicationComputer.computeReplicationId(floors, h));
mAtFloor[index] = new AtFloorCanPayloadTranslator(networkAtFloor[index], floors, h);
canInterface.registerTimeTriggered(networkAtFloor[index]);
}
}
// DoorClosed
networkDoorClosed = new CanMailbox.ReadableCanMailbox[4];
mDoorClosed = new DoorClosedCanPayloadTranslator[4];
for (Hallway h : Hallway.replicationValues) {
for (Side s : Side.values()) {
int index = ReplicationComputer.computeReplicationId(h, s);
networkDoorClosed[index] =
CanMailbox.getReadableCanMailbox(
MessageDictionary.DOOR_CLOSED_SENSOR_BASE_CAN_ID
+ ReplicationComputer.computeReplicationId(h, s));
mDoorClosed[index] = new DoorClosedCanPayloadTranslator(networkDoorClosed[index], h, s);
canInterface.registerTimeTriggered(networkDoorClosed[index]);
}
}
// HallCall
networkHallCall = new CanMailbox.ReadableCanMailbox[Elevator.numFloors * 4];
mHallCall = new HallCallCanPayloadTranslator[Elevator.numFloors * 4];
for (int floors = 1; floors <= Elevator.numFloors; floors++) {
for (Hallway h : Hallway.replicationValues) {
for (Direction d : Direction.replicationValues) {
int index = ReplicationComputer.computeReplicationId(floors, h, d);
networkHallCall[index] =
CanMailbox.getReadableCanMailbox(
MessageDictionary.HALL_CALL_BASE_CAN_ID
+ ReplicationComputer.computeReplicationId(floors, h, d));
mHallCall[index] = new HallCallCanPayloadTranslator(networkHallCall[index], floors, h, d);
canInterface.registerTimeTriggered(networkHallCall[index]);
}
}
}
// CarCall
networkCarCall = new CanMailbox.ReadableCanMailbox[Elevator.numFloors * 2];
mCarCall = new CarCallCanPayloadTranslator[Elevator.numFloors * 2];
for (int floors = 1; floors <= Elevator.numFloors; floors++) {
for (Hallway h : Hallway.replicationValues) {
int index = ReplicationComputer.computeReplicationId(floors, h);
networkCarCall[index] =
CanMailbox.getReadableCanMailbox(
MessageDictionary.CAR_CALL_BASE_CAN_ID
+ ReplicationComputer.computeReplicationId(floors, h));
mCarCall[index] = new CarCallCanPayloadTranslator(networkCarCall[index], floors, h);
canInterface.registerTimeTriggered(networkCarCall[index]);
}
}
// Car Level Position
networkCarLevelPosition =
CanMailbox.getReadableCanMailbox(MessageDictionary.CAR_LEVEL_POSITION_CAN_ID);
mCarLevelPosition = new CarLevelPositionCanPayloadTranslator(networkCarLevelPosition);
canInterface.registerTimeTriggered(networkCarLevelPosition);
// Drive Speed
networkDriveSpeed = CanMailbox.getReadableCanMailbox(MessageDictionary.DRIVE_SPEED_CAN_ID);
mDriveSpeed = new DriveSpeedCanPayloadTranslator(networkDriveSpeed);
canInterface.registerTimeTriggered(networkDriveSpeed);
// initially set target to lobby.
mDesiredFloor.set(floor, hallway, direction);
timer.start(period);
}
@Override
public void timerExpired(Object callbackData) {
State newState = state;
curr_pos = mCarLevelPosition.getPosition();
// We add 100 in order to make sure the floor is being updated correctly.
curr_f = (curr_pos + 100) / 5000 + 1;
if (curr_f != lastFloor) {
lastFloor = curr_f;
// System.out.println("resetting overweight");
overweight = false;
lastClosedAt = 0;
}
// System.out.println("curr_pos is " + curr_pos + " and curr_f is " + curr_f);
if (Elevator.hasLanding(curr_f, Hallway.FRONT)) {
if (Elevator.hasLanding(curr_f, Hallway.BACK)) curr_h = Hallway.BOTH;
else curr_h = Hallway.FRONT;
} else curr_h = Hallway.BACK;
// State Machine
switch (state) {
// #state State 2: Doors Open
case STATE_DOORSOPEN:
// State actions for 'DOORSOPEN'
waitCounter = waitTime;
// If mDesiredDirection.d is STOP, we continue to look for hall and car halls.
// mDesiredDirection.d is also set at curr_d
// System.out.println("1current desired direction:" + mDesiredFloor.getDirection());
if (mDesiredFloor.getDirection() == Direction.STOP) {
/*
* NOTE: When nextTarget is called, curr_d is set to the desired direction,
* direction is set to the NEXT desired direction and floor is set to
* the NEXT target floor. BUT we only want to change the directional
* portion of mDesiredFloor, hence we use hallway, curr_f, and curr_d
* to set the next Desired Floor.
*
* If no additional floors are found. Nothing changes so it is safe to
* set mDesired dwell to curr_f, hallway, and curr_d still.
*/
nextTarget(mDriveSpeed.getSpeed(), mCarLevelPosition.getPosition(), curr_d);
// Now set the next target.
// System.out.println("open floor is " + floor + " next direction is " + direction + "
// current direction is " + curr_d + " hallway " + hallway);
// System.out.println("changing direction to " + curr_d);
mDesiredFloor.set(curr_f, curr_d, hallway);
// System.out.println("2current desired direction:" + mDesiredFloor.getDirection());
}
// If the car is overweight, dont answer hall calls at this floor until later!
if (mCarWeight.getValue() > Elevator.MaxCarCapacity) {
overweight = true;
}
if (hallway == Hallway.BOTH) {
// If either side of doors open and we're not at the floor, emergency!
// #transition 11.T.4
if ((!mDoorClosed[ReplicationComputer.computeReplicationId(Hallway.FRONT, Side.LEFT)]
.getValue()
|| !mDoorClosed[ReplicationComputer.computeReplicationId(Hallway.BACK, Side.LEFT)]
.getValue())
&& !mAtFloor[ReplicationComputer.computeReplicationId(curr_f, Hallway.FRONT)]
.getValue()) {
newState = State.STATE_EMERGENCY;
}
// #transition 11.T.3 when doors closed.
else if ((mDoorClosed[ReplicationComputer.computeReplicationId(Hallway.FRONT, Side.LEFT)]
.getValue()
&& mDoorClosed[ReplicationComputer.computeReplicationId(Hallway.BACK, Side.LEFT)]
.getValue())) lastClosedAt = curr_f;
newState = State.STATE_DOORSCLOSED;
}
// if it is not at ANY floor and ANY doors are open, jump to emergency state
// #transition 11.T.4
else if ((!mDoorClosed[ReplicationComputer.computeReplicationId(Hallway.FRONT, Side.LEFT)]
.getValue()
|| !mDoorClosed[ReplicationComputer.computeReplicationId(Hallway.BACK, Side.LEFT)]
.getValue())
&& !mAtFloor[ReplicationComputer.computeReplicationId(curr_f, hallway)].getValue()) {
newState = State.STATE_EMERGENCY;
}
// if no issues, move to the next state when doors closed
// #transition 11.T.3
else if ((mDoorClosed[ReplicationComputer.computeReplicationId(Hallway.FRONT, Side.LEFT)]
.getValue()
&& mDoorClosed[ReplicationComputer.computeReplicationId(Hallway.BACK, Side.LEFT)]
.getValue())) {
lastClosedAt = curr_f;
newState = State.STATE_DOORSCLOSED;
} else newState = state;
break;
// State actions for 'Doors Closed'
// #state State 1: Doors Closed
case STATE_DOORSCLOSED:
// If waitForCall flag set, wait for 2 seconds for passenger to make car call.
if (waitForCall) {
// System.out.println("waiting");
// while counter is greater than zero, keep subtracting;
if (waitCounter.isPositive()) waitCounter = SimTime.subtract(waitCounter, period);
else {
// Reset waitCounter for next time and set waitForCall false
waitForCall = false;
}
break;
} else {
// System.out.println("not waiting");
// Check both sides for closed doors if that is the case.
if (hallway == Hallway.BOTH || curr_h == Hallway.BOTH) {
// If we're at the next target floor AND doors are opening, jump to DOORSOPEN
// #transition 11.T.1
if (mAtFloor[ReplicationComputer.computeReplicationId(floor, Hallway.FRONT)].getValue()
&& ((!mDoorClosed[
ReplicationComputer.computeReplicationId(Hallway.FRONT, Side.LEFT)]
.getValue()
|| !mDoorClosed[
ReplicationComputer.computeReplicationId(Hallway.BACK, Side.LEFT)]
.getValue()))) {
newState = State.STATE_DOORSOPEN;
// If car is answering a hall call, wait for carcall after doors close.
if (mDesiredFloor.getDirection() != Direction.STOP) waitForCall = true;
// curr_d updated within nextTarget() but also updated when we open doors.
curr_d = direction;
// promised_d = direction;
}
// If either side of doors open and we're not at any floor, emergency!
// #transition 11.T.2
else if ((!mDoorClosed[
ReplicationComputer.computeReplicationId(Hallway.FRONT, Side.LEFT)]
.getValue()
|| !mDoorClosed[
ReplicationComputer.computeReplicationId(Hallway.BACK, Side.LEFT)]
.getValue())
&& !(mAtFloor[ReplicationComputer.computeReplicationId(curr_f, Hallway.FRONT)]
.getValue()
|| mAtFloor[ReplicationComputer.computeReplicationId(curr_f, Hallway.BACK)]
.getValue())
&& !mAtFloor[ReplicationComputer.computeReplicationId(floor, Hallway.FRONT)]
.getValue()) {
newState = State.STATE_EMERGENCY;
} else newState = state;
}
// If we're at the next target floor AND doors are opening, jump to DOORSOPEN
// #transition 11.T.1
else if (mAtFloor[ReplicationComputer.computeReplicationId(floor, hallway)].getValue()
&& ((!mDoorClosed[ReplicationComputer.computeReplicationId(Hallway.FRONT, Side.LEFT)]
.getValue()
|| !mDoorClosed[ReplicationComputer.computeReplicationId(Hallway.BACK, Side.LEFT)]
.getValue()))) {
newState = State.STATE_DOORSOPEN;
curr_d = direction;
// promised_d = direction;
if (mDesiredFloor.getDirection() != Direction.STOP) waitForCall = true;
}
// If either side of doors open and we're not at any floor, emergency!
// #transition 11.T.2
else if ((!mDoorClosed[ReplicationComputer.computeReplicationId(Hallway.FRONT, Side.LEFT)]
.getValue()
|| !mDoorClosed[ReplicationComputer.computeReplicationId(Hallway.BACK, Side.LEFT)]
.getValue())
&& !mAtFloor[ReplicationComputer.computeReplicationId(curr_f, curr_h)].getValue()
&& !mAtFloor[ReplicationComputer.computeReplicationId(floor, hallway)].getValue()) {
newState = State.STATE_EMERGENCY;
} else newState = state;
}
// Only change nextTarget if we're not transitioning states
if (newState == state) {
// Set next Direction and next target Floor
nextTarget(mDriveSpeed.getSpeed(), mCarLevelPosition.getPosition(), curr_d);
/*This code is invalid. Must check if landing has call as well.
* Decide which hallway is valid. If front and back, then both, else either front or back.*/
hallIndexF = ReplicationComputer.computeReplicationId(floor, Hallway.FRONT, direction);
carIndexF = ReplicationComputer.computeReplicationId(floor, Hallway.FRONT);
hallIndexB = ReplicationComputer.computeReplicationId(floor, Hallway.BACK, direction);
carIndexB = ReplicationComputer.computeReplicationId(floor, Hallway.BACK);
if (Elevator.hasLanding(floor, Hallway.FRONT)) {
if (Elevator.hasLanding(floor, Hallway.BACK)) {
// Check both landings for valid calls. If not both, then select one.
if ((mHallCall[hallIndexF].getValue() || mCarCall[carIndexF].getValue())
&& (mHallCall[hallIndexB].getValue() || mCarCall[carIndexB].getValue())) {
hallway = Hallway.BOTH;
} else if (mHallCall[hallIndexF].getValue() || mCarCall[carIndexF].getValue()) {
hallway = Hallway.FRONT;
} else if (mHallCall[hallIndexB].getValue() || mCarCall[carIndexB].getValue()) {
hallway = Hallway.BACK;
}
} else {
if (mHallCall[hallIndexF].getValue() || mCarCall[carIndexF].getValue()) {
hallway = Hallway.FRONT;
}
}
} else {
if (mHallCall[hallIndexB].getValue() || mCarCall[carIndexB].getValue()) {
hallway = Hallway.BACK;
}
}
/*if(promised_d != Direction.STOP && promised_d != curr_d ){
mDesiredFloor.setDirection(curr_d);
}*/
// log("floor is ", floor, " next direction is ", direction, " current direction is",
// curr_d);
// System.out.println("Closed floor is " + floor + " next direction is " + direction + "
// current direction is " + curr_d + " hallway " + hallway);
// Now set the next target.
// else{
mDesiredFloor.set(floor, direction, hallway);
// }
}
break;
// State actions for 'EMERGENCY'
// #state State 3: Emergency
case STATE_EMERGENCY:
// System.out.println("emergency at supposedly" + curr_f + " but at postion " +
// mCarLevelPosition.getPosition() +
// " with desiredfloor " +
// mDesiredFloor.getFloor()+mDesiredFloor.getHallway()+mDesiredFloor.getDirection());
floor = 1;
hallway = Hallway.BOTH;
direction = Direction.STOP;
// Set the desired floor back down to the lobby!
mDesiredFloor.set(floor, hallway, direction);
// Once the doors have opened at the lobby, we can return to normal operation.
// #transition 11.T.5
if (!mDoorClosed[ReplicationComputer.computeReplicationId(Hallway.FRONT, Side.LEFT)]
.getValue()
&& mAtFloor[ReplicationComputer.computeReplicationId(1, Hallway.FRONT)].getValue())
newState = State.STATE_DOORSOPEN;
else newState = state;
break;
default:
throw new RuntimeException("State " + state + " was not recognized.");
}
/*log the results of this iteration
if (state == newState) {
log("remains in state: ",state);
} else {
log("Transition:",state,"->",newState);
}
*/
// update the state variable
state = newState;
// report the current state
setState(STATE_KEY, newState.toString());
// schedule the next iteration of the controller
// you must do this at the end of the timer callback in order to restart
// the timer
timer.start(period);
}