/**
* This method checks both elevators to determine if one is on the floor where this passenger is
* attempting to board.
*
* <p>It returns a reference to the elevator or a null if no elevator is available.
*
* @return available elevator or a null if no elevator is available.
*/
private static Elevator findElevator(Passenger passenger) {
Elevator foundElevator = null;
if (elevator1.isElevatorHere(passenger)) {
foundElevator = elevator1;
} else if (elevator2.isElevatorHere(passenger)) {
foundElevator = elevator2;
}
return foundElevator;
} // end findElevator
/**
* This method performs reporting at the end of the workday. It indicates that the elevators have
* stopped service and reports passenger counts.
*/
private static void endOfDay() {
System.out.println();
System.out.println("End of workday. Elevators stopping service.");
System.out.println(
"Stopping elevator 1 with "
+ elevator1.getTotalPassengers()
+ " onboard."); // changed method from getPassengerCount() to getTotalPassengers()
// edited by MAGNUM
System.out.println(
"Stopping elevator 2 with "
+ elevator2.getTotalPassengers()
+ " onboard."); // changed method from getPassengerCount() to getTotalPassengers()
// edited by MAGNUM
} // end endOfDay
/** This function is called periodically during operator control */
public void teleopPeriodic() {
Scheduler.getInstance().run();
drivetrain.smartDashboardPush();
purpleSensor.smartDashboardPush();
gripper.smartDashboardPush();
elevator.smartDashboardPush();
}
public void disabledPeriodic() {
Scheduler.getInstance().run();
purpleSensor.smartDashboardPush();
drivetrain.smartDashboardPush();
gripper.smartDashboardPush();
elevator.smartDashboardPush();
if (drivetrain.getResetButton() && !drivetrain.isResetDisabled()) {
drivetrain.resetEncoders();
purpleSensor.zeroHeading();
}
}
/**
* Feature #7
*
* @param fromFloor
* @param toFloor
* @return
*/
public boolean receiveRequest(int fromFloor, int toFloor) {
boolean requestFilled = false;
// check to see if any of the elevators are on the "fromFloor". If so, then it will fill the
// request;
for (Elevator currentElevator : elevatorList) {
int closestDistance = 1000;
Elevator closestElevator = null;
if (currentElevator.inService && currentElevator.currentFloor == fromFloor) {
try {
currentElevator.gotoFloor(toFloor);
} catch (InvalidFloorRequest invalidFloorRequest) {
invalidFloorRequest.printStackTrace();
}
requestFilled = true;
break;
} else {
// go through each elevator and see how far away it is. Choose the closest
if (currentElevator.distanceFromFloor(fromFloor) < closestDistance) {
closestDistance = currentElevator.distanceFromFloor(fromFloor);
closestElevator = currentElevator;
}
}
if (closestElevator != null) {
requestFilled = true;
try {
closestElevator.gotoFloor(fromFloor);
} catch (InvalidFloorRequest invalidFloorRequest) {
invalidFloorRequest.printStackTrace();
}
}
}
return requestFilled;
}
public void printSensorStates() {
gather.StopFront();
gather.StopBack();
elevator.Stop();
if (frontGather.isTriggered()) {
System.out.println("Front Gatherer");
}
if (backGather.isTriggered()) {
System.out.println("Back Gatherer");
}
for (int i = 0; i < elevatorSensors.length; i++) {
if (elevatorSensors[i].isTriggered()) {
System.out.println("Elevator: " + (i + 1));
} else if (!frontGather.isTriggered()
&& !backGather.isTriggered()
&& !elevatorSensors[i].isTriggered()) {
System.out.println("Nuffin");
}
}
}
public void MoveState() {
switch (moveState) {
default:
System.out.println("default state.. WTF???");
gather.StopFront();
gather.StopBack();
elevator.Stop();
break;
case 0:
System.out.println("Start Your Engine");
gather.FrontForward();
gather.BackForward();
moveState = 1;
break;
case 1:
System.out.println("Load Ball 1");
if (frontGather.isTriggered() || backGather.isTriggered()) {
moveState = 2;
}
break;
case 2:
System.out.println("Move 1 to point 1");
elevator.MoveUp(.35);
if (elevatorSensors[0].isTriggered()) {
elevator.Stop();
moveState = 12;
}
break;
case 12:
System.out.println("State 12");
if (!frontGather.isTriggered() && !backGather.isTriggered()) {
moveState = 3;
}
break;
case 3:
System.out.println("Load Ball 2, adjust to point 2");
if (frontGather.isTriggered() || backGather.isTriggered()) {
elevator.MoveUp(.35);
moveState = 4;
}
break;
case 4:
System.out.println("State 4");
if (elevatorSensors[1].isTriggered()) {
elevator.Stop();
moveState = 14;
}
break;
case 14:
System.out.println("State 14");
if (!frontGather.isTriggered() && !backGather.isTriggered()) {
moveState = 5;
}
break;
case 5:
System.out.println("State 5");
if (frontGather.isTriggered() || backGather.isTriggered()) {
elevator.MoveUp(.4);
moveState = 15;
}
break;
case 15:
System.out.println("State 15");
if (!frontGather.isTriggered() && !backGather.isTriggered()) {
moveState = 6;
}
break;
case 6:
System.out.println("State 6");
if (elevatorSensors[2].isTriggered()) {
elevator.Stop();
moveState = 7;
}
break;
case 7:
System.out.println("END STATE");
gather.StopFront();
gather.StopBack();
elevator.Stop();
break;
}
}
public void turnOff() {
gather.StopFront();
gather.StopBack();
elevator.Stop();
}
public void startUp() {
gather.FrontForward();
gather.BackForward();
elevator.MoveUp();
}
public Moving(Elevator elevator) {
this.elevator = elevator;
elevator.setOpenDoor(false);
}
/** This method tells both elevators that one time unit has passed. */
private static void recordTick() {
// tell each elevator that one unit of time has passed
System.out.println("Tick.");
elevator1.tick();
elevator2.tick();
} // end recordTick
/**
* Read and process each item in the simulation file. It reads each input item in the file. If a
* PASSENGER entry, a passenger object is created, and the elevators are checked to see if one is
* available to service this passenger. If so, the passenger is logically added to the elevator.
* If an elevator is not available, the passenger must take the stairs.
*
* <p>If the input item is a TICK, it indicates that one time unit has passed. At EOF, the method
* is invoked to shut the elevators down and perform the end of day processing.
*
* <p>If an error is detected at any time, this method returns the proper boolean to the calling
* method.
*
* @return True or False to indicate an error
*/
private static boolean processSimulationFile() {
// local constants used by this method
final String PASSENGER = "passenger";
final String TICK = "tick";
final String SIMULATION_END = "done";
boolean done = false; // set when done
boolean error = false; // set if error detected
boolean addedOK = false; // set if no elevator is available
Passenger newPass = null; // new passenger object
Elevator availableEl = null; // elevator object
// Read next token from file and process
try {
while (!done && !error && in.nextToken() != in.TT_EOF) {
if (in.sval.equals(PASSENGER)) {
// if a new passenger, create a new object, look
// for an elevator and add to elevator. If elevator
// is not available, passenger takes the stairs.
newPass = newPassenger();
availableEl = findElevator(newPass);
if (availableEl == null) takingStairs(newPass);
else {
System.out.print(
"Passenger: "
+ newPass.getName()
+ " arrives on floor "
+ newPass.getFloor()
+ ".");
addedOK = availableEl.addPassenger(newPass);
if (!addedOK) {
error = true;
}
}
} else if (in.sval.equals(TICK)) {
// token read from file is a time indicator
recordTick();
} else if (in.sval.equals(SIMULATION_END)) {
// end of file == end of workday
done = true;
} else {
error = true;
}
} // end while
if (in.nextToken() == in.TT_EOF) {
// perform end of day reporting
endOfDay();
}
// catch for file exception
} catch (IOException e) {
error = true;
} // end try
return error;
} // end processSimulationFile
public void log() {
pdp.log();
drivetrain.log();
elevator.log();
toteContact.log();
}
