Small fixes. Still need to fix obstruction timer not reacting when be…

…ing activated in idle

elevatorAlgorithm/fsm/fsm.go

@@ -43,12 +43,14 @@ func FSM(orderAssignment chan [][]bool, clearOrders chan orders.ClearFloorOrders
 			if isObstructed {
 				break
 			}
-			elevState.Behaviour, elevState.Direction = OnDoorTimeOut(elevState, doorTimer, inactivityTimer)
+			elevState.Behaviour, elevState.Direction = OnDoorTimeOut(elevState, doorTimer, inactivityTimer, obstructionTimer, isObstructed)
+
 			var clearOrder orders.ClearFloorOrders
 			clearOrder.Floor = elevState.Floor
 			clearOrder.Cab = true
 			clearOrder.HallUp = orders.ShouldClearHallUp(elevState.Floor, elevState.Direction, elevState.Orders)
 			clearOrder.HallDown = orders.ShouldClearHallDown(elevState.Floor, elevState.Direction, elevState.Orders)
+
 			clearOrders <- clearOrder
 
 		case isObstructed = <-obstructionEvent:
@@ -78,15 +80,15 @@ func FSM(orderAssignment chan [][]bool, clearOrders chan orders.ClearFloorOrders
 func resetElevatorTimers(isObstructed bool, obstructionTimer *time.Timer, doorTimer *time.Timer) { //Add doorTImerReset here as well
 	if isObstructed {
 		log.Println("Obstruction occured!")
-		obstructionTimer.Reset(inactivityTimeout)
+		obstructionTimer.Reset(obstructionTimeout)
 	} else {
 		obstructionTimer.Stop()
 	}
 	doorTimer.Reset(elevator.DOOR_OPEN_DURATION)
 }
 
 func updateOrders(elevState elevator.Elevator, doorTimer *time.Timer, inactivityTimer *time.Timer) (elevator.ElevatorBehaviour, elevio.MotorDirection) {
-	if orders.HaveOrders(elevState.Floor, elevState.Orders) { //Consider movign if statement out of function
+	if orders.HaveOrders(elevState.Floor, elevState.Orders) {
 		switch elevState.Behaviour {
 		case elevator.EB_Idle:
 			pair := orders.ChooseDirection(elevState.Direction, elevState.Floor, elevState.Orders)
@@ -140,7 +142,7 @@ func OnFloorArrival(elevState elevator.Elevator, doorTimer *time.Timer, inactivi
 	return elevState.Behaviour, clearOrder
 }
 
-func OnDoorTimeOut(elevState elevator.Elevator, doorTimer *time.Timer, inactivityTimer *time.Timer) (elevator.ElevatorBehaviour, elevio.MotorDirection) {
+func OnDoorTimeOut(elevState elevator.Elevator, doorTimer *time.Timer, inactivityTimer *time.Timer, obstructionTimer *time.Timer, isObstructed bool) (elevator.ElevatorBehaviour, elevio.MotorDirection) {
 	switch elevState.Behaviour {
 	case elevator.EB_DoorOpen:
 		pair := orders.ChooseDirection(elevState.Direction, elevState.Floor, elevState.Orders)
@@ -150,7 +152,8 @@ func OnDoorTimeOut(elevState elevator.Elevator, doorTimer *time.Timer, inactivit
 		switch elevState.Behaviour {
 		case elevator.EB_DoorOpen:
 			//inactivityTimer.Reset(inactivityTimeout)
-			doorTimer.Reset(elevator.DOOR_OPEN_DURATION)
+			resetElevatorTimers(isObstructed, obstructionTimer, doorTimer)
+			//doorTimer.Reset(elevator.DOOR_OPEN_DURATION)
 		case elevator.EB_Idle:
 			elevio.SetDoorOpenLamp(false)
 			elevio.SetMotorDirection(elevState.Direction)

main.go

@@ -16,7 +16,6 @@ import (
 const peersPort int = 25566
 
 func main() {
-	// elevatorID := "0"
 	log.Println("Elevator starting 🛗")
 	elevatorPort, elevatorId := cmd.InitCommandLineArgs(os.Args)
 	elevio.Init(fmt.Sprintf("localhost:%d", elevatorPort), elevator.N_FLOORS)

orderSync/orderSync.go

@@ -119,9 +119,6 @@ func Sync(elevatorSystemFromFSM chan elevator.Elevator, localId string, orderAss
 
 		case orderToClear := <-orderCompleted:
 			syncOrderSystem = RemoveOrder(localId, orderToClear, syncOrderSystem)
-			if orderToClear.Cab {
-				log.Println("Removed order")
-			}
 
 		case <-timer.C: //Timer reset, send new state update
 			msgCounter += 1
@@ -156,12 +153,9 @@ func Transition(localId string, networkMsg StateMsg, updatedSyncOrderSystem Sync
 
 	updatedSyncOrderSystem = AddElevatorToSyncOrderSystem(localId, networkMsg, updatedSyncOrderSystem)
 
+	//Should this be changed?
 	orderSystem := SyncOrderSystemToOrderSystem(localId, updatedSyncOrderSystem)
 	orderSystem.HallOrders = transition.Hall(orderSystem.HallOrders, networkMsg.OrderSystem.HallOrders)
-	//Check if Sync
-	log.Println(localId, "OrderSystem cabs:", orderSystem.CabOrders)
-	log.Println(networkMsg.Id, "NetworkMSG cabs:", networkMsg.OrderSystem.CabOrders)
-	log.Println(localId, "Sync cabs:", updatedSyncOrderSystem.CabOrders)
 
 	updatedSyncOrderSystem = UpdateSyncOrderSystem(localId, updatedSyncOrderSystem, orderSystem)
 
@@ -178,7 +172,6 @@ func AddElevatorToSyncOrderSystem(localId string, networkMsg StateMsg, syncOrder
 		_, ok := syncOrderSystem.CabOrders[elevId]
 		if ok {
 			for floor, order := range orders {
-				//This must be a for loop, because we need to add the world view of everyone
 				for syncID := range networkMsg.OrderSystem.CabOrders {
 					_, ok := syncOrderSystem.CabOrders[elevId][floor][syncID]
 					if ok {
@@ -217,10 +210,8 @@ func ConsensusTransitionSingleCab(localId string, CabOrders []SyncOrder, peers [
 		if ConsensusAmongPeers(order, peers) { //Consensus
 			ourorder := order[localId]
 			if ourorder == servicedOrder {
-				log.Println("Consensus")
 				return reqFloor, noOrder
 			} else if ourorder == unconfirmedOrder {
-				log.Println("Consensus")
 				return reqFloor, confirmedOrder
 			}
 		}