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Fix bugs in station 2/6 program

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This commit is contained in:
Kirigaya Kazuto 2017-10-27 12:17:02 +08:00
parent 19d28230dc
commit 3dd272f08f
1 changed files with 27 additions and 26 deletions
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53
station_2_6.lua
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@ -203,6 +203,17 @@ local function doCheck()
print("Check Pass.")
end
local function startBATimer()
ba_time_out=1
ba_timerid_out=AddTimer(1,
function()
ba_time_out=ba_time_out+1
if(ba_time_out==8) then
bus:push("ba_time_out_needstop")
end
end,-1)
end
local function TCSMain()
doCheck()
doClearOutput()
@ -448,14 +459,7 @@ local function TCSMain()
if(act) then
-- Add BA Timer
ba_time_out=1
ba_timerid_out=AddTimer(1,
function()
ba_time_out=ba_time_out+1
if(ba_time_out==8) then
bus:push("ba_time_out_needstop")
end
end,-1)
startBATimer()
enabledevice("k4")
os.sleep(0.25)
disabledevice("k4")
@ -535,6 +539,8 @@ local function TCSMain()
end
if(done) then -- Clear way1
RemoveTimer(timerid[1])
timecnt[1]=0
isfree[1]=true
else
bus:push(ev)
@ -588,6 +594,8 @@ local function TCSMain()
end
if(done) then -- Clear way2
RemoveTimer(timerid[2])
timecnt[2]=0
isfree[2]=true
else
bus:push(ev)
@ -641,6 +649,8 @@ local function TCSMain()
end
if(done) then -- Clear way6
RemoveTimer(timerid[6])
timecnt[6]=0
isfree[6]=true
else
bus:push(ev)
@ -663,15 +673,7 @@ local function TCSMain()
else -- Does not need reverse
if(ba_time_out==0 and readdevice("ba_lout")>0) then -- Can let go
if(isfree[4] or timecnt[4]==0 or timecnt[5]>=timecnt[4]) then -- If Way4 is free, or way4 is not ready, or way5 wait longer
ba_time_out=1
ba_timerid_out=AddTimer(1,
function()
ba_time_out=ba_time_out+1
if(ba_time_out==8) then
bus:push("ba_time_out_needstop")
end
end,
-1)
startBATimer()
disabledevice("m5")
enabledevice("k5")
os.sleep(0.25)
@ -682,6 +684,8 @@ local function TCSMain()
end -- Cannot move at all.
end
if(done) then
RemoveTimer(timerid[5])
timecnt[5]=0
isfree[5]=true -- Mark way5 as free
else
bus:push(ev)
@ -735,30 +739,27 @@ local function TCSMain()
end
if(done) then -- mark way 3 as free
isfree[3]=true
RemoveTimer(timerid[3])
timecnt[3]=0
else
bus:push(ev)
end
elseif(ev=="s4_pending") then
local okay=false
if(ba_time_out==0 and readdevice("ba_lout")>0) then -- Can let go
if(isfree[5] or revflag[5]==true) then -- Way5 is free or Way5 will reverse
if(isfree[5] or revflag[5]==true or timecnt[4]>=timecnt[5]) then -- Way5 is free or Way5 will reverse
okay=true
end
end
if(okay) then
-- Add BA Timer
ba_time_out=1
ba_timerid_out=AddTimer(1,
function()
ba_time_out=ba_time_out+1
if(ba_time_out==8) then
bus:push("ba_time_out_needstop")
end
end,-1)
startBATimer()
enabledevice("k4")
os.sleep(0.25)
disabledevice("k4")
RemoveTimer(timerid[4])
timecnt[4]=0
isfree[4]=true
else
bus:push(ev)