@@ -0,0 +1,494 @@
+//! # TTK4145 Elevator Driver

@@ -0,0 +150,4 @@
+
+/// Elevator controller
+///
+/// Takes in SystemState and does not return anything.

@@ -0,0 +158,4 @@
+///
+/// After arriving at the desired destination the doors will open and stay open for three seconds.
+///
+/// @breif elevator_controller makes sure the elevator is at right destination before opening

@@ -0,0 +24,4 @@
+            .get_own_elevator_as_ref()
+            .get_current_floor()
+    };
+    while current_floor_option == None {

@@ -0,0 +167,4 @@
+    let floor_destination: Destination = get_floor_destination(system_state.clone()).await;
+
+    info!(
+        "Starting elevator controller to move to floor {:?}",

@@ -0,0 +40,4 @@
+
+/// waiting_for_door_to_be_closed checks the current door state, and while the door is not closed
+/// it will stop the elevator, update the system state, and then try to close the doors again
+async fn waiting_for_door_to_be_closed(system_state: Arc<RwLock<SystemState>>, elevator: Elevator) {

@@ -0,0 +46,4 @@
+        state.elevators.get_own_elevator_as_ref().get_door_state()
+    };
+
+    while current_door_state != DoorState::Closed {

@@ -0,0 +65,4 @@
+        }
+
+        current_door_state = {
+            let state = system_state.read().unwrap();

@@ -0,0 +60,4 @@
+
+        {
+            let mut state_writer = system_state.write().unwrap();
+            state_writer.elevators.close_door();

@@ -0,0 +83,4 @@
+        state.elevators.get_own_elevator_as_ref().get_obstructed()
+    };
+
+    while obstructed_state != None {

@@ -0,0 +95,4 @@
+
+/// Function takes in two destinations and returns an [`Direction`] based on which way the elevator
+/// needs to drive to get from [`current_floor`] to [`floor_destination`].
+fn calculate_direction(floor_destination: Destination, current_floor: Destination) -> Direction {

@@ -0,0 +96,4 @@
+/// Function takes in two destinations and returns an [`Direction`] based on which way the elevator
+/// needs to drive to get from [`current_floor`] to [`floor_destination`].
+fn calculate_direction(floor_destination: Destination, current_floor: Destination) -> Direction {
+    match current_floor > floor_destination {

@@ -0,0 +116,4 @@
+    // Check if door is closed, and wait for it to be
+    waiting_for_door_to_be_closed(system_state.clone(), elevator.clone()).await;
+
+    // no -> move elevator

@@ -0,0 +120,4 @@
+    elevator.motor_direction(direction.into());
+    {
+        // Updates the system state
+        let mut state = system_state.write().unwrap();

@@ -0,0 +138,4 @@
+        state.elevators.get_own_elevator_as_ref().get_destination()
+    };
+
+    while floor_destination == None {

@@ -0,0 +223,4 @@
+    use crate::system_state_controller::SystemState;
+
+    #[tokio::test]
+    async fn test_test() {

@@ -0,0 +174,4 @@
+    let mut current_floor =
+        get_current_floor(system_state.clone(), elevator.clone(), Direction::Down).await;
+
+    while current_floor != floor_destination {

@@ -0,0 +172,4 @@
+    );
+
+    let mut current_floor =
+        get_current_floor(system_state.clone(), elevator.clone(), Direction::Down).await;

@@ -0,0 +186,4 @@
+        current_floor = get_current_floor(system_state.clone(), elevator.clone(), direction).await;
+    }
+
+    elevator.motor_direction(DIRN_STOP);

@@ -66,6 +67,7 @@ async fn main() {
     if elevator.floor_sensor().is_none() {
         elevator.motor_direction(dirn);
     }
+    // elevator.motor_direction(elev::DIRN_UP);

@@ -0,0 +4,4 @@
+use driver_rust::elevio::poll::obstruction;
+use log::{info, trace};
+use std::sync::{Arc, RwLock};
+// use crossbeam_channel::{self as cbc, Receiver};

@@ -0,0 +8,4 @@
+use log::debug;
+use tokio::sync::mpsc;
+
+async fn floor_handler(state: Arc<RwLock<SystemState>>, floor_rx: &Receiver<u8>) {

@@ -0,0 +13,4 @@
+    let recieved_floor: u8 = floor_rx.recv().unwrap();
+    trace!("Recieved from floor controller {:?}", recieved_floor);
+
+    // TODO: Find a more modual way to do this

@@ -3,3 +4,3 @@
 use serde::{Deserialize, Serialize};
 use small_uid::SmallUid;
-use std::{collections::HashSet, net::IpAddr};
+use std::{collections::HashSet, net::IpAddr, u8};

@@ -173,0 +190,4 @@
+
+    /// Set the current location of the elevator
+    pub fn set_current_floor(&mut self, floor: Option<Destination>) {
+        if self.current_floor != floor {