summaryrefslogtreecommitdiff
path: root/controllerfw.lua
blob: 5fbe30cdf2046c6c395b32858f789ca90414821b (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
1301
1302
1303
1304
1305
1306
1307
1308
1309
1310
1311
1312
1313
1314
1315
1316
1317
1318
1319
1320
1321
1322
1323
1324
1325
1326
1327
1328
1329
1330
1331
1332
1333
1334
1335
1336
1337
1338
1339
1340
1341
local pos,event,mem = ...

local changedinterrupts = {}

mem.messages = {}

local function send(carid,channel,message)
	table.insert(mem.messages,{
		carid = carid,
		channel = channel,
		message = message,
	})
end

local function fault(ftype,fatal)
	if fatal then mem.fatalfault = true end
	if not mem.activefaults then mem.activefaults = {} end
	if not mem.faultlog then mem.faultlog = {} end
	if mem.activefaults[ftype] then return end
	mem.activefaults[ftype] = true
	table.insert(mem.faultlog,{ftype = ftype,timestamp = os.time()})
end

if not mem.drive.status then
	fault("drivecomm",true)
	mem.drive.status = {
		apos = 0,
		dpos = 0,
		vel = 0,
		maxvel = 0,
	}
elseif mem.drive.status.fault then
	fault("drive"..mem.drive.status.fault,true)
end

if mem.drive.state == "uninit" then
	fault("driveuninit",true)
end

local juststarted = false

local modenames = {
	normal = "Normal Operation",
	uninit = "Uninitialized",
	resync = "Position Sync - Floor",
	bfdemand = "Position Sync - Terminal",
	fault = "Fault",
	stop = "Emergency Stop",
	mrinspect = "Machine Room Inspection",
	carinspect = "Car Top Inspection",
	inspconflict = "Inspection Conflict",
	fs1 = "Fire Service - Phase 1",
	fs2 = "Fire Service - Phase 2",
	fs2hold = "Fire Service - Phase 2 Hold",
	indep = "Independent Service",
	capture = "Captured",
	test = "Test Mode",
}

local doorstates = {
	open = "Open",
	opening = "Opening",
	closing = "Closing",
	closed = "Closed",
	testtiming = "Closed",
}

local faultnames = {
	opentimeout = "Door Open Timeout",
	closetimeout = "Door Close Timeout",
	drivecomm = "Lost Communication With Drive",
	driveuninit = "Drive Not Configured",
	drivemetaload = "Drive Metadata Load Failure",
	drivebadorigin = "Drive Origin Invalid",
	drivedoorinterlock = "Attempted to Move Doors With Car in Motion",
	driveoutofbounds = "Target Position Out of Bounds",
}

local function drivecmd(command)
	table.insert(mem.drive.commands,command)
end

local function interrupt(time,iid)
	mem.interrupts[iid] = time
	changedinterrupts[iid] = true
end

local function getpos(pioffset)
	local ret = 0
	local searchpos = mem.drive.status.apos
	if pioffset then searchpos = math.max(0,searchpos+0.5) end
	for k,v in ipairs(mem.params.floorheights) do
		ret = ret+v
		if ret > searchpos then return k end
	end
	return mem.params.floorheights[#mem.params.floorheights]
end

local function gettarget(floor)
	local target = 0
	if floor == 1 then return 0 end
	for i=1,floor-1,1 do
		target = target+mem.params.floorheights[i]
	end
	return target
end

local function gotofloor(floor)
	mem.carmotion = true
	drivecmd({
		command = "setmaxvel",
		maxvel = mem.params.contractspeed
	})
	if gettarget(floor) ~= mem.drive.status.apos then
		drivecmd({
			command = "moveto",
			pos = gettarget(floor)
		})
	end
	interrupt(0,"checkdrive")
	juststarted = true
end

local function getnextcallabove(dir,excludecurrent)
	local start = (excludecurrent and getpos()+1 or getpos())
	for i=start,#mem.params.floorheights,1 do
		if not dir then
			if mem.carcalls[i] then
				return i,"car"
			elseif mem.upcalls[i] then
				return i,"up"
			elseif mem.dncalls[i] then
				return i,"down"
			end
		elseif dir == "up" then
			if mem.carcalls[i] then
				return i,"car"
			elseif mem.upcalls[i] then
				return i,"up"
			end
		elseif dir == "down" then
			if mem.carcalls[i] then
				return i,"car"
			elseif mem.dncalls[i] then
				return i,"down"
			end
		end
	end
end

local function getnextcallbelow(dir,excludecurrent)
	local start = (excludecurrent and getpos()-1 or getpos())
	for i=start,1,-1 do
		if not dir then
			if mem.carcalls[i] then
				return i,"car"
			elseif mem.upcalls[i] then
				return i,"up"
			elseif mem.dncalls[i] then
				return i,"down"
			end
		elseif dir == "up" then
			if mem.carcalls[i] then
				return i,"car"
			elseif mem.upcalls[i] then
				return i,"up"
			end
		elseif dir == "down" then
			if mem.carcalls[i] then
				return i,"car"
			elseif mem.dncalls[i] then
				return i,"down"
			end
		end
	end
end

local function getlowestupcall()
	for i=1,#mem.params.floornames,1 do
		if mem.upcalls[i] then return i end
	end
end

local function gethighestdowncall()
	for i=#mem.params.floornames,1,-1 do
		if mem.dncalls[i] then return i end
	end
end

local function open()
	mem.doorstate = "opening"
	drivecmd({command = "open"})
	interrupt(0.2,"checkopen")
	interrupt(10,"opentimeout")
	interrupt(nil,"closetimeout")
end

local function close()
	mem.doorstate = "closing"
	drivecmd({command = "close"})
	interrupt(0.2,"checkclosed")
	interrupt(10,"closetimeout")
	interrupt(nil,"opentimeout")
end

mem.formspec = ""

local function fs(element)
	mem.formspec = mem.formspec..element
end

if type(mem.groupupcalls) ~= "table" then mem.groupupcalls = {} end
if type(mem.groupdncalls) ~= "table" then mem.groupdncalls = {} end
if type(mem.swingupcalls) ~= "table" then mem.swingupcalls = {} end
if type(mem.swingdncalls) ~= "table" then mem.swingdncalls = {} end

if event.type == "program" then
	mem.carstate = "uninit"
	mem.editingfloor = 1
	mem.doorstate = "closed"
	mem.carmotion = false
	mem.carcalls = {}
	mem.upcalls = {}
	mem.dncalls = {}
	mem.groupupcalls = {}
	mem.groupdncalls = {}
	mem.swingupcalls = {}
	mem.swingdncalls = {}
	mem.screenpage = 1
	mem.scrollfollowscar = true
	mem.controllerstopsw = false
	mem.controllerinspectsw = false
	mem.cartopinspectsw = false
	mem.capturesw = false
	mem.testsw = false
	mem.activefaults = {}
	mem.faultlog = {}
	mem.fatalfault = false
	mem.fs1switch = false
	mem.fs1led = false
	mem.fs2sw = "off"
	mem.indsw = false
	mem.lightsw = true
	mem.fansw = true
	if not mem.params then
		mem.state = "unconfigured"
		mem.screenstate = "oobe_welcome"
		mem.params = {
			contractspeed = 1,
			floorheights = {5,5,5},
			floornames = {"1","2","3"},
			doortimer = 5,
			groupmode = "simplex",
			mainlanding = 1,
		}
	end
elseif event.type == "ui" then
	if mem.screenstate == "oobe_welcome" then
		if event.fields.license then
			mem.screenstate = "oobe_license"
		elseif event.fields.next then
			mem.screenstate = "oobe_groupmode"
		end
	elseif mem.screenstate == "oobe_license" then
		if event.fields.back then
			mem.screenstate = "oobe_welcome"
		end
	elseif mem.screenstate == "oobe_groupmode" then
		if event.fields.back then
			mem.screenstate = "oobe_welcome"
		elseif event.fields.simplex then
			mem.screenstate = "oobe_floortable"
			mem.params.groupmode = "simplex"
		elseif event.fields.group then
			mem.screenstate = "oobe_dispatcherconnect"
			mem.params.groupmode = "group"
		end
	elseif mem.screenstate == "oobe_dispatcherconnect" then
		if event.fields.back then
			mem.screenstate = "oobe_groupmode"
		end
	elseif mem.screenstate == "oobe_floortable" or mem.screenstate == "floortable" then
		local exp = event.fields.floor and minetest.explode_textlist_event(event.fields.floor) or {}
		if event.fields.back then
			mem.screenstate = "oobe_groupmode"
		elseif event.fields.next then
			if mem.screenstate == "oobe_floortable" then
				mem.activefaults = {}
				mem.faultlog = {}
				mem.fatalfault = false
			end
			mem.state = "configured"
			mem.screenstate = (mem.screenstate == "oobe_floortable" and "status" or "parameters")
			mem.screenpage = 1
			mem.carstate = "bfdemand"
			if mem.doorstate == "closed" then
				drivecmd({
					command = "setmaxvel",
					maxvel = mem.params.contractspeed,
				})
				drivecmd({command = "resetpos"})
				interrupt(0.1,"checkdrive")
				mem.carmotion = true
				juststarted = true
			else
				close()
			end
		elseif exp.type == "CHG" then
			mem.editingfloor = #mem.params.floornames-exp.index+1
		elseif exp.type == "DCL" then
			mem.editingfloor = #mem.params.floornames-exp.index+1
			mem.screenstate = (mem.screenstate == "oobe_floortable" and "oobe_floortable_edit" or "floortable_edit")
		elseif event.fields.edit then
			mem.screenstate = (mem.screenstate == "oobe_floortable" and "oobe_floortable_edit" or "floortable_edit")
		elseif event.fields.add then
			table.insert(mem.params.floorheights,5)
			table.insert(mem.params.floornames,tostring(#mem.params.floornames+1))
		elseif event.fields.remove then
			table.remove(mem.params.floorheights,mem.editingfloor)
			table.remove(mem.params.floornames,mem.editingfloor)
			mem.editingfloor = math.max(1,mem.editingfloor-1)
		elseif event.fields.moveup then
			local height = mem.params.floorheights[mem.editingfloor]
			local name = mem.params.floornames[mem.editingfloor]
			table.remove(mem.params.floorheights,mem.editingfloor)
			table.remove(mem.params.floornames,mem.editingfloor)
			table.insert(mem.params.floorheights,mem.editingfloor+1,height)
			table.insert(mem.params.floornames,mem.editingfloor+1,name)
			mem.editingfloor = mem.editingfloor + 1
		elseif event.fields.movedown then
			local height = mem.params.floorheights[mem.editingfloor]
			local name = mem.params.floornames[mem.editingfloor]
			table.remove(mem.params.floorheights,mem.editingfloor)
			table.remove(mem.params.floornames,mem.editingfloor)
			table.insert(mem.params.floorheights,mem.editingfloor-1,height)
			table.insert(mem.params.floornames,mem.editingfloor-1,name)
			mem.editingfloor = mem.editingfloor - 1
		end
	elseif mem.screenstate == "oobe_floortable_edit" or mem.screenstate == "floortable_edit" then
		if event.fields.back or event.fields.save then
			mem.screenstate = (mem.screenstate == "oobe_floortable_edit" and "oobe_floortable" or "floortable")
			local height = tonumber(event.fields.height)
			if height then
				height = math.floor(height+0.5)
				mem.params.floorheights[mem.editingfloor] = math.max(0,height)
			end
			mem.params.floornames[mem.editingfloor] = string.sub(event.fields.name,1,256)
		end
	elseif mem.screenstate == "parameters" then
		if event.fields.save then
			mem.screenstate = "status"
			local doortimer = tonumber(event.fields.doortimer)
			if doortimer and doortimer > 0 and doortimer <= 30 then
				mem.params.doortimer = doortimer
			end
			local contractspeed = tonumber(event.fields.contractspeed)
			if contractspeed and contractspeed >= 0.1 and contractspeed <= 20 then
				mem.params.contractspeed = contractspeed
			end
			local mainlanding = tonumber(event.fields.mainlanding)
			if mainlanding and mainlanding >= 1 and mainlanding <= #mem.params.floorheights then
				mem.params.mainlanding = math.floor(mainlanding)
			end
		elseif event.fields.floortable then
			mem.screenstate = "floortable"
		elseif event.fields.cancel then
			mem.screenstate = "status"
		elseif event.fields.resetdoors then
			mem.screenstate = "status"
			if mem.doorstate ~= "closed" then close() end
		elseif event.fields.resetcontroller then
			mem.screenstate = "status"
			mem.carstate = "bfdemand"
			if mem.doorstate == "closed" then
				drivecmd({
					command = "setmaxvel",
					maxvel = mem.params.contractspeed,
				})
				drivecmd({command = "resetpos"})
				interrupt(0.1,"checkdrive")
				mem.carmotion = true
				juststarted = true
			else
				close()
			end
		end
	elseif mem.screenstate == "status" then
		for i=1,#mem.params.floornames,1 do
			if event.fields[string.format("carcall%d",i)] and (mem.carstate == "normal" or mem.carstate == "test" or mem.carstate == "capture" or mem.carstate == "indep") then
				mem.carcalls[i] = true
			elseif event.fields[string.format("upcall%d",i)] and mem.carstate == "normal" and not mem.capturesw then
				if mem.params.groupmode == "group" then
					mem.swingupcalls[i] = true
				else
					mem.upcalls[i] = true
				end
			elseif event.fields[string.format("downcall%d",i)] and mem.carstate == "normal" and not mem.capturesw then
				if mem.params.groupmode == "group" then
					mem.swingdncalls[i] = true
				else
					mem.dncalls[i] = true
				end
			end
		end
		if event.fields.scrollup then
			mem.screenpage = mem.screenpage + 1
			mem.scrollfollowscar = false
		elseif event.fields.scrolldown then
			mem.screenpage = mem.screenpage - 1
			mem.scrollfollowscar = false
		elseif event.fields.scrollfollowscar then
			mem.scrollfollowscar = (event.fields.scrollfollowscar == "true")
		elseif event.fields.stopsw then
			mem.controllerstopsw = not mem.controllerstopsw
		elseif event.fields.inspectsw then
			mem.controllerinspectsw = not mem.controllerinspectsw
		elseif event.fields.capturesw then
			mem.capturesw = not mem.capturesw
		elseif event.fields.testsw then
			mem.testsw = not mem.testsw
		elseif event.fields.inspectup and mem.carstate == "mrinspect" and mem.doorstate == "closed" and getpos() < #mem.params.floornames then
			mem.carmotion = true
			juststarted = true
			drivecmd({
				command = "setmaxvel",
				maxvel = 0.2,
			})
			drivecmd({
				command = "moveto",
				pos = math.floor(mem.drive.status.apos)+1
			})
		elseif event.fields.inspectdown and mem.carstate == "mrinspect" and mem.doorstate == "closed" and mem.drive.status.apos-1 >= 0 then
			mem.carmotion = true
			juststarted = true
			drivecmd({
				command = "setmaxvel",
				maxvel = 0.2,
			})
			drivecmd({
				command = "moveto",
				pos = math.floor(mem.drive.status.apos)-1
			})
		elseif event.fields.parameters then
			mem.screenstate = "parameters"
		elseif event.fields.faults then
			mem.screenstate = "faults"
		end
	elseif mem.screenstate == "faults" then
		if event.fields.back then
			mem.screenstate = "status"
		elseif event.fields.clear then
			mem.faultlog = {}
			mem.activefaults = {}
			mem.fatalfault = false
			drivecmd({command = "resetfault"})
		end
	end
elseif event.iid == "opened" and mem.doorstate == "opening" then
	mem.doorstate = "open"
	if mem.carstate == "normal" then
		interrupt(mem.params.doortimer,"close")
	end
elseif event.iid == "close" and mem.doorstate == "open" then
	close()
elseif event.iid == "closed" and (mem.doorstate == "closing" or mem.doorstate == "testtiming") then
	mem.doorstate = "closed"
	if mem.carstate == "bfdemand" then
			drivecmd({
				command = "setmaxvel",
				maxvel = mem.params.contractspeed,
			})
			drivecmd({command = "resetpos"})
			interrupt(0.1,"checkdrive")
			mem.carmotion = true
			juststarted = true
	elseif mem.carstate == "resync" then
			gotofloor(getpos())
			interrupt(0.1,"checkdrive")
			mem.carmotion = true
			juststarted = true
	end
elseif event.type == "callbutton" and mem.carstate == "normal" then
	if mem.doorstate == "closed" or mem.direction ~= event.dir or getpos() ~= event.landing then
		if mem.params.groupmode == "group" then
			if event.dir == "up" and event.landing >= 1 and event.landing < #mem.params.floornames then
				mem.swingupcalls[event.landing] = true
			elseif event.dir == "down" and event.landing > 1 and event.landing <= #mem.params.floornames then
				mem.swingdncalls[event.landing] = true
			end
		else
			if event.dir == "up" and event.landing >= 1 and event.landing < #mem.params.floornames then
				mem.upcalls[event.landing] = true
			elseif event.dir == "down" and event.landing > 1 and event.landing <= #mem.params.floornames then
				mem.dncalls[event.landing] = true
			end
		end
	elseif mem.direction == event.dir and mem.doorstate == "open" then
		interrupt(mem.params.doortimer,"close")
	elseif mem.direction == event.dir and mem.doorstate == "closing" then
		open()
	end
elseif event.iid == "checkopen" then
	if mem.drive.status.doorstate == "open" then
		interrupt(0,"opened")
		if mem.carstate == "normal" or mem.carstate == "indep" or mem.carstate == "fs1" or mem.carstate == "fs2" or mem.carstate == "fs2hold" then
			interrupt(nil,"opentimeout")
		end
	else
		interrupt(0.2,"checkopen")
	end
elseif event.iid == "checkclosed" then
	if mem.drive.status.doorstate == "closed" then
		interrupt(0,"closed")
		interrupt(nil,"closetimeout")
	else
		interrupt(0.2,"checkclosed")
	end
elseif event.iid == "opentimeout" then
	fault("opentimeout",true)
elseif event.iid == "closetimeout" then
	fault("closetimeout",true)
elseif event.type == "cop" then
	local fields = event.fields
	if mem.carstate == "normal" or mem.carstate == "indep" or mem.carstate == "fs2" then
		for k,v in pairs(fields) do
			if string.sub(k,1,7) == "carcall" then
				local landing = tonumber(string.sub(k,8,-1))
				if v and landing and landing >= 1 and landing <= #mem.params.floorheights then
					if getpos() == landing then
						if mem.carstate == "normal" or mem.carstate == "indep" then
							if mem.doorstate == "closing" then
								open()
							elseif mem.doorstate == "open" then
								interrupt(mem.params.doortimer,"close")
							elseif mem.doorstate == "closed" then
								mem.carcalls[landing] = true
							end
						end
					else
						mem.carcalls[landing] = true
					end
				end
			end
		end
		if fields.close and mem.doorstate == "open" then
			interrupt(0,"close")
		elseif fields.open and (mem.doorstate == "closed" or mem.doorstate == "closing") and not (mem.carmotion or juststarted) then
			open()
		elseif fields.callcancel and (mem.carstate == "indep" or mem.carstate == "fs2") then
			mem.carcalls = {}
		end
	end
elseif event.type == "copswitches" then
	local fields = event.fields
	if fields.fanon then
		mem.fansw = true
	elseif fields.fanoff then
		mem.fansw = false
	elseif fields.lighton then
		mem.lightsw = true
	elseif fields.lightoff then
		mem.lightsw = false
	elseif fields.indon then
		mem.indsw = true
	elseif fields.indoff then
		mem.indsw = false
	elseif fields.fs2on then
		mem.fs2sw = "on"
	elseif fields.fs2hold then
		mem.fs2sw = "hold"
	elseif fields.fs2off then
		mem.fs2sw = "off"
	end
elseif event.type == "fs1switch" then
	mem.fs1switch = event.state
	mem.fs1led = event.state
elseif event.type == "cartopbox" then
	if event.control == "inspectswitch" then
		mem.cartopinspectsw = not mem.cartopinspectsw
	elseif event.control == "up" and mem.carstate == "carinspect" and mem.doorstate == "closed" and getpos() < #mem.params.floornames then
		mem.carmotion = true
		juststarted = true
		drivecmd({
			command = "setmaxvel",
			maxvel = 0.2,
		})
		drivecmd({
			command = "moveto",
			pos = math.floor(mem.drive.status.apos)+1
		})
	elseif event.control == "down" and mem.carstate == "carinspect" and mem.doorstate == "closed" and mem.drive.status.apos-1 >= 0 then
		mem.carmotion = true
		juststarted = true
		drivecmd({
			command = "setmaxvel",
			maxvel = 0.2,
		})
		drivecmd({
			command = "moveto",
			pos = math.floor(mem.drive.status.apos)-1
		})
	end
elseif event.type == "dispatchermsg" then
	if event.channel == "pairrequest" and mem.screenstate == "oobe_dispatcherconnect" then
		mem.params.floornames = event.msg.floornames
		mem.params.floorheights = event.msg.floorheights
		mem.activefaults = {}
		mem.faultlog = {}
		mem.fatalfault = false
		mem.state = "configured"
		mem.screenstate = "status"
		mem.screenpage = 1
		mem.carstate = "bfdemand"
		if mem.doorstate == "closed" then
			drivecmd({
				command = "setmaxvel",
				maxvel = mem.params.contractspeed,
			})
			drivecmd({command = "resetpos"})
			interrupt(0.1,"checkdrive")
			mem.carmotion = true
			juststarted = true
		else
			close()
		end
		send(event.source,"pairok",mem)
	elseif event.channel == "newfloortable" then
		mem.params.floornames = event.msg.floornames
		mem.params.floorheights = event.msg.floorheights
		mem.carstate = "bfdemand"
		if mem.doorstate == "closed" then
			drivecmd({
				command = "setmaxvel",
				maxvel = mem.params.contractspeed,
			})
			drivecmd({command = "resetpos"})
			interrupt(0.1,"checkdrive")
			mem.carmotion = true
			juststarted = true
		else
			close()
		end
	elseif event.channel == "getstatus" then
		send(event.source,"status",mem)
	elseif event.channel == "groupupcall" and mem.carstate == "normal" then
		mem.groupupcalls[event.msg] = true
	elseif event.channel == "groupdncall" and mem.carstate == "normal" then
		mem.groupdncalls[event.msg] = true
	elseif event.channel == "groupupcancel" then
		mem.groupupcalls[event.msg] = nil
	elseif event.channel == "groupdncancel" then
		mem.groupdncalls[event.msg] = nil
	elseif event.channel == "carcall" and mem.carstate == "normal" then
		mem.carcalls[event.msg] = true
		send(event.source,"status",mem)
	elseif event.channel == "fs1switch" then
		mem.fs1switch = event.msg
		mem.fs1led = event.msg
	end
elseif event.type == "remotemsg" then
	if event.channel == "groupupcall" and mem.carstate == "normal" then
		mem.groupupcalls[event.msg] = true
	elseif event.channel == "groupdncall" and mem.carstate == "normal" then
		mem.groupdncalls[event.msg] = true
	elseif event.channel == "swingupcall" and mem.carstate == "normal" then
		mem.swingupcalls[event.msg] = true
	elseif event.channel == "swingdncall" and mem.carstate == "normal" then
		mem.swingdncalls[event.msg] = true
	elseif event.channel == "upcall" and mem.carstate == "normal" then
		mem.upcalls[event.msg] = true
	elseif event.channel == "dncall" and mem.carstate == "normal" then
		mem.dncalls[event.msg] = true
	elseif event.channel == "groupupcancel" then
		mem.groupupcalls[event.msg] = nil
	elseif event.channel == "groupdncancel" then
		mem.groupdncalls[event.msg] = nil
	elseif event.channel == "carcall" and mem.carstate == "normal" then
		mem.carcalls[event.msg] = true
	end
elseif event.type == "lightcurtain" then
	if mem.carstate == "normal" or mem.carstate == "indep" then
		if mem.doorstate == "closing" then
			open()
		elseif mem.doorstate == "open" and mem.carstate == "normal" then
			interrupt(mem.params.doortimer,"close")
		end
	end
end

local oldstate = mem.carstate

if mem.fatalfault then
	mem.carstate = "fault"
	drivecmd({command="estop"})
	mem.carcalls = {}
	mem.upcalls = {}
	mem.dncalls = {}
	mem.swingupcalls = {}
	mem.swingdncalls = {}
	mem.groupupcalls = {}
	mem.groupdncalls = {}
	mem.direction = nil
	interrupt(nil,"opentimeout")
	interrupt(nil,"closetimeout")
elseif mem.controllerstopsw or mem.screenstate == "floortable" or mem.screenstate == "floortable_edit" then
	mem.carstate = "stop"
	drivecmd({command="estop"})
	mem.carcalls = {}
	mem.upcalls = {}
	mem.dncalls = {}
	mem.swingupcalls = {}
	mem.swingdncalls = {}
	mem.groupupcalls = {}
	mem.groupdncalls = {}
	mem.direction = nil
	interrupt(nil,"opentimeout")
	interrupt(nil,"closetimeout")
elseif mem.controllerinspectsw and mem.cartopinspectsw then
	mem.carstate = "inspconflict"
	mem.carcalls = {}
	mem.upcalls = {}
	mem.dncalls = {}
	mem.swingupcalls = {}
	mem.swingdncalls = {}
	mem.groupupcalls = {}
	mem.groupdncalls = {}
	mem.direction = nil
	drivecmd({command="estop"})
	interrupt(nil,"opentimeout")
	interrupt(nil,"closetimeout")
elseif mem.controllerinspectsw and not mem.cartopinspectsw then
	mem.carstate = "mrinspect"
	mem.carcalls = {}
	mem.upcalls = {}
	mem.dncalls = {}
	mem.swingupcalls = {}
	mem.swingdncalls = {}
	mem.groupupcalls = {}
	mem.groupdncalls = {}
	mem.direction = nil
	interrupt(nil,"opentimeout")
	interrupt(nil,"closetimeout")
	if oldstate ~= "mrinspect" then drivecmd({command="estop"}) end
elseif mem.cartopinspectsw and not mem.controllerinspectsw then
	mem.carstate = "carinspect"
	mem.carcalls = {}
	mem.upcalls = {}
	mem.dncalls = {}
	mem.swingupcalls = {}
	mem.swingdncalls = {}
	mem.groupupcalls = {}
	mem.groupdncalls = {}
	mem.direction = nil
	interrupt(nil,"opentimeout")
	interrupt(nil,"closetimeout")
	if oldstate ~= "carinspect" then drivecmd({command="estop"}) end
elseif mem.fs2sw == "on" then
	mem.carstate = "fs2"
	mem.upcalls = {}
	mem.dncalls = {}
	mem.swingupcalls = {}
	mem.swingdncalls = {}
	mem.groupupcalls = {}
	mem.groupdncalls = {}
	if oldstate ~= "fs2" then mem.carcalls = {} end
	if mem.doorstate == "open" and oldstate ~= "fs2" then interrupt(nil,"close") end
elseif mem.fs2sw == "hold" then
	mem.carstate = "fs2hold"
	mem.upcalls = {}
	mem.dncalls = {}
	mem.carcalls = {}
	mem.swingupcalls = {}
	mem.swingdncalls = {}
	mem.groupupcalls = {}
	mem.groupdncalls = {}
	if mem.doorstate == "open" then interrupt(nil,"close") end
elseif mem.fs1switch then
	mem.carstate = "fs1"
	mem.carcalls = {}
	mem.upcalls = {}
	mem.dncalls = {}
	mem.swingupcalls = {}
	mem.swingdncalls = {}
	mem.groupupcalls = {}
	mem.groupdncalls = {}
	interrupt(nil,"close")
	if mem.drive.status.vel > 0 and mem.drive.status.apos > gettarget(mem.params.mainlanding or 1) then
		for i=getpos(),#mem.params.floornames,1 do
			if mem.drive.status.neareststop < gettarget(i) and mem.drive.status.dpos > gettarget(i) then
				gotofloor(i)
				break
			end
		end
	elseif mem.drive.status.vel < 0 and mem.drive.status.apos < gettarget(mem.params.mainlanding or 1) then
		for i=1,getpos(),1 do
			if mem.drive.status.neareststop > gettarget(i) and mem.drive.status.dpos < gettarget(i) then
				gotofloor(i)
				break
			end
		end
	elseif getpos() ~= (mem.params.mainlanding or 1) then
		if not (mem.carmotion or juststarted) then
			if mem.doorstate == "closed" then
				gotofloor(mem.params.mainlanding or 1)
			elseif mem.doorstate == "open" then
				close()
			end
		end
	elseif mem.doorstate == "closed" then
		if not (mem.carmotion or juststarted) then
			open()
		end
	end
elseif mem.indsw then
	if mem.carstate ~= "resync" then mem.carstate = "indep" end
	mem.upcalls = {}
	mem.dncalls = {}
	mem.swingupcalls = {}
	mem.swingdncalls = {}
	mem.groupupcalls = {}
	mem.groupdncalls = {}
	if oldstate == "stop" or oldstate == "mrinspect" or oldstate == "fault" then
		mem.carstate = "resync"
		gotofloor(getpos())
	elseif oldstate == "normal" and (mem.doorstate == "closed" or mem.doorstate == "closing") and not (mem.carmotion or juststarted) then
		open()
	elseif oldstate == "normal" and mem.doorstate == "open" then
		interrupt(nil,"close")
	end
elseif mem.testsw then
	mem.upcalls = {}
	mem.dncalls = {}
	mem.swingupcalls = {}
	mem.swingdncalls = {}
	mem.groupupcalls = {}
	mem.groupdncalls = {}
	if mem.carstate ~= "resync" then mem.carstate = "test" end
	if oldstate == "stop" or oldstate == "mrinspect" or oldstate == "carinspect" or oldstate == "fault" then
		mem.carstate = "resync"
		gotofloor(getpos())
	end
elseif mem.capturesw then
	mem.upcalls = {}
	mem.dncalls = {}
	mem.swingupcalls = {}
	mem.swingdncalls = {}
	mem.groupupcalls = {}
	mem.groupdncalls = {}
	if oldstate == "stop" or oldstate == "mrinspect" or oldstate == "carinspect" or oldstate == "fault" then
		mem.carstate = "resync"
		gotofloor(getpos())
	elseif mem.carstate ~= "resync" and not mem.direction then
		mem.carstate = "capture"
	end
else
	if oldstate == "stop" or oldstate == "mrinspect" or oldstate == "carinspect" or oldstate == "fault" then
		mem.carstate = "resync"
		gotofloor(getpos())
	elseif oldstate == "test" or oldstate == "capture" or oldstate == "fs1" or oldstate == "fs2" or oldstate == "fs2hold" then
		if (oldstate == "fs1" or oldstate == "fs2" or oldstate == "fs2hold") and mem.doorstate == "open" then
			interrupt(mem.params.doortimer,"close")
		end
		mem.carstate = "normal"
	elseif oldstate == "indep" then
		mem.carstate = "normal"
		if mem.doorstate == "open" then interrupt(mem.params.doortimer,"close") end
	end
end

if mem.carmotion then
	mem.carmotion = (mem.drive.status.vel ~= 0) or juststarted
	if mem.carmotion then
		interrupt(0.1,"checkdrive")
	else
		local hallcall = mem.upcalls[getpos()] or mem.dncalls[getpos()]
		if mem.carstate == "normal" or mem.carstate == "indep" or mem.carstate == "fs1" or mem.carstate == "fs2" then
			mem.carcalls[getpos()] = nil
			if mem.direction == "up" then
				mem.upcalls[getpos()] = nil
				mem.swingupcalls[getpos()] = nil
				mem.groupupcalls[getpos()] = nil
				if (not hallcall) and (not getnextcallabove()) and getnextcallbelow() then
					mem.direction = "down"
				elseif mem.dncalls[getpos()] and (not mem.upcalls[getpos()]) and (not getnextcallabove(nil,true)) then
					mem.direction = "down"
					mem.dncalls[getpos()] = nil
					mem.swingdncalls[getpos()] = nil
					mem.groupdncalls[getpos()] = nil
				end
			elseif mem.direction == "down" then
				mem.dncalls[getpos()] = nil
				mem.swingdncalls[getpos()] = nil
				mem.groupdncalls[getpos()] = nil
				if (not hallcall) and (not getnextcallbelow()) and getnextcallabove() then
					mem.direction = "up"
				elseif mem.upcalls[getpos()] and (not mem.dncalls[getpos()]) and (not getnextcallbelow(nil,true)) then
					mem.direction = "up"
					mem.upcalls[getpos()] = nil
					mem.swingupcalls[getpos()] = nil
					mem.groupupcalls[getpos()] = nil
				end
			end
			if getpos() >= #mem.params.floornames then
				mem.direction = "down"
				mem.dncalls[#mem.params.floornames] = nil
				mem.swingdncalls[#mem.params.floornames] = nil
				mem.groupdncalls[#mem.params.floornames] = nil
			elseif getpos() <= 1 then
				mem.direction = "up"
				mem.upcalls[1] = nil
				mem.swingupcalls[1] = nil
				mem.groupupcalls[1] = nil
			end
			if (mem.carstate ~= "fs1" or getpos() == (mem.params.mainlanding or 1)) and mem.carstate ~= "fs2" and mem.carstate ~= "fs2hold" then open() end
			if mem.carstate == "fs1" and getpos() ~= (mem.params.mainlanding or 1) then
				gotofloor(mem.params.mainlanding or 1)
			end
		elseif mem.carstate == "test" then
			mem.carcalls[getpos()] = nil
			mem.doorstate = "testtiming"
			interrupt(5,"closed")
			if getpos() >= #mem.params.floornames then
				mem.direction = "down"
			elseif getpos() <= 1 then
				mem.direction = "up"
			end
		elseif mem.carstate == "bfdemand" or mem.carstate == "resync" then
			if mem.indsw then
				mem.carstate = "indep"
			elseif mem.testsw then
				mem.carstate = "test"
			elseif mem.capturesw then
				mem.carstate = "capture"
			else
				mem.carstate = "normal"
			end
		end
	end
end

if mem.params.groupmode == "group" then
	mem.upcalls = table.copy(mem.groupupcalls)
	mem.dncalls = table.copy(mem.groupdncalls)
	for i in pairs(mem.swingupcalls) do
		mem.upcalls[i] = true
	end
	for i in pairs(mem.swingdncalls) do
		mem.dncalls[i] = true
	end
end

if (mem.carstate == "normal" or mem.carstate == "capture" or mem.carstate == "test" or mem.carstate == "indep" or mem.carstate == "fs2") and mem.doorstate == "closed" then
	if not mem.carmotion then
		if mem.direction == "up" then
			if getnextcallabove("up") then
				mem.direction = "up"
				gotofloor(getnextcallabove("up"))
			elseif gethighestdowncall() then
				mem.direction = "down"
				gotofloor(gethighestdowncall())
			elseif getlowestupcall() then
				gotofloor(getlowestupcall())
			elseif getnextcallbelow("down") then
				mem.direction = "down"
				gotofloor(getnextcallbelow("down"))
			else
				mem.direction = nil
			end
		elseif mem.direction == "down" then
			if getnextcallbelow("down") then
				gotofloor(getnextcallbelow("down"))
			elseif getlowestupcall() then
				mem.direction = "up"
				gotofloor(getlowestupcall())
			elseif gethighestdowncall() then
				gotofloor(gethighestdowncall())
			elseif getnextcallabove("up") then
				mem.direction = "up"
				gotofloor(getnextcallabove())
			else
				mem.direction = nil
			end
		else
			if getnextcallabove("up") then
				mem.direction = "up"
				gotofloor(getnextcallabove())
			elseif getnextcallbelow("down") then
				mem.direction = "down"
				gotofloor(getnextcallbelow("down"))
			elseif getlowestupcall() then
				mem.direction = "up"
				gotofloor(getlowestupcall())
			elseif gethighestdowncall() then
				mem.direction = "down"
				gotofloor(gethighestdowncall())
			end
		end
		if mem.carstate == "normal" and mem.capturesw and not mem.direction then
			mem.upcalls = {}
			mem.dncalls = {}
			mem.carstate = "capture"
		elseif mem.carstate == "capture" and mem.direction then
			mem.carstate = "normal"
		end
	elseif (mem.carstate == "normal" or mem.carstate == "capture" or mem.carstate == "test") and mem.carmotion then
		if mem.drive.status.vel > 0 then
			local nextup = getnextcallabove("up")
			if nextup then
				mem.direction = "up"
				local target = gettarget(nextup)
				if target < mem.drive.status.dpos and target > mem.drive.status.neareststop then
					gotofloor(nextup)
				end
			end
		elseif mem.drive.status.vel < 0 then
			local nextdown = getnextcallbelow("down")
			if nextdown then
				mem.direction = "down"
				local target = gettarget(nextdown)
				if target > mem.drive.status.dpos and target < mem.drive.status.neareststop then
					gotofloor(nextdown)
				end
			end
		end
	end
end

if mem.scrollfollowscar and mem.screenstate == "status" then
	mem.screenpage = math.floor((getpos()-1)/10)+1
end

fs("formspec_version[6]")
fs("size[16,12]")
fs("background9[0,0;16,12;celevator_fs_bg.png;true;3]")
if mem.screenstate == "oobe_welcome" then
	fs("image[6,1;4,2;celevator_logo.png]")
	fs("label[1,4;Welcome to your new MTronic XT elevator controller!]")
	fs("label[1,4.5;This setup wizard is designed to get your elevator up and running as quickly as possible.]")
	fs("label[1,5.5;Press Next to begin.]")
	fs("button[1,10;2,1;license;License Info]")
	fs("button[13,10;2,1;next;Next >]")
elseif mem.screenstate == "oobe_license" then
	local licensefile = io.open(minetest.get_modpath("celevator")..DIR_DELIM.."COPYING")
	local license = minetest.formspec_escape(licensefile:read("*all"))
	licensefile:close()
	fs("textarea[1,1;14,8;license;This applies to the whole celevator mod\\, not just this controller:;"..license.."]")
	fs("button[7,10.5;2,1;back;OK]")
elseif mem.screenstate == "oobe_groupmode" then
	fs("button[1,10;2,1;back;< Back]")
	fs("label[1,1;Select a group operation mode:]")
	fs("button[1,3;2,1;simplex;Simplex]")
	fs("label[1,4.5;This will be the only elevator in the group. Hall calls will be handled by this controller.]")
	fs("button[1,6;2,1;group;Group]")
	fs("label[1,7.5;This elevator will participate in a group with others. Hall calls will be handled by a dispatcher.]")
elseif mem.screenstate == "oobe_dispatcherconnect" then
	fs("button[1,10;2,1;back;< Cancel]")
	fs("label[1,1;Waiting for connection from dispatcher...]")
	fs(string.format("label[1,1.5;This controller's car ID is: %d]",mem.carid))
elseif mem.screenstate == "oobe_floortable" or mem.screenstate == "floortable" then
	if mem.screenstate == "oobe_floortable" then
		fs("label[1,1;Enter details of all floors this elevator will serve, then press Done.]")
		fs("button[1,10;2,1;back;< Back]")
		fs("button[13,10;2,1;next;Done >]")
	else
		fs("label[1,1;EDIT FLOOR TABLE]")
		fs("button[1,10;2,1;next;Done]")
	end
	fs("textlist[1,2;6,7;floor;")
	for i=#mem.params.floornames,1,-1 do
		fs(minetest.formspec_escape(string.format("%d - Height: %d - PI: %s",i,mem.params.floorheights[i],mem.params.floornames[i]))..(i==1 and "" or ","))
	end
	fs(";"..tostring(#mem.params.floornames-mem.editingfloor+1)..";false]")
	if #mem.params.floornames < 100 then fs("button[8,2;2,1;add;New Floor]") end
	fs("button[8,3.5;2,1;edit;Edit Floor]")
	if #mem.params.floornames > 2 then fs("button[8,5;2,1;remove;Remove Floor]") end
	if mem.editingfloor < #mem.params.floornames then fs("button[8,6.5;2,1;moveup;Move Up]") end
	if mem.editingfloor > 1 then fs("button[8,8;2,1;movedown;Move Down") end
elseif mem.screenstate == "oobe_floortable_edit" or mem.screenstate == "floortable_edit" then
	if mem.screenstate == "oobe_floortable_edit" then
		fs("button[7,10.5;2,1;back;OK]")
		fs("label[1,5;The Floor Height is the distance (in meters/nodes) from the floor level of this floor to the floor level of the next floor.]")
		fs("label[1,5.5;(not used at the highest floor)]")
		fs("label[1,6.5;The Floor Name is how the floor will be displayed on the position indicators.]")
	else
		fs("button[7,10.5;2,1;save;Save]")
	end
	fs("label[1,1;Editing floor "..tostring(mem.editingfloor).."]")
	fs("field[1,3;3,1;height;Floor Height;"..tostring(mem.params.floorheights[mem.editingfloor]).."]")
	fs("field[5,3;3,1;name;Floor Name;"..minetest.formspec_escape(mem.params.floornames[mem.editingfloor]).."]")
elseif mem.screenstate == "status" then
	fs("style_type[image_button;font=mono;font_size=*0.75]")
	fs("box[12,2.5;0.1,9;#AAAAAAFF]")
	fs("box[13.12,2.5;0.05,9;#AAAAAAFF]")
	fs("box[14.12,2.5;0.05,9;#AAAAAAFF]")
	fs("box[15.25,2.5;0.1,9;#AAAAAAFF]")
	fs("label[12.5,2;UP]")
	fs("label[13.38,2;CAR]")
	fs("label[14.25,2;DOWN]")
	local maxfloor = #mem.params.floornames
	local bottom = (mem.screenpage-1)*10+1
	for i=0,9,1 do
		local ypos = 11-(i*0.9)
		local floornum = bottom+i
		if floornum > maxfloor then break end
		fs(string.format("label[11.25,%f;%s]",ypos,minetest.formspec_escape(mem.params.floornames[floornum])))
		local ccdot = mem.carcalls[floornum] and "*" or ""
		if getpos() == floornum then
			local cargraphics = {
				open = "\\[   \\]",
				opening = "\\[< >\\]",
				closing = "\\[> <\\]",
				closed = "\\[ | \\]",
				testtiming = "\\[ | \\]",
			}
			ccdot = cargraphics[mem.doorstate]
			if mem.direction == "up" then
				ccdot = minetest.colorize("#55FF55",ccdot)
			elseif mem.direction == "down" then
				ccdot = minetest.colorize("#FF5555",ccdot)
			end
		end
		fs(string.format("image_button[13.25,%f;0.75,0.75;celevator_fs_bg.png;carcall%d;%s]",ypos-0.25,floornum,ccdot))
		if floornum < maxfloor then
			local arrow = mem.upcalls[floornum] and minetest.colorize("#55FF55","^") or ""
			if mem.params.groupmode == "group" then
				arrow = mem.groupupcalls[floornum] and minetest.colorize("#55FF55","^") or ""
				arrow = (mem.swingupcalls[floornum] and minetest.colorize("#FFFF55","^") or "")..arrow
			end
			fs(string.format("image_button[12.25,%f;0.75,0.75;celevator_fs_bg.png;upcall%d;%s]",ypos-0.25,floornum,arrow))
		end
		if floornum > 1 then
			local arrow = mem.dncalls[floornum] and minetest.colorize("#FF5555","v") or ""
			if mem.params.groupmode == "group" then
				arrow = mem.swingdncalls[floornum] and minetest.colorize("#FFFF55","v") or ""
				arrow = (mem.groupdncalls[floornum] and minetest.colorize("#FF5555","v") or "")..arrow
			end
			fs(string.format("image_button[14.25,%f;0.75,0.75;celevator_fs_bg.png;downcall%d;%s]",ypos-0.25,floornum,arrow))
		end
	end
	if maxfloor > 10 then
		fs(string.format("checkbox[13,1.25;scrollfollowscar;Follow Car;%s]",tostring(mem.scrollfollowscar)))
		if bottom+9 < maxfloor then
			fs("image_button[12.75,0.25;0.75,0.75;celevator_menu_arrow.png;scrollup;;false;false;celevator_menu_arrow.png]")
		end
		if bottom > 1 then
			fs("image_button[13.87,0.25;0.75,0.75;celevator_menu_arrow.png^\\[transformFY;scrolldown;;false;false;celevator_menu_arrow.png^\\[transformFY]")
		end
	end
	fs("label[1,1;CAR STATUS]")
	fs(string.format("label[1,2;%s]",modenames[mem.carstate]))
	fs(string.format("label[1,2.5;Doors %s]",doorstates[mem.doorstate]))
	fs(string.format("label[1,3;Position: %0.02fm Speed: %+0.02fm/s PI: %s]",mem.drive.status.apos,mem.drive.status.vel,minetest.formspec_escape(mem.params.floornames[getpos()])))
	if #mem.faultlog > 0 then
		fs("label[1,3.5;Fault(s) Active]")
	else
		fs("label[1,3.5;No Current Faults]")
	end
	fs("button[1,10;3,1;faults;Fault History]")
	fs("button[4.5,10;3,1;parameters;Edit Parameters]")
	local redon = "celevator_led_red_on.png"
	local redoff = "celevator_led_red_off.png"
	local yellowon = "celevator_led_yellow_on.png"
	local yellowoff = "celevator_led_yellow_off.png"
	local greenon = "celevator_led_green_on.png"
	local greenoff = "celevator_led_green_off.png"
	fs(string.format("image[7,1;0.7,0.7;%s]",mem.carstate == "fault" and redon or redoff))
	fs("label[8,1.35;FAULT]")
	fs(string.format("image[7,1.9;0.7,0.7;%s]",(mem.carstate == "mrinspect" or mem.carstate == "carinspect" or mem.carstate == "inspconflict") and yellowon or yellowoff))
	fs("label[8,2.25;INSP/ACCESS]")
	fs(string.format("image[7,2.8;0.7,0.7;%s]",mem.carstate == "normal" and greenon or greenoff))
	fs("label[8,3.15;NORMAL OPERATION]")
	fs(string.format("image[7,3.7;0.7,0.7;%s]",mem.drive.status.vel > 0.01 and yellowon or yellowoff))
	fs("label[8,4.05;UP]")
	fs(string.format("image[7,4.6;0.7,0.7;%s]",math.abs(mem.drive.status.vel) > 0.01 and yellowon or yellowoff))
	fs("label[8,4.95;DRIVE CMD]")
	fs(string.format("image[7,5.5;0.7,0.7;%s]",mem.drive.status.vel < -0.01 and yellowon or yellowoff))
	fs("label[8,5.85;DOWN]")
	fs(string.format("image[7,6.4;0.7,0.7;%s]",math.abs(mem.drive.status.vel) > math.min(0.4,mem.params.contractspeed/2) and yellowon or yellowoff))
	fs("label[8,6.75;HIGH SPEED]")
	fs(string.format("image[7,7.3;0.7,0.7;%s]",math.abs(gettarget(getpos(true))-mem.drive.status.apos) < 0.5 and greenon or greenoff))
	fs("label[8,7.65;DOOR ZONE]")
	fs(string.format("image[7,8.2;0.7,0.7;%s]",mem.doorstate == "closed" and greenon or greenoff))
	fs("label[8,8.55;DOORS LOCKED]")
	fs("style[*;font=mono]")
	local stopswimg = "celevator_toggle_switch.png"..(mem.controllerstopsw and "^\\[transformFY" or "")
	fs(string.format("image_button[1,5;1,1.33;%s;stopsw;;false;false;%s]",stopswimg,stopswimg))
	fs("label[1.3,4.75;RUN]")
	fs("label[1.2,6.6;STOP]")
	local captureswimg = "celevator_toggle_switch.png"..(mem.capturesw and "" or "^\\[transformFY")
	fs(string.format("image_button[3,5;1,1.33;%s;capturesw;;false;false;%s]",captureswimg,captureswimg))
	fs("label[3,4.75;CAPTURE]")
	local testswimg = "celevator_toggle_switch.png"..(mem.testsw and "" or "^\\[transformFY")
	fs(string.format("image_button[5,5;1,1.33;%s;testsw;;false;false;%s]",testswimg,testswimg))
	fs("label[5.23,4.75;TEST]")
	local inspectswimg = "celevator_toggle_switch.png"..(mem.controllerinspectsw and "" or "^\\[transformFY")
	fs(string.format("image_button[1,8;1,1.33;%s;inspectsw;;false;false;%s]",inspectswimg,inspectswimg))
	fs("label[1.05,7.75;INSPECT]")
	fs("label[1.1,9.6;NORMAL]")
	fs(string.format("image_button[3,8.25;1,1;%s;inspectup;;false;false;%s]","celevator_button_black.png","celevator_button_black.png"))
	fs("label[3.4,7.75;UP]")
	fs(string.format("image_button[5,8.25;1,1;%s;inspectdown;;false;false;%s]","celevator_button_black.png","celevator_button_black.png"))
	fs("label[5.25,7.75;DOWN]")
elseif mem.screenstate == "parameters" then
	fs("label[1,1;EDIT PARAMETERS]")
	fs("button[1,10;3,1;save;Save]")
	fs("button[4.5,10;3,1;cancel;Cancel]")
	if mem.params.groupmode == "simplex" then fs("button[8,10;3,1;floortable;Edit Floor Table]") end
	fs(string.format("field[1,3;3,1;doortimer;Door Dwell Timer;%0.1f]",mem.params.doortimer))
	fs(string.format("field[1,5;3,1;contractspeed;Contract Speed (m/s);%0.1f]",mem.params.contractspeed))
	fs(string.format("field[1,7;3,1;mainlanding;Main Landing;%d]",mem.params.mainlanding or 1))
	fs("style[resetdoors,resetcontroller;bgcolor=#DD3333]")
	fs("button[12,1;3,1;resetdoors;Reset Doors]")
	fs("button[12,2.5;3,1;resetcontroller;Reset Controller]")
elseif mem.screenstate == "faults" then
	fs("label[1,1;FAULT HISTORY]")
	if #mem.faultlog > 0 then
		for i=0,9,1 do
			if #mem.faultlog-i >= 1 then
				local currfault = mem.faultlog[#mem.faultlog-i]
				local date = os.date("*t",currfault.timestamp)
				fs(string.format("label[1,%0.1f;%04d-%02d-%02d %02d:%02d:%02d - %s]",2+i,date.year,date.month,date.day,date.hour,date.min,date.sec,faultnames[currfault.ftype]))
			end
		end
	else
		fs("label[1,2;No Current Faults]")
	end
	fs("button[1,10;3,1;back;Back]")
	fs("button[4.5,10;3,1;clear;Clear]")
end

local arrow = " "
if mem.drive.status.dpos > mem.drive.status.apos then
	arrow = "^"
elseif mem.drive.status.dpos < mem.drive.status.apos then
	arrow = "v"
end
mem.infotext = string.format("ID %d: Floor %s %s - %s - Doors %s",mem.carid,mem.params.floornames[getpos()],arrow,modenames[mem.carstate],doorstates[mem.doorstate])

if mem.drive.type then
	mem.showrunning = mem.drive.status.vel ~= 0
else
	mem.showrunning = false
end

local oldpifloor = mem.pifloor

mem.pifloor = mem.params.floornames[getpos(true)]
local hidepi = {
	bfdemand = true,
	uninit = true,
	stop = true,
	fault = true,
	mrinspect = true,
	carinspect = true,
	inspconflict = true,
}
if hidepi[mem.carstate] then mem.pifloor = "--" end

if mem.pifloor ~= oldpifloor and mem.carstate == "normal" then
	drivecmd({command="pibeep"})
end

local arrowenabled = {
	normal = true,
	fs1 = true,
	fs2 = true,
	indep = true,
	capture = true,
	test = true,
}
mem.piuparrow = mem.drive.status.vel > 0 and arrowenabled[mem.carstate]
mem.pidownarrow = mem.drive.status.vel < 0 and arrowenabled[mem.carstate]

mem.flash_fs = (mem.carstate == "fs1" or mem.carstate == "fs2" or mem.carstate == "fs2hold")
mem.flash_is = mem.carstate == "indep"

mem.lanterns = {}
if mem.carstate == "normal" and (mem.doorstate == "open" or mem.doorstate == "opening") then
	mem.lanterns[getpos()] = mem.direction
end

mem.copformspec = "formspec_version[7]"
local floorcount = #mem.params.floornames
local copcols = math.floor((floorcount-1)/10)+1
local coprows = math.floor((floorcount-1)/copcols)+1
local litimg = "celevator_copbutton_lit.png"
local unlitimg = "celevator_copbutton_unlit.png"
mem.copformspec = mem.copformspec..string.format("size[%f,%f]",copcols*1.25+2.5,coprows*1.25+5)
for i=1,floorcount,1 do
	local row = math.floor((i-1)/copcols)+1
	local col = ((i-1)%copcols)+1
	local yp = (coprows-row+1)*1.25+1
	local xp = col*1.25
	local tex = mem.carcalls[i] and litimg or unlitimg
	mem.copformspec = mem.copformspec..string.format("image_button[%f,%f;1.2,1.2;%s;carcall%d;%s;false;false;%s]",xp,yp,tex,i,minetest.formspec_escape(mem.params.floornames[i]),litimg)
end

local doxp = (copcols == 1) and 0.5 or 1.25
mem.copformspec = mem.copformspec..string.format("image_button[%f,%f;1.2,1.2;%s;open;%s;false;false;%s]",doxp,coprows*1.25+2.5,unlitimg,minetest.formspec_escape("<|>"),litimg)

local dcxp = 3.75
if copcols == 1 then
	dcxp = 2
elseif copcols == 2 then
	dcxp = 2.5
end
mem.copformspec = mem.copformspec..string.format("image_button[%f,%f;1.2,1.2;%s;close;%s;false;false;%s]",dcxp,coprows*1.25+2.5,unlitimg,minetest.formspec_escape(">|<"),litimg)

mem.copformspec = mem.copformspec..string.format("image_button[0.4,0.5;1.4,1.4;%s;callcancel;Call\nCancel;false;false;%s]",unlitimg,litimg)

local firehat = mem.flash_fs and "celevator_fire_hat_lit.png" or "celevator_fire_hat_unlit.png"
mem.copformspec = mem.copformspec..string.format("image[2.2,0.5;1.4,1.4;%s]",firehat)

mem.switchformspec = "formspec_version[7]size[8,10]"
local fs2ontex = (mem.fs2sw == "on") and "celevator_button_rect_active.png" or "celevator_button_rect.png"
local fs2holdtex = (mem.fs2sw == "hold") and "celevator_button_rect_active.png" or "celevator_button_rect.png"
local fs2offtex = (mem.fs2sw == "off" or not mem.fs2sw) and "celevator_button_rect_active.png" or "celevator_button_rect.png"
mem.switchformspec = mem.switchformspec..string.format("image_button[1.5,1.5;1.5,1;%s;fs2on;ON;false;false;celevator_button_rect_active.png]",fs2ontex)
mem.switchformspec = mem.switchformspec..string.format("image_button[1.5,2.5;1.5,1;%s;fs2hold;HOLD;false;false;celevator_button_rect_active.png]",fs2holdtex)
mem.switchformspec = mem.switchformspec..string.format("image_button[1.5,3.5;1.5,1;%s;fs2off;OFF;false;false;celevator_button_rect_active.png]",fs2offtex)
mem.switchformspec = mem.switchformspec.."label[1.6,4.75;FIRE SVC]"

local indontex = mem.indsw and "celevator_button_rect_active.png" or "celevator_button_rect.png"
local indofftex = (not mem.indsw) and "celevator_button_rect_active.png" or "celevator_button_rect.png"
mem.switchformspec = mem.switchformspec..string.format("image_button[4.5,1.5;1.5,1;%s;indon;ON;false;false;celevator_button_rect_active.png]",indontex)
mem.switchformspec = mem.switchformspec..string.format("image_button[4.5,3.5;1.5,1;%s;indoff;OFF;false;false;celevator_button_rect_active.png]",indofftex)
mem.switchformspec = mem.switchformspec.."label[4.6,4.75;IND SVC]"

local lightontex = mem.lightsw and "celevator_button_rect_active.png" or "celevator_button_rect.png"
local lightofftex = (not mem.lightsw) and "celevator_button_rect_active.png" or "celevator_button_rect.png"
mem.switchformspec = mem.switchformspec..string.format("image_button[1.5,5.5;1.5,1;%s;lighton;ON;false;false;celevator_button_rect_active.png]",lightontex)
mem.switchformspec = mem.switchformspec..string.format("image_button[1.5,7.5;1.5,1;%s;lightoff;OFF;false;false;celevator_button_rect_active.png]",lightofftex)
mem.switchformspec = mem.switchformspec.."label[1.6,8.75;CAR LIGHT]"

local fanontex = mem.fansw and "celevator_button_rect_active.png" or "celevator_button_rect.png"
local fanofftex = (not mem.fansw) and "celevator_button_rect_active.png" or "celevator_button_rect.png"
mem.switchformspec = mem.switchformspec..string.format("image_button[4.5,5.5;1.5,1;%s;fanon;ON;false;false;celevator_button_rect_active.png]",fanontex)
mem.switchformspec = mem.switchformspec..string.format("image_button[4.5,7.5;1.5,1;%s;fanoff;OFF;false;false;celevator_button_rect_active.png]",fanofftex)
mem.switchformspec = mem.switchformspec.."label[4.6,8.75;CAR FAN]"

return pos,mem,changedinterrupts