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 /**
  * @file Command.cpp
+ *
  * @author Jason Knichel
  * @date 10/9/07
+ *
  * @todo make it so command doesn't rely on connection pool.  have methods
  *       that may return a response return it by getting a response array passed in to them
  *       that they fill in and then colonet server takes the contents of that response array
  *       and sends it to the appropriate client
  */
 #include <ctype.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 #include <colonet_wireless.h>
 #include <wireless.h>
 #include <Command.h>
 #include <ConnectionPool.h>
 #include <map>
 #include <vision.h>
 using namespace std;
 /**
  * @brief Constructor for the Command class
+ *
  * @param connection_pool_temp The connection pool this instance of the Command class is supposed to use
  * @param cs The ColonetServer this instance of the Command class is supposed to use
  */
 Command::Command(ConnectionPool * connection_pool_temp, ColonetServer* cs) {
   connection_pool = connection_pool_temp;
   colonet_server = cs;
+}
 /**
  * @brief Destructor for the Command class
  */
 Command::~Command() {}
 /**
  * @brief Called by connection pool to parse command from client.
+ *
  * @param command The command to parse
  * @param pool_index The index in the connection pool of the client who generated this command
+ *
  * @return 0 on success, negative error code on failure
  */
 int Command::parse_command(char* command, int pool_index) {
   char tokens[MAX_TOKENS][MAX_TOKEN_SIZE];
   int number_tokens = 0;
   char* end_pointer = NULL;
   int command_id;
   if (!connection_pool || !command || pool_index < 0) {
     return -1;
+  }
   if ((number_tokens = tokenize_command(command, tokens)) < 0) {
     return -1;
+  }
   //the 10 in the function call indicates number is base 10
   command_id = strtol(tokens[0], &end_pointer, 10);
   if (!end_pointer || *end_pointer != '\0') {
     printf("There was an error converting first token into a number.\n");
     return -1;
+  }
   if (command_id == SEND_TO_ROBOT) {
     if (parse_send_to_robot(number_tokens, tokens, pool_index)) {
       fprintf(stderr, "parse_send_to_robot failed.\n");
       return -1;
+    }
   } else if (command_id == REQUEST_FROM_SERVER) {
     if (parse_request_from_server(number_tokens, tokens, pool_index)) {
       return -1;
+    }
+  }
   return 0;
+}
 /**
  * @brief Breaks a command up into tokens
+ *
  * @param command The command to tokenize
  * @param tokens A two dimensional character array to store the tokens in
+ *
  * @return 0 on success, negative error code on failure
  */
 int Command::tokenize_command(char* command, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE]) {
   char* next_token = command;
   char* end_token = NULL;
   int number_tokens = 0;
   if (!command) {
     return -1;
+  }
   //look for the end of the next token (tokens are separated by spaces)
   while ((end_token = strstr(next_token, " "))) {
     //set the location of the space to a null terminator
     *end_token = '\0';
     //make sure the token isn't too long
     if (strlen(next_token) > MAX_TOKEN_SIZE-1) {
       return -1;
+    }
     //copy the next token into the token array
     strcpy(tokens[number_tokens], next_token);
     number_tokens++;
     next_token = end_token + 1;
     //skip over extra whitespace if there is any between tokens
     while (isspace(*next_token) && *next_token != '\0') {
       next_token++;
+    }
+  }
   //get the last token if there were no spaces at the end of the string to indicate an end of token
   if (end_token == NULL && *next_token != '\0') {
     if (strlen(next_token) > MAX_TOKEN_SIZE-1) {
       return -1;
+    }
     strcpy(tokens[number_tokens], next_token);
     number_tokens++;
+  }
   return number_tokens;
+}
 /**
  * @brief checks a list of tokens to see if it's valid
+ *
  * @param tokens The tokens to check
  * @param number_tokens The number of tokens contained in the tokens parameter
+ *
  * @return 0 if tokens is valid
  */
 int Command::check_tokens(unsigned char* tokens, int number_tokens) {
   if (number_tokens > 3 + PACKET_DATA_LEN) {
     /* Too many tokens */
     return -1;
+  }
   if (number_tokens < 3) {
     /* Not enough tokens */
     return -1;
+  }
   if (tokens[1] != COLONET_REQUEST && tokens[1] != COLONET_COMMAND) {
     /* Invalid message type */
     return -1;
+  }
   return 0;
+}
 //TODO: fill in the doxygen comments for this
 /**
 * @brief Sends parsed command from server to robot(s).
+*
 * @param number_int_tokens
 * @param tokens
 * @param pool_index
+*
 * @return 0 on success, negative error code on failure
 */
 int Command::parse_send_to_robot(int number_int_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE], int pool_index) {
   unsigned char int_tokens[MAX_TOKENS], arguments[PACKET_DATA_LEN];
   /* GREG'S FILTHY HACK */
   /*   PLEASE REMOVE    */
   int cmd = atoi(tokens[3]);
   int bot = atoi(tokens[1]);
   if (cmd == 96) {
     wl_set_channel(0xE);
     wl_send_robot_to_robot_global_packet(3, 9, NULL, 0, bot, 0);
     printf("Sent recharge request to %d on channel 0xE\n", bot);
     wl_set_channel(0xC);
     return 0;
+  }
   if (cmd == 97) {
     wl_set_channel(0xE);
     wl_send_robot_to_robot_global_packet(3, 10, NULL, 0, bot, 0);
     printf("Sent recharge stop request to %d\n", bot);
     wl_set_channel(0xC);
     return 0;
+  }
   /* END OF HACK */
   memset(arguments, 1, PACKET_DATA_LEN);
   // Convert tokens to ints
   for (int i = ROBOT_COMMAND_OFFSET; i < number_int_tokens; i++) {
     int_tokens[i-ROBOT_COMMAND_OFFSET] = atoi(tokens[i]);
+  }
   // Fill arguments buffer with arguments
   for (int i = ROBOT_COMMAND_LEN; i < number_int_tokens-ROBOT_COMMAND_OFFSET; i++) {
     arguments[i-ROBOT_COMMAND_LEN] = int_tokens[i];
+  }
   // Check the tokens
   if (check_tokens(int_tokens, number_int_tokens) < 0) {
     fprintf(stderr, "%s: Error - Invalid robot command/request.\n", __FUNCTION__);
     return -1;
+  }
   //printf("parsed command from internet client: ");
   for (int i = 0; i < number_int_tokens - ROBOT_COMMAND_OFFSET; i++) {
     printf("%d ", int_tokens[i]);
+  }
   printf("\n");
   // Send packet to robot
   if (colonet_wl_send((short)pool_index, int_tokens[0], (ColonetRobotMessageType)int_tokens[1], int_tokens[2],
                       arguments) != 0) {
     fprintf(stderr, "Error - Colonet_wl_send failed.\n");
     exit(1);
+  }
   return 0;
+}
 /**
  * @brief This function parses a request where a client is asking for something from the server
+ *
  * @param number_tokens Number of tokens in the tokens array
  * @param tokens The parsed form of the command
  * @param pool_index The index in the connection pool of the client who sent the command
+ *
  * @return 0 on success, negative error code on failure
  */
 int Command::parse_request_from_server(int number_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE], int pool_index) {
   char* end_pointer = NULL;
         //make sure a connection pool is set
   if (!connection_pool) {
     return -1;
+  }
         //make sure you enough enough tokens to be a valid command
   if (number_tokens < 2) {
     return -1;
+  }
         //convert the second token to an integer
   end_pointer=NULL;
   int second_token = strtol(tokens[1], &end_pointer, 10);
   if (!end_pointer || *end_pointer != '\0') {
     printf("There was an error converting second token into a number.\n");
     return -1;
+  }
   int up_x, up_y, low_x, low_y;
         //figure out which command was sent
   switch (second_token) {
         case REQUEST_BOM_MATRIX:
                 if (parse_request_bom_matrix(pool_index)) {
       return -1;
+    }
     break;
   case REQUEST_XBEE_IDS:
     if (parse_request_xbee_ids(pool_index)) {
       return -1;
+    }
     break;
   case CLIENT_REQUEST_ROBOT_POSITIONS:
     if (parse_request_robot_positions(pool_index)) {
       return -1;
+    }
     break;
   case CLIENT_ASSIGN_ROBOT_ID:
     colonet_server->getPositionMonitor()->assignRealId(atoi(tokens[2]), atoi(tokens[3]));
     break;
   case CLIENT_SET_VIRTUAL_WALL:
     up_x = atoi(tokens[2]);
     up_y = atoi(tokens[3]);
     low_x = atoi(tokens[4]);
     low_y = atoi(tokens[5]);
     if (colonet_server->getVirtualWall()->set_coordinates(up_x, up_y, low_x, low_y) == 0) {
       fprintf(stderr, "Wall set to ((%d, %d), (%d, %d)).\n", up_x, up_y, low_x, low_y);
     } else {
       fprintf(stderr, "Set wall failed ((%d, %d), (%d, %d)).\n", up_x, up_y, low_x, low_y);
+    }
     break;
   default:
     char* my_current_message = "Invalid request!\n";
     //printf("Sending %s\n", my_current_message);
     connection_pool->write_to_client(pool_index, my_current_message, strlen(my_current_message));
     break;
+  }
   return 0;
+}
 /**
  * @brief This function parses a client's request for the bom matrix as far as the wireless library knows it.
+ *
  * @param pool_index The index in the connection pool of the client who sent the command
+ *
  * @return 0 on success, negative error code on failure
  */
 int Command::parse_request_bom_matrix(int pool_index) {
   char response_bom_matrix_buffer[MAX_RESPONSE_LEN];
   char temp_bom_matrix_buffer[MAX_RESPONSE_LEN];
   if (!connection_pool) {
     return -1;
+  }
   int num_robots;
   int * xbee_ids;
         //get the sensor matrix from the wireless library
   int** bom_matrix = colonet_get_sensor_matrix(&num_robots, &xbee_ids);
   printf("number of robots is %d\n", num_robots);
         //copy the information over into a linear array to send to the client
   //TODO: make this better
   //TODO: make sure I don't need to do MAX_RESPONSE_LENGTH-1
   snprintf(response_bom_matrix_buffer, MAX_RESPONSE_LEN, "%d %d %d", RESPONSE_TO_CLIENT_REQUEST, REQUEST_BOM_MATRIX,
            num_robots);
   for (int i = 0; i < num_robots; i++) {
     for (int j = 0; j < num_robots; j++) {
       //TODO: don't use strcpy
       strcpy(temp_bom_matrix_buffer, response_bom_matrix_buffer);
       //TODO: put length checking in here so array doesn't go out of bounds
       //TODO: maybe use strncat?
       strcat(temp_bom_matrix_buffer," %d");
       snprintf(response_bom_matrix_buffer, MAX_RESPONSE_LEN, temp_bom_matrix_buffer, bom_matrix[i][j]);
+    }
+  }
   strcat(response_bom_matrix_buffer,"\n");
         //send the bom matrix to the client that requested it
   connection_pool->write_to_client(pool_index, response_bom_matrix_buffer, strlen(response_bom_matrix_buffer));
   //printf("Sending %s", response_bom_matrix_buffer);
   for (int i = 0; i < num_robots; i++) {
     free(bom_matrix[i]);
+  }
   free(bom_matrix);
   free(xbee_ids);
   return 0;
+}
 /**
  * @brief This functions parses a client's request for the positions of robots
+ *
  * @param pool_index The index in the connection pool of the client that sent this command
+ *
  * @return 0 on success, negative error code on failure
  */
 int Command::parse_request_robot_positions(int pool_index) {
   //printf("*****parse_request_robot_positions\n");
         //ask the position monitor for where it sees robots
   map<int, VisionPosition> positions = colonet_server->getPositionMonitor()->getAllRobotPositions();
   map<int, VisionPosition>::iterator iter;
   char position_buffer[256];
   position_buffer[0] = 0;
   sprintf(position_buffer, "%d %d", RESPONSE_TO_CLIENT_REQUEST, CLIENT_REQUEST_ROBOT_POSITIONS);
   for (iter = positions.begin(); iter != positions.end(); iter++) {
     char tmpbuf[80];
     sprintf(tmpbuf, " %d %d %d", iter->first, iter->second.x, iter->second.y);
     strcat(position_buffer, tmpbuf);
+  }
   strcat(position_buffer, "\n");
   //printf("position buffer is: %s\n", position_buffer);
         //send the positions of the robots to the client that requested them
   connection_pool->write_to_client(pool_index, position_buffer, strlen(position_buffer));
   return 0;
+}
 /**
  * @brief This functions parses a client's request for the ids of the xbees in the token ring
+ *
  * @param pool_index The index in the connection pool of the client that requested the xbee ids
+ *
  * @return 0 on success, negative error code on failure
  */
 int Command::parse_request_xbee_ids(int pool_index) {
   char temp_xbee_id_buffer[MAX_RESPONSE_LEN];
   char xbee_id_buffer[MAX_RESPONSE_LEN];
   int num_robots;
         //get a list of the xbee ids
   int* xbee_ids = colonet_get_xbee_ids(&num_robots);
   //printf("num_robots: %d\n", num_robots);
   //printf("xbee_ids: ");
   //for (int i = 0; i < num_robots; i++) {
   //  printf("%d ", xbee_ids[i]);
   //}
   //printf("\n");
   if (!connection_pool) {
     return -1;
+  }
   snprintf(xbee_id_buffer, MAX_RESPONSE_LEN, "%d %d %d", RESPONSE_TO_CLIENT_REQUEST, REQUEST_XBEE_IDS, num_robots);
         //copy over the ids into a response to send to the client
   for (int i = 0; i < num_robots; i++) {
     strcpy(temp_xbee_id_buffer, xbee_id_buffer);
     //TODO: put length checking in here so array doesn't go out of bounds
     //TODO: maybe use strncat?
     strcat(temp_xbee_id_buffer, " %d");
     snprintf(xbee_id_buffer, MAX_RESPONSE_LEN, temp_xbee_id_buffer, xbee_ids[i]);
+  }
   strcat(xbee_id_buffer, "\n");
         //send the list of xbee ides to the client that requested them
   connection_pool->write_to_client(pool_index, xbee_id_buffer, strlen(xbee_id_buffer));
   //printf("Sending %s", xbee_id_buffer);
   free(xbee_ids);
   return 0;
+}