Revision 128
moved the command parsing into its own class
trunk/code/projects/colonet/ColonetServer/Command.cpp | ||
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/** |
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* @file Command.cpp |
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* |
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* @author Jason Knichel |
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* @date 10/9/07 |
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*/ |
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#include <stdlib.h> |
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#include <stdio.h> |
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#include <string.h> |
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#include <ctype.h> |
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#include "includes/Command.h" |
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#include "includes/ConnectionPool.h" |
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Command::Command() { |
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} |
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Command::~Command() { |
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} |
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//TODO: write a function to write data into the write buffers (jason: what was this referring to?) |
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int Command::parse_command(char* command, int pool_index, ConnectionPool * connection_pool) { |
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char tokens[MAX_TOKENS][MAX_TOKEN_SIZE]; |
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unsigned char int_tokens[MAX_TOKENS]; |
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int number_tokens = 0; |
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char* end_pointer = NULL; |
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int command_id; |
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int i; |
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unsigned char arguments[PACKET_DATA_LEN]; |
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memset(arguments, 1, PACKET_DATA_LEN); |
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if (!command) { |
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return -1; |
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} |
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if (pool_index < 0) { |
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return -1; |
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} |
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if ((number_tokens = tokenize_command(command, tokens)) < 0) { |
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return -1; |
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} |
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//the 10 in the function call indicates number is base 10 |
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command_id = strtol(tokens[0], &end_pointer, 10); |
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if (!end_pointer || *end_pointer != '\0') { |
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printf("There was an error converting first token into a number.\n"); |
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return -1; |
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} |
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if (command_id == SEND_TO_ROBOT) { |
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int number_int_tokens = number_tokens; |
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// Convert tokens to ints |
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for (i = ROBOT_COMMAND_OFFSET; i < number_int_tokens; i++) { |
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int_tokens[i-ROBOT_COMMAND_OFFSET] = atoi(tokens[i]); |
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} |
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// Fill arguments buffer with arguments |
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for (i = ROBOT_COMMAND_LEN; i < number_int_tokens-ROBOT_COMMAND_OFFSET; |
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i++) { |
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arguments[i-ROBOT_COMMAND_LEN] = int_tokens[i]; |
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} |
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// Check the tokens |
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if (check_tokens(int_tokens, number_int_tokens) < 0) { |
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fprintf(stderr, "%s: Error - Invalid command/request.\n", __FUNCTION__); |
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return 0; |
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} |
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/* |
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// Send packet to robot |
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fprintf(stderr, "Calling colonet_wl_send(%d, %d, %d, arguments)\n", |
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int_tokens[0], int_tokens[1], int_tokens[2]); |
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colonet_wl_send(pool_index, int_tokens[0], |
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(ColonetMessageType)int_tokens[1], int_tokens[2], |
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arguments); |
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*/ |
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} else if (command_id == REQUEST_FROM_SERVER) { |
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if (number_tokens < 2) |
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return -1; |
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end_pointer=NULL; |
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int second_token = strtol(tokens[1], &end_pointer, 10); |
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if (!end_pointer || *end_pointer != '\0') { |
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printf("There was an error converting second token into a number.\n"); |
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return -1; |
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} |
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//TODO: move REQUEST_BOM_MATRIX stuff into a private function |
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if (second_token == REQUEST_BOM_MATRIX) { |
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//TODO: rename to indicate its actually the response message |
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char bom_matrix_buffer[MAX_RESPONSE_LEN]; |
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char temp_bom_matrix_buffer[MAX_RESPONSE_LEN]; |
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//TODO: change after we start keeping track of bom matrix |
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int number_robots = rand()%10; |
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int bom_matrix[number_robots][number_robots]; |
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for (int ii = 0; ii < number_robots; ii++) { |
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for (int j = 0; j < number_robots; j++) { |
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//do this to generate some -1 values which mean they can't see each other |
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int matrix_value = rand()%(number_robots+1)-1; |
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bom_matrix[ii][j] = matrix_value; |
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} |
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} |
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printf("number of robots is %d\n", number_robots); |
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//TODO: separate parameters with spaces |
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//TODO: make this better |
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//TODO: make sure I don't need to do MAX_RESPONSE_LENGTH-1 |
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snprintf(bom_matrix_buffer,MAX_RESPONSE_LEN, "%d %d %d", RESPONSE_TO_CLIENT_REQUEST, REQUEST_BOM_MATRIX, number_robots); |
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for (int ii = 0; ii < number_robots; ii++) { |
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for (int j = 0; j < number_robots; j++) { |
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//TODO: don't use strcpy |
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strcpy(temp_bom_matrix_buffer, bom_matrix_buffer); |
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//TODO: put length checking in here so array doesn't go out of bounds |
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//TODO: maybe use strncat? |
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strcat(temp_bom_matrix_buffer," %d"); |
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snprintf(bom_matrix_buffer, MAX_RESPONSE_LEN, temp_bom_matrix_buffer, bom_matrix[ii][j]); |
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} |
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} |
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strcat(bom_matrix_buffer,"\n"); |
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connection_pool->write_to_client(pool_index, bom_matrix_buffer, strlen(bom_matrix_buffer)); |
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printf("Sending %s", bom_matrix_buffer); |
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} else if (second_token == REQUEST_XBEE_IDS) { |
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//TODO: move this into private function |
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//TODO: make this better |
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int number_robots = rand() % 10; |
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char xbee_id_buffer[MAX_RESPONSE_LEN]; |
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char temp_xbee_id_buffer[MAX_RESPONSE_LEN]; |
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snprintf(xbee_id_buffer, MAX_RESPONSE_LEN, "%d %d %d", RESPONSE_TO_CLIENT_REQUEST, REQUEST_XBEE_IDS, number_robots); |
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printf("number of robots is %d\n", number_robots); |
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for (int ii = 0; ii < number_robots; ii++) { |
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strcpy(temp_xbee_id_buffer, xbee_id_buffer); |
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//TODO: put length checking in here so array doesn't go out of bounds |
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//TODO: maybe use strncat? |
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strcat(temp_xbee_id_buffer, " %d"); |
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snprintf(xbee_id_buffer, MAX_RESPONSE_LEN, temp_xbee_id_buffer, ii); |
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} |
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strcat(xbee_id_buffer, "\n"); |
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connection_pool->write_to_client(pool_index, xbee_id_buffer, strlen(xbee_id_buffer)); |
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printf("Sending %s", xbee_id_buffer); |
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} else { |
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char * my_current_message = "Hi, how are you?\n"; |
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printf("Sending %s\n", my_current_message); |
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connection_pool->write_to_client(pool_index, my_current_message, strlen(my_current_message)); |
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} |
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} |
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return 0; |
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} |
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/** |
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* @brief Breaks a command up into tokens |
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* |
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* @param command The command to tokenize |
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* @param tokens A two dimensional character array to store the tokens in |
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* |
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* @return 0 on success, negative error code on failure |
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*/ |
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int Command::tokenize_command(char* command, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE]) { |
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char* next_token = command; |
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char* end_token = NULL; |
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int number_tokens = 0; |
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if (!command) { |
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return -1; |
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} |
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while ((end_token = strstr(next_token, " "))) { |
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*end_token = '\0'; |
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if (strlen(next_token) > MAX_TOKEN_SIZE-1) { |
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return -1; |
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} |
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strcpy(tokens[number_tokens], next_token); |
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number_tokens++; |
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next_token = end_token + 1; |
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while (isspace(*next_token) && *next_token != '\0') { |
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next_token++; |
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} |
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} |
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if (end_token == NULL && *next_token != '\0') { |
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if (strlen(next_token) > MAX_TOKEN_SIZE-1) { |
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return -1; |
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} |
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strcpy(tokens[number_tokens], next_token); |
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number_tokens++; |
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} |
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return number_tokens; |
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} |
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/** |
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* @brief checks a list of tokens to see if it's valid |
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* |
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* @param tokens The tokens to check |
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* @param number_tokens The number of tokens contained in the tokens parameter |
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* |
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* @return 0 if tokens is valid |
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*/ |
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int Command::check_tokens(unsigned char* tokens, int number_tokens) { |
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if (number_tokens > 3 + PACKET_DATA_LEN) { |
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/* Too many tokens */ |
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return -1; |
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} |
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if (number_tokens < 3) { |
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/* Not enough tokens */ |
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return -1; |
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} |
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if (tokens[1] != COLONET_REQUEST && tokens[1] != COLONET_COMMAND) { |
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/* Invalid message type */ |
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return -1; |
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} |
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return 0; |
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} |
trunk/code/projects/colonet/ColonetServer/includes/Command.h | ||
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/** |
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* @file Command.h |
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* |
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* @author Jason Knichel |
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* @date 10/9/07 |
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*/ |
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#ifndef COMMAND_H |
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#define COMMAND_H |
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#include "ConnectionPool.h" |
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class Command { |
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public: |
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Command(); |
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~Command(); |
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int parse_command(char* command, int pool_index, ConnectionPool * connection_pool); |
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int tokenize_command(char* command, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE]); |
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int check_tokens(unsigned char* tokens, int number_tokens); |
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}; |
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#endif |
trunk/code/projects/colonet/ColonetServer/ConnectionPool.cpp | ||
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15 | 15 |
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#include "includes/ConnectionPool.h" |
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#include "includes/client.h" |
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#include "includes/Command.h" |
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#include "../lib/colonet_defs.h" |
19 | 20 |
#include <colonet_wireless.h> |
20 | 21 |
|
... | ... | |
227 | 228 |
break; |
228 | 229 |
} |
229 | 230 |
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if (parse_command(temporary_command_buffer, i) < 0) { |
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Command command; |
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if (command.parse_command(temporary_command_buffer, i, this) < 0) { |
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printf("There was an error parsing command\n"); |
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break; |
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} |
... | ... | |
374 | 376 |
write_set = new_set; |
375 | 377 |
} |
376 | 378 |
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//TODO: move the command stuff into their own class and have whatever wants to parse a command |
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// first instantiate a command object and then call parse command |
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// In order to do that, have to break dependencies between parse_command and connection_pool |
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//TODO: write a function to write data into the write buffers (jason: what was this referring to?) |
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int ConnectionPool::parse_command(char* command, int pool_index) { |
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char tokens[MAX_TOKENS][MAX_TOKEN_SIZE]; |
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unsigned char int_tokens[MAX_TOKENS]; |
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int number_tokens = 0; |
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char* end_pointer = NULL; |
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int command_id; |
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int i; |
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unsigned char arguments[PACKET_DATA_LEN]; |
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memset(arguments, 1, PACKET_DATA_LEN); |
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if (!command) { |
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return -1; |
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} |
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if (pool_index < 0) { |
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return -1; |
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} |
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if (pool_index >= next_available_slot) { |
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return -1; |
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} |
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if ((number_tokens = tokenize_command(command, tokens)) < 0) { |
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return -1; |
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} |
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//the 10 in the function call indicates number is base 10 |
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command_id = strtol(tokens[0], &end_pointer, 10); |
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if (!end_pointer || *end_pointer != '\0') { |
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printf("There was an error converting first token into a number.\n"); |
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return -1; |
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} |
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|
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if (command_id == SEND_TO_ROBOT) { |
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int number_int_tokens = number_tokens; |
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|
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// Convert tokens to ints |
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for (i = ROBOT_COMMAND_OFFSET; i < number_int_tokens; i++) { |
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int_tokens[i-ROBOT_COMMAND_OFFSET] = atoi(tokens[i]); |
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} |
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/* we removed the request from robot constant |
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if (command_id == REQUEST_FROM_ROBOT) { |
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if (i < MAX_TOKENS) { |
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for (;i >= 4; i--) { |
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int_tokens[i] = int_tokens[i-1]; |
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} |
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int_tokens[3] = pool_index; |
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number_int_tokens++; |
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} else { |
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//TODO: send an error back to client here also |
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fprintf(stderr, "Client attempted to request data from the robot but there was not enough room to put in the client's id.\n"); |
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return -1; |
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} |
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} |
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*/ |
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438 |
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// Fill arguments buffer with arguments |
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for (i = ROBOT_COMMAND_LEN; i < number_int_tokens-ROBOT_COMMAND_OFFSET; |
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i++) { |
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arguments[i-ROBOT_COMMAND_LEN] = int_tokens[i]; |
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} |
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|
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// Check the tokens |
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if (check_tokens(int_tokens, number_int_tokens) < 0) { |
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fprintf(stderr, "%s: Error - Invalid command/request.\n", __FUNCTION__); |
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return 0; |
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} |
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450 |
|
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/* |
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// Send packet to robot |
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fprintf(stderr, "Calling colonet_wl_send(%d, %d, %d, arguments)\n", |
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int_tokens[0], int_tokens[1], int_tokens[2]); |
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colonet_wl_send(pool_index, int_tokens[0], |
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(ColonetMessageType)int_tokens[1], int_tokens[2], |
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arguments); |
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*/ |
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459 |
} else if (command_id == REQUEST_FROM_SERVER) { |
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460 |
if (number_tokens < 2) |
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return -1; |
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462 |
|
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end_pointer=NULL; |
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464 |
int second_token = strtol(tokens[1], &end_pointer, 10); |
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465 |
|
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466 |
if (!end_pointer || *end_pointer != '\0') { |
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467 |
printf("There was an error converting second token into a number.\n"); |
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468 |
return -1; |
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469 |
} |
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470 |
|
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471 |
//TODO: move REQUEST_BOM_MATRIX stuff into a private function |
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472 |
if (second_token == REQUEST_BOM_MATRIX) { |
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473 |
//TODO: rename to indicate its actually the response message |
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474 |
char bom_matrix_buffer[MAX_RESPONSE_LEN]; |
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475 |
char temp_bom_matrix_buffer[MAX_RESPONSE_LEN]; |
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476 |
|
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477 |
//TODO: change after we start keeping track of bom matrix |
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478 |
int number_robots = rand()%10; |
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479 |
int bom_matrix[number_robots][number_robots]; |
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480 |
for (int ii = 0; ii < number_robots; ii++) { |
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481 |
for (int j = 0; j < number_robots; j++) { |
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482 |
//do this to generate some -1 values which mean they can't see each other |
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483 |
int matrix_value = rand()%(number_robots+1)-1; |
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484 |
bom_matrix[ii][j] = matrix_value; |
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485 |
} |
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486 |
} |
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487 |
|
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488 |
printf("number of robots is %d\n", number_robots); |
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489 |
|
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490 |
//TODO: separate parameters with spaces |
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491 |
//TODO: make this better |
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492 |
//TODO: make sure I don't need to do MAX_RESPONSE_LENGTH-1 |
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493 |
snprintf(bom_matrix_buffer,MAX_RESPONSE_LEN, "%d %d %d", RESPONSE_TO_CLIENT_REQUEST, REQUEST_BOM_MATRIX, number_robots); |
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494 |
for (int ii = 0; ii < number_robots; ii++) { |
|
495 |
for (int j = 0; j < number_robots; j++) { |
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496 |
//TODO: don't use strcpy |
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497 |
strcpy(temp_bom_matrix_buffer, bom_matrix_buffer); |
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498 |
//TODO: put length checking in here so array doesn't go out of bounds |
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499 |
//TODO: maybe use strncat? |
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500 |
strcat(temp_bom_matrix_buffer," %d"); |
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501 |
snprintf(bom_matrix_buffer, MAX_RESPONSE_LEN, temp_bom_matrix_buffer, bom_matrix[ii][j]); |
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502 |
} |
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503 |
} |
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504 |
strcat(bom_matrix_buffer,"\n"); |
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505 |
write_to_client(pool_index, bom_matrix_buffer, strlen(bom_matrix_buffer)); |
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506 |
printf("Sending %s", bom_matrix_buffer); |
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507 |
} else if (second_token == REQUEST_XBEE_IDS) { |
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508 |
//TODO: move this into private function |
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509 |
//TODO: make this better |
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510 |
int number_robots = rand() % 10; |
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511 |
|
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512 |
char xbee_id_buffer[MAX_RESPONSE_LEN]; |
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513 |
char temp_xbee_id_buffer[MAX_RESPONSE_LEN]; |
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514 |
|
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515 |
snprintf(xbee_id_buffer, MAX_RESPONSE_LEN, "%d %d %d", RESPONSE_TO_CLIENT_REQUEST, REQUEST_XBEE_IDS, number_robots); |
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516 |
|
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517 |
printf("number of robots is %d\n", number_robots); |
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518 |
|
|
519 |
for (int ii = 0; ii < number_robots; ii++) { |
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520 |
strcpy(temp_xbee_id_buffer, xbee_id_buffer); |
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521 |
//TODO: put length checking in here so array doesn't go out of bounds |
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522 |
//TODO: maybe use strncat? |
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523 |
strcat(temp_xbee_id_buffer, " %d"); |
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524 |
snprintf(xbee_id_buffer, MAX_RESPONSE_LEN, temp_xbee_id_buffer, ii); |
|
525 |
} |
|
526 |
strcat(xbee_id_buffer, "\n"); |
|
527 |
write_to_client(pool_index, xbee_id_buffer, strlen(xbee_id_buffer)); |
|
528 |
printf("Sending %s", xbee_id_buffer); |
|
529 |
} else { |
|
530 |
char * my_current_message = "Hi, how are you?\n"; |
|
531 |
printf("Sending %s\n", my_current_message); |
|
532 |
write_to_client(pool_index, my_current_message, strlen(my_current_message)); |
|
533 |
} |
|
534 |
} |
|
535 |
|
|
536 |
return 0; |
|
537 |
} |
|
538 |
|
|
539 |
/** |
|
540 |
* @brief Breaks a command up into tokens |
|
541 |
* |
|
542 |
* @param command The command to tokenize |
|
543 |
* @param tokens A two dimensional character array to store the tokens in |
|
544 |
* |
|
545 |
* @return 0 on success, negative error code on failure |
|
546 |
*/ |
|
547 |
int ConnectionPool::tokenize_command(char* command, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE]) { |
|
548 |
char* next_token = command; |
|
549 |
char* end_token = NULL; |
|
550 |
int number_tokens = 0; |
|
551 |
|
|
552 |
if (!command) { |
|
553 |
return -1; |
|
554 |
} |
|
555 |
|
|
556 |
while ((end_token = strstr(next_token, " "))) { |
|
557 |
*end_token = '\0'; |
|
558 |
|
|
559 |
if (strlen(next_token) > MAX_TOKEN_SIZE-1) { |
|
560 |
return -1; |
|
561 |
} |
|
562 |
|
|
563 |
strcpy(tokens[number_tokens], next_token); |
|
564 |
|
|
565 |
number_tokens++; |
|
566 |
next_token = end_token + 1; |
|
567 |
|
|
568 |
while (isspace(*next_token) && *next_token != '\0') { |
|
569 |
next_token++; |
|
570 |
} |
|
571 |
} |
|
572 |
|
|
573 |
if (end_token == NULL && *next_token != '\0') { |
|
574 |
if (strlen(next_token) > MAX_TOKEN_SIZE-1) { |
|
575 |
return -1; |
|
576 |
} |
|
577 |
|
|
578 |
strcpy(tokens[number_tokens], next_token); |
|
579 |
|
|
580 |
number_tokens++; |
|
581 |
} |
|
582 |
|
|
583 |
return number_tokens; |
|
584 |
} |
|
585 |
|
|
586 |
/** |
|
587 |
* @brief checks a list of tokens to see if it's valid |
|
588 |
* |
|
589 |
* @param tokens The tokens to check |
|
590 |
* @param number_tokens The number of tokens contained in the tokens parameter |
|
591 |
* |
|
592 |
* @return 0 if tokens is valid |
|
593 |
*/ |
|
594 |
int ConnectionPool::check_tokens(unsigned char* tokens, int number_tokens) { |
|
595 |
if (number_tokens > 3 + PACKET_DATA_LEN) { |
|
596 |
/* Too many tokens */ |
|
597 |
return -1; |
|
598 |
} |
|
599 |
|
|
600 |
if (number_tokens < 3) { |
|
601 |
/* Not enough tokens */ |
|
602 |
return -1; |
|
603 |
} |
|
604 |
|
|
605 |
if (tokens[1] != COLONET_REQUEST && tokens[1] != COLONET_COMMAND) { |
|
606 |
/* Invalid message type */ |
|
607 |
return -1; |
|
608 |
} |
|
609 |
|
|
610 |
return 0; |
|
611 |
} |
trunk/code/projects/colonet/ColonetServer/Makefile | ||
---|---|---|
3 | 3 |
CC = g++ |
4 | 4 |
CFLAGS = -Wall -Wshadow -Wextra -g |
5 | 5 |
|
6 |
COLONETCPPFILES = ColonetServer.cpp client.cpp ConnectionPool.cpp |
|
6 |
COLONETCPPFILES = ColonetServer.cpp client.cpp ConnectionPool.cpp Command.cpp
|
|
7 | 7 |
COLONETCPPOBJECTS = $(COLONETCPPFILES:.cpp=.o) |
8 | 8 |
COLONETFILES = options.c |
9 | 9 |
COLONETOBJECTS = $(COLONETFILES:.c=.o) |
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