Revision 129
moved the send to robot code out into its own function in the Command class
| trunk/code/projects/colonet/ColonetServer/Command.cpp | ||
|---|---|---|
| 22 | 22 |
//TODO: write a function to write data into the write buffers (jason: what was this referring to?) |
| 23 | 23 |
int Command::parse_command(char* command, int pool_index, ConnectionPool * connection_pool) {
|
| 24 | 24 |
char tokens[MAX_TOKENS][MAX_TOKEN_SIZE]; |
| 25 |
unsigned char int_tokens[MAX_TOKENS]; |
|
| 26 | 25 |
int number_tokens = 0; |
| 27 | 26 |
char* end_pointer = NULL; |
| 28 | 27 |
int command_id; |
| 29 |
int i; |
|
| 30 |
unsigned char arguments[PACKET_DATA_LEN]; |
|
| 31 | 28 |
|
| 32 |
memset(arguments, 1, PACKET_DATA_LEN); |
|
| 33 |
|
|
| 34 | 29 |
if (!command) {
|
| 35 | 30 |
return -1; |
| 36 | 31 |
} |
| ... | ... | |
| 52 | 47 |
} |
| 53 | 48 |
|
| 54 | 49 |
if (command_id == SEND_TO_ROBOT) {
|
| 55 |
int number_int_tokens = number_tokens; |
|
| 56 |
|
|
| 57 |
// Convert tokens to ints |
|
| 58 |
for (i = ROBOT_COMMAND_OFFSET; i < number_int_tokens; i++) {
|
|
| 59 |
int_tokens[i-ROBOT_COMMAND_OFFSET] = atoi(tokens[i]); |
|
| 50 |
if (parse_send_to_robot(number_tokens, tokens)) {
|
|
| 51 |
return -1; |
|
| 60 | 52 |
} |
| 61 |
|
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| 62 |
// Fill arguments buffer with arguments |
|
| 63 |
for (i = ROBOT_COMMAND_LEN; i < number_int_tokens-ROBOT_COMMAND_OFFSET; |
|
| 64 |
i++) {
|
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| 65 |
arguments[i-ROBOT_COMMAND_LEN] = int_tokens[i]; |
|
| 66 |
} |
|
| 67 |
|
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// Check the tokens |
|
| 69 |
if (check_tokens(int_tokens, number_int_tokens) < 0) {
|
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| 70 |
fprintf(stderr, "%s: Error - Invalid command/request.\n", __FUNCTION__); |
|
| 71 |
return 0; |
|
| 72 |
} |
|
| 73 |
|
|
| 74 |
/* |
|
| 75 |
// Send packet to robot |
|
| 76 |
fprintf(stderr, "Calling colonet_wl_send(%d, %d, %d, arguments)\n", |
|
| 77 |
int_tokens[0], int_tokens[1], int_tokens[2]); |
|
| 78 |
colonet_wl_send(pool_index, int_tokens[0], |
|
| 79 |
(ColonetMessageType)int_tokens[1], int_tokens[2], |
|
| 80 |
arguments); |
|
| 81 |
*/ |
|
| 82 | 53 |
} else if (command_id == REQUEST_FROM_SERVER) {
|
| 83 | 54 |
if (number_tokens < 2) |
| 84 | 55 |
return -1; |
| ... | ... | |
| 233 | 204 |
|
| 234 | 205 |
return 0; |
| 235 | 206 |
} |
| 207 |
|
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| 208 |
|
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| 209 |
|
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| 210 |
|
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| 211 |
|
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| 212 |
|
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| 213 |
int Command::parse_send_to_robot(int number_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE]) {
|
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| 214 |
int i; |
|
| 215 |
unsigned char int_tokens[MAX_TOKENS]; |
|
| 216 |
int number_int_tokens = number_tokens; |
|
| 217 |
unsigned char arguments[PACKET_DATA_LEN]; |
|
| 218 |
|
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| 219 |
memset(arguments, 1, PACKET_DATA_LEN); |
|
| 220 |
|
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| 221 |
// Convert tokens to ints |
|
| 222 |
for (i = ROBOT_COMMAND_OFFSET; i < number_int_tokens; i++) {
|
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| 223 |
int_tokens[i-ROBOT_COMMAND_OFFSET] = atoi(tokens[i]); |
|
| 224 |
} |
|
| 225 |
|
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| 226 |
// Fill arguments buffer with arguments |
|
| 227 |
for (i = ROBOT_COMMAND_LEN; i < number_int_tokens-ROBOT_COMMAND_OFFSET; |
|
| 228 |
i++) {
|
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| 229 |
arguments[i-ROBOT_COMMAND_LEN] = int_tokens[i]; |
|
| 230 |
} |
|
| 231 |
|
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// Check the tokens |
|
| 233 |
if (check_tokens(int_tokens, number_int_tokens) < 0) {
|
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| 234 |
fprintf(stderr, "%s: Error - Invalid command/request.\n", __FUNCTION__); |
|
| 235 |
return -1; |
|
| 236 |
} |
|
| 237 |
|
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| 238 |
/* |
|
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// Send packet to robot |
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| 240 |
fprintf(stderr, "Calling colonet_wl_send(%d, %d, %d, arguments)\n", |
|
| 241 |
int_tokens[0], int_tokens[1], int_tokens[2]); |
|
| 242 |
colonet_wl_send(pool_index, int_tokens[0], |
|
| 243 |
(ColonetMessageType)int_tokens[1], int_tokens[2], |
|
| 244 |
arguments); |
|
| 245 |
*/ |
|
| 246 |
return 0; |
|
| 247 |
} |
|
| trunk/code/projects/colonet/ColonetServer/includes/Command.h | ||
|---|---|---|
| 19 | 19 |
int tokenize_command(char* command, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE]); |
| 20 | 20 |
int check_tokens(unsigned char* tokens, int number_tokens); |
| 21 | 21 |
|
| 22 |
|
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| 22 |
private: |
|
| 23 |
int parse_send_to_robot(int number_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE]); |
|
| 23 | 24 |
}; |
| 24 | 25 |
|
| 25 | 26 |
|
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