root / branches / library_refactor / projects / colonet / server / Command.cpp @ 1390
History | View | Annotate | Download (12.7 KB)
1 |
/**
|
---|---|
2 |
* @file Command.cpp
|
3 |
*
|
4 |
* @author Jason Knichel
|
5 |
* @date 10/9/07
|
6 |
*
|
7 |
* @todo make it so command doesn't rely on connection pool. have methods
|
8 |
* that may return a response return it by getting a response array passed in to them
|
9 |
* that they fill in and then colonet server takes the contents of that response array
|
10 |
* and sends it to the appropriate client
|
11 |
*/
|
12 |
|
13 |
#include <ctype.h> |
14 |
#include <stdio.h> |
15 |
#include <stdlib.h> |
16 |
#include <string.h> |
17 |
|
18 |
#include <colonet_wireless.h> |
19 |
#include <wireless.h> |
20 |
|
21 |
#include <Command.h> |
22 |
#include <ConnectionPool.h> |
23 |
#include <map> |
24 |
#include <vision.h> |
25 |
|
26 |
using namespace std; |
27 |
|
28 |
/**
|
29 |
* @brief Constructor for the Command class
|
30 |
*
|
31 |
* @param connection_pool_temp The connection pool this instance of the Command class is supposed to use
|
32 |
* @param cs The ColonetServer this instance of the Command class is supposed to use
|
33 |
*/
|
34 |
Command::Command(ConnectionPool * connection_pool_temp, ColonetServer* cs) { |
35 |
connection_pool = connection_pool_temp; |
36 |
colonet_server = cs; |
37 |
} |
38 |
|
39 |
/**
|
40 |
* @brief Destructor for the Command class
|
41 |
*/
|
42 |
Command::~Command() {} |
43 |
|
44 |
/**
|
45 |
* @brief Called by connection pool to parse command from client.
|
46 |
*
|
47 |
* @param command The command to parse
|
48 |
* @param pool_index The index in the connection pool of the client who generated this command
|
49 |
*
|
50 |
* @return 0 on success, negative error code on failure
|
51 |
*/
|
52 |
int Command::parse_command(char* command, int pool_index) { |
53 |
char tokens[MAX_TOKENS][MAX_TOKEN_SIZE];
|
54 |
int number_tokens = 0; |
55 |
char* end_pointer = NULL; |
56 |
int command_id;
|
57 |
|
58 |
if (!connection_pool || !command || pool_index < 0) { |
59 |
return -1; |
60 |
} |
61 |
|
62 |
if ((number_tokens = tokenize_command(command, tokens)) < 0) { |
63 |
return -1; |
64 |
} |
65 |
|
66 |
//the 10 in the function call indicates number is base 10
|
67 |
command_id = strtol(tokens[0], &end_pointer, 10); |
68 |
|
69 |
if (!end_pointer || *end_pointer != '\0') { |
70 |
printf("There was an error converting first token into a number.\n");
|
71 |
return -1; |
72 |
} |
73 |
|
74 |
if (command_id == SEND_TO_ROBOT) {
|
75 |
if (parse_send_to_robot(number_tokens, tokens, pool_index)) {
|
76 |
fprintf(stderr, "parse_send_to_robot failed.\n");
|
77 |
return -1; |
78 |
} |
79 |
} else if (command_id == REQUEST_FROM_SERVER) { |
80 |
if (parse_request_from_server(number_tokens, tokens, pool_index)) {
|
81 |
return -1; |
82 |
} |
83 |
} |
84 |
|
85 |
return 0; |
86 |
} |
87 |
|
88 |
/**
|
89 |
* @brief Breaks a command up into tokens
|
90 |
*
|
91 |
* @param command The command to tokenize
|
92 |
* @param tokens A two dimensional character array to store the tokens in
|
93 |
*
|
94 |
* @return 0 on success, negative error code on failure
|
95 |
*/
|
96 |
int Command::tokenize_command(char* command, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE]) { |
97 |
char* next_token = command;
|
98 |
char* end_token = NULL; |
99 |
int number_tokens = 0; |
100 |
|
101 |
if (!command) {
|
102 |
return -1; |
103 |
} |
104 |
|
105 |
//look for the end of the next token (tokens are separated by spaces)
|
106 |
while ((end_token = strstr(next_token, " "))) { |
107 |
//set the location of the space to a null terminator
|
108 |
*end_token = '\0';
|
109 |
|
110 |
//make sure the token isn't too long
|
111 |
if (strlen(next_token) > MAX_TOKEN_SIZE-1) { |
112 |
return -1; |
113 |
} |
114 |
|
115 |
//copy the next token into the token array
|
116 |
strcpy(tokens[number_tokens], next_token); |
117 |
|
118 |
number_tokens++; |
119 |
|
120 |
next_token = end_token + 1;
|
121 |
|
122 |
//skip over extra whitespace if there is any between tokens
|
123 |
while (isspace(*next_token) && *next_token != '\0') { |
124 |
next_token++; |
125 |
} |
126 |
} |
127 |
|
128 |
//get the last token if there were no spaces at the end of the string to indicate an end of token
|
129 |
if (end_token == NULL && *next_token != '\0') { |
130 |
if (strlen(next_token) > MAX_TOKEN_SIZE-1) { |
131 |
return -1; |
132 |
} |
133 |
|
134 |
strcpy(tokens[number_tokens], next_token); |
135 |
|
136 |
number_tokens++; |
137 |
} |
138 |
|
139 |
return number_tokens;
|
140 |
} |
141 |
|
142 |
/**
|
143 |
* @brief checks a list of tokens to see if it's valid
|
144 |
*
|
145 |
* @param tokens The tokens to check
|
146 |
* @param number_tokens The number of tokens contained in the tokens parameter
|
147 |
*
|
148 |
* @return 0 if tokens is valid
|
149 |
*/
|
150 |
int Command::check_tokens(unsigned char* tokens, int number_tokens) { |
151 |
if (number_tokens > 3 + PACKET_DATA_LEN) { |
152 |
/* Too many tokens */
|
153 |
return -1; |
154 |
} |
155 |
|
156 |
if (number_tokens < 3) { |
157 |
/* Not enough tokens */
|
158 |
return -1; |
159 |
} |
160 |
|
161 |
if (tokens[1] != COLONET_REQUEST && tokens[1] != COLONET_COMMAND) { |
162 |
/* Invalid message type */
|
163 |
return -1; |
164 |
} |
165 |
|
166 |
return 0; |
167 |
} |
168 |
|
169 |
//TODO: fill in the doxygen comments for this
|
170 |
/**
|
171 |
* @brief Sends parsed command from server to robot(s).
|
172 |
*
|
173 |
* @param number_int_tokens
|
174 |
* @param tokens
|
175 |
* @param pool_index
|
176 |
*
|
177 |
* @return 0 on success, negative error code on failure
|
178 |
*/
|
179 |
int Command::parse_send_to_robot(int number_int_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE], int pool_index) { |
180 |
unsigned char int_tokens[MAX_TOKENS], arguments[PACKET_DATA_LEN]; |
181 |
|
182 |
/* GREG'S FILTHY HACK */
|
183 |
/* PLEASE REMOVE */
|
184 |
int cmd = atoi(tokens[3]); |
185 |
int bot = atoi(tokens[1]); |
186 |
if (cmd == 96) { |
187 |
wl_set_channel(0xE);
|
188 |
wl_send_robot_to_robot_global_packet(3, 9, NULL, 0, bot, 0); |
189 |
printf("Sent recharge request to %d on channel 0xE\n", bot);
|
190 |
wl_set_channel(0xC);
|
191 |
return 0; |
192 |
} |
193 |
if (cmd == 97) { |
194 |
wl_set_channel(0xE);
|
195 |
wl_send_robot_to_robot_global_packet(3, 10, NULL, 0, bot, 0); |
196 |
printf("Sent recharge stop request to %d\n", bot);
|
197 |
wl_set_channel(0xC);
|
198 |
return 0; |
199 |
} |
200 |
/* END OF HACK */
|
201 |
|
202 |
memset(arguments, 1, PACKET_DATA_LEN);
|
203 |
|
204 |
// Convert tokens to ints
|
205 |
for (int i = ROBOT_COMMAND_OFFSET; i < number_int_tokens; i++) { |
206 |
int_tokens[i-ROBOT_COMMAND_OFFSET] = atoi(tokens[i]); |
207 |
} |
208 |
|
209 |
// Fill arguments buffer with arguments
|
210 |
for (int i = ROBOT_COMMAND_LEN; i < number_int_tokens-ROBOT_COMMAND_OFFSET; i++) { |
211 |
arguments[i-ROBOT_COMMAND_LEN] = int_tokens[i]; |
212 |
} |
213 |
|
214 |
// Check the tokens
|
215 |
if (check_tokens(int_tokens, number_int_tokens) < 0) { |
216 |
fprintf(stderr, "%s: Error - Invalid robot command/request.\n", __FUNCTION__);
|
217 |
return -1; |
218 |
} |
219 |
|
220 |
//printf("parsed command from internet client: ");
|
221 |
for (int i = 0; i < number_int_tokens - ROBOT_COMMAND_OFFSET; i++) { |
222 |
printf("%d ", int_tokens[i]);
|
223 |
} |
224 |
printf("\n");
|
225 |
|
226 |
// Send packet to robot
|
227 |
if (colonet_wl_send((short)pool_index, int_tokens[0], (ColonetRobotMessageType)int_tokens[1], int_tokens[2], |
228 |
arguments) != 0) {
|
229 |
fprintf(stderr, "Error - Colonet_wl_send failed.\n");
|
230 |
exit(1);
|
231 |
} |
232 |
|
233 |
return 0; |
234 |
} |
235 |
|
236 |
/**
|
237 |
* @brief This function parses a request where a client is asking for something from the server
|
238 |
*
|
239 |
* @param number_tokens Number of tokens in the tokens array
|
240 |
* @param tokens The parsed form of the command
|
241 |
* @param pool_index The index in the connection pool of the client who sent the command
|
242 |
*
|
243 |
* @return 0 on success, negative error code on failure
|
244 |
*/
|
245 |
int Command::parse_request_from_server(int number_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE], int pool_index) { |
246 |
char* end_pointer = NULL; |
247 |
|
248 |
//make sure a connection pool is set
|
249 |
if (!connection_pool) {
|
250 |
return -1; |
251 |
} |
252 |
|
253 |
//make sure you enough enough tokens to be a valid command
|
254 |
if (number_tokens < 2) { |
255 |
return -1; |
256 |
} |
257 |
|
258 |
//convert the second token to an integer
|
259 |
end_pointer=NULL;
|
260 |
int second_token = strtol(tokens[1], &end_pointer, 10); |
261 |
if (!end_pointer || *end_pointer != '\0') { |
262 |
printf("There was an error converting second token into a number.\n");
|
263 |
return -1; |
264 |
} |
265 |
|
266 |
int up_x, up_y, low_x, low_y;
|
267 |
|
268 |
//figure out which command was sent
|
269 |
switch (second_token) {
|
270 |
case REQUEST_BOM_MATRIX:
|
271 |
if (parse_request_bom_matrix(pool_index)) {
|
272 |
return -1; |
273 |
} |
274 |
break;
|
275 |
|
276 |
case REQUEST_XBEE_IDS:
|
277 |
if (parse_request_xbee_ids(pool_index)) {
|
278 |
return -1; |
279 |
} |
280 |
break;
|
281 |
|
282 |
case CLIENT_REQUEST_ROBOT_POSITIONS:
|
283 |
if (parse_request_robot_positions(pool_index)) {
|
284 |
return -1; |
285 |
} |
286 |
break;
|
287 |
|
288 |
case CLIENT_ASSIGN_ROBOT_ID:
|
289 |
colonet_server->getPositionMonitor()->assignRealId(atoi(tokens[2]), atoi(tokens[3])); |
290 |
break;
|
291 |
|
292 |
case CLIENT_SET_VIRTUAL_WALL:
|
293 |
up_x = atoi(tokens[2]);
|
294 |
up_y = atoi(tokens[3]);
|
295 |
low_x = atoi(tokens[4]);
|
296 |
low_y = atoi(tokens[5]);
|
297 |
|
298 |
if (colonet_server->getVirtualWall()->set_coordinates(up_x, up_y, low_x, low_y) == 0) { |
299 |
fprintf(stderr, "Wall set to ((%d, %d), (%d, %d)).\n", up_x, up_y, low_x, low_y);
|
300 |
} else {
|
301 |
fprintf(stderr, "Set wall failed ((%d, %d), (%d, %d)).\n", up_x, up_y, low_x, low_y);
|
302 |
} |
303 |
break;
|
304 |
|
305 |
default:
|
306 |
char* my_current_message = "Invalid request!\n"; |
307 |
//printf("Sending %s\n", my_current_message);
|
308 |
connection_pool->write_to_client(pool_index, my_current_message, strlen(my_current_message)); |
309 |
break;
|
310 |
} |
311 |
|
312 |
return 0; |
313 |
} |
314 |
|
315 |
/**
|
316 |
* @brief This function parses a client's request for the bom matrix as far as the wireless library knows it.
|
317 |
*
|
318 |
* @param pool_index The index in the connection pool of the client who sent the command
|
319 |
*
|
320 |
* @return 0 on success, negative error code on failure
|
321 |
*/
|
322 |
int Command::parse_request_bom_matrix(int pool_index) { |
323 |
char response_bom_matrix_buffer[MAX_RESPONSE_LEN];
|
324 |
char temp_bom_matrix_buffer[MAX_RESPONSE_LEN];
|
325 |
|
326 |
if (!connection_pool) {
|
327 |
return -1; |
328 |
} |
329 |
|
330 |
int num_robots;
|
331 |
int * xbee_ids;
|
332 |
//get the sensor matrix from the wireless library
|
333 |
int** bom_matrix = colonet_get_sensor_matrix(&num_robots, &xbee_ids);
|
334 |
|
335 |
printf("number of robots is %d\n", num_robots);
|
336 |
|
337 |
//copy the information over into a linear array to send to the client
|
338 |
//TODO: make this better
|
339 |
//TODO: make sure I don't need to do MAX_RESPONSE_LENGTH-1
|
340 |
snprintf(response_bom_matrix_buffer, MAX_RESPONSE_LEN, "%d %d %d", RESPONSE_TO_CLIENT_REQUEST, REQUEST_BOM_MATRIX,
|
341 |
num_robots); |
342 |
for (int i = 0; i < num_robots; i++) { |
343 |
for (int j = 0; j < num_robots; j++) { |
344 |
//TODO: don't use strcpy
|
345 |
strcpy(temp_bom_matrix_buffer, response_bom_matrix_buffer); |
346 |
//TODO: put length checking in here so array doesn't go out of bounds
|
347 |
//TODO: maybe use strncat?
|
348 |
strcat(temp_bom_matrix_buffer," %d");
|
349 |
snprintf(response_bom_matrix_buffer, MAX_RESPONSE_LEN, temp_bom_matrix_buffer, bom_matrix[i][j]); |
350 |
} |
351 |
} |
352 |
strcat(response_bom_matrix_buffer,"\n");
|
353 |
|
354 |
//send the bom matrix to the client that requested it
|
355 |
connection_pool->write_to_client(pool_index, response_bom_matrix_buffer, strlen(response_bom_matrix_buffer)); |
356 |
//printf("Sending %s", response_bom_matrix_buffer);
|
357 |
|
358 |
for (int i = 0; i < num_robots; i++) { |
359 |
free(bom_matrix[i]); |
360 |
} |
361 |
free(bom_matrix); |
362 |
|
363 |
free(xbee_ids); |
364 |
|
365 |
return 0; |
366 |
} |
367 |
|
368 |
/**
|
369 |
* @brief This functions parses a client's request for the positions of robots
|
370 |
*
|
371 |
* @param pool_index The index in the connection pool of the client that sent this command
|
372 |
*
|
373 |
* @return 0 on success, negative error code on failure
|
374 |
*/
|
375 |
int Command::parse_request_robot_positions(int pool_index) { |
376 |
//printf("*****parse_request_robot_positions\n");
|
377 |
|
378 |
//ask the position monitor for where it sees robots
|
379 |
map<int, VisionPosition> positions = colonet_server->getPositionMonitor()->getAllRobotPositions();
|
380 |
|
381 |
map<int, VisionPosition>::iterator iter;
|
382 |
|
383 |
char position_buffer[256]; |
384 |
position_buffer[0] = 0; |
385 |
sprintf(position_buffer, "%d %d", RESPONSE_TO_CLIENT_REQUEST, CLIENT_REQUEST_ROBOT_POSITIONS);
|
386 |
|
387 |
for (iter = positions.begin(); iter != positions.end(); iter++) {
|
388 |
char tmpbuf[80]; |
389 |
sprintf(tmpbuf, " %d %d %d", iter->first, iter->second.x, iter->second.y);
|
390 |
strcat(position_buffer, tmpbuf); |
391 |
} |
392 |
|
393 |
strcat(position_buffer, "\n");
|
394 |
|
395 |
//printf("position buffer is: %s\n", position_buffer);
|
396 |
|
397 |
//send the positions of the robots to the client that requested them
|
398 |
connection_pool->write_to_client(pool_index, position_buffer, strlen(position_buffer)); |
399 |
|
400 |
return 0; |
401 |
} |
402 |
|
403 |
/**
|
404 |
* @brief This functions parses a client's request for the ids of the xbees in the token ring
|
405 |
*
|
406 |
* @param pool_index The index in the connection pool of the client that requested the xbee ids
|
407 |
*
|
408 |
* @return 0 on success, negative error code on failure
|
409 |
*/
|
410 |
int Command::parse_request_xbee_ids(int pool_index) { |
411 |
char temp_xbee_id_buffer[MAX_RESPONSE_LEN];
|
412 |
char xbee_id_buffer[MAX_RESPONSE_LEN];
|
413 |
|
414 |
int num_robots;
|
415 |
|
416 |
//get a list of the xbee ids
|
417 |
int* xbee_ids = colonet_get_xbee_ids(&num_robots);
|
418 |
|
419 |
//printf("num_robots: %d\n", num_robots);
|
420 |
//printf("xbee_ids: ");
|
421 |
//for (int i = 0; i < num_robots; i++) {
|
422 |
// printf("%d ", xbee_ids[i]);
|
423 |
//}
|
424 |
//printf("\n");
|
425 |
|
426 |
if (!connection_pool) {
|
427 |
return -1; |
428 |
} |
429 |
|
430 |
snprintf(xbee_id_buffer, MAX_RESPONSE_LEN, "%d %d %d", RESPONSE_TO_CLIENT_REQUEST, REQUEST_XBEE_IDS, num_robots);
|
431 |
|
432 |
//copy over the ids into a response to send to the client
|
433 |
for (int i = 0; i < num_robots; i++) { |
434 |
strcpy(temp_xbee_id_buffer, xbee_id_buffer); |
435 |
//TODO: put length checking in here so array doesn't go out of bounds
|
436 |
//TODO: maybe use strncat?
|
437 |
strcat(temp_xbee_id_buffer, " %d");
|
438 |
snprintf(xbee_id_buffer, MAX_RESPONSE_LEN, temp_xbee_id_buffer, xbee_ids[i]); |
439 |
} |
440 |
strcat(xbee_id_buffer, "\n");
|
441 |
|
442 |
//send the list of xbee ides to the client that requested them
|
443 |
connection_pool->write_to_client(pool_index, xbee_id_buffer, strlen(xbee_id_buffer)); |
444 |
//printf("Sending %s", xbee_id_buffer);
|
445 |
|
446 |
free(xbee_ids); |
447 |
|
448 |
return 0; |
449 |
} |