root / trunk / code / projects / colonet / ColonetServer / Command.cpp @ 158
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1 | 128 | jknichel | /**
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2 | * @file Command.cpp
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3 | *
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4 | * @author Jason Knichel
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5 | * @date 10/9/07
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6 | 144 | jknichel | *
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7 | * @todo make it so command doesn't rely on connection pool. have methods
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8 | * that may return a response return it by getting a response array passed in to them
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9 | * that they fill in and then colonet server takes the contents of that response array
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10 | * and sends it to the appropriate client
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11 | 128 | jknichel | */
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12 | |||
13 | 156 | emarinel | #include <colonet_wireless.h> |
14 | #include <ctype.h> |
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15 | #include <stdio.h> |
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16 | 128 | jknichel | #include <stdlib.h> |
17 | #include <string.h> |
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18 | 156 | emarinel | |
19 | 128 | jknichel | #include "includes/Command.h" |
20 | #include "includes/ConnectionPool.h" |
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21 | |||
22 | 139 | jknichel | Command::Command(ConnectionPool * connection_pool_temp) { |
23 | connection_pool = connection_pool_temp; |
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24 | 128 | jknichel | } |
25 | |||
26 | Command::~Command() { |
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27 | } |
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28 | |||
29 | 139 | jknichel | int Command::parse_command(char* command, int pool_index) { |
30 | 128 | jknichel | char tokens[MAX_TOKENS][MAX_TOKEN_SIZE];
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31 | int number_tokens = 0; |
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32 | char* end_pointer = NULL; |
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33 | int command_id;
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34 | |||
35 | 139 | jknichel | if (!connection_pool) {
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36 | return -1; |
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37 | } |
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38 | |||
39 | 128 | jknichel | if (!command) {
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40 | return -1; |
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41 | } |
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42 | |||
43 | if (pool_index < 0) { |
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44 | return -1; |
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45 | } |
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46 | |||
47 | if ((number_tokens = tokenize_command(command, tokens)) < 0) { |
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48 | return -1; |
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49 | } |
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50 | |||
51 | //the 10 in the function call indicates number is base 10
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52 | command_id = strtol(tokens[0], &end_pointer, 10); |
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53 | |||
54 | if (!end_pointer || *end_pointer != '\0') { |
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55 | printf("There was an error converting first token into a number.\n");
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56 | return -1; |
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57 | } |
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58 | |||
59 | if (command_id == SEND_TO_ROBOT) {
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60 | 156 | emarinel | if (parse_send_to_robot(number_tokens, tokens, pool_index)) {
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61 | 129 | jknichel | return -1; |
62 | 128 | jknichel | } |
63 | } else if (command_id == REQUEST_FROM_SERVER) { |
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64 | 139 | jknichel | if (parse_request_from_server(number_tokens, tokens, pool_index)) {
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65 | 128 | jknichel | return -1; |
66 | } |
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67 | } |
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68 | |||
69 | return 0; |
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70 | } |
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71 | |||
72 | /**
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73 | * @brief Breaks a command up into tokens
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74 | *
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75 | * @param command The command to tokenize
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76 | * @param tokens A two dimensional character array to store the tokens in
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77 | *
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78 | * @return 0 on success, negative error code on failure
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79 | */
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80 | int Command::tokenize_command(char* command, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE]) { |
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81 | char* next_token = command;
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82 | char* end_token = NULL; |
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83 | int number_tokens = 0; |
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84 | |||
85 | if (!command) {
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86 | return -1; |
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87 | } |
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88 | |||
89 | while ((end_token = strstr(next_token, " "))) { |
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90 | *end_token = '\0';
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91 | |||
92 | if (strlen(next_token) > MAX_TOKEN_SIZE-1) { |
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93 | return -1; |
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94 | } |
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95 | |||
96 | strcpy(tokens[number_tokens], next_token); |
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97 | |||
98 | number_tokens++; |
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99 | next_token = end_token + 1;
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100 | |||
101 | while (isspace(*next_token) && *next_token != '\0') { |
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102 | next_token++; |
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103 | } |
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104 | } |
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105 | |||
106 | if (end_token == NULL && *next_token != '\0') { |
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107 | if (strlen(next_token) > MAX_TOKEN_SIZE-1) { |
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108 | return -1; |
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109 | } |
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110 | |||
111 | strcpy(tokens[number_tokens], next_token); |
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112 | |||
113 | number_tokens++; |
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114 | } |
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115 | |||
116 | return number_tokens;
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117 | } |
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118 | |||
119 | |||
120 | /**
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121 | * @brief checks a list of tokens to see if it's valid
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122 | *
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123 | * @param tokens The tokens to check
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124 | * @param number_tokens The number of tokens contained in the tokens parameter
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125 | *
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126 | * @return 0 if tokens is valid
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127 | */
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128 | int Command::check_tokens(unsigned char* tokens, int number_tokens) { |
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129 | if (number_tokens > 3 + PACKET_DATA_LEN) { |
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130 | /* Too many tokens */
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131 | return -1; |
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132 | } |
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133 | |||
134 | if (number_tokens < 3) { |
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135 | /* Not enough tokens */
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136 | return -1; |
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137 | } |
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138 | |||
139 | if (tokens[1] != COLONET_REQUEST && tokens[1] != COLONET_COMMAND) { |
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140 | /* Invalid message type */
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141 | return -1; |
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142 | } |
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143 | |||
144 | return 0; |
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145 | } |
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146 | 129 | jknichel | |
147 | 156 | emarinel | int Command::parse_send_to_robot(int number_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE], int pool_index) { |
148 | 129 | jknichel | int i;
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149 | unsigned char int_tokens[MAX_TOKENS]; |
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150 | int number_int_tokens = number_tokens;
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151 | unsigned char arguments[PACKET_DATA_LEN]; |
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152 | |||
153 | memset(arguments, 1, PACKET_DATA_LEN);
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154 | |||
155 | // Convert tokens to ints
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156 | for (i = ROBOT_COMMAND_OFFSET; i < number_int_tokens; i++) {
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157 | int_tokens[i-ROBOT_COMMAND_OFFSET] = atoi(tokens[i]); |
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158 | } |
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159 | |||
160 | // Fill arguments buffer with arguments
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161 | 156 | emarinel | for (i = ROBOT_COMMAND_LEN; i < number_int_tokens-ROBOT_COMMAND_OFFSET; i++) {
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162 | 129 | jknichel | arguments[i-ROBOT_COMMAND_LEN] = int_tokens[i]; |
163 | } |
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164 | |||
165 | // Check the tokens
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166 | if (check_tokens(int_tokens, number_int_tokens) < 0) { |
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167 | 151 | gtress | fprintf(stderr, "%s: Error - Invalid robot command/request.\n", __FUNCTION__);
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168 | 129 | jknichel | return -1; |
169 | } |
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170 | |||
171 | // Send packet to robot
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172 | 156 | emarinel | fprintf(stderr, "Calling colonet_wl_send(%d, %d, %d, arguments)\n", int_tokens[0], int_tokens[1], int_tokens[2]); |
173 | colonet_wl_send(pool_index, int_tokens[0], (ColonetMessageType)int_tokens[1], int_tokens[2], arguments); |
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174 | |||
175 | 129 | jknichel | return 0; |
176 | } |
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177 | 130 | jknichel | |
178 | 139 | jknichel | int Command::parse_request_from_server(int number_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE], int pool_index) { |
179 | 130 | jknichel | char* end_pointer = NULL; |
180 | |||
181 | 139 | jknichel | if (!connection_pool) {
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182 | return -1; |
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183 | } |
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184 | |||
185 | 156 | emarinel | if (number_tokens < 2) { |
186 | 130 | jknichel | return -1; |
187 | 156 | emarinel | } |
188 | 130 | jknichel | |
189 | end_pointer=NULL;
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190 | int second_token = strtol(tokens[1], &end_pointer, 10); |
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191 | |||
192 | if (!end_pointer || *end_pointer != '\0') { |
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193 | printf("There was an error converting second token into a number.\n");
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194 | return -1; |
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195 | } |
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196 | |||
197 | if (second_token == REQUEST_BOM_MATRIX) {
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198 | 139 | jknichel | if (parse_request_bom_matrix(pool_index)) {
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199 | 131 | jknichel | return -1; |
200 | 130 | jknichel | } |
201 | 131 | jknichel | } else if (second_token == REQUEST_XBEE_IDS) { |
202 | 139 | jknichel | if (parse_request_xbee_ids(pool_index)) {
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203 | 131 | jknichel | return -1; |
204 | } |
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205 | } else {
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206 | char * my_current_message = "Hi, how are you?\n"; |
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207 | printf("Sending %s\n", my_current_message);
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208 | connection_pool->write_to_client(pool_index, my_current_message, strlen(my_current_message)); |
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209 | } |
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210 | 130 | jknichel | |
211 | 131 | jknichel | return 0; |
212 | } |
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213 | 130 | jknichel | |
214 | 139 | jknichel | int Command::parse_request_bom_matrix(int pool_index) { |
215 | 135 | jknichel | char response_bom_matrix_buffer[MAX_RESPONSE_LEN];
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216 | 131 | jknichel | char temp_bom_matrix_buffer[MAX_RESPONSE_LEN];
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217 | |||
218 | 139 | jknichel | if (!connection_pool) {
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219 | return -1; |
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220 | } |
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221 | |||
222 | 131 | jknichel | //TODO: change after we start keeping track of bom matrix
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223 | 146 | jknichel | /*
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224 | 131 | jknichel | int number_robots = rand()%10;
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225 | int bom_matrix[number_robots][number_robots];
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226 | for (int ii = 0; ii < number_robots; ii++) {
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227 | for (int j = 0; j < number_robots; j++) {
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228 | //do this to generate some -1 values which mean they can't see each other
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229 | int matrix_value = rand()%(number_robots+1)-1;
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230 | bom_matrix[ii][j] = matrix_value;
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231 | 130 | jknichel | }
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232 | 131 | jknichel | }
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233 | 146 | jknichel | */
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234 | int number_robots = 3; |
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235 | int bom_matrix[number_robots][number_robots];
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236 | for (int ii = 0; ii < number_robots; ii++) { |
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237 | for (int j = 0; j < number_robots; j++) { |
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238 | bom_matrix[ii][j] = ((ii*3+j)%17)-1; |
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239 | } |
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240 | } |
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241 | |||
242 | 130 | jknichel | |
243 | 131 | jknichel | printf("number of robots is %d\n", number_robots);
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244 | 130 | jknichel | |
245 | 131 | jknichel | //TODO: make this better
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246 | //TODO: make sure I don't need to do MAX_RESPONSE_LENGTH-1
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247 | 135 | jknichel | snprintf(response_bom_matrix_buffer,MAX_RESPONSE_LEN, "%d %d %d", RESPONSE_TO_CLIENT_REQUEST, REQUEST_BOM_MATRIX, number_robots);
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248 | 131 | jknichel | for (int ii = 0; ii < number_robots; ii++) { |
249 | for (int j = 0; j < number_robots; j++) { |
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250 | //TODO: don't use strcpy
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251 | 135 | jknichel | strcpy(temp_bom_matrix_buffer, response_bom_matrix_buffer); |
252 | 130 | jknichel | //TODO: put length checking in here so array doesn't go out of bounds
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253 | //TODO: maybe use strncat?
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254 | 131 | jknichel | strcat(temp_bom_matrix_buffer," %d");
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255 | 135 | jknichel | snprintf(response_bom_matrix_buffer, MAX_RESPONSE_LEN, temp_bom_matrix_buffer, bom_matrix[ii][j]); |
256 | 130 | jknichel | } |
257 | } |
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258 | 135 | jknichel | strcat(response_bom_matrix_buffer,"\n");
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259 | connection_pool->write_to_client(pool_index, response_bom_matrix_buffer, strlen(response_bom_matrix_buffer)); |
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260 | printf("Sending %s", response_bom_matrix_buffer);
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261 | 130 | jknichel | |
262 | return 0; |
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263 | } |
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264 | 131 | jknichel | |
265 | 139 | jknichel | int Command::parse_request_xbee_ids(int pool_index) { |
266 | 131 | jknichel | //TODO: make this better
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267 | 146 | jknichel | //TODO: change when we actually know this data
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268 | //int number_robots = rand() % 10;
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269 | int number_robots = 3; |
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270 | 131 | jknichel | |
271 | char xbee_id_buffer[MAX_RESPONSE_LEN];
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272 | char temp_xbee_id_buffer[MAX_RESPONSE_LEN];
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273 | |||
274 | 139 | jknichel | if (!connection_pool) {
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275 | return -1; |
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276 | } |
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277 | |||
278 | 131 | jknichel | snprintf(xbee_id_buffer, MAX_RESPONSE_LEN, "%d %d %d", RESPONSE_TO_CLIENT_REQUEST, REQUEST_XBEE_IDS, number_robots);
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279 | |||
280 | printf("number of robots is %d\n", number_robots);
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281 | |||
282 | for (int ii = 0; ii < number_robots; ii++) { |
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283 | strcpy(temp_xbee_id_buffer, xbee_id_buffer); |
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284 | //TODO: put length checking in here so array doesn't go out of bounds
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285 | //TODO: maybe use strncat?
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286 | strcat(temp_xbee_id_buffer, " %d");
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287 | snprintf(xbee_id_buffer, MAX_RESPONSE_LEN, temp_xbee_id_buffer, ii); |
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288 | } |
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289 | strcat(xbee_id_buffer, "\n");
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290 | connection_pool->write_to_client(pool_index, xbee_id_buffer, strlen(xbee_id_buffer)); |
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291 | printf("Sending %s", xbee_id_buffer);
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292 | |||
293 | return 0; |
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294 | } |