root / trunk / code / projects / colonet / ColonetServer / Command.cpp @ 163
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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 <ctype.h> |
14 | #include <stdio.h> |
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15 | 128 | jknichel | #include <stdlib.h> |
16 | #include <string.h> |
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17 | 156 | emarinel | |
18 | 161 | emarinel | #include <colonet_wireless.h> |
19 | |||
20 | 128 | jknichel | #include "includes/Command.h" |
21 | #include "includes/ConnectionPool.h" |
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22 | |||
23 | 139 | jknichel | Command::Command(ConnectionPool * connection_pool_temp) { |
24 | connection_pool = connection_pool_temp; |
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25 | 128 | jknichel | } |
26 | |||
27 | Command::~Command() { |
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28 | } |
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29 | |||
30 | 139 | jknichel | int Command::parse_command(char* command, int pool_index) { |
31 | 128 | jknichel | char tokens[MAX_TOKENS][MAX_TOKEN_SIZE];
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32 | int number_tokens = 0; |
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33 | char* end_pointer = NULL; |
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34 | int command_id;
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35 | |||
36 | 139 | jknichel | if (!connection_pool) {
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37 | return -1; |
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38 | } |
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39 | |||
40 | 128 | jknichel | if (!command) {
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41 | return -1; |
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42 | } |
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43 | |||
44 | if (pool_index < 0) { |
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45 | return -1; |
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46 | } |
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47 | |||
48 | if ((number_tokens = tokenize_command(command, tokens)) < 0) { |
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49 | return -1; |
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50 | } |
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51 | |||
52 | //the 10 in the function call indicates number is base 10
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53 | command_id = strtol(tokens[0], &end_pointer, 10); |
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54 | |||
55 | if (!end_pointer || *end_pointer != '\0') { |
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56 | printf("There was an error converting first token into a number.\n");
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57 | return -1; |
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58 | } |
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59 | |||
60 | if (command_id == SEND_TO_ROBOT) {
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61 | 156 | emarinel | if (parse_send_to_robot(number_tokens, tokens, pool_index)) {
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62 | 129 | jknichel | return -1; |
63 | 128 | jknichel | } |
64 | } else if (command_id == REQUEST_FROM_SERVER) { |
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65 | 139 | jknichel | if (parse_request_from_server(number_tokens, tokens, pool_index)) {
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66 | 128 | jknichel | return -1; |
67 | } |
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68 | } |
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69 | |||
70 | return 0; |
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71 | } |
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72 | |||
73 | /**
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74 | * @brief Breaks a command up into tokens
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75 | *
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76 | * @param command The command to tokenize
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77 | * @param tokens A two dimensional character array to store the tokens in
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78 | *
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79 | * @return 0 on success, negative error code on failure
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80 | */
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81 | int Command::tokenize_command(char* command, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE]) { |
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82 | char* next_token = command;
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83 | char* end_token = NULL; |
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84 | int number_tokens = 0; |
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85 | |||
86 | if (!command) {
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87 | return -1; |
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88 | } |
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89 | |||
90 | while ((end_token = strstr(next_token, " "))) { |
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91 | *end_token = '\0';
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92 | |||
93 | if (strlen(next_token) > MAX_TOKEN_SIZE-1) { |
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94 | return -1; |
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95 | } |
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96 | |||
97 | strcpy(tokens[number_tokens], next_token); |
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98 | |||
99 | number_tokens++; |
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100 | next_token = end_token + 1;
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101 | |||
102 | while (isspace(*next_token) && *next_token != '\0') { |
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103 | next_token++; |
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104 | } |
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105 | } |
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106 | |||
107 | if (end_token == NULL && *next_token != '\0') { |
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108 | if (strlen(next_token) > MAX_TOKEN_SIZE-1) { |
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109 | return -1; |
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110 | } |
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111 | |||
112 | strcpy(tokens[number_tokens], next_token); |
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113 | |||
114 | number_tokens++; |
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115 | } |
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116 | |||
117 | return number_tokens;
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118 | } |
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119 | |||
120 | |||
121 | 161 | emarinel | /**
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122 | 128 | jknichel | * @brief checks a list of tokens to see if it's valid
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123 | *
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124 | * @param tokens The tokens to check
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125 | * @param number_tokens The number of tokens contained in the tokens parameter
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126 | *
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127 | * @return 0 if tokens is valid
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128 | */
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129 | int Command::check_tokens(unsigned char* tokens, int number_tokens) { |
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130 | if (number_tokens > 3 + PACKET_DATA_LEN) { |
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131 | /* Too many tokens */
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132 | return -1; |
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133 | } |
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134 | |||
135 | if (number_tokens < 3) { |
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136 | /* Not enough tokens */
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137 | return -1; |
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138 | } |
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139 | 161 | emarinel | |
140 | 128 | jknichel | if (tokens[1] != COLONET_REQUEST && tokens[1] != COLONET_COMMAND) { |
141 | /* Invalid message type */
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142 | return -1; |
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143 | } |
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144 | |||
145 | return 0; |
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146 | } |
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147 | 129 | jknichel | |
148 | 156 | emarinel | int Command::parse_send_to_robot(int number_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE], int pool_index) { |
149 | 129 | jknichel | int i;
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150 | unsigned char int_tokens[MAX_TOKENS]; |
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151 | int number_int_tokens = number_tokens;
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152 | unsigned char arguments[PACKET_DATA_LEN]; |
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153 | |||
154 | memset(arguments, 1, PACKET_DATA_LEN);
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155 | |||
156 | 161 | emarinel | // Convert tokens to ints
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157 | 129 | jknichel | for (i = ROBOT_COMMAND_OFFSET; i < number_int_tokens; i++) {
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158 | int_tokens[i-ROBOT_COMMAND_OFFSET] = atoi(tokens[i]); |
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159 | } |
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160 | |||
161 | 161 | emarinel | // Fill arguments buffer with arguments
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162 | 156 | emarinel | for (i = ROBOT_COMMAND_LEN; i < number_int_tokens-ROBOT_COMMAND_OFFSET; i++) {
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163 | 129 | jknichel | arguments[i-ROBOT_COMMAND_LEN] = int_tokens[i]; |
164 | } |
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165 | |||
166 | 161 | emarinel | // Check the tokens
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167 | 129 | jknichel | if (check_tokens(int_tokens, number_int_tokens) < 0) { |
168 | 151 | gtress | fprintf(stderr, "%s: Error - Invalid robot command/request.\n", __FUNCTION__);
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169 | 129 | jknichel | return -1; |
170 | } |
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171 | |||
172 | 161 | emarinel | // Send packet to robot
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173 | 156 | emarinel | fprintf(stderr, "Calling colonet_wl_send(%d, %d, %d, arguments)\n", int_tokens[0], int_tokens[1], int_tokens[2]); |
174 | colonet_wl_send(pool_index, int_tokens[0], (ColonetMessageType)int_tokens[1], int_tokens[2], arguments); |
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175 | |||
176 | 129 | jknichel | return 0; |
177 | } |
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178 | 130 | jknichel | |
179 | 139 | jknichel | int Command::parse_request_from_server(int number_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE], int pool_index) { |
180 | 130 | jknichel | char* end_pointer = NULL; |
181 | |||
182 | 139 | jknichel | if (!connection_pool) {
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183 | return -1; |
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184 | } |
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185 | |||
186 | 156 | emarinel | if (number_tokens < 2) { |
187 | 130 | jknichel | return -1; |
188 | 156 | emarinel | } |
189 | 130 | jknichel | |
190 | end_pointer=NULL;
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191 | int second_token = strtol(tokens[1], &end_pointer, 10); |
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192 | |||
193 | if (!end_pointer || *end_pointer != '\0') { |
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194 | printf("There was an error converting second token into a number.\n");
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195 | return -1; |
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196 | } |
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197 | 161 | emarinel | |
198 | 130 | jknichel | if (second_token == REQUEST_BOM_MATRIX) {
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199 | 139 | jknichel | if (parse_request_bom_matrix(pool_index)) {
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200 | 131 | jknichel | return -1; |
201 | 130 | jknichel | } |
202 | 131 | jknichel | } else if (second_token == REQUEST_XBEE_IDS) { |
203 | 139 | jknichel | if (parse_request_xbee_ids(pool_index)) {
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204 | 131 | jknichel | return -1; |
205 | } |
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206 | } else {
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207 | char * my_current_message = "Hi, how are you?\n"; |
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208 | printf("Sending %s\n", my_current_message);
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209 | connection_pool->write_to_client(pool_index, my_current_message, strlen(my_current_message)); |
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210 | } |
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211 | 130 | jknichel | |
212 | 131 | jknichel | return 0; |
213 | } |
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214 | 130 | jknichel | |
215 | 139 | jknichel | int Command::parse_request_bom_matrix(int pool_index) { |
216 | 135 | jknichel | char response_bom_matrix_buffer[MAX_RESPONSE_LEN];
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217 | 131 | jknichel | char temp_bom_matrix_buffer[MAX_RESPONSE_LEN];
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218 | 161 | emarinel | |
219 | 139 | jknichel | if (!connection_pool) {
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220 | return -1; |
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221 | } |
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222 | |||
223 | 131 | jknichel | //TODO: change after we start keeping track of bom matrix
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224 | 146 | jknichel | /*
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225 | 131 | jknichel | int number_robots = rand()%10;
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226 | int bom_matrix[number_robots][number_robots];
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227 | for (int ii = 0; ii < number_robots; ii++) {
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228 | for (int j = 0; j < number_robots; j++) {
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229 | //do this to generate some -1 values which mean they can't see each other
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230 | int matrix_value = rand()%(number_robots+1)-1;
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231 | bom_matrix[ii][j] = matrix_value;
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232 | 130 | jknichel | }
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233 | 131 | jknichel | }
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234 | 146 | jknichel | */
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235 | int number_robots = 3; |
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236 | int bom_matrix[number_robots][number_robots];
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237 | for (int ii = 0; ii < number_robots; ii++) { |
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238 | for (int j = 0; j < number_robots; j++) { |
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239 | bom_matrix[ii][j] = ((ii*3+j)%17)-1; |
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240 | } |
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241 | } |
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242 | 130 | jknichel | |
243 | 161 | emarinel | |
244 | 131 | jknichel | printf("number of robots is %d\n", number_robots);
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245 | 130 | jknichel | |
246 | 131 | jknichel | //TODO: make this better
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247 | //TODO: make sure I don't need to do MAX_RESPONSE_LENGTH-1
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248 | 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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249 | 131 | jknichel | for (int ii = 0; ii < number_robots; ii++) { |
250 | for (int j = 0; j < number_robots; j++) { |
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251 | //TODO: don't use strcpy
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252 | 135 | jknichel | strcpy(temp_bom_matrix_buffer, response_bom_matrix_buffer); |
253 | 130 | jknichel | //TODO: put length checking in here so array doesn't go out of bounds
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254 | //TODO: maybe use strncat?
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255 | 131 | jknichel | strcat(temp_bom_matrix_buffer," %d");
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256 | 135 | jknichel | snprintf(response_bom_matrix_buffer, MAX_RESPONSE_LEN, temp_bom_matrix_buffer, bom_matrix[ii][j]); |
257 | 130 | jknichel | } |
258 | } |
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259 | 135 | jknichel | strcat(response_bom_matrix_buffer,"\n");
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260 | connection_pool->write_to_client(pool_index, response_bom_matrix_buffer, strlen(response_bom_matrix_buffer)); |
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261 | printf("Sending %s", response_bom_matrix_buffer);
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262 | 130 | jknichel | |
263 | return 0; |
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264 | } |
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265 | 131 | jknichel | |
266 | 139 | jknichel | int Command::parse_request_xbee_ids(int pool_index) { |
267 | 131 | jknichel | //TODO: make this better
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268 | 146 | jknichel | //TODO: change when we actually know this data
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269 | //int number_robots = rand() % 10;
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270 | int number_robots = 3; |
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271 | 131 | jknichel | |
272 | char xbee_id_buffer[MAX_RESPONSE_LEN];
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273 | char temp_xbee_id_buffer[MAX_RESPONSE_LEN];
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274 | 161 | emarinel | |
275 | 139 | jknichel | if (!connection_pool) {
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276 | return -1; |
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277 | } |
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278 | |||
279 | 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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280 | 161 | emarinel | |
281 | 131 | jknichel | printf("number of robots is %d\n", number_robots);
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282 | |||
283 | for (int ii = 0; ii < number_robots; ii++) { |
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284 | strcpy(temp_xbee_id_buffer, xbee_id_buffer); |
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285 | //TODO: put length checking in here so array doesn't go out of bounds
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286 | //TODO: maybe use strncat?
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287 | strcat(temp_xbee_id_buffer, " %d");
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288 | snprintf(xbee_id_buffer, MAX_RESPONSE_LEN, temp_xbee_id_buffer, ii); |
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289 | } |
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290 | strcat(xbee_id_buffer, "\n");
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291 | connection_pool->write_to_client(pool_index, xbee_id_buffer, strlen(xbee_id_buffer)); |
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292 | printf("Sending %s", xbee_id_buffer);
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293 | |||
294 | return 0; |
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295 | } |