root / trunk / code / projects / colonet / ColonetServer / Command.cpp @ 408
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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 | 391 | emarinel | #include <Command.h> |
21 | #include <ConnectionPool.h> |
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22 | 128 | jknichel | |
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 | 408 | 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 | 175 | emarinel | fprintf(stderr, "Calling colonet_wl_send(%d, %d, %d, arguments)\n",
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174 | int_tokens[0], int_tokens[1], int_tokens[2]); |
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175 | 408 | emarinel | if (colonet_wl_send((short)pool_index, int_tokens[0], (ColonetMessageType)int_tokens[1], int_tokens[2], arguments) |
176 | != 0) {
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177 | fprintf(stderr, "Error - Colonet_wl_send failed.");
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178 | return -1; |
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179 | } |
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180 | 156 | emarinel | |
181 | 129 | jknichel | return 0; |
182 | } |
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183 | 130 | jknichel | |
184 | 139 | jknichel | int Command::parse_request_from_server(int number_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE], int pool_index) { |
185 | 130 | jknichel | char* end_pointer = NULL; |
186 | |||
187 | 139 | jknichel | if (!connection_pool) {
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188 | return -1; |
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189 | } |
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190 | |||
191 | 156 | emarinel | if (number_tokens < 2) { |
192 | 130 | jknichel | return -1; |
193 | 156 | emarinel | } |
194 | 130 | jknichel | |
195 | end_pointer=NULL;
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196 | int second_token = strtol(tokens[1], &end_pointer, 10); |
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197 | |||
198 | if (!end_pointer || *end_pointer != '\0') { |
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199 | printf("There was an error converting second token into a number.\n");
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200 | return -1; |
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201 | } |
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202 | 161 | emarinel | |
203 | 130 | jknichel | if (second_token == REQUEST_BOM_MATRIX) {
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204 | 139 | jknichel | if (parse_request_bom_matrix(pool_index)) {
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205 | 131 | jknichel | return -1; |
206 | 130 | jknichel | } |
207 | 131 | jknichel | } else if (second_token == REQUEST_XBEE_IDS) { |
208 | 139 | jknichel | if (parse_request_xbee_ids(pool_index)) {
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209 | 131 | jknichel | return -1; |
210 | } |
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211 | } else {
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212 | char * my_current_message = "Hi, how are you?\n"; |
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213 | printf("Sending %s\n", my_current_message);
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214 | connection_pool->write_to_client(pool_index, my_current_message, strlen(my_current_message)); |
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215 | } |
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216 | 130 | jknichel | |
217 | 131 | jknichel | return 0; |
218 | } |
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219 | 130 | jknichel | |
220 | 139 | jknichel | int Command::parse_request_bom_matrix(int pool_index) { |
221 | 135 | jknichel | char response_bom_matrix_buffer[MAX_RESPONSE_LEN];
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222 | 131 | jknichel | char temp_bom_matrix_buffer[MAX_RESPONSE_LEN];
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223 | 161 | emarinel | |
224 | 139 | jknichel | if (!connection_pool) {
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225 | return -1; |
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226 | } |
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227 | |||
228 | 297 | emarinel | int num_robots;
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229 | 299 | jknichel | int * xbee_ids;
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230 | int** bom_matrix = colonet_get_sensor_matrix(&num_robots, &xbee_ids);
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231 | 130 | jknichel | |
232 | 297 | emarinel | printf("number of robots is %d\n", num_robots);
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233 | 161 | emarinel | |
234 | 131 | jknichel | //TODO: make this better
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235 | //TODO: make sure I don't need to do MAX_RESPONSE_LENGTH-1
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236 | 297 | emarinel | snprintf(response_bom_matrix_buffer, MAX_RESPONSE_LEN, "%d %d %d", RESPONSE_TO_CLIENT_REQUEST, REQUEST_BOM_MATRIX,
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237 | num_robots); |
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238 | for (int i = 0; i < num_robots; i++) { |
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239 | for (int j = 0; j < num_robots; j++) { |
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240 | 131 | jknichel | //TODO: don't use strcpy
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241 | 135 | jknichel | strcpy(temp_bom_matrix_buffer, response_bom_matrix_buffer); |
242 | 130 | jknichel | //TODO: put length checking in here so array doesn't go out of bounds
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243 | //TODO: maybe use strncat?
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244 | 131 | jknichel | strcat(temp_bom_matrix_buffer," %d");
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245 | 297 | emarinel | snprintf(response_bom_matrix_buffer, MAX_RESPONSE_LEN, temp_bom_matrix_buffer, bom_matrix[i][j]); |
246 | 130 | jknichel | } |
247 | } |
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248 | 135 | jknichel | strcat(response_bom_matrix_buffer,"\n");
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249 | connection_pool->write_to_client(pool_index, response_bom_matrix_buffer, strlen(response_bom_matrix_buffer)); |
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250 | printf("Sending %s", response_bom_matrix_buffer);
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251 | 297 | emarinel | |
252 | for (int i = 0; i < num_robots; i++) { |
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253 | free(bom_matrix[i]); |
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254 | } |
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255 | free(bom_matrix); |
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256 | 130 | jknichel | |
257 | 299 | jknichel | free(xbee_ids); |
258 | |||
259 | 130 | jknichel | return 0; |
260 | } |
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261 | 131 | jknichel | |
262 | 139 | jknichel | int Command::parse_request_xbee_ids(int pool_index) { |
263 | 297 | emarinel | char temp_xbee_id_buffer[MAX_RESPONSE_LEN];
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264 | 131 | jknichel | char xbee_id_buffer[MAX_RESPONSE_LEN];
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265 | 161 | emarinel | |
266 | 297 | emarinel | int num_robots;
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267 | int* xbee_ids = colonet_get_xbee_ids(&num_robots);
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268 | |||
269 | 139 | jknichel | if (!connection_pool) {
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270 | return -1; |
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271 | } |
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272 | |||
273 | 297 | emarinel | snprintf(xbee_id_buffer, MAX_RESPONSE_LEN, "%d %d %d", RESPONSE_TO_CLIENT_REQUEST, REQUEST_XBEE_IDS, num_robots);
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274 | 161 | emarinel | |
275 | 297 | emarinel | for (int i = 0; i < num_robots; i++) { |
276 | 131 | jknichel | strcpy(temp_xbee_id_buffer, xbee_id_buffer); |
277 | //TODO: put length checking in here so array doesn't go out of bounds
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278 | //TODO: maybe use strncat?
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279 | strcat(temp_xbee_id_buffer, " %d");
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280 | 297 | emarinel | snprintf(xbee_id_buffer, MAX_RESPONSE_LEN, temp_xbee_id_buffer, xbee_ids[i]); |
281 | 131 | jknichel | } |
282 | strcat(xbee_id_buffer, "\n");
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283 | connection_pool->write_to_client(pool_index, xbee_id_buffer, strlen(xbee_id_buffer)); |
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284 | printf("Sending %s", xbee_id_buffer);
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285 | |||
286 | 297 | emarinel | free(xbee_ids); |
287 | |||
288 | 131 | jknichel | return 0; |
289 | } |