Revision 424
changed various things in colonet dragonfly and server to make stuff work
| Command.cpp | ||
|---|---|---|
| 24 | 24 |
connection_pool = connection_pool_temp; |
| 25 | 25 |
} |
| 26 | 26 |
|
| 27 |
Command::~Command() {
|
|
| 28 |
} |
|
| 27 |
Command::~Command() {}
|
|
| 29 | 28 |
|
| 29 |
/** |
|
| 30 |
* Called by connection pool to parse command from client. |
|
| 31 |
*/ |
|
| 30 | 32 |
int Command::parse_command(char* command, int pool_index) {
|
| 31 | 33 |
char tokens[MAX_TOKENS][MAX_TOKEN_SIZE]; |
| 32 | 34 |
int number_tokens = 0; |
| 33 | 35 |
char* end_pointer = NULL; |
| 34 | 36 |
int command_id; |
| 35 | 37 |
|
| 36 |
if (!connection_pool) {
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| 38 |
if (!connection_pool || !command || pool_index < 0) {
|
|
| 37 | 39 |
return -1; |
| 38 | 40 |
} |
| 39 | 41 |
|
| 40 |
if (!command) {
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| 41 |
return -1; |
|
| 42 |
} |
|
| 43 |
|
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| 44 |
if (pool_index < 0) {
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| 45 |
return -1; |
|
| 46 |
} |
|
| 47 |
|
|
| 48 | 42 |
if ((number_tokens = tokenize_command(command, tokens)) < 0) {
|
| 49 | 43 |
return -1; |
| 50 | 44 |
} |
| ... | ... | |
| 59 | 53 |
|
| 60 | 54 |
if (command_id == SEND_TO_ROBOT) {
|
| 61 | 55 |
if (parse_send_to_robot(number_tokens, tokens, pool_index)) {
|
| 56 |
fprintf(stderr, "parse_send_to_robot failed.\n"); |
|
| 62 | 57 |
return -1; |
| 63 | 58 |
} |
| 64 | 59 |
} else if (command_id == REQUEST_FROM_SERVER) {
|
| ... | ... | |
| 145 | 140 |
return 0; |
| 146 | 141 |
} |
| 147 | 142 |
|
| 148 |
int Command::parse_send_to_robot(int number_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE], int pool_index) {
|
|
| 149 |
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]; |
|
| 143 |
/**
|
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| 144 |
* @brief Sends parsed command from server to robot(s).
|
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| 145 |
*/
|
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| 146 |
int Command::parse_send_to_robot(int number_int_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE], int pool_index) {
|
|
| 147 |
unsigned char int_tokens[MAX_TOKENS], arguments[PACKET_DATA_LEN];
|
|
| 153 | 148 |
|
| 154 | 149 |
memset(arguments, 1, PACKET_DATA_LEN); |
| 155 | 150 |
|
| 156 | 151 |
// Convert tokens to ints |
| 157 |
for (i = ROBOT_COMMAND_OFFSET; i < number_int_tokens; i++) {
|
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| 152 |
for (int i = ROBOT_COMMAND_OFFSET; i < number_int_tokens; i++) {
|
|
| 158 | 153 |
int_tokens[i-ROBOT_COMMAND_OFFSET] = atoi(tokens[i]); |
| 159 | 154 |
} |
| 160 | 155 |
|
| 161 | 156 |
// Fill arguments buffer with arguments |
| 162 |
for (i = ROBOT_COMMAND_LEN; i < number_int_tokens-ROBOT_COMMAND_OFFSET; i++) {
|
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| 157 |
for (int i = ROBOT_COMMAND_LEN; i < number_int_tokens-ROBOT_COMMAND_OFFSET; i++) {
|
|
| 163 | 158 |
arguments[i-ROBOT_COMMAND_LEN] = int_tokens[i]; |
| 164 | 159 |
} |
| 165 | 160 |
|
| ... | ... | |
| 169 | 164 |
return -1; |
| 170 | 165 |
} |
| 171 | 166 |
|
| 167 |
printf("parsed command from internet client: ");
|
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| 168 |
for (int i = 0; i < number_int_tokens - ROBOT_COMMAND_OFFSET; i++) {
|
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printf("%d ", int_tokens[i]);
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| 170 |
} |
|
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printf("\n");
|
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| 172 |
|
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| 172 | 173 |
// Send packet to robot |
| 173 |
fprintf(stderr, "Calling colonet_wl_send(%d, %d, %d, arguments)\n", |
|
| 174 |
int_tokens[0], int_tokens[1], int_tokens[2]); |
|
| 175 |
if (colonet_wl_send((short)pool_index, int_tokens[0], (ColonetMessageType)int_tokens[1], int_tokens[2], arguments) |
|
| 176 |
!= 0) {
|
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| 174 |
if (colonet_wl_send((short)pool_index, int_tokens[0], (ColonetRobotMessageType)int_tokens[1], int_tokens[2], |
|
| 175 |
arguments) != 0) {
|
|
| 177 | 176 |
fprintf(stderr, "Error - Colonet_wl_send failed.\n"); |
| 178 | 177 |
exit(1); |
| 179 | 178 |
} |
| ... | ... | |
| 181 | 180 |
return 0; |
| 182 | 181 |
} |
| 183 | 182 |
|
| 183 |
/** |
|
| 184 |
* |
|
| 185 |
*/ |
|
| 184 | 186 |
int Command::parse_request_from_server(int number_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE], int pool_index) {
|
| 185 | 187 |
char* end_pointer = NULL; |
| 186 | 188 |
|
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