root / trunk / code / projects / colonet / server / Command.cpp @ 520
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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 | 447 | emarinel | #include <map> |
23 | #include <vision.h> |
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24 | 128 | jknichel | |
25 | 447 | emarinel | using namespace std; |
26 | |||
27 | 453 | emarinel | Command::Command(ConnectionPool * connection_pool_temp, ColonetServer* cs) { |
28 | 139 | jknichel | connection_pool = connection_pool_temp; |
29 | 453 | emarinel | colonet_server = cs; |
30 | 128 | jknichel | } |
31 | |||
32 | 424 | emarinel | Command::~Command() {} |
33 | 128 | jknichel | |
34 | 424 | emarinel | /**
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35 | * Called by connection pool to parse command from client.
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36 | */
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37 | 139 | jknichel | int Command::parse_command(char* command, int pool_index) { |
38 | 128 | jknichel | char tokens[MAX_TOKENS][MAX_TOKEN_SIZE];
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39 | int number_tokens = 0; |
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40 | char* end_pointer = NULL; |
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41 | int command_id;
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42 | |||
43 | 424 | emarinel | if (!connection_pool || !command || pool_index < 0) { |
44 | 139 | jknichel | return -1; |
45 | } |
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46 | |||
47 | 128 | jknichel | if ((number_tokens = tokenize_command(command, tokens)) < 0) { |
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 | 424 | emarinel | fprintf(stderr, "parse_send_to_robot failed.\n");
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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 | 161 | emarinel | /**
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121 | 128 | jknichel | * @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 | 161 | emarinel | |
139 | 128 | jknichel | if (tokens[1] != COLONET_REQUEST && tokens[1] != COLONET_COMMAND) { |
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 | 424 | emarinel | /**
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148 | * @brief Sends parsed command from server to robot(s).
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149 | */
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150 | int Command::parse_send_to_robot(int number_int_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE], int pool_index) { |
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151 | unsigned char int_tokens[MAX_TOKENS], arguments[PACKET_DATA_LEN]; |
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152 | 129 | jknichel | |
153 | memset(arguments, 1, PACKET_DATA_LEN);
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154 | |||
155 | 161 | emarinel | // Convert tokens to ints
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156 | 424 | emarinel | for (int i = ROBOT_COMMAND_OFFSET; i < number_int_tokens; i++) { |
157 | 129 | jknichel | int_tokens[i-ROBOT_COMMAND_OFFSET] = atoi(tokens[i]); |
158 | } |
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159 | |||
160 | 161 | emarinel | // Fill arguments buffer with arguments
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161 | 424 | emarinel | for (int i = ROBOT_COMMAND_LEN; i < number_int_tokens-ROBOT_COMMAND_OFFSET; i++) { |
162 | 129 | jknichel | arguments[i-ROBOT_COMMAND_LEN] = int_tokens[i]; |
163 | } |
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164 | |||
165 | 161 | emarinel | // Check the tokens
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166 | 129 | jknichel | if (check_tokens(int_tokens, number_int_tokens) < 0) { |
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 | 516 | emarinel | //printf("parsed command from internet client: ");
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172 | 424 | emarinel | for (int i = 0; i < number_int_tokens - ROBOT_COMMAND_OFFSET; i++) { |
173 | printf("%d ", int_tokens[i]);
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174 | } |
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175 | printf("\n");
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176 | |||
177 | 161 | emarinel | // Send packet to robot
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178 | 424 | emarinel | if (colonet_wl_send((short)pool_index, int_tokens[0], (ColonetRobotMessageType)int_tokens[1], int_tokens[2], |
179 | arguments) != 0) {
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180 | 418 | emarinel | fprintf(stderr, "Error - Colonet_wl_send failed.\n");
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181 | exit(1);
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182 | 408 | emarinel | } |
183 | 156 | emarinel | |
184 | 129 | jknichel | return 0; |
185 | } |
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186 | 130 | jknichel | |
187 | 424 | emarinel | /**
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188 | *
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189 | */
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190 | 139 | jknichel | int Command::parse_request_from_server(int number_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE], int pool_index) { |
191 | 130 | jknichel | char* end_pointer = NULL; |
192 | |||
193 | 139 | jknichel | if (!connection_pool) {
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194 | return -1; |
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195 | } |
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196 | |||
197 | 156 | emarinel | if (number_tokens < 2) { |
198 | 130 | jknichel | return -1; |
199 | 156 | emarinel | } |
200 | 130 | jknichel | |
201 | end_pointer=NULL;
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202 | int second_token = strtol(tokens[1], &end_pointer, 10); |
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203 | |||
204 | if (!end_pointer || *end_pointer != '\0') { |
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205 | printf("There was an error converting second token into a number.\n");
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206 | return -1; |
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207 | } |
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208 | 161 | emarinel | |
209 | 445 | emarinel | switch (second_token) {
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210 | case REQUEST_BOM_MATRIX:
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211 | 139 | jknichel | if (parse_request_bom_matrix(pool_index)) {
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212 | 131 | jknichel | return -1; |
213 | 130 | jknichel | } |
214 | 445 | emarinel | break;
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215 | |||
216 | case REQUEST_XBEE_IDS:
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217 | 139 | jknichel | if (parse_request_xbee_ids(pool_index)) {
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218 | 131 | jknichel | return -1; |
219 | } |
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220 | 445 | emarinel | break;
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221 | |||
222 | case CLIENT_REQUEST_ROBOT_POSITIONS:
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223 | if (parse_request_robot_positions(pool_index)) {
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224 | return -1; |
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225 | } |
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226 | break;
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227 | |||
228 | 453 | emarinel | case CLIENT_ASSIGN_ROBOT_ID:
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229 | 520 | emarinel | colonet_server->getPositionMonitor()->assignRealId(atoi(tokens[2]), atoi(tokens[3])); |
230 | 450 | emarinel | break;
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231 | |||
232 | 445 | emarinel | default:
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233 | 516 | emarinel | char* my_current_message = "Invalid request!\n"; |
234 | //printf("Sending %s\n", my_current_message);
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235 | 131 | jknichel | connection_pool->write_to_client(pool_index, my_current_message, strlen(my_current_message)); |
236 | 445 | emarinel | break;
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237 | 131 | jknichel | } |
238 | 130 | jknichel | |
239 | 131 | jknichel | return 0; |
240 | } |
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241 | 130 | jknichel | |
242 | 139 | jknichel | int Command::parse_request_bom_matrix(int pool_index) { |
243 | 135 | jknichel | char response_bom_matrix_buffer[MAX_RESPONSE_LEN];
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244 | 131 | jknichel | char temp_bom_matrix_buffer[MAX_RESPONSE_LEN];
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245 | 161 | emarinel | |
246 | 139 | jknichel | if (!connection_pool) {
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247 | return -1; |
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248 | } |
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249 | |||
250 | 297 | emarinel | int num_robots;
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251 | 299 | jknichel | int * xbee_ids;
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252 | int** bom_matrix = colonet_get_sensor_matrix(&num_robots, &xbee_ids);
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253 | 130 | jknichel | |
254 | 297 | emarinel | printf("number of robots is %d\n", num_robots);
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255 | 161 | emarinel | |
256 | 131 | jknichel | //TODO: make this better
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257 | //TODO: make sure I don't need to do MAX_RESPONSE_LENGTH-1
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258 | 297 | emarinel | snprintf(response_bom_matrix_buffer, MAX_RESPONSE_LEN, "%d %d %d", RESPONSE_TO_CLIENT_REQUEST, REQUEST_BOM_MATRIX,
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259 | num_robots); |
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260 | for (int i = 0; i < num_robots; i++) { |
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261 | for (int j = 0; j < num_robots; j++) { |
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262 | 131 | jknichel | //TODO: don't use strcpy
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263 | 135 | jknichel | strcpy(temp_bom_matrix_buffer, response_bom_matrix_buffer); |
264 | 130 | jknichel | //TODO: put length checking in here so array doesn't go out of bounds
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265 | //TODO: maybe use strncat?
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266 | 131 | jknichel | strcat(temp_bom_matrix_buffer," %d");
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267 | 297 | emarinel | snprintf(response_bom_matrix_buffer, MAX_RESPONSE_LEN, temp_bom_matrix_buffer, bom_matrix[i][j]); |
268 | 130 | jknichel | } |
269 | } |
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270 | 135 | jknichel | strcat(response_bom_matrix_buffer,"\n");
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271 | connection_pool->write_to_client(pool_index, response_bom_matrix_buffer, strlen(response_bom_matrix_buffer)); |
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272 | 516 | emarinel | //printf("Sending %s", response_bom_matrix_buffer);
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273 | 297 | emarinel | |
274 | for (int i = 0; i < num_robots; i++) { |
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275 | free(bom_matrix[i]); |
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276 | } |
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277 | free(bom_matrix); |
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278 | 130 | jknichel | |
279 | 299 | jknichel | free(xbee_ids); |
280 | |||
281 | 130 | jknichel | return 0; |
282 | } |
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283 | 131 | jknichel | |
284 | 445 | emarinel | int Command::parse_request_robot_positions(int pool_index) { |
285 | 516 | emarinel | //printf("*****parse_request_robot_positions\n");
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286 | 455 | emarinel | |
287 | 453 | emarinel | map<int, VisionPosition> positions = colonet_server->getPositionMonitor()->getAllRobotPositions();
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288 | 455 | emarinel | map<int, VisionPosition>::iterator iter;
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289 | 447 | emarinel | |
290 | 466 | emarinel | char position_buffer[256]; |
291 | position_buffer[0] = 0; |
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292 | sprintf(position_buffer, "%d %d", RESPONSE_TO_CLIENT_REQUEST, CLIENT_REQUEST_ROBOT_POSITIONS);
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293 | |||
294 | 455 | emarinel | for (iter = positions.begin(); iter != positions.end(); iter++) {
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295 | char tmpbuf[80]; |
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296 | 466 | emarinel | sprintf(tmpbuf, " %d %d %d", iter->first, iter->second.x, iter->second.y);
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297 | 455 | emarinel | strcat(position_buffer, tmpbuf); |
298 | } |
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299 | |||
300 | 466 | emarinel | strcat(position_buffer, "\n");
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301 | |||
302 | 516 | emarinel | //printf("position buffer is: %s\n", position_buffer);
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303 | 466 | emarinel | |
304 | 455 | emarinel | connection_pool->write_to_client(pool_index, position_buffer, strlen(position_buffer)); |
305 | |||
306 | 445 | emarinel | return 0; |
307 | } |
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308 | |||
309 | 139 | jknichel | int Command::parse_request_xbee_ids(int pool_index) { |
310 | 297 | emarinel | char temp_xbee_id_buffer[MAX_RESPONSE_LEN];
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311 | 131 | jknichel | char xbee_id_buffer[MAX_RESPONSE_LEN];
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312 | 161 | emarinel | |
313 | 297 | emarinel | int num_robots;
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314 | int* xbee_ids = colonet_get_xbee_ids(&num_robots);
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315 | |||
316 | 516 | emarinel | //printf("num_robots: %d\n", num_robots);
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317 | //printf("xbee_ids: ");
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318 | //for (int i = 0; i < num_robots; i++) {
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319 | // printf("%d ", xbee_ids[i]);
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320 | //}
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321 | //printf("\n");
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322 | 418 | emarinel | |
323 | 139 | jknichel | if (!connection_pool) {
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324 | return -1; |
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325 | } |
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326 | |||
327 | 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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328 | 161 | emarinel | |
329 | 297 | emarinel | for (int i = 0; i < num_robots; i++) { |
330 | 131 | jknichel | strcpy(temp_xbee_id_buffer, xbee_id_buffer); |
331 | //TODO: put length checking in here so array doesn't go out of bounds
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332 | //TODO: maybe use strncat?
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333 | strcat(temp_xbee_id_buffer, " %d");
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334 | 297 | emarinel | snprintf(xbee_id_buffer, MAX_RESPONSE_LEN, temp_xbee_id_buffer, xbee_ids[i]); |
335 | 131 | jknichel | } |
336 | strcat(xbee_id_buffer, "\n");
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337 | connection_pool->write_to_client(pool_index, xbee_id_buffer, strlen(xbee_id_buffer)); |
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338 | 516 | emarinel | //printf("Sending %s", xbee_id_buffer);
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339 | 131 | jknichel | |
340 | 297 | emarinel | free(xbee_ids); |
341 | |||
342 | 131 | jknichel | return 0; |
343 | } |