root / trunk / code / projects / colonet / server / Command.cpp @ 629
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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 | 629 | jknichel | /**
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28 | * @brief Constructor for the Command class
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29 | *
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30 | * @param connection_pool_temp The connection pool this instance of the Command class is supposed to use
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31 | * @param cs The ColonetServer this instance of the Command class is supposed to use
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32 | */
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33 | 453 | emarinel | Command::Command(ConnectionPool * connection_pool_temp, ColonetServer* cs) { |
34 | 139 | jknichel | connection_pool = connection_pool_temp; |
35 | 453 | emarinel | colonet_server = cs; |
36 | 128 | jknichel | } |
37 | |||
38 | 629 | jknichel | /**
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39 | * @brief Destructor for the Command class
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40 | */
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41 | 424 | emarinel | Command::~Command() {} |
42 | 128 | jknichel | |
43 | 424 | emarinel | /**
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44 | 629 | jknichel | * @brief Called by connection pool to parse command from client.
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45 | *
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46 | * @param command The command to parse
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47 | * @param pool_index The index in the connection pool of the client who generated this command
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48 | *
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49 | * @return 0 on success, negative error code on failure
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50 | */
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51 | 139 | jknichel | int Command::parse_command(char* command, int pool_index) { |
52 | 128 | jknichel | char tokens[MAX_TOKENS][MAX_TOKEN_SIZE];
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53 | int number_tokens = 0; |
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54 | char* end_pointer = NULL; |
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55 | int command_id;
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56 | |||
57 | 424 | emarinel | if (!connection_pool || !command || pool_index < 0) { |
58 | 139 | jknichel | return -1; |
59 | } |
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60 | |||
61 | 128 | jknichel | if ((number_tokens = tokenize_command(command, tokens)) < 0) { |
62 | return -1; |
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63 | } |
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64 | |||
65 | //the 10 in the function call indicates number is base 10
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66 | command_id = strtol(tokens[0], &end_pointer, 10); |
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67 | |||
68 | if (!end_pointer || *end_pointer != '\0') { |
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69 | printf("There was an error converting first token into a number.\n");
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70 | return -1; |
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71 | } |
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72 | |||
73 | if (command_id == SEND_TO_ROBOT) {
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74 | 156 | emarinel | if (parse_send_to_robot(number_tokens, tokens, pool_index)) {
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75 | 424 | emarinel | fprintf(stderr, "parse_send_to_robot failed.\n");
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76 | 129 | jknichel | return -1; |
77 | 128 | jknichel | } |
78 | } else if (command_id == REQUEST_FROM_SERVER) { |
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79 | 139 | jknichel | if (parse_request_from_server(number_tokens, tokens, pool_index)) {
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80 | 128 | jknichel | return -1; |
81 | } |
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82 | } |
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83 | |||
84 | return 0; |
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85 | } |
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86 | |||
87 | /**
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88 | * @brief Breaks a command up into tokens
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89 | *
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90 | * @param command The command to tokenize
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91 | * @param tokens A two dimensional character array to store the tokens in
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92 | *
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93 | * @return 0 on success, negative error code on failure
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94 | */
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95 | int Command::tokenize_command(char* command, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE]) { |
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96 | char* next_token = command;
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97 | char* end_token = NULL; |
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98 | int number_tokens = 0; |
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99 | |||
100 | if (!command) {
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101 | return -1; |
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102 | } |
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103 | |||
104 | 629 | jknichel | //look for the end of the next token (tokens are separated by spaces)
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105 | 128 | jknichel | while ((end_token = strstr(next_token, " "))) { |
106 | 629 | jknichel | //set the location of the space to a null terminator
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107 | 128 | jknichel | *end_token = '\0';
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108 | |||
109 | 629 | jknichel | //make sure the token isn't too long
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110 | 128 | jknichel | if (strlen(next_token) > MAX_TOKEN_SIZE-1) { |
111 | return -1; |
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112 | } |
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113 | |||
114 | 629 | jknichel | //copy the next token into the token array
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115 | 128 | jknichel | strcpy(tokens[number_tokens], next_token); |
116 | |||
117 | number_tokens++; |
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118 | 629 | jknichel | |
119 | 128 | jknichel | next_token = end_token + 1;
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120 | |||
121 | 629 | jknichel | //skip over extra whitespace if there is any between tokens
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122 | 128 | jknichel | while (isspace(*next_token) && *next_token != '\0') { |
123 | next_token++; |
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124 | } |
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125 | } |
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126 | |||
127 | 629 | jknichel | //get the last token if there were no spaces at the end of the string to indicate an end of token
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128 | 128 | jknichel | if (end_token == NULL && *next_token != '\0') { |
129 | if (strlen(next_token) > MAX_TOKEN_SIZE-1) { |
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130 | return -1; |
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131 | } |
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132 | |||
133 | strcpy(tokens[number_tokens], next_token); |
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134 | |||
135 | number_tokens++; |
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136 | } |
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137 | |||
138 | return number_tokens;
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139 | } |
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140 | |||
141 | 161 | emarinel | /**
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142 | 128 | jknichel | * @brief checks a list of tokens to see if it's valid
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143 | *
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144 | * @param tokens The tokens to check
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145 | * @param number_tokens The number of tokens contained in the tokens parameter
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146 | *
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147 | * @return 0 if tokens is valid
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148 | */
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149 | int Command::check_tokens(unsigned char* tokens, int number_tokens) { |
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150 | if (number_tokens > 3 + PACKET_DATA_LEN) { |
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151 | /* Too many tokens */
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152 | return -1; |
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153 | } |
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154 | |||
155 | if (number_tokens < 3) { |
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156 | /* Not enough tokens */
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157 | return -1; |
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158 | } |
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159 | 161 | emarinel | |
160 | 128 | jknichel | if (tokens[1] != COLONET_REQUEST && tokens[1] != COLONET_COMMAND) { |
161 | /* Invalid message type */
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162 | return -1; |
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163 | } |
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164 | |||
165 | return 0; |
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166 | } |
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167 | 129 | jknichel | |
168 | 629 | jknichel | //TODO: fill in the doxygen comments for this
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169 | 424 | emarinel | /**
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170 | * @brief Sends parsed command from server to robot(s).
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171 | 629 | jknichel | *
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172 | * @param number_int_tokens
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173 | * @param tokens
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174 | * @param pool_index
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175 | *
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176 | * @return 0 on success, negative error code on failure
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177 | 424 | emarinel | */
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178 | int Command::parse_send_to_robot(int number_int_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE], int pool_index) { |
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179 | unsigned char int_tokens[MAX_TOKENS], arguments[PACKET_DATA_LEN]; |
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180 | 129 | jknichel | |
181 | memset(arguments, 1, PACKET_DATA_LEN);
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182 | |||
183 | 161 | emarinel | // Convert tokens to ints
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184 | 424 | emarinel | for (int i = ROBOT_COMMAND_OFFSET; i < number_int_tokens; i++) { |
185 | 129 | jknichel | int_tokens[i-ROBOT_COMMAND_OFFSET] = atoi(tokens[i]); |
186 | } |
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187 | |||
188 | 161 | emarinel | // Fill arguments buffer with arguments
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189 | 424 | emarinel | for (int i = ROBOT_COMMAND_LEN; i < number_int_tokens-ROBOT_COMMAND_OFFSET; i++) { |
190 | 129 | jknichel | arguments[i-ROBOT_COMMAND_LEN] = int_tokens[i]; |
191 | } |
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192 | |||
193 | 161 | emarinel | // Check the tokens
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194 | 129 | jknichel | if (check_tokens(int_tokens, number_int_tokens) < 0) { |
195 | 151 | gtress | fprintf(stderr, "%s: Error - Invalid robot command/request.\n", __FUNCTION__);
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196 | 129 | jknichel | return -1; |
197 | } |
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198 | |||
199 | 516 | emarinel | //printf("parsed command from internet client: ");
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200 | 424 | emarinel | for (int i = 0; i < number_int_tokens - ROBOT_COMMAND_OFFSET; i++) { |
201 | printf("%d ", int_tokens[i]);
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202 | } |
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203 | printf("\n");
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204 | |||
205 | 161 | emarinel | // Send packet to robot
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206 | 424 | emarinel | if (colonet_wl_send((short)pool_index, int_tokens[0], (ColonetRobotMessageType)int_tokens[1], int_tokens[2], |
207 | arguments) != 0) {
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208 | 418 | emarinel | fprintf(stderr, "Error - Colonet_wl_send failed.\n");
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209 | exit(1);
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210 | 408 | emarinel | } |
211 | 156 | emarinel | |
212 | 129 | jknichel | return 0; |
213 | } |
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214 | 130 | jknichel | |
215 | 424 | emarinel | /**
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216 | 629 | jknichel | *
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217 | */
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218 | 139 | jknichel | int Command::parse_request_from_server(int number_tokens, char tokens[MAX_TOKENS][MAX_TOKEN_SIZE], int pool_index) { |
219 | 130 | jknichel | char* end_pointer = NULL; |
220 | |||
221 | 139 | jknichel | if (!connection_pool) {
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222 | return -1; |
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223 | } |
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224 | |||
225 | 156 | emarinel | if (number_tokens < 2) { |
226 | 130 | jknichel | return -1; |
227 | 156 | emarinel | } |
228 | 130 | jknichel | |
229 | end_pointer=NULL;
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230 | int second_token = strtol(tokens[1], &end_pointer, 10); |
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231 | |||
232 | if (!end_pointer || *end_pointer != '\0') { |
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233 | printf("There was an error converting second token into a number.\n");
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234 | return -1; |
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235 | } |
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236 | 161 | emarinel | |
237 | 445 | emarinel | switch (second_token) {
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238 | case REQUEST_BOM_MATRIX:
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239 | 139 | jknichel | if (parse_request_bom_matrix(pool_index)) {
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240 | 131 | jknichel | return -1; |
241 | 130 | jknichel | } |
242 | 445 | emarinel | break;
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243 | |||
244 | case REQUEST_XBEE_IDS:
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245 | 139 | jknichel | if (parse_request_xbee_ids(pool_index)) {
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246 | 131 | jknichel | return -1; |
247 | } |
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248 | 445 | emarinel | break;
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249 | |||
250 | case CLIENT_REQUEST_ROBOT_POSITIONS:
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251 | if (parse_request_robot_positions(pool_index)) {
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252 | return -1; |
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253 | } |
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254 | break;
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255 | |||
256 | 453 | emarinel | case CLIENT_ASSIGN_ROBOT_ID:
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257 | 520 | emarinel | colonet_server->getPositionMonitor()->assignRealId(atoi(tokens[2]), atoi(tokens[3])); |
258 | 450 | emarinel | break;
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259 | |||
260 | 445 | emarinel | default:
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261 | 516 | emarinel | char* my_current_message = "Invalid request!\n"; |
262 | //printf("Sending %s\n", my_current_message);
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263 | 131 | jknichel | connection_pool->write_to_client(pool_index, my_current_message, strlen(my_current_message)); |
264 | 445 | emarinel | break;
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265 | 131 | jknichel | } |
266 | 130 | jknichel | |
267 | 131 | jknichel | return 0; |
268 | } |
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269 | 130 | jknichel | |
270 | 139 | jknichel | int Command::parse_request_bom_matrix(int pool_index) { |
271 | 135 | jknichel | char response_bom_matrix_buffer[MAX_RESPONSE_LEN];
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272 | 131 | jknichel | char temp_bom_matrix_buffer[MAX_RESPONSE_LEN];
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273 | 161 | emarinel | |
274 | 139 | jknichel | if (!connection_pool) {
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275 | return -1; |
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276 | } |
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277 | |||
278 | 297 | emarinel | int num_robots;
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279 | 299 | jknichel | int * xbee_ids;
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280 | int** bom_matrix = colonet_get_sensor_matrix(&num_robots, &xbee_ids);
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281 | 130 | jknichel | |
282 | 297 | emarinel | printf("number of robots is %d\n", num_robots);
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283 | 161 | emarinel | |
284 | 131 | jknichel | //TODO: make this better
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285 | //TODO: make sure I don't need to do MAX_RESPONSE_LENGTH-1
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286 | 297 | emarinel | snprintf(response_bom_matrix_buffer, MAX_RESPONSE_LEN, "%d %d %d", RESPONSE_TO_CLIENT_REQUEST, REQUEST_BOM_MATRIX,
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287 | num_robots); |
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288 | for (int i = 0; i < num_robots; i++) { |
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289 | for (int j = 0; j < num_robots; j++) { |
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290 | 131 | jknichel | //TODO: don't use strcpy
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291 | 135 | jknichel | strcpy(temp_bom_matrix_buffer, response_bom_matrix_buffer); |
292 | 130 | jknichel | //TODO: put length checking in here so array doesn't go out of bounds
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293 | //TODO: maybe use strncat?
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294 | 131 | jknichel | strcat(temp_bom_matrix_buffer," %d");
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295 | 297 | emarinel | snprintf(response_bom_matrix_buffer, MAX_RESPONSE_LEN, temp_bom_matrix_buffer, bom_matrix[i][j]); |
296 | 130 | jknichel | } |
297 | } |
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298 | 135 | jknichel | strcat(response_bom_matrix_buffer,"\n");
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299 | connection_pool->write_to_client(pool_index, response_bom_matrix_buffer, strlen(response_bom_matrix_buffer)); |
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300 | 516 | emarinel | //printf("Sending %s", response_bom_matrix_buffer);
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301 | 297 | emarinel | |
302 | for (int i = 0; i < num_robots; i++) { |
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303 | free(bom_matrix[i]); |
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304 | } |
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305 | free(bom_matrix); |
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306 | 130 | jknichel | |
307 | 299 | jknichel | free(xbee_ids); |
308 | |||
309 | 130 | jknichel | return 0; |
310 | } |
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311 | 131 | jknichel | |
312 | 445 | emarinel | int Command::parse_request_robot_positions(int pool_index) { |
313 | 516 | emarinel | //printf("*****parse_request_robot_positions\n");
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314 | 455 | emarinel | |
315 | 453 | emarinel | map<int, VisionPosition> positions = colonet_server->getPositionMonitor()->getAllRobotPositions();
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316 | 455 | emarinel | map<int, VisionPosition>::iterator iter;
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317 | 447 | emarinel | |
318 | 466 | emarinel | char position_buffer[256]; |
319 | position_buffer[0] = 0; |
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320 | sprintf(position_buffer, "%d %d", RESPONSE_TO_CLIENT_REQUEST, CLIENT_REQUEST_ROBOT_POSITIONS);
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321 | |||
322 | 455 | emarinel | for (iter = positions.begin(); iter != positions.end(); iter++) {
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323 | char tmpbuf[80]; |
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324 | 466 | emarinel | sprintf(tmpbuf, " %d %d %d", iter->first, iter->second.x, iter->second.y);
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325 | 455 | emarinel | strcat(position_buffer, tmpbuf); |
326 | } |
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327 | |||
328 | 466 | emarinel | strcat(position_buffer, "\n");
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329 | |||
330 | 516 | emarinel | //printf("position buffer is: %s\n", position_buffer);
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331 | 466 | emarinel | |
332 | 455 | emarinel | connection_pool->write_to_client(pool_index, position_buffer, strlen(position_buffer)); |
333 | |||
334 | 445 | emarinel | return 0; |
335 | } |
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336 | |||
337 | 139 | jknichel | int Command::parse_request_xbee_ids(int pool_index) { |
338 | 297 | emarinel | char temp_xbee_id_buffer[MAX_RESPONSE_LEN];
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339 | 131 | jknichel | char xbee_id_buffer[MAX_RESPONSE_LEN];
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340 | 161 | emarinel | |
341 | 297 | emarinel | int num_robots;
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342 | int* xbee_ids = colonet_get_xbee_ids(&num_robots);
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343 | |||
344 | 516 | emarinel | //printf("num_robots: %d\n", num_robots);
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345 | //printf("xbee_ids: ");
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346 | //for (int i = 0; i < num_robots; i++) {
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347 | // printf("%d ", xbee_ids[i]);
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348 | //}
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349 | //printf("\n");
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350 | 418 | emarinel | |
351 | 139 | jknichel | if (!connection_pool) {
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352 | return -1; |
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353 | } |
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354 | |||
355 | 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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356 | 161 | emarinel | |
357 | 297 | emarinel | for (int i = 0; i < num_robots; i++) { |
358 | 131 | jknichel | strcpy(temp_xbee_id_buffer, xbee_id_buffer); |
359 | //TODO: put length checking in here so array doesn't go out of bounds
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360 | //TODO: maybe use strncat?
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361 | strcat(temp_xbee_id_buffer, " %d");
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362 | 297 | emarinel | snprintf(xbee_id_buffer, MAX_RESPONSE_LEN, temp_xbee_id_buffer, xbee_ids[i]); |
363 | 131 | jknichel | } |
364 | strcat(xbee_id_buffer, "\n");
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365 | connection_pool->write_to_client(pool_index, xbee_id_buffer, strlen(xbee_id_buffer)); |
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366 | 516 | emarinel | //printf("Sending %s", xbee_id_buffer);
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367 | 131 | jknichel | |
368 | 297 | emarinel | free(xbee_ids); |
369 | |||
370 | 131 | jknichel | return 0; |
371 | } |