Diff: commander.cpp

Revision:

32:9a4046224b11

Parent:

30:c0bc92d009fe

--- a/commander.cpp	Thu Dec 03 15:50:14 2015 +0000
+++ b/commander.cpp	Thu Dec 17 17:23:24 2015 +0100
@@ -6,13 +6,13 @@
 #include "commander.h"
 
 using namespace std;
-#define _DEBUG_
 
-//const int kCommandBufferSize = 40;
 const int kCommandValueBufferSize = 80;
 const int kObjectBufferSize = 20;
 
+/// All objects that can recieve commands
 string CommandObjectValue [6] = { "mbed", "pc", "colour_sensor", "servos", "port", "break_beam" };
+/// All object(fist column) and their possible commands(respective row).
 string CommandObjectCommandsValue [6][kMaxCommandCount] = {
     {"mbed", "haz-block", "read-current-block", "mode", "sort", "reading-count", "", "", "", ""},
     {"pc", "connect", "disconnect", "", "", "", "", "", "reply-commands", "exit"},
@@ -22,17 +22,19 @@
     {"break_beam", "test", "", "", "", "", "", "", "", ""},
 };
 
+/// Creates new commander object
 Commander::Commander()
 {
     replyCommands = false;
     this->resetVariables();
 }
-
+/// Desctructor
 Commander::~Commander()
 {
 
 }
 
+/// Recieves and decodes the command
 void Commander::decodeCommand(CommandTypeRaw type)
 {
     this->resetVariables();
@@ -46,7 +48,6 @@
     }
 
     if (this->readCommand(this->objectRaw) == false) {
-        //        this->description();
         pc.printf("DEBUG:Invalid command.\n");
         return;
     } else if (connectedToPC == true || (this->typeRaw == Set && this->objectRaw == PC && this->commandIndex[0] == 1)) {
@@ -63,6 +64,7 @@
     return;
 }
 
+/// Get the information about the parsed command in a readable manner.
 //TODO: Fix format
 std::string Commander::description()
 {
@@ -80,6 +82,7 @@
     return str;
 }
 
+/// Reads and assignes the imminent commanding object.
 void Commander::readCommandObject()
 {
     char objectInitiator = '<';
@@ -117,6 +120,8 @@
     return;
 }
 
+/// Reads the command for the previouly read object.
+/// Return true if is a possible command, false otherwise.
 bool Commander::readCommand(CommandObjectRaw objectRaw)
 {
     char nextChar = '\0';
@@ -159,35 +164,25 @@
         }
         string tempCommandStr(commandCharArray[i]);
         string tempValueStr(commandValueArray[i]);
-        //		pc.printf("%s\n", tempCommandStr.c_str());
         int row = this->objectRaw;
-        //        pc.printf("Row: %i\n", this->objectRaw);
         int column = 1;
-        //        pc.printf("Column: %i\n", column);
         for (; column < kMaxCommandCount - 1; column++) {
-            //            pc.printf("%i\n", column);
             if (CommandObjectCommandsValue[row][column] == tempCommandStr) {
-                //                pc.printf("Found matching command.\n");
                 this->command[i] = tempCommandStr;
-                //                pc.printf("%s\n", this->command[i].c_str());
                 this->commandIndex[i] = column;
-                //                pc.printf("%i\n", this->commandIndex[i]);
                 this->commandValue[i] = tempValueStr;
-                //                pc.printf("%s\n", this->commandValue[i].c_str());
-                //                pc.printf("%s\n", this->description().c_str());
                 break;
             }
         }
         if (this->commandIndex[i] == -1) {
-            //            pc.printf("index = -1\n");
             return false;
         }
     }
 
-    //	pc.printf("Returning\n");
     return true;
 }
 
+/// Executes the previously read command with the object.
 void Commander::executeCommand()
 {
     switch (this->objectRaw) {
@@ -349,7 +344,7 @@
     return;
 }
 
-
+// Cleans all the properties, ready to recieved next command.
 void Commander::resetVariables()
 {
     this->object = "";