Diff: commander.cpp

Revision:

8:e1da2ae62885

Parent:

7:b6e31bfdb2af

Child:

9:dc8f155b71c8

--- a/commander.cpp	Mon Nov 16 18:46:31 2015 +0000
+++ b/commander.cpp	Mon Nov 16 22:20:11 2015 +0000
@@ -7,9 +7,25 @@
 
 using namespace std;
 
+const int kCommandBufferSize = 40;
+const int kCommandValueBufferSize = 40;
+const int kObjectBufferSize = 20;
+
+string CommandObjectValue [5] = { "mbed", "pc", "colour_sensor", "servos", "port" };
+string CommandObjectCommandsValue [5][kMaxCommandCount] = {
+	{"mbed", "haz-block", "read-current-block", "", "", "", "", "", "", ""},
+	{"pc", "connect", "disconnect", "", "", "", "", "", "", "exit"},
+	{"colour_sensor", "i-time=", "preview=", "", "", "", "", "", "", ""},
+	{"servos", "test", "reset", "", "", "", "", "", "", ""},
+	{"port", "init", "b-rate=", "parity=", "stopbit=", "", "", "", "", ""},
+};
+
 Commander::Commander() {
 	typeChar = '\0';
-	typeRaw = Invalid;
+	typeRaw = InvalidType;
+	commandValueIndex = 0;
+	objectRaw = InvalidObject;
+	this->resetVariables();
 }
 
 Commander::~Commander() {
@@ -21,21 +37,13 @@
 	this->typeChar = CommandTypeValue[type];
 	
 	this->readCommandObject();
+	if (this->objectRaw == InvalidObject) { return; }
 	
-	char nextChar = '\0';
-	char commandCharArray [79] = "";
-	int i = 0;
-	while (i < 79) {
-		scanf("%1c", &nextChar);
-		if (nextChar == '\n' || nextChar == '\r' || nextChar == ' ') { continue; }
-		else if (nextChar == kCommandTerminator) { break; }
-		commandCharArray[i] = nextChar;
-		i++;
-	}
+	this->readCommand(this->objectRaw);
+	if (this->commandValueIndex == -1) { return; }
+	else if ((connectedToPC == false) && (this->typeRaw != Set || this->objectRaw != PC || this->commandValueIndex != 1)) { return; }
 	
-	string tempStr(commandCharArray);
-	this->command = tempStr;
-	
+	this->executeCommand();
 	return;
 }
 
@@ -58,9 +66,9 @@
 		scanf("%1c", &nextChar);
 	} while (nextChar != objectInitiator);
 	
-	char objectCharArray [20] = "";
+	char objectCharArray [kObjectBufferSize] = "";
 	int i = 0;
-	while (i < 20) {
+	while (i < kObjectBufferSize) {
 		scanf("%1c", &nextChar);
 		if (nextChar == '\n' || nextChar == '\r' || nextChar == ' ') { continue; }
 		if (nextChar == objectTerminator)
@@ -71,9 +79,118 @@
 	string tempStr(objectCharArray);
 	this->object = tempStr;
 	
+	for (int i = 0; i < (sizeof(CommandObjectValue)/sizeof(*CommandObjectValue)); i++) {
+		if (CommandObjectValue[i] == this->object){
+			this->objectRaw = static_cast<CommandObjectRaw>(i);
+			return;
+		}
+	}
+
+	this->objectRaw = InvalidObject;
+	return;
+}
+
+void Commander::readCommand(CommandObjectRaw objectRaw){
+	char nextChar = '\0';
+	char commandCharArray [kCommandBufferSize] = "";
+	char commandValue [kCommandValueBufferSize] = "";
+
+	int charIndex = 0;
+	int valueIndex = 0;
+	bool commandComplete = false;
+	while (charIndex < kCommandBufferSize && valueIndex < kCommandValueBufferSize) {
+		scanf("%1c", &nextChar);
+		if (nextChar == '\n' || nextChar == '\r' || nextChar == ' ') { continue; }
+		else if (nextChar == kCommandTerminator) { break; }
+
+		if (commandComplete == false) {
+			commandCharArray[charIndex] = nextChar;
+			charIndex++;
+		}else if (commandComplete == true){
+			commandValue[valueIndex] = nextChar;
+			valueIndex++;
+		}
+
+		if (nextChar == '=') { commandComplete = true; }
+	}
+
+	string tempCommandStr(commandCharArray);
+	string tempValueStr(commandValue);
+
+	int row = objectRaw;
+	int column = 0;
+
+	for (;column < kMaxCommandCount; column++){
+		if (CommandObjectCommandsValue[row][column] == tempCommandStr) {
+			this->command = tempCommandStr;
+			this->commandValueIndex = column;
+			if (this->typeRaw == Set){
+				this->commandValue = tempValueStr;
+			}
+			return;
+		}
+	}
+
+	this->commandValueIndex = -1;
 	return;
 }
 
-//string parseReply(Command *cmd){
-//    
-//}
+void Commander::executeCommand(){
+	switch (this->objectRaw) {
+		case MBED:
+			if (this->commandValueIndex == 1) {
+				hazBlock(this->typeRaw);
+			}else if (this->commandValueIndex == 2){
+				getCurrentBlock(this->typeRaw);
+			}
+			break;
+		case PC:
+			if (this->commandValueIndex == 1){
+				connectToPC(this->typeRaw);
+			}else if (this->commandValueIndex == 2){
+				disconnectToPC(this->typeRaw);
+			}
+			break;
+		case ColourSensor:
+			if (this->commandValueIndex == 1) {
+				int integrationTime;
+				sscanf(this->commandValue.c_str(), "%i", &integrationTime);
+				setIntegrationTime(integrationTime);
+			}else if (this->commandValueIndex == 2){
+				if (this->commandValue == "ON"){
+					previewOnPC(true);
+				}else if (this->commandValue == "OFF"){
+					previewOnPC(false);
+				}
+			}
+			break;
+		case Servos:
+			if (this->commandValueIndex == 1){
+				testServos();
+			}else if (this->commandValueIndex == 2){
+				resetServos();
+			}
+			break;
+		case Port:
+			if (this->commandValueIndex == 1) {
+				getPortInfo();
+			}else if (this->commandValueIndex == 2){
+				int baudRate;
+				sscanf(this->commandValue.c_str(), "%i", &baudRate);
+				setPortBaudRate(baudRate);
+			}
+			break;
+		default:
+			break;
+	}
+}
+
+void Commander::resetVariables(){
+	this->object = "";
+	this->objectRaw = InvalidObject;
+	this->command = "";
+	this->commandValue = "";
+	this->commandValueIndex = 0;
+	this->typeRaw = InvalidType;
+	this->typeChar = '\0';
+}