File content as of revision 10:16ba52f8e025:

//
// commander.cpp
// Created by Chandan Siyag on 14/11/2015.
#include <iostream>
#include <string>
#include "commander.h"

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=", "read", "", "", "", "", "", ""},
	{"servos", "test", "reset", "", "", "", "", "", "", ""},
	{"port", "init", "b-rate=", "parity=", "stopbit=", "", "", "", "", ""},
};

Commander::Commander() {
	typeChar = '\0';
	typeRaw = InvalidType;
	commandValueIndex = 0;
	objectRaw = InvalidObject;
	this->resetVariables();
}

Commander::~Commander() {
	
}

void Commander::decodeCommand(CommandTypeRaw type){
	this->typeRaw = type;
	this->typeChar = CommandTypeValue[type];
	
	this->readCommandObject();
	if (this->objectRaw == InvalidObject) { return; }
	
	this->readCommand(this->objectRaw);
	if (this->commandValueIndex == -1) { return; }
//	else if ((connectedToPC == false) && (this->typeRaw != Set || this->objectRaw != PC || this->commandValueIndex != 1)) { return; }
	else if (connectedToPC == true || (this->typeRaw == Set && this->objectRaw == PC && this->commandValueIndex == 1)) { this->executeCommand(); }
	else { return; }
}

std::string Commander::description(){
	string str;
	str.append("Command type:\t");
	str.append(&this->typeChar);
	str.append("\nCommand object:\t" + this->object + "\n" + "Command:\t\t" + this->command + " \n");
	
	return str;
}

void Commander::readCommandObject(){
	char objectInitiator = '<';
	char objectTerminator = '>';
	
	char nextChar = '\0';
	
	do {
		nextChar = pc.getc();
	} while (nextChar != objectInitiator);
	
	char objectCharArray [kObjectBufferSize] = "";
	int i = 0;
	while (i < kObjectBufferSize) {
		nextChar = pc.getc();
		if (nextChar == '\n' || nextChar == '\r' || nextChar == ' ') { continue; }
		if (nextChar == objectTerminator)
			break;
		objectCharArray[i] = nextChar;
		i++;
	}
	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) {
		nextChar = pc.getc();
		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;
}

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);
				}
			}else if (this->commandValueIndex == 3){
				readColourSensor();
			}
			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';
}