Chandan Siyag / Mbed 2 deprecated AlooMBED

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   MCP23017 TCS3472_I2C WattBob_TextLCD mbed

commander.cpp@12:f485796016f8, 2015-11-21 (annotated)

Committer:
dreamselec
Date:
Sat Nov 21 20:19:54 2015 +0000
Revision:
12:f485796016f8
Parent:
10:16ba52f8e025
Child:
13:4f24da6e2f8e
Improved command parsing. Now supports multiple commands.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dreamselec 6:98fe30430194 1 //
dreamselec 6:98fe30430194 2 // commander.cpp
dreamselec 6:98fe30430194 3 // Created by Chandan Siyag on 14/11/2015.
dreamselec 6:98fe30430194 4 #include <iostream>
lordlycastle 5:6ef2d954fca3 5 #include <string>
dreamselec 2:7a55cb10259f 6 #include "commander.h"
dreamselec 2:7a55cb10259f 7
dreamselec 6:98fe30430194 8 using namespace std;
dreamselec 6:98fe30430194 9
dreamselec 9:dc8f155b71c8 10 //const int kCommandBufferSize = 40;
dreamselec 8:e1da2ae62885 11 const int kCommandValueBufferSize = 40;
dreamselec 8:e1da2ae62885 12 const int kObjectBufferSize = 20;
dreamselec 8:e1da2ae62885 13
dreamselec 12:f485796016f8 14 string CommandObjectValue [5] = { "mbed", "pc", "colour_sensor", "servos", "port" };
dreamselec 12:f485796016f8 15 string CommandObjectCommandsValue [5][kMaxCommandCount] = {
dreamselec 12:f485796016f8 16 {"mbed", "haz-block", "read-current-block", "", "", "", "", "", "", ""},
dreamselec 12:f485796016f8 17 {"pc", "connect", "disconnect", "", "", "", "", "", "", "exit"},
dreamselec 12:f485796016f8 18 {"colour_sensor", "i-time", "preview", "", "", "", "", "", "", ""},
dreamselec 12:f485796016f8 19 {"servos", "test", "reset", "", "", "", "", "", "", ""},
dreamselec 12:f485796016f8 20 {"port", "init", "b-rate", "parity", "stopbit", "", "", "", "", ""},
dreamselec 12:f485796016f8 21 };
dreamselec 8:e1da2ae62885 22
dreamselec 6:98fe30430194 23 Commander::Commander() {
dreamselec 8:e1da2ae62885 24 this->resetVariables();
dreamselec 6:98fe30430194 25 }
dreamselec 6:98fe30430194 26
dreamselec 6:98fe30430194 27 Commander::~Commander() {
dreamselec 12:f485796016f8 28
dreamselec 2:7a55cb10259f 29 }
dreamselec 2:7a55cb10259f 30
dreamselec 6:98fe30430194 31 void Commander::decodeCommand(CommandTypeRaw type){
dreamselec 12:f485796016f8 32 this->resetVariables();
dreamselec 6:98fe30430194 33 this->typeRaw = type;
dreamselec 6:98fe30430194 34 this->typeChar = CommandTypeValue[type];
dreamselec 12:f485796016f8 35
dreamselec 6:98fe30430194 36 this->readCommandObject();
dreamselec 8:e1da2ae62885 37 if (this->objectRaw == InvalidObject) { return; }
dreamselec 12:f485796016f8 38
dreamselec 12:f485796016f8 39 if (this->readCommand(this->objectRaw) == false) { return; }
dreamselec 12:f485796016f8 40 // else if ((connectedToPC == false) && (this->typeRaw != Set || this->objectRaw != PC || this->commandIndex[0] != 1)) { return; }
dreamselec 12:f485796016f8 41 else if (connectedToPC == true || (this->typeRaw == Set && this->objectRaw == PC && this->commandIndex[0] == 1)) { this->executeCommand(); }
dreamselec 12:f485796016f8 42 else { return; }
dreamselec 12:f485796016f8 43 }
dreamselec 12:f485796016f8 44
dreamselec 12:f485796016f8 45 std::string Commander::description(){
dreamselec 12:f485796016f8 46 string str;
dreamselec 12:f485796016f8 47 str.append("Command type:\t");
dreamselec 12:f485796016f8 48 str.append(&this->typeChar);
dreamselec 12:f485796016f8 49 str.append("\nCommand object:\t" + this->object);
dreamselec 12:f485796016f8 50
dreamselec 12:f485796016f8 51 for (int i = 0; i < sizeof(this->command)/sizeof(*this->command); i++) {
dreamselec 12:f485796016f8 52 if (this->command[i] == "") { break; }
dreamselec 12:f485796016f8 53 str.append("Command:\t" + this->command[i].c_str() + "\nValue:\t" + this->commandValue[i].c_str() + " \n");
dreamselec 12:f485796016f8 54 }
dreamselec 2:7a55cb10259f 55
dreamselec 6:98fe30430194 56 return str;
dreamselec 6:98fe30430194 57 }
dreamselec 6:98fe30430194 58
dreamselec 6:98fe30430194 59 void Commander::readCommandObject(){
dreamselec 6:98fe30430194 60 char objectInitiator = '<';
dreamselec 6:98fe30430194 61 char objectTerminator = '>';
dreamselec 12:f485796016f8 62
dreamselec 6:98fe30430194 63 char nextChar = '\0';
dreamselec 12:f485796016f8 64
dreamselec 6:98fe30430194 65 do {
dreamselec 9:dc8f155b71c8 66 nextChar = pc.getc();
dreamselec 6:98fe30430194 67 } while (nextChar != objectInitiator);
dreamselec 12:f485796016f8 68
dreamselec 8:e1da2ae62885 69 char objectCharArray [kObjectBufferSize] = "";
dreamselec 6:98fe30430194 70 int i = 0;
dreamselec 8:e1da2ae62885 71 while (i < kObjectBufferSize) {
dreamselec 9:dc8f155b71c8 72 nextChar = pc.getc();
dreamselec 6:98fe30430194 73 if (nextChar == '\n' || nextChar == '\r' || nextChar == ' ') { continue; }
dreamselec 6:98fe30430194 74 if (nextChar == objectTerminator)
dreamselec 6:98fe30430194 75 break;
dreamselec 6:98fe30430194 76 objectCharArray[i] = nextChar;
dreamselec 6:98fe30430194 77 i++;
dreamselec 6:98fe30430194 78 }
dreamselec 6:98fe30430194 79 string tempStr(objectCharArray);
dreamselec 6:98fe30430194 80 this->object = tempStr;
dreamselec 12:f485796016f8 81
dreamselec 8:e1da2ae62885 82 for (int i = 0; i < (sizeof(CommandObjectValue)/sizeof(*CommandObjectValue)); i++) {
dreamselec 8:e1da2ae62885 83 if (CommandObjectValue[i] == this->object){
dreamselec 8:e1da2ae62885 84 this->objectRaw = static_cast<CommandObjectRaw>(i);
dreamselec 8:e1da2ae62885 85 return;
dreamselec 8:e1da2ae62885 86 }
dreamselec 8:e1da2ae62885 87 }
dreamselec 8:e1da2ae62885 88
dreamselec 8:e1da2ae62885 89 this->objectRaw = InvalidObject;
dreamselec 8:e1da2ae62885 90 return;
dreamselec 8:e1da2ae62885 91 }
dreamselec 8:e1da2ae62885 92
dreamselec 12:f485796016f8 93 bool Commander::readCommand(CommandObjectRaw objectRaw){
dreamselec 12:f485796016f8 94 char nextChar = '\0';
dreamselec 12:f485796016f8 95 char commandCharArray [kMaxCommandCount - 1][79] = { "" };
dreamselec 12:f485796016f8 96 char commandValue [kMaxCommandCount -1][79] = { "" };
dreamselec 8:e1da2ae62885 97
dreamselec 8:e1da2ae62885 98 int charIndex = 0;
dreamselec 12:f485796016f8 99 int valueCharIndex = 0;
dreamselec 12:f485796016f8 100 int commandValueIndex = 0;
dreamselec 12:f485796016f8 101 bool commandComplete = false;
dreamselec 12:f485796016f8 102 while (charIndex < 79 && valueCharIndex < 79) {
dreamselec 12:f485796016f8 103 scanf("%1c", &nextChar);
dreamselec 12:f485796016f8 104 if (nextChar == '\n' || nextChar == '\r' || nextChar == ' ') { continue; }
dreamselec 12:f485796016f8 105 else if (nextChar == kCommandTerminator) { break; }
dreamselec 8:e1da2ae62885 106
dreamselec 12:f485796016f8 107 else if (nextChar == '=') { commandComplete = true; }
dreamselec 12:f485796016f8 108 else if (nextChar == ',') {
dreamselec 12:f485796016f8 109 commandComplete = false;
dreamselec 12:f485796016f8 110 commandValueIndex++;
dreamselec 12:f485796016f8 111 charIndex = 0;
dreamselec 12:f485796016f8 112 valueCharIndex = 0;
dreamselec 12:f485796016f8 113 }
dreamselec 12:f485796016f8 114
dreamselec 12:f485796016f8 115 if (commandComplete == false && nextChar != ',') {
dreamselec 12:f485796016f8 116 commandCharArray[commandValueIndex][charIndex] = nextChar;
dreamselec 12:f485796016f8 117 charIndex++;
dreamselec 12:f485796016f8 118 }else if (commandComplete == true && nextChar != '='){
dreamselec 12:f485796016f8 119 commandValue[commandValueIndex][valueCharIndex] = nextChar;
dreamselec 12:f485796016f8 120 valueCharIndex++;
dreamselec 12:f485796016f8 121 }
dreamselec 12:f485796016f8 122
dreamselec 12:f485796016f8 123 }
dreamselec 8:e1da2ae62885 124
dreamselec 12:f485796016f8 125 for (int i = 0; i < sizeof(this->command)/sizeof(*this->command); i++) {
dreamselec 12:f485796016f8 126 string tempCommandStr(commandCharArray[i]);
dreamselec 8:e1da2ae62885 127
dreamselec 12:f485796016f8 128 string tempCommandStr(commandCharArray);
dreamselec 12:f485796016f8 129 if (tempCommandStr == "") { break; }
dreamselec 12:f485796016f8 130 string tempValueStr(commandValue[i]);
dreamselec 12:f485796016f8 131
dreamselec 12:f485796016f8 132 int row = objectRaw;
dreamselec 12:f485796016f8 133 int column = 1;
dreamselec 12:f485796016f8 134 for (;column < kMaxCommandCount; column++){
dreamselec 12:f485796016f8 135 if (CommandObjectCommandsValue[row][column] == tempCommandStr) {
dreamselec 12:f485796016f8 136 this->command[i] = tempCommandStr;
dreamselec 12:f485796016f8 137 this->commandIndex[i] = column;
dreamselec 12:f485796016f8 138 this->commandValue[i] = tempValueStr;
dreamselec 12:f485796016f8 139 break;
dreamselec 12:f485796016f8 140 }
dreamselec 12:f485796016f8 141 }
dreamselec 12:f485796016f8 142 if (this->commandIndex[i] == -1) { return false; }
dreamselec 12:f485796016f8 143 }
dreamselec 12:f485796016f8 144
dreamselec 12:f485796016f8 145 return true;
dreamselec 12:f485796016f8 146 }
dreamselec 2:7a55cb10259f 147
dreamselec 8:e1da2ae62885 148 void Commander::executeCommand(){
dreamselec 8:e1da2ae62885 149 switch (this->objectRaw) {
dreamselec 12:f485796016f8 150 case MBED:
dreamselec 12:f485796016f8 151 for (int i = 0; i < sizeof(this->command)/sizeof(*this->command); i++) {
dreamselec 12:f485796016f8 152 if (this->commandIndex[i] == -1 || this->commandIndex[i] == 0) { break; }
dreamselec 12:f485796016f8 153 if (this->commandIndex[i] == 1) {
dreamselec 12:f485796016f8 154 hazBlock(this->typeRaw);
dreamselec 12:f485796016f8 155 }else if (this->commandIndex[i] == 2){
dreamselec 12:f485796016f8 156 getCurrentBlock(this->typeRaw);
dreamselec 12:f485796016f8 157 }
dreamselec 12:f485796016f8 158 }
dreamselec 12:f485796016f8 159 break;
dreamselec 12:f485796016f8 160 case PC:
dreamselec 12:f485796016f8 161 for (int i = 0; i < sizeof(this->command)/sizeof(*this->command); i++) {
dreamselec 12:f485796016f8 162 if (this->commandIndex[i] == -1 || this->commandIndex[i] == 0) { break; }
dreamselec 12:f485796016f8 163 if (this->commandIndex[i] == 1){
dreamselec 12:f485796016f8 164 connectToPC(this->typeRaw);
dreamselec 12:f485796016f8 165 }else if (this->commandIndex[i] == 2){
dreamselec 12:f485796016f8 166 disconnectToPC(this->typeRaw);
dreamselec 12:f485796016f8 167 }
dreamselec 12:f485796016f8 168 }
dreamselec 12:f485796016f8 169 break;
dreamselec 12:f485796016f8 170 case ColourSensor:
dreamselec 12:f485796016f8 171 for (int i = 0; i < sizeof(this->command)/sizeof(*this->command); i++) {
dreamselec 12:f485796016f8 172 if (this->commandIndex[i] == -1 || this->commandIndex[i] == 0) { break; }
dreamselec 12:f485796016f8 173 if (this->commandIndex[i] == 1) {
dreamselec 12:f485796016f8 174 int integrationTime;
dreamselec 12:f485796016f8 175 sscanf(this->commandValue[i].c_str(), "%i", &integrationTime);
dreamselec 12:f485796016f8 176 setIntegrationTime(integrationTime);
dreamselec 12:f485796016f8 177 }else if (this->commandIndex[i] == 2){
dreamselec 12:f485796016f8 178 if (this->commandValue[i] == "ON"){
dreamselec 12:f485796016f8 179 previewOnPC(true);
dreamselec 12:f485796016f8 180 }else if (this->commandValue[i] == "OFF"){
dreamselec 12:f485796016f8 181 previewOnPC(false);
dreamselec 12:f485796016f8 182 }
dreamselec 12:f485796016f8 183 }else if (this->commandIndex[i] == 3){
dreamselec 10:16ba52f8e025 184 readColourSensor();
dreamselec 8:e1da2ae62885 185 }
dreamselec 12:f485796016f8 186 }
dreamselec 8:e1da2ae62885 187 break;
dreamselec 12:f485796016f8 188 case Servos:
dreamselec 12:f485796016f8 189 for (int i = 0; i < sizeof(this->command)/sizeof(*this->command); i++) {
dreamselec 12:f485796016f8 190 if (this->commandIndex[i] == -1 || this->commandIndex[i] == 0) { break; }
dreamselec 12:f485796016f8 191 if (this->commandIndex[i] == 1){
dreamselec 12:f485796016f8 192 testServos();
dreamselec 12:f485796016f8 193 }else if (this->commandIndex[i] == 2){
dreamselec 12:f485796016f8 194 resetServos();
dreamselec 12:f485796016f8 195 }
dreamselec 12:f485796016f8 196 }
dreamselec 12:f485796016f8 197 break;
dreamselec 12:f485796016f8 198 case Port:
dreamselec 12:f485796016f8 199 for (int i = 0; i < sizeof(this->command)/sizeof(*this->command); i++) {
dreamselec 12:f485796016f8 200 if (this->commandIndex[i] == -1 || this->commandIndex[i] == 0) { break; }
dreamselec 12:f485796016f8 201 if (this->commandIndex[i] == 1) {
dreamselec 12:f485796016f8 202 getPortInfo();
dreamselec 12:f485796016f8 203 }else if (this->commandIndex[i] == 2){
dreamselec 12:f485796016f8 204 float baudRate;
dreamselec 12:f485796016f8 205 sscanf(this->commandValue[i].c_str(), "%f", &baudRate);
dreamselec 12:f485796016f8 206 setPortBaudRate(baudRate);
dreamselec 12:f485796016f8 207 }
dreamselec 12:f485796016f8 208 }
dreamselec 12:f485796016f8 209 break;
dreamselec 12:f485796016f8 210 default:
dreamselec 12:f485796016f8 211 break;
dreamselec 12:f485796016f8 212 }
dreamselec 8:e1da2ae62885 213 }
dreamselec 8:e1da2ae62885 214
dreamselec 12:f485796016f8 215
dreamselec 12:f485796016f8 216 void Commander::resetVariables(){
dreamselec 12:f485796016f8 217 this->object = "";
dreamselec 12:f485796016f8 218 this->objectRaw = InvalidObject;
dreamselec 12:f485796016f8 219 memset(this->command, 0, sizeof(this->command));
dreamselec 12:f485796016f8 220 memset(this->commandValue, 0, sizeof(this->command));
dreamselec 12:f485796016f8 221 memset(this->commandIndex, 0, sizeof(this->commandIndex));
dreamselec 12:f485796016f8 222 this->typeRaw = InvalidType;
dreamselec 12:f485796016f8 223 this->typeChar = '\0';
dreamselec 12:f485796016f8 224 }