void command_rv( struct char_buffer* cbuff ) {
char str_arg1[CONFIG_CLI_MAX_CHARACTERS];
char str_arg2[CONFIG_CLI_MAX_CHARACTERS];
int arg1 = 0;
if(
next_token( cbuff, str_arg1 ) == 0 ||
!str_is_integer( str_arg1 ) ||
next_token( cbuff, str_arg2 ) != 0 ) {
CommandOutput( "[RV]\tInvalid Arguments" );
return;
}
arg1 = str_atoi( str_arg1 );
if( ReverseTrain( arg1 ) != -1 ) {
CommandOutput( "[RV]\tReversing Train %d", arg1 );
} else {
CommandOutput( "[RV]\tERROR: Train %d has not been added", arg1 );
}
}
static void decodeCommand() {
decoderBuffer[decoderCurrBufferPos] = 0;
if (decoderCurrBufferPos == 1 && decoderBuffer[0] == 'q') {
kernel_quit();
}
unsigned int shortEvalulation = (decoderCurrBufferPos <= 1);
decoderCurrBufferPos = 0;
if (shortEvalulation) return;
PrintDebug(ui, "__Command: %s", decoderBuffer);
if (decoderBuffer[0] == 'b' && decoderBuffer[1] == 'a') {
// Bait command
char *temp = (char *)decoderBuffer + 5;
int train_number = strgetui(&temp);
DoBaitPositionFinding(trainController, train_number);
int ret = RegisterBait(snakeDirector, train_number);
} else if (decoderBuffer[0] == 's' && decoderBuffer[2] == 'a') {
// Snake command
char *temp = (char*)decoderBuffer + 6;
int train_number = strgetui(&temp);
DoPositionFinding(trainController, train_number);
int ret = RegisterSnake(snakeDirector, train_number);
} else if (decoderBuffer[0] == 'i' && decoderBuffer[1] == 'n') {
char *temp = (char *)decoderBuffer + 5;
int train_number = strgetui(&temp);
DoPositionFinding(trainController, train_number);
} else if (decoderBuffer[0] == 't' && decoderBuffer[1] == 's') {
char *temp = (char*)decoderBuffer + 3;
char letter = *temp++;
int num = strgetui(&temp);
if (letter >= 'a' && letter <= 'e') {
letter = letter - 'a' + 'A';
}
if (letter >= 'A' && letter <= 'E' && num >= 1 && num <= 16) {
triggerFakeSensor(sensorServer, Time(timeServer), letter-'A', (char)num);
} else {
PrintDebug(ui, "Invalid Fake Sensor Value");
}
} else if (decoderBuffer[0] == 'u' && decoderBuffer[1] == 's') {
char *temp = (char *)decoderBuffer + 3;
char track = *temp++;
TrackMsg msg;
msg.type = SET_TRACK;
if (track == 'a' || track == 'b') {
msg.data =track;
Send(trackController, (char *)&msg, sizeof(TrackMsg), (char *)1, 0);
}
} else if (decoderBuffer[0] == 't' && decoderBuffer[1] == 'r') {
char *temp = (char *)decoderBuffer + 3;
int train_number = strgetui(&temp);
temp++;
int train_speed = strgetui(&temp);
temp++;
SetSpeedTrain(trainController, train_number, train_speed);
} else if (decoderBuffer[0] == 'r' && decoderBuffer[1] == 'v') {
char *temp = (char *)decoderBuffer + 3;
int train_number = strgetui(&temp);
ReverseTrain(trainController, train_number);
} else if (decoderBuffer[0] == 's' && decoderBuffer[1] == 'w') {
char *temp = (char *)decoderBuffer + 3;
int switch_number = strgetui(&temp);
temp++;
char switch_pos = *temp++;
if (switch_pos == 's' || switch_pos == 'c') {
TrackMsg setSwitch;
TrackLandmark sw;
sw.type = LANDMARK_SWITCH;
sw.num1 = 0;
sw.num2 = (char)switch_number;
setSwitch.type = SUDO_SET_SWITCH;
setSwitch.landmark1 = sw;
setSwitch.data = switch_pos == 'c' ? SWITCH_CURVED : SWITCH_STRAIGHT;
Send(trackController, (char*)&setSwitch, sizeof(TrackMsg), (char *)NULL, 0);
DriverMsg trainMsg;
trainMsg.trainNum = 255;
trainMsg.type = BROADCAST_UPDATE_PREDICTION;
Send(trainController, (char*)&trainMsg, sizeof(trainMsg), (char *)NULL, 0);
}
} else if (decoderBuffer[0] == 'r' && decoderBuffer[1] == 'o') {
char *temp = (char *)decoderBuffer + 3;
int train_number = strgetui(&temp);
temp++;
int train_speed = 9;
if (*temp >= '0' && *temp <= '9'){
train_speed = strgetui(&temp);
temp++;
}
char letter;
int num;
Position pos;
letter = *temp++;
num = strgetui(&temp);
temp++;
pos.landmark1 = formLandmarkFromInput(letter, num);
letter = *temp++;
num = strgetui(&temp);
temp++;
pos.landmark2 = formLandmarkFromInput(letter, num);
pos.offset = 0;
if (*temp >= '0' && *temp <= '9'){
pos.offset = strgetui(&temp);
}
DriverMsg msg;
msg.trainNum = train_number;
msg.type = SET_ROUTE;
msg.data2 = train_speed;
msg.pos = pos;
PrintDebug(ui, "CD: Route %d %d %d %d %d %d %d %d %d",
train_number, train_speed,
pos.landmark1.type, pos.landmark1.num1, pos.landmark1.num2,
pos.landmark2.type, pos.landmark2.num1, pos.landmark2.num2,
pos.offset);
if (pos.landmark1.type == LANDMARK_FAKE ||
pos.landmark2.type == LANDMARK_FAKE) {
PrintDebug(ui, "Parse Fail: %s", decoderBuffer);
} else {
Send(trainController, (char *)&msg, sizeof(DriverMsg), (char *)NULL, 0);
}
} else if (decoderBuffer[0] == 'r' && decoderBuffer[1] == 's') {
char *temp = (char*)decoderBuffer + 3;
int train_number = strgetui(&temp);
TrackMsg msg;
msg.type = QUERY_EDGES_RESERVED;
msg.data = (char)train_number;
Send(trackController, (char *)&msg, sizeof(TrackMsg), (char *)1, 0);
} else if (decoderBuffer[0] == 'x' && decoderBuffer[1] == 'x') {
char *temp = (char*)decoderBuffer + 3;
int train_number = strgetui(&temp);
Send(randomController, (char*)&train_number, 4, (char *)1, 0);
} else if (decoderBuffer[0] == 't' && decoderBuffer[1] == 'm') {
int train_number = 255;
PrintDebug(ui, "Trains going in test mode");
PrintDebug(ui, "Make sure smaller numbered train is at A4, larger numbered train at D6");
DriverMsg msg;
msg.type = BROADCAST_TEST_MODE;
msg.trainNum = 255;
msg.data2 = 8;
Send(trainController, (char *)&msg, sizeof(DriverMsg), (char *)NULL, 0);
} else if (decoderBuffer[0] == 'm' && decoderBuffer[1] == 'r') {
char *temp = (char *)decoderBuffer + 3;
int train_number1 = strgetui(&temp);
temp++;
int train_number2 = strgetui(&temp);
temp++;
// Train1 is head, train2 is new tail
DoTrainMerge(trainController, train_number1, train_number2);
} else if (decoderBuffer[0] == 'q' && decoderBuffer[1] == 'd') {
char *temp = (char *)decoderBuffer + 3;
char letter, num;
letter = *temp++;
Position pos;
num = strgetui(&temp);
temp++;
pos.landmark1 = formLandmarkFromInput(letter, num);
letter = *temp++;
num = strgetui(&temp);
temp++;
pos.landmark2 = formLandmarkFromInput(letter, num);
pos.offset = 1;
letter = *temp++;
Position pos2;
num = strgetui(&temp);
temp++;
pos2.landmark1 = formLandmarkFromInput(letter, num);
letter = *temp++;
num = strgetui(&temp);
temp++;
pos2.landmark2 = formLandmarkFromInput(letter, num);
pos2.offset = 2;
int distance = 9999;
QueryDistance(trackController, &pos, &pos2, &distance);
PrintDebug(ui, "Distance: %d", distance);
} else if (decoderBuffer[0] == 'p' && decoderBuffer[1] == 'r') {
DoPositionFinding(trainController, 45);
Delay(80, timeServer);
triggerFakeSensor(sensorServer, Time(timeServer), 3, 6); // D6
DoPositionFinding(trainController, 44);
Delay(80, timeServer);
triggerFakeSensor(sensorServer, Time(timeServer), 4, 5); // E5
DoPositionFinding(trainController, 43);
Delay(40, timeServer);
triggerFakeSensor(sensorServer, Time(timeServer), 3, 3); // D3
DoTrainMerge(trainController, 45, 44);
DoTrainMerge(trainController, 45, 43);
Delay(40, timeServer);
SetSpeedTrain(trainController, 45, 5);
Delay(40, timeServer);
// Train 44 moves
triggerFakeSensor(sensorServer, Time(timeServer), 3, 6); // D6
Delay(40, timeServer);
// Train 45 moves
triggerFakeSensor(sensorServer, Time(timeServer), 4, 10); // E10
Delay(40, timeServer);
PrintDebug(ui, "e13");
// Train 45 moves
triggerFakeSensor(sensorServer, Time(timeServer), 4, 13); // E13
Delay(40, timeServer);
PrintDebug(ui, "last d6 ");
// Train 43 moves
triggerFakeSensor(sensorServer, Time(timeServer), 3, 6); // D6
Delay(40, timeServer);
} else if (decoderBuffer[0] == 'f' && decoderBuffer[1] == 'o') {
// sets the max/min distance between train during merge mode
char *temp = (char *)decoderBuffer + 3;
int train_number = strgetui(&temp);
temp++;
int min_dist = strgetui(&temp);
temp++;
int max_dist = strgetui(&temp);
temp++;
if (max_dist > min_dist) {
SetFollowingDistance(trainController, train_number, min_dist, max_dist);
} else {
PrintDebug(ui, "ERROR, maxDist less than minDist");
}
} else if (decoderBuffer[0] == 'b' && decoderBuffer[1] == 'i' && decoderBuffer[2] == 'g') {
TrackMsg setSwitch;
setSwitch.type = SUDO_SET_SWITCH;
setSwitch.landmark1.type = LANDMARK_SWITCH;
setSwitch.landmark1.num1 = 0;
setSwitch.data = SWITCH_CURVED;
setSwitch.landmark1.num2 = 8;
Send(trackController, (char*)&setSwitch, sizeof(TrackMsg), (char *)NULL, 0);
Delay(1, timeServer);
setSwitch.landmark1.num2 = 9;
Send(trackController, (char*)&setSwitch, sizeof(TrackMsg), (char *)NULL, 0);
Delay(1, timeServer);
setSwitch.landmark1.num2 = 14;
Send(trackController, (char*)&setSwitch, sizeof(TrackMsg), (char *)NULL, 0);
Delay(1, timeServer);
setSwitch.landmark1.num2 = 15;
Send(trackController, (char*)&setSwitch, sizeof(TrackMsg), (char *)NULL, 0);
setSwitch.data = SWITCH_STRAIGHT;
Delay(1, timeServer);
setSwitch.landmark1.num2 = 10;
Send(trackController, (char*)&setSwitch, sizeof(TrackMsg), (char *)NULL, 0);
Delay(1, timeServer);
setSwitch.landmark1.num2 = 13;
Send(trackController, (char*)&setSwitch, sizeof(TrackMsg), (char *)NULL, 0);
Delay(1, timeServer);
setSwitch.landmark1.num2 = 16;
Send(trackController, (char*)&setSwitch, sizeof(TrackMsg), (char *)NULL, 0);
Delay(1, timeServer);
setSwitch.landmark1.num2 = 17;
Send(trackController, (char*)&setSwitch, sizeof(TrackMsg), (char *)NULL, 0);
DriverMsg trainMsg;
trainMsg.trainNum = 255;
trainMsg.type = BROADCAST_UPDATE_PREDICTION;
Send(trainController, (char*)&trainMsg, sizeof(trainMsg), (char *)NULL, 0);
} else {
PrintDebug(ui, "__Bad command__ %s", decoderBuffer);
return;
}
}
