bool UFunctionSeq::handleCommand(UServerInMsg * msg, void * extra)
{ // extract parameters
bool result = true;
// decode vars
char attName[MAX_SML_NAME_LENGTH];
const int VAL_BUFF_LNG = 1000;
char attValue[VAL_BUFF_LNG];
// camera and source image variables
bool ask4help = false;
bool loadFile = false;
bool appendFile = false;
bool getMissions = false;
bool getStatus = false;
bool getPgm = false;
const char * label = NULL;
bool sendReply = false;
const int MNL = MAX_FILENAME_LENGTH;
char loadName[MNL];
FILE * errLog = NULL;
const char * errLogName = "loadPlanErr.log";
const int MELL = 300;
char se[MELL];
int i, n;
FILE * mf;
char * pMf;
const int MFL = 100;
char mfn[MFL];
USeqLine * line;
const int MRL = 300;
char reply[MRL];
char lineXml[MRL];
//
// extract parameters
while (msg->tag.getNextAttribute(attName, attValue, VAL_BUFF_LNG))
{ // camera device
if (strcasecmp(attName, "help") == 0)
ask4help = true;
else if (strcasecmp(attName, "load") == 0)
{
strncpy(loadName, attValue, MNL);
loadFile = true;
}
else if (strcasecmp(attName, "append") == 0)
{
strncpy(loadName, attValue, MNL);
appendFile = true;
}
else if (strcasecmp(attName, "add") == 0)
{ // new mission line
sendReply = addCmdLine(msg, attValue);
}
else if (strcasecmp(attName, "goto") == 0)
{ // new mission line
if (label == NULL)
label = seq->addLabel();
sendReply = addCmdLine(msg, attValue);
}
else if (strcasecmp(attName, "clear") == 0)
{ // clear current pgm
seq->clear();
}
else if (strcasecmp(attName, "sim") == 0)
{ // set simulation flag - if true, logfile must be set from cmd-line
seq->setSimulated(str2bool(attValue));
}
else if (strcasecmp(attName, "missions") == 0)
getMissions = true;
else if (strcasecmp(attName, "status") == 0)
getStatus = true;
else if (strcasecmp(attName, "pgm") == 0)
getPgm = true;
else if (strcasecmp(attName, "list") == 0)
getPgm = true;
else
// unknown attribute
result = false;
}
//
if (ask4help)
{
sendHelpStart(msg, "SEQ");
sendText(msg, "---- Available SEQ options:\n");
sendText(msg, "missions Get list of all mission files\n");
sendText(msg, "status Get plan sequencer status\n");
sendText(msg, "pgm | list Get list of all loaded statements\n");
sendText(msg, "goto=\"cmd\" Give a manual mission line (in quotes), and skip to this\n");
sendText(msg, "load=\"file\" Load a mission file, and skip to this\n");
sendText(msg, "append=\"file\" Append a mission file, and skip to this\n");
sendText(msg, "add=\"command\" Add a manual command line\n");
sendText(msg, "stop Stop current mission (goto end of mission)\n");
sendText(msg, "clear remove all mission lines\n");
sendText(msg, "sim=true | false Set simulation flag (not implemented yet)\n");
sendMsg(msg, "</help>\n");
sendHelpDone(msg);
}
else
{
if (loadFile or appendFile)
{
errLog = fopen(errLogName, "w");
if (seq->loadPlan(loadName, errLog, appendFile))
{ // loaded OK
sendInfo(msg, "Loaded without errors");
}
else
{
if (errLog != NULL)
{
fclose(errLog);
errLog = fopen(errLogName, "r");
if (errLog != NULL)
{ // there is a file
sendInfo(msg, "Load error list:");
while (fgets(se, MELL, errLog) != NULL)
{ // return all filenames in separate frames
i = strlen(se);
if (i > 1)
{ // cut off the linefeed at end of line
se[i-1] = 0;
result = sendInfo(msg, se);
}
if (not result)
break;
}
}
else
result = sendWarning(msg, "Could not read error file");
if (errLog != NULL)
fclose(errLog);
}
else
sendWarning(msg, "There were errors, but could not create a logfile");
sendReply = true;
}
}
if (label != NULL)
{ // start execution from label
result = seq->skipToLabel(label, false);
}
}
if (getMissions)
{ // return a list of available missions
n = system("ls *.txt >missions.list");
if (n >= 0)
{ // there should be a file
mf = fopen("missions.list", "r");
n = -1;
if (mf != NULL)
{ // there is a file
while (true)
{ // return all filenames in separate frames
pMf = fgets(mfn, MFL, mf);
if (pMf == NULL)
break;
if (n < 0)
sendInfo(msg, "List of mission files:");
i = strlen(pMf);
if (i > 1)
{ // cut off the linefeed at end of line
pMf[i-1] = 0;
result = sendInfo(msg, pMf);
n++;
}
if (not result)
break;
}
if (n < 0)
result = sendWarning(msg, "No mission files in default dir");
}
else
result = sendWarning(msg, "Could not create listing of mission files");
if (mf != NULL)
fclose(mf);
sendReply = true;
}
}
if (getStatus)
{
sendStatusMessage(msg, msg->tag.getTagName());
sendReply = true;
}
// last if - if noone else has send a reply ...
if (getPgm)
{
if (seq->getLineCnt() > 0)
{ // make start tag for lines
snprintf(reply, MRL,
"<%s lineCnt=\"%d\" cmdLineNum=\"%d\" file=\"%s\">\n",
msg->tag.getTagName(),
seq->getLineCnt(),
seq->getActiveLine(),
seq->getPlanName());
sendMsg(msg, reply);
for (i = 0; i < seq->getLineCnt(); i++)
{
line = seq->getLine(i);
str2xml(lineXml, MRL, line->getCmdLine());
snprintf(reply, MRL,
"<seqLine ln=\"%d\" cmd=\"%s\"/>\n",
i, lineXml);
result = sendMsg(msg, reply);
if (not result)
// stop if line-buffers are full
break;
}
// and end tag (always try)
snprintf(reply, MRL, "</%s>\n", msg->tag.getTagName());
result = sendMsg(msg, reply);
}
else
{ // no plan lines - send status only
snprintf(reply, MRL,
"<%s lineCnt=\"%d\" cmdLineNum=\"%d\"/>\n",
msg->tag.getTagName(),
seq->getLineCnt(),
seq->getActiveLine());
sendMsg(msg, reply);
}
sendReply = true;
}
if (result and not sendReply)
sendInfo(msg, "done");
if (not result)
sendWarning(msg, "One or more attributes to SEQ is not used!");
return result;
}
CommandDispatcher::CommandDispatcher() {
logLineCounter = 0;
cmdLineCounter = 0;
addCmdLine("<no command>");
addLogLine("start logging");
}
