// 시리얼 통신을 정보를 주고 받는다.
// 통신이 끊겼다면 false를 리턴한다.
bool cSerialCommunication::ProcessSerialCommunicatoin(const float deltaSeconds)
{
RETV(!m_serial.IsOpened(), false);
/*
char data = 0;
const int readLength = m_serial.ReadData(&data, 1);
if (readLength == 0)
return true;
RETV(readLength < 0, false);
m_buff[m_currentBuffIndex++] = data;
const bool isEndOfBuffer = (m_currentBuffIndex >= (MAX_BUFFER - 1));
// 한 라인이 모두 완성되었다면, 정보를 분석한다.
if (isEndOfBuffer || (data == '\n'))
{
m_buff[m_currentBuffIndex] = NULL;
// float t, roll, pitch, yaw;
// sscanf_s(m_buff, "Radian, %f, %f, %f, %f", &t, &roll, &pitch, &yaw);
// cController::Get()->GetCubeFlight().SetEulerAngle(-roll, yaw, -pitch);
// 시리얼통신으로 넘어온 정보를 옵져버에게 알린다.
NotifyObserver(m_buff);
m_currentBuffIndex = 0;
}
*/
//string buff;
char buff[512];
int len;
if (m_serial.ReadStringUntil('\n', buff, len, sizeof(buff)))
{
// 시리얼통신으로 넘어온 정보를 옵져버에게 알린다.
//if (!buff.empty())
if (len > 0)
NotifyObserver((char*)&buff[0]);
}
return true;
}
/*
* lexescape - parse an ARE backslash escape (backslash already eaten)
* Note slightly nonstandard use of the CCLASS type code.
*/
static int /* not actually used, but convenient for RETV */
lexescape(struct vars * v)
{
chr c;
static const chr alert[] = {
CHR('a'), CHR('l'), CHR('e'), CHR('r'), CHR('t')
};
static const chr esc[] = {
CHR('E'), CHR('S'), CHR('C')
};
const chr *save;
assert(v->cflags & REG_ADVF);
assert(!ATEOS());
c = *v->now++;
if (!iscalnum(c))
RETV(PLAIN, c);
NOTE(REG_UNONPOSIX);
switch (c)
{
case CHR('a'):
RETV(PLAIN, chrnamed(v, alert, ENDOF(alert), CHR('\007')));
break;
case CHR('A'):
RETV(SBEGIN, 0);
break;
case CHR('b'):
RETV(PLAIN, CHR('\b'));
break;
case CHR('B'):
RETV(PLAIN, CHR('\\'));
break;
case CHR('c'):
NOTE(REG_UUNPORT);
if (ATEOS())
FAILW(REG_EESCAPE);
RETV(PLAIN, (chr) (*v->now++ & 037));
break;
case CHR('d'):
NOTE(REG_ULOCALE);
RETV(CCLASS, 'd');
break;
case CHR('D'):
NOTE(REG_ULOCALE);
RETV(CCLASS, 'D');
break;
case CHR('e'):
NOTE(REG_UUNPORT);
RETV(PLAIN, chrnamed(v, esc, ENDOF(esc), CHR('\033')));
break;
case CHR('f'):
RETV(PLAIN, CHR('\f'));
break;
case CHR('m'):
RET('<');
break;
case CHR('M'):
RET('>');
break;
case CHR('n'):
RETV(PLAIN, CHR('\n'));
break;
case CHR('r'):
RETV(PLAIN, CHR('\r'));
break;
case CHR('s'):
NOTE(REG_ULOCALE);
RETV(CCLASS, 's');
break;
case CHR('S'):
NOTE(REG_ULOCALE);
RETV(CCLASS, 'S');
break;
case CHR('t'):
RETV(PLAIN, CHR('\t'));
break;
case CHR('u'):
c = lexdigits(v, 16, 4, 4);
if (ISERR())
FAILW(REG_EESCAPE);
RETV(PLAIN, c);
break;
case CHR('U'):
c = lexdigits(v, 16, 8, 8);
if (ISERR())
FAILW(REG_EESCAPE);
RETV(PLAIN, c);
break;
case CHR('v'):
RETV(PLAIN, CHR('\v'));
break;
case CHR('w'):
NOTE(REG_ULOCALE);
RETV(CCLASS, 'w');
break;
case CHR('W'):
NOTE(REG_ULOCALE);
RETV(CCLASS, 'W');
break;
case CHR('x'):
NOTE(REG_UUNPORT);
c = lexdigits(v, 16, 1, 255); /* REs >255 long outside spec */
if (ISERR())
FAILW(REG_EESCAPE);
RETV(PLAIN, c);
break;
case CHR('y'):
NOTE(REG_ULOCALE);
RETV(WBDRY, 0);
break;
case CHR('Y'):
NOTE(REG_ULOCALE);
RETV(NWBDRY, 0);
break;
case CHR('Z'):
RETV(SEND, 0);
break;
case CHR('1'):
case CHR('2'):
case CHR('3'):
case CHR('4'):
case CHR('5'):
case CHR('6'):
case CHR('7'):
case CHR('8'):
case CHR('9'):
save = v->now;
v->now--; /* put first digit back */
c = lexdigits(v, 10, 1, 255); /* REs >255 long outside spec */
if (ISERR())
FAILW(REG_EESCAPE);
/* ugly heuristic (first test is "exactly 1 digit?") */
if (v->now == save || ((int) c > 0 && (int) c <= v->nsubexp))
{
NOTE(REG_UBACKREF);
RETV(BACKREF, (chr) c);
}
/* oops, doesn't look like it's a backref after all... */
v->now = save;
/* and fall through into octal number */
case CHR('0'):
NOTE(REG_UUNPORT);
v->now--; /* put first digit back */
c = lexdigits(v, 8, 1, 3);
if (ISERR())
FAILW(REG_EESCAPE);
if (c > 0xff)
{
/* out of range, so we handled one digit too much */
v->now--;
c >>= 3;
}
RETV(PLAIN, c);
break;
default:
assert(iscalpha(c));
FAILW(REG_EESCAPE); /* unknown alphabetic escape */
break;
}
/*
* next - get next token
*/
static int /* 1 normal, 0 failure */
next(struct vars * v)
{
chr c;
/* errors yield an infinite sequence of failures */
if (ISERR())
return 0; /* the error has set nexttype to EOS */
/* remember flavor of last token */
v->lasttype = v->nexttype;
/* REG_BOSONLY */
if (v->nexttype == EMPTY && (v->cflags & REG_BOSONLY))
{
/* at start of a REG_BOSONLY RE */
RETV(SBEGIN, 0); /* same as \A */
}
/* if we're nested and we've hit end, return to outer level */
if (v->savenow != NULL && ATEOS())
{
v->now = v->savenow;
v->stop = v->savestop;
v->savenow = v->savestop = NULL;
}
/* skip white space etc. if appropriate (not in literal or []) */
if (v->cflags & REG_EXPANDED)
switch (v->lexcon)
{
case L_ERE:
case L_BRE:
case L_EBND:
case L_BBND:
skip(v);
break;
}
/* handle EOS, depending on context */
if (ATEOS())
{
switch (v->lexcon)
{
case L_ERE:
case L_BRE:
case L_Q:
RET(EOS);
break;
case L_EBND:
case L_BBND:
FAILW(REG_EBRACE);
break;
case L_BRACK:
case L_CEL:
case L_ECL:
case L_CCL:
FAILW(REG_EBRACK);
break;
}
assert(NOTREACHED);
}
/* okay, time to actually get a character */
c = *v->now++;
/* deal with the easy contexts, punt EREs to code below */
switch (v->lexcon)
{
case L_BRE: /* punt BREs to separate function */
return brenext(v, c);
break;
case L_ERE: /* see below */
break;
case L_Q: /* literal strings are easy */
RETV(PLAIN, c);
break;
case L_BBND: /* bounds are fairly simple */
case L_EBND:
switch (c)
{
case CHR('0'):
case CHR('1'):
case CHR('2'):
case CHR('3'):
case CHR('4'):
case CHR('5'):
case CHR('6'):
case CHR('7'):
case CHR('8'):
case CHR('9'):
RETV(DIGIT, (chr) DIGITVAL(c));
break;
case CHR(','):
RET(',');
break;
case CHR('}'): /* ERE bound ends with } */
if (INCON(L_EBND))
{
INTOCON(L_ERE);
if ((v->cflags & REG_ADVF) && NEXT1('?'))
{
v->now++;
NOTE(REG_UNONPOSIX);
RETV('}', 0);
}
RETV('}', 1);
}
else
FAILW(REG_BADBR);
break;
case CHR('\\'): /* BRE bound ends with \} */
if (INCON(L_BBND) && NEXT1('}'))
{
v->now++;
INTOCON(L_BRE);
RET('}');
}
else
FAILW(REG_BADBR);
break;
default:
FAILW(REG_BADBR);
break;
}
assert(NOTREACHED);
break;
case L_BRACK: /* brackets are not too hard */
switch (c)
{
case CHR(']'):
if (LASTTYPE('['))
RETV(PLAIN, c);
else
{
INTOCON((v->cflags & REG_EXTENDED) ?
L_ERE : L_BRE);
RET(']');
}
break;
case CHR('\\'):
NOTE(REG_UBBS);
if (!(v->cflags & REG_ADVF))
RETV(PLAIN, c);
NOTE(REG_UNONPOSIX);
if (ATEOS())
FAILW(REG_EESCAPE);
(DISCARD) lexescape(v);
switch (v->nexttype)
{ /* not all escapes okay here */
case PLAIN:
return 1;
break;
case CCLASS:
switch (v->nextvalue)
{
case 'd':
lexnest(v, brbackd, ENDOF(brbackd));
break;
case 's':
lexnest(v, brbacks, ENDOF(brbacks));
break;
case 'w':
lexnest(v, brbackw, ENDOF(brbackw));
break;
default:
FAILW(REG_EESCAPE);
break;
}
/* lexnest done, back up and try again */
v->nexttype = v->lasttype;
return next(v);
break;
}
/* not one of the acceptable escapes */
FAILW(REG_EESCAPE);
break;
case CHR('-'):
if (LASTTYPE('[') || NEXT1(']'))
RETV(PLAIN, c);
else
RETV(RANGE, c);
break;
case CHR('['):
if (ATEOS())
FAILW(REG_EBRACK);
switch (*v->now++)
{
case CHR('.'):
INTOCON(L_CEL);
/* might or might not be locale-specific */
RET(COLLEL);
break;
case CHR('='):
INTOCON(L_ECL);
NOTE(REG_ULOCALE);
RET(ECLASS);
break;
case CHR(':'):
INTOCON(L_CCL);
NOTE(REG_ULOCALE);
RET(CCLASS);
break;
default: /* oops */
v->now--;
RETV(PLAIN, c);
break;
}
assert(NOTREACHED);
break;
default:
RETV(PLAIN, c);
break;
}
assert(NOTREACHED);
break;
case L_CEL: /* collating elements are easy */
if (c == CHR('.') && NEXT1(']'))
{
v->now++;
INTOCON(L_BRACK);
RETV(END, '.');
}
else
RETV(PLAIN, c);
break;
case L_ECL: /* ditto equivalence classes */
if (c == CHR('=') && NEXT1(']'))
{
v->now++;
INTOCON(L_BRACK);
RETV(END, '=');
}
else
RETV(PLAIN, c);
break;
case L_CCL: /* ditto character classes */
if (c == CHR(':') && NEXT1(']'))
{
v->now++;
INTOCON(L_BRACK);
RETV(END, ':');
}
else
RETV(PLAIN, c);
break;
default:
assert(NOTREACHED);
break;
}
/* that got rid of everything except EREs and AREs */
assert(INCON(L_ERE));
/* deal with EREs and AREs, except for backslashes */
switch (c)
{
case CHR('|'):
RET('|');
break;
case CHR('*'):
if ((v->cflags & REG_ADVF) && NEXT1('?'))
{
v->now++;
NOTE(REG_UNONPOSIX);
RETV('*', 0);
}
RETV('*', 1);
break;
case CHR('+'):
if ((v->cflags & REG_ADVF) && NEXT1('?'))
{
v->now++;
NOTE(REG_UNONPOSIX);
RETV('+', 0);
}
RETV('+', 1);
break;
case CHR('?'):
if ((v->cflags & REG_ADVF) && NEXT1('?'))
{
v->now++;
NOTE(REG_UNONPOSIX);
RETV('?', 0);
}
RETV('?', 1);
break;
case CHR('{'): /* bounds start or plain character */
if (v->cflags & REG_EXPANDED)
skip(v);
if (ATEOS() || !iscdigit(*v->now))
{
NOTE(REG_UBRACES);
NOTE(REG_UUNSPEC);
RETV(PLAIN, c);
}
else
{
NOTE(REG_UBOUNDS);
INTOCON(L_EBND);
RET('{');
}
assert(NOTREACHED);
break;
case CHR('('): /* parenthesis, or advanced extension */
if ((v->cflags & REG_ADVF) && NEXT1('?'))
{
NOTE(REG_UNONPOSIX);
v->now++;
if (ATEOS())
FAILW(REG_BADRPT);
switch (*v->now++)
{
case CHR(':'): /* non-capturing paren */
RETV('(', 0);
break;
case CHR('#'): /* comment */
while (!ATEOS() && *v->now != CHR(')'))
v->now++;
if (!ATEOS())
v->now++;
assert(v->nexttype == v->lasttype);
return next(v);
break;
case CHR('='): /* positive lookahead */
NOTE(REG_ULOOKAROUND);
RETV(LACON, LATYPE_AHEAD_POS);
break;
case CHR('!'): /* negative lookahead */
NOTE(REG_ULOOKAROUND);
RETV(LACON, LATYPE_AHEAD_NEG);
break;
case CHR('<'):
if (ATEOS())
FAILW(REG_BADRPT);
switch (*v->now++)
{
case CHR('='): /* positive lookbehind */
NOTE(REG_ULOOKAROUND);
RETV(LACON, LATYPE_BEHIND_POS);
break;
case CHR('!'): /* negative lookbehind */
NOTE(REG_ULOOKAROUND);
RETV(LACON, LATYPE_BEHIND_NEG);
break;
default:
FAILW(REG_BADRPT);
break;
}
assert(NOTREACHED);
break;
default:
FAILW(REG_BADRPT);
break;
}
assert(NOTREACHED);
}
if (v->cflags & REG_NOSUB)
RETV('(', 0); /* all parens non-capturing */
else
RETV('(', 1);
break;
case CHR(')'):
if (LASTTYPE('('))
NOTE(REG_UUNSPEC);
RETV(')', c);
break;
case CHR('['): /* easy except for [[:<:]] and [[:>:]] */
if (HAVE(6) && *(v->now + 0) == CHR('[') &&
*(v->now + 1) == CHR(':') &&
(*(v->now + 2) == CHR('<') ||
*(v->now + 2) == CHR('>')) &&
*(v->now + 3) == CHR(':') &&
*(v->now + 4) == CHR(']') &&
*(v->now + 5) == CHR(']'))
{
c = *(v->now + 2);
v->now += 6;
NOTE(REG_UNONPOSIX);
RET((c == CHR('<')) ? '<' : '>');
}
INTOCON(L_BRACK);
if (NEXT1('^'))
{
v->now++;
RETV('[', 0);
}
RETV('[', 1);
break;
case CHR('.'):
RET('.');
break;
case CHR('^'):
RET('^');
break;
case CHR('$'):
RET('$');
break;
case CHR('\\'): /* mostly punt backslashes to code below */
if (ATEOS())
FAILW(REG_EESCAPE);
break;
default: /* ordinary character */
RETV(PLAIN, c);
break;
}
/* ERE/ARE backslash handling; backslash already eaten */
assert(!ATEOS());
if (!(v->cflags & REG_ADVF))
{ /* only AREs have non-trivial escapes */
if (iscalnum(*v->now))
{
NOTE(REG_UBSALNUM);
NOTE(REG_UUNSPEC);
}
RETV(PLAIN, *v->now++);
}
(DISCARD) lexescape(v);
if (ISERR())
FAILW(REG_EESCAPE);
if (v->nexttype == CCLASS)
{ /* fudge at lexical level */
switch (v->nextvalue)
{
case 'd':
lexnest(v, backd, ENDOF(backd));
break;
case 'D':
lexnest(v, backD, ENDOF(backD));
break;
case 's':
lexnest(v, backs, ENDOF(backs));
break;
case 'S':
lexnest(v, backS, ENDOF(backS));
break;
case 'w':
lexnest(v, backw, ENDOF(backw));
break;
case 'W':
lexnest(v, backW, ENDOF(backW));
break;
default:
assert(NOTREACHED);
FAILW(REG_ASSERT);
break;
}
/* lexnest done, back up and try again */
v->nexttype = v->lasttype;
return next(v);
}
/* otherwise, lexescape has already done the work */
return !ISERR();
}
// 큐브와 시리얼통신으로 연결을 시도한다.
bool cController::ConnectSerial(const int portNum, const int baudRate)
{
RETV(!m_serialComm, false);
return m_serialComm->ConnectSerial(portNum, baudRate);
}
/*
- brenext - get next BRE token
* This is much like EREs except for all the stupid backslashes and the
* context-dependency of some things.
^ static int brenext(struct vars *, pchr);
*/
static int /* 1 normal, 0 failure */
brenext(
struct vars *v,
pchr pc)
{
chr c = (chr)pc;
switch (c) {
case CHR('*'):
if (LASTTYPE(EMPTY) || LASTTYPE('(') || LASTTYPE('^')) {
RETV(PLAIN, c);
}
RET('*');
break;
case CHR('['):
if (HAVE(6) && *(v->now+0) == CHR('[') &&
*(v->now+1) == CHR(':') &&
(*(v->now+2) == CHR('<') || *(v->now+2) == CHR('>')) &&
*(v->now+3) == CHR(':') &&
*(v->now+4) == CHR(']') &&
*(v->now+5) == CHR(']')) {
c = *(v->now+2);
v->now += 6;
NOTE(REG_UNONPOSIX);
RET((c == CHR('<')) ? '<' : '>');
}
INTOCON(L_BRACK);
if (NEXT1('^')) {
v->now++;
RETV('[', 0);
}
RETV('[', 1);
break;
case CHR('.'):
RET('.');
break;
case CHR('^'):
if (LASTTYPE(EMPTY)) {
RET('^');
}
if (LASTTYPE('(')) {
NOTE(REG_UUNSPEC);
RET('^');
}
RETV(PLAIN, c);
break;
case CHR('$'):
if (v->cflags®_EXPANDED) {
skip(v);
}
if (ATEOS()) {
RET('$');
}
if (NEXT2('\\', ')')) {
NOTE(REG_UUNSPEC);
RET('$');
}
RETV(PLAIN, c);
break;
case CHR('\\'):
break; /* see below */
default:
RETV(PLAIN, c);
break;
}
assert(c == CHR('\\'));
if (ATEOS()) {
FAILW(REG_EESCAPE);
}
c = *v->now++;
switch (c) {
case CHR('{'):
INTOCON(L_BBND);
NOTE(REG_UBOUNDS);
RET('{');
break;
case CHR('('):
RETV('(', 1);
break;
case CHR(')'):
RETV(')', c);
break;
case CHR('<'):
NOTE(REG_UNONPOSIX);
RET('<');
break;
case CHR('>'):
NOTE(REG_UNONPOSIX);
RET('>');
break;
case CHR('1'): case CHR('2'): case CHR('3'): case CHR('4'):
case CHR('5'): case CHR('6'): case CHR('7'): case CHR('8'):
case CHR('9'):
NOTE(REG_UBACKREF);
RETV(BACKREF, (chr)DIGITVAL(c));
break;
default:
if (iscalnum(c)) {
NOTE(REG_UBSALNUM);
NOTE(REG_UUNSPEC);
}
RETV(PLAIN, c);
break;
}
assert(NOTREACHED);
}
