bool Parser::hasMoreCommands() {
if (f_.eof()) { // No more file to check.
return false;
}
// We have to look ahead for commands, skipping comments and blank lines.
std::istream::streampos parsed_pos = f_.tellg(); // Saving stream state.
std::ios::iostate status = f_.rdstate();
f_.clear();
bool res = false;
unsigned int lines_read = 0; // So that if there's an error it displays where.
do {
std::string s;
std::getline(f_, s);
lines_read++;
trimLeft(s);
trimRight(s);
if (!s.empty() && !isComment(s)) { // Found a command line...
if (!validCommand(s)) { // ...but it's an invalid line!
std::cerr << "Error at line ";
std::cerr << current_line_number_ + lines_read;
std::cerr << ". '" << s << "': Invalid line" << std::endl;
throw std::runtime_error("Invalid line");
}
res = true;
goto done;
}
} while (!f_.eof());
done:
f_.seekg(parsed_pos); // Restoring stream to its original state.
f_.setstate(status);
return res;
}
void checkCommand(char* readBuffer) {
char tempBuffer[32] = {};
CopyMemory(tempBuffer, readBuffer, 12);
char commandBuffer[32] = {};
CopyMemory(commandBuffer, readBuffer + 3, 4);
if (validCommand(readBuffer)) {
prints(L"Command: %S\n", tempBuffer);
if (readBuffer[1] == currentID[0]) {
if ((readBuffer[2] == 'X' || readBuffer[2] == currentID[1]) && listenToRadio) {
prints(L"Command 2: %S\n", tempBuffer);
if (streqStart(commandBuffer, "STO", 3)) {
ResetEvent(startSignal);
SetEvent(stopSignal);
if (readBuffer[2] == currentID[1]) {
respondACK();
}
}
else if (streqStart(commandBuffer, "STA", 3)) {
ResetEvent(stopSignal);
SetEvent(startSignal);
if (readBuffer[2] == currentID[1]) {
respondACK();
}
}
}
}
}
}
std::vector<Token> Parser::tokenize()
{
std::vector<Token> tokens;
spacifyInput();
std::vector<std::string> words = splitInput();
int i = 0;
while (i < words.size()) {
if (words[i] == "\\") {
if (i+1 >= words.size())
throw std::runtime_error("Invalid token");
if (words[i+1] == "pi") {
tokens.push_back(Token{CMD_BEG, "pi"});
tokens.push_back(Token{CMD_END, ""});
i += 2;
} else {
if (i+2 >= words.size() ||
words[i+2] != "{" ||
!validCommand(words[i+1]))
throw std::runtime_error("Invalid token");
tokens.push_back(Token{CMD_BEG, words[i+1]});
i += 3;
}
} else if (words[i] == "{") {
tokens.push_back(Token{CMD_CNT, ""});
i++;
} else if (words[i] == "}") {
tokens.push_back(Token{CMD_END, ""});
i++;
} else if (words[i] == "^" || words[i] == "_") {
if (i+1 >= words.size() || words[i+1] != "{")
throw std::runtime_error("Invalid token");
tokens.push_back(Token{CMD_BEG, words[i]});
i += 2;
} else {
/* Default case: treat word as raw token */
tokens.push_back(Token{RAW, words[i]});
i++;
}
}
return tokens;
}
CommandType Parser::commandType() const {
// PRE: current_line_ is a validCommand()
assert(validCommand(current_line_));
return commands_.at(field(current_line_, 0)).first;
}
void receiveCommand() { //the character 'a' was received from the radio, now read the buffer, find all the a-s and check for commands
DWORD bytesRead = 0;
DWORD start = 0, length = 0; //the current position in the buffer and the length of the unread buffer
DWORD errors = 0;
COMSTAT status = {};
ClearCommError(hCOMRadio, &errors, &status);
if (errors) {
prints(L"ClearCommError errors: %X.\n", errors);
}
char readBuffer[128] = {};
//readCOM(hCOMRadio, readBuffer, 12, bytesRead);
if (!ReadFile(hCOMRadio, readBuffer, 12, &bytesRead, NULL)) {
prints(L"Radio ReadFile failed with error: %X.\n", GetLastError());
}
length += bytesRead;
if (bytesRead != 0) {
prints(L"read %d bytes 1: %S\n", bytesRead, readBuffer);
}
//prints(L"Checking command v1: %S, valid: %d\n", readBuffer + start, validCommand(readBuffer));
if (length == 0) {
return;
}
while (true) {
if (readBuffer[start] != 'a' && length > 0) {
++start;
--length;
}
else {
if (length == 0) {
//readCOM(hCOMRadio, readBuffer + start + length, 12, bytesRead);
if(!ReadFile(hCOMRadio, readBuffer + start + length, 12, &bytesRead, NULL)) {
prints(L"Radio ReadFile failed with error: %X.\n", GetLastError());
}
if (bytesRead != 0) {
prints(L"read %d bytes 2: %S\n", bytesRead, readBuffer);
}
//prints(L"Checking command v2: %S, valid: %d\n", readBuffer + start, validCommand(readBuffer));
length += bytesRead;
if (length == 0) {
//prints(L"returning\n");
return;
}
if (!validCommand(readBuffer + start)) {
++start;
--length;
}
else {
checkCommand(readBuffer + start);
++start;
--length;
}
}
else {
//prints(L"Checking command v3: %S, valid: %d\n", readBuffer + start, validCommand(readBuffer));
checkCommand(readBuffer + start);
++start;
--length;
}
}
if (length == 0) {
//readCOM(hCOMRadio, readBuffer + start, 12, bytesRead);
if(!ReadFile(hCOMRadio, readBuffer + start, 12, &bytesRead, NULL)) {
prints(L"Radio ReadFile failed with error: %X.\n", GetLastError());
}
if (bytesRead != 0) {
prints(L"read %d bytes 3: %S\n", bytesRead, readBuffer);
}
length += bytesRead;
//prints(L"Checking command v4: %S, valid: %d\n", readBuffer + start, validCommand(readBuffer));
if (length == 0) {
//prints(L"returning\n");
return;
}
}
if (start > 64) {
//prints(L"zeroing\n");
CopyMemory(readBuffer, readBuffer + start, length);
ZeroMemory(readBuffer + length, 128 - length);
start = 0;
}
}
//prints(L"returning\n");
}
//Main program
int main(void) {
int receivedBytes;//, sentBytes;
//unsigned char outBuff[BUFFER_MAX];
unsigned char inBuff[BUFFER_MAX];
//Reserve memory
char* cmd = malloc((BUFFER_MAX+1) * sizeof(char));
char* par = malloc((BUFFER_MAX+1) * sizeof(char));
struct commandStructure command;
//Threads variables
pthread_t logThread;
pthread_t emailThread;
//pthread_t debugThread;
pthread_t webcamThread;
pthread_t emailPhotoThread;
//Empty buffers
init();
// Open serial file descriptor
int fd = openSerial();
//Loop to scan
while(1){
receivedBytes = read(fd,inBuff,BUFFER_MAX);
if(receivedBytes > 0){ // Data found!
if(DEBUG){
printf("\nPayload size: %d\n",receivedBytes);
int i;
for(i=0;i<receivedBytes;i++){
printf("%c",inBuff[i]);
}
printf("\n");
}
getCmd(inBuff,cmd);
getPar(inBuff,par);
int pars = parseParameters(par);
if(!validCommand(cmd)){
printf("Invalid Command: %s\n\n",cmd);
continue;
}else{
//printf("Command: %s\n",cmd);
//int i = 0;
//printf("Parameters found: %d\n",pars);
//for(i=0;i<pars;i++) printf("Parameter %d - %s\n",i,PARAMETERS[i]);
}
if(compareText(cmd,"Debug")){ //thread is detached so resources can be recycled.
command.cmd = cmd;
command.par[0] = PARAMETERS[0];
time_t now = time(NULL);
printf("%s - %s",PARAMETERS[0],ctime(&now));
/*
//=======Call debugFunc in thread======
int rc;
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr,PTHREAD_CREATE_DETACHED);
if((rc = pthread_create(&debugThread,&attr,debugFunc,&command))){
fprintf(stderr,"Error: Could not create thread: %d\n",rc);
}
pthread_attr_destroy(&attr);
*/
}
if(compareText(cmd,"Log")){
if(pars < 1){
printf("Error: No message sent\n");
continue;
}
command.cmd = cmd;
command.par[0] = PARAMETERS[0];
//=======Call logFunc in thread======
int rc;
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr,PTHREAD_CREATE_DETACHED);
if((rc = pthread_create(&logThread,&attr,logFunc,&command))){
fprintf(stderr,"Error: Could not create thread: %d\n",rc);
}
pthread_attr_destroy(&attr);
}
if(compareText(cmd,"Email")){
if(pars < 3){ //Need at least the email address and a subject
printf("Error: Need 3 parameters: address, subject and message\n");
continue;
}
command.cmd = cmd;
command.par[0] = PARAMETERS[0];
command.par[1] = PARAMETERS[1];
command.par[2] = PARAMETERS[2];
//=======Call logFunc in thread======
int rc;
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr,PTHREAD_CREATE_DETACHED);
if((rc = pthread_create(&emailThread,&attr,emailFunc,&command))){
fprintf(stderr,"Error: Could not create thread: %d\n",rc);
}
pthread_attr_destroy(&attr);
}
if(compareText(cmd,"Webcam")){
command.cmd = cmd;
command.par[0] = PARAMETERS[0];
//=======Call debugFunc in thread======
int rc;
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr,PTHREAD_CREATE_DETACHED);
if((rc = pthread_create(&webcamThread,&attr,webcamFunc,&command))){
fprintf(stderr,"Error: Could not create webcam thread: %d\n",rc);
}
pthread_attr_destroy(&attr);
}
if(compareText(cmd,"EmailPhoto")){
command.cmd = cmd;
command.par[0] = PARAMETERS[0];
command.par[1] = PARAMETERS[1];
command.par[2] = PARAMETERS[2];
//=======Call debugFunc in thread======
int rc;
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr,PTHREAD_CREATE_DETACHED);
if((rc = pthread_create(&emailPhotoThread,&attr,emailPhotoFunc,&command))){
fprintf(stderr,"Error: Could not create emailPhoto thread: %d\n",rc);
}
pthread_attr_destroy(&attr);
}
}else if(receivedBytes == 0){ //No data yet! go back to loop
continue;
}else if(receivedBytes < 0){ //Error reading, exit.
printf("Error reading from file!\n");
perror("Error: " );
close(fd);
return -1;
}
usleep(UDOONEO_POLL_DELAY); // poll time approx 50mS (faster crashes the app)
}
//Free reserved memory
free((void*)cmd);
free((void*)par);
//Close serial's file descriptor
close(fd);
}
