static void print_cmd_by_category(const struct category_description *catdesc)
{
struct cmdname_help *cmds;
int longest = 0;
int i, nr = 0;
uint32_t mask = 0;
for (i = 0; catdesc[i].desc; i++)
mask |= catdesc[i].category;
extract_cmds(&cmds, mask);
for (i = 0; cmds[i].name; i++, nr++) {
if (longest < strlen(cmds[i].name))
longest = strlen(cmds[i].name);
}
QSORT(cmds, nr, cmd_name_cmp);
for (i = 0; catdesc[i].desc; i++) {
uint32_t mask = catdesc[i].category;
const char *desc = catdesc[i].desc;
printf("\n%s\n", _(desc));
print_command_list(cmds, mask, longest);
}
free(cmds);
}
int main(void)
{
char cmd[MAX];
int i;
print_command_list();
get_command(cmd, MAX);
do {
parse_command(cmd);
get_command(cmd, MAX);
} while ((strcmp(cmd, "q")) != 0);
return 0;
}
int main(int argc, char** argv)
{
fd_set rdset;
char* tty_dev;
struct termios tio;
uint8 b = 0;
tty_dev = default_tty_dev;
if (argc > 1)
{
printf("using device: %s\n", argv[1]);
tty_dev = argv[1];
}
printf("command syntax: <command>:<value>\n");
print_command_list();
memset(&tio, 0, sizeof(tio));
tio.c_iflag = 0;
tio.c_oflag = 0;
tio.c_cflag = CS8 | CREAD | CLOCAL; /* 8n1, see termios.h for more information */
tio.c_lflag = 0;
tio.c_cc[VMIN] = 1;
tio.c_cc[VTIME] = 5;
tty_fd = open(tty_dev, O_RDWR | O_NONBLOCK);
cfsetospeed(&tio, B9600); /* baud */
cfsetispeed(&tio, B9600); /* baud */
tcsetattr(tty_fd, TCSANOW, &tio);
pthread_create(&cmd_thread, NULL, CmdThreadProc, NULL);
pthread_create(&comm_thread, NULL, CommThreadProc, NULL);
pthread_create(&intel_thread, NULL, IntelThreadProc, NULL);
pthread_create(&bt_thread, NULL, BTThreadProc, NULL);
pthread_create(&camera_thread, NULL, CameraThreadProc, NULL);
pthread_join(cmd_thread, cmd_thread_status);
pthread_join(comm_thread, &comm_thread_status);
pthread_join(intel_thread, &intel_thread_status);
pthread_join(bt_thread, &bt_thread_status);
pthread_join(camera_thread, &camera_thread_status);
close(tty_fd);
return 0;
}
void list_all_cmds_help(void)
{
struct string_list others = STRING_LIST_INIT_DUP;
struct string_list alias_list = STRING_LIST_INIT_DUP;
struct cmdname_help *aliases;
int i, longest;
printf_ln(_("See 'git help <command>' to read about a specific subcommand"));
print_cmd_by_category(main_categories, &longest);
list_all_other_cmds(&others);
if (others.nr)
printf("\n%s\n", _("External commands"));
for (i = 0; i < others.nr; i++)
printf(" %s\n", others.items[i].string);
string_list_clear(&others, 0);
git_config(get_alias, &alias_list);
string_list_sort(&alias_list);
for (i = 0; i < alias_list.nr; i++) {
size_t len = strlen(alias_list.items[i].string);
if (longest < len)
longest = len;
}
if (alias_list.nr) {
printf("\n%s\n", _("Command aliases"));
ALLOC_ARRAY(aliases, alias_list.nr + 1);
for (i = 0; i < alias_list.nr; i++) {
aliases[i].name = alias_list.items[i].string;
aliases[i].help = alias_list.items[i].util;
aliases[i].category = 1;
}
aliases[alias_list.nr].name = NULL;
print_command_list(aliases, 1, longest);
free(aliases);
}
string_list_clear(&alias_list, 1);
}
void* CmdThreadProc(void* data)
{
char* p;
uint8 state;
uint8 val = 0;
uint8 cmd = 0;
char* cmd_str;
char* val_str;
char input[128];
while (1)
{
printf("cmd: ");
scanf("%s", input);
p = strchr(input, ':');
val_str = cmd_str = NULL;
if (p != NULL)
{
val_str = p + 1;
input[(p - input)] = '\0';
}
cmd_str = input;
cmd = get_command_id(cmd_str);
if (cmd == CMD_UNKNOWN)
{
printf("unknown command!\n");
continue;
}
switch (cmd)
{
case CMD_TEENSY_MODE:
state = get_state_id(val_str);
if (state == STATE_UNKNOWN)
{
printf("unknown mode!\n");
continue;
}
send_command(tty_fd, cmd, state);
break;
case CMD_CHANGE_STATE:
state = get_state_id(val_str);
if (state == STATE_UNKNOWN)
{
printf("unknown state!\n");
continue;
}
send_command(tty_fd, cmd, state);
break;
case CMD_HARD_TURN:
val = get_turn_id(val_str);
if (val == TURN_UNKNOWN)
{
printf("unknown turn!\n");
continue;
}
send_command(tty_fd, cmd, val);
break;
case CMD_SOFT_TURN:
val = get_turn_id(val_str);
if (val == TURN_UNKNOWN)
{
printf("unknown turn!\n");
continue;
}
send_command(tty_fd, cmd, val);
break;
case CMD_SET_DIRECTION:
val = get_move_id(val_str);
if (val == MOVE_UNKNOWN)
{
printf("unknown move direction!\n");
continue;
}
send_command(tty_fd, cmd, val);
break;
case CMD_DIST_CENTER:
val = get_decimal_value(val_str);
send_command(tty_fd, cmd, val);
break;
case CMD_DIST_LEFT:
val = get_decimal_value(val_str);
send_command(tty_fd, cmd, val);
break;
case CMD_DIST_RIGHT:
val = get_decimal_value(val_str);
send_command(tty_fd, cmd, val);
break;
case CMD_SPEED:
val = get_decimal_value(val_str);
send_command(tty_fd, cmd, val);
break;
case CMD_HELP:
val = get_command_id(val_str);
if (val == CMD_UNKNOWN)
{
printf("command syntax: <command>:<value>\n");
print_command_list();
}
else
{
switch (val)
{
case CMD_CHANGE_STATE:
printf("state:<state>, where <state> is one of the following:\n");
printf("nothing, basic, orders, dance.\n");
break;
default:
printf("command syntax: <command>:<value>\n");
print_command_list();
break;
}
}
break;
case CMD_QUIT:
exit(0);
break;
}
}
pthread_exit(NULL);
}
int server(int num_clients, int port)
{
WicServer server;
wic_init_server(&server, port, num_clients);
ClientData* clients = malloc(num_clients * sizeof(ClientData));
for(int i = 0; i < num_clients; i++)
clients[i].joined = false;
Command command;
command.created = false;
pthread_t command_thread;
pthread_create(&command_thread, 0, accept_command, &command);
printf("Type commands below...\n");
WicPacket recv;
WicPacket send;
while(true)
{
if(command.created == true)
{
if(strncmp(command.first_arg, "exit", 4) == 0)
break;
else if(strcmp(command.first_arg, "help") == 0)
print_command_list();
else if(strcmp(command.first_arg, "kick") == 0)
{
ClientData* client = lookup_client(clients, command.second_arg,
num_clients);
if(client == 0)
printf("ERROR: Client %s does not exist\n",
command.second_arg);
else
wic_kick_client(&server, client->client_id);
}
else if(strcmp(command.first_arg, "ban-client") == 0)
{
ClientData* client = lookup_client(clients, command.second_arg,
num_clients);
if(client == 0)
printf("ERROR: Client %s does not exist\n",
command.second_arg);
else
wic_ban_client(&server, client->client_id);
}
else if(strcmp(command.first_arg, "ban-address") == 0)
{
wic_ban_address(&server, command.second_arg);
}
else if(strcmp(command.first_arg, "unban-address") == 0)
{
wic_unban_address(&server, command.second_arg);
}
else if(strcmp(command.first_arg, "ls-clients") == 0)
{
print_clients(clients, num_clients);
}
else
printf("%s '%s'. %s", "ERROR: Invalid command",
command.first_arg, "Type 'help' for command list\n");
command.created = false;
pthread_create(&command_thread, 0, accept_command, &command);
}
enum WicError error = wic_server_recv_packet(&server, &recv);
if(error == WICER_NONE)
{
unsigned char client_id = recv.client_id;
if(recv.type.id == WIC_PACKET_JOIN.id)
{
clients[client_id].joined = true;
clients[client_id].client_id = client_id;
init_entity_manager(&clients[client_id].manager);
printf("client %u joined\n", client_id);
}
if(recv.type.id == PACKET_USERNAME_INFO.id)
{
memcpy(clients[client_id].username, recv.data,
PACKET_USERNAME_INFO.size);
wic_send_packet_to_other_clients(&server, &recv, client_id);
for(unsigned char id = 0; id < num_clients; id++)
{
if(clients[id].joined && id != client_id)
{
send.type = PACKET_USERNAME_INFO;
send.client_id = id;
memcpy(send.data, clients[id].username,
sizeof(clients[id].username));
wic_send_packet_to_client(&server, &send, client_id);
}
}
}
else if(recv.type.id == WIC_PACKET_LEAVE.id)
{
clients[client_id].joined = false;
free_entity_manager(&clients[client_id].manager);
printf("client %u left\n", recv.client_id);
}
else if(recv.type.id == PACKET_UPDT_ENTITY.id)
{
Entity entity;
memcpy(&entity, recv.data, PACKET_UPDT_ENTITY.size);
updt_entity(&clients[client_id].manager, entity);
wic_send_packet_to_other_clients(&server, &recv, client_id);
}
else if(recv.type.id == PACKET_REMV_ENTITY.id)
{
remove_entity(&clients[client_id].manager, recv.data[0]);
wic_send_packet_to_other_clients(&server, &recv, client_id);
}
}
}
printf("Exiting server..\n");
wic_free_server(&server);
return 0;
}
