- Adapted indenation to new agreed upon system
- Added support for second generation scriptcontext based counter
This commit is contained in:
koennecke
550
mumoconf.c
550
mumoconf.c
@ -62,13 +62,13 @@
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Once again, the demands for command evaluation are high. Therefore a
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recursice descent parser.
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*/
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typedef struct __MYTOKEN {
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char *pCommand;
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char *pPtr;
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int iCurrentToken;
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char Token[80];
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} sParser, *psParser;
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typedef struct __MYTOKEN {
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char *pCommand;
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char *pPtr;
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int iCurrentToken;
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char Token[80];
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} sParser, *psParser;
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/* define Token Types */
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#define UNKNOWN 0
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@ -80,295 +80,271 @@
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#define NUMBER 6
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#define ENDCONFIG 7
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/*-------------------------------------------------------------------------*/
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static int GetNextToken(psParser self)
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{
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char *pPtr;
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int i;
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pPtr = self->pPtr;
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/* skip whitespace */
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while( (*pPtr == ' ') || (*pPtr == '\t') )
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{
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pPtr++;
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}
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/*-------------------------------------------------------------------------*/
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static int GetNextToken(psParser self)
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{
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char *pPtr;
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int i;
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/* check for end */
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if( (*pPtr == '\n') || (*pPtr == '\0') || (*pPtr == '\r') )
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{
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self->pPtr = pPtr;
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self->Token[0] = *pPtr;
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self->Token[1] = '\0';
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self->iCurrentToken = END;
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return END;
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}
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pPtr = self->pPtr;
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/* skip whitespace */
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while ((*pPtr == ' ') || (*pPtr == '\t')) {
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pPtr++;
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}
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/* check for end */
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if ((*pPtr == '\n') || (*pPtr == '\0') || (*pPtr == '\r')) {
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self->pPtr = pPtr;
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self->Token[0] = *pPtr;
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self->Token[1] = '\0';
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self->iCurrentToken = END;
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return END;
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}
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/* check equaL SIGN */
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if(*pPtr == '=')
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{
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strcpy(self->Token,"=");
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self->iCurrentToken = EQUALITY;
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self->pPtr = pPtr +1;
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return EQUALITY;
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}
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/* number */
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if( (isdigit((int)*pPtr)) || (*pPtr == '.')
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||(*pPtr == '+') || (*pPtr == '-') )
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{
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i = 0;
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while (isdigit((int)*pPtr) || (*pPtr == '.')
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||(*pPtr == '+') || (*pPtr == '-') )
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{
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self->Token[i] = *pPtr;
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i++;
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pPtr++;
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}
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self->Token[i] = '\0';
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self->iCurrentToken = NUMBER;
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self->pPtr = pPtr;
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return NUMBER;
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}
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/* a Symbol ? */
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if(isalnum((int)*pPtr))
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{
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i = 0;
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while( (!isspace((int)*pPtr)) && (*pPtr != '=')
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&& (*pPtr != '+') && (*pPtr != '-')
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&& (*pPtr != '\0') && (*pPtr != '\n') )
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{
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self->Token[i] = *pPtr;
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i++;
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pPtr++;
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}
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self->Token[i] = '\0';
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self->pPtr = pPtr;
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/* now it can be one of the keywords, a motor or a symbol */
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if(strcmp(self->Token,"alias") == 0)
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{
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self->iCurrentToken = ALIAS;
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return ALIAS;
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}
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else if(strcmp(self->Token,"pos") == 0)
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{
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self->iCurrentToken = POS;
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return POS;
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}
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else if(strcmp(self->Token,"endconfig") == 0)
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{
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self->iCurrentToken = ENDCONFIG;
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return ENDCONFIG;
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}
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else
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{
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self->iCurrentToken = SYMBOL;
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return SYMBOL;
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}
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}
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return UNKNOWN;
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}
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/* check equaL SIGN */
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if (*pPtr == '=') {
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strcpy(self->Token, "=");
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self->iCurrentToken = EQUALITY;
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self->pPtr = pPtr + 1;
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return EQUALITY;
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}
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/* number */
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if ((isdigit((int) *pPtr)) || (*pPtr == '.')
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|| (*pPtr == '+') || (*pPtr == '-')) {
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i = 0;
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while (isdigit((int) *pPtr) || (*pPtr == '.')
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|| (*pPtr == '+') || (*pPtr == '-')) {
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self->Token[i] = *pPtr;
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i++;
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pPtr++;
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}
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self->Token[i] = '\0';
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self->iCurrentToken = NUMBER;
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self->pPtr = pPtr;
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return NUMBER;
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}
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/* a Symbol ? */
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if (isalnum((int) *pPtr)) {
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i = 0;
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while ((!isspace((int) *pPtr)) && (*pPtr != '=')
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&& (*pPtr != '+') && (*pPtr != '-')
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&& (*pPtr != '\0') && (*pPtr != '\n')) {
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self->Token[i] = *pPtr;
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i++;
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pPtr++;
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}
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self->Token[i] = '\0';
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self->pPtr = pPtr;
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/* now it can be one of the keywords, a motor or a symbol */
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if (strcmp(self->Token, "alias") == 0) {
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self->iCurrentToken = ALIAS;
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return ALIAS;
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} else if (strcmp(self->Token, "pos") == 0) {
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self->iCurrentToken = POS;
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return POS;
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} else if (strcmp(self->Token, "endconfig") == 0) {
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self->iCurrentToken = ENDCONFIG;
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return ENDCONFIG;
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} else {
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self->iCurrentToken = SYMBOL;
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return SYMBOL;
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}
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}
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return UNKNOWN;
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}
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/*--------------------------------------------------------------------------
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in this code we need to find a motor for a name quite frequently.......
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*/
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pMotor FindMotor(SicsInterp *pSics, char *name)
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{
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CommandList *pC;
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pMotor pMot;
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pC = FindCommand(pSics,name);
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if(!pC)
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{
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return NULL;
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}
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pMot = (pMotor)pC->pData;
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if(!pMot)
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{
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return NULL;
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}
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if(strcmp(pMot->pDescriptor->name,"Motor") != 0)
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{
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return NULL;
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}
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return pMot;
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pMotor FindMotor(SicsInterp * pSics, char *name)
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{
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CommandList *pC;
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pMotor pMot;
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pC = FindCommand(pSics, name);
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if (!pC) {
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return NULL;
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}
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pMot = (pMotor) pC->pData;
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if (!pMot) {
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return NULL;
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}
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if (strcmp(pMot->pDescriptor->name, "Motor") != 0) {
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return NULL;
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}
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return pMot;
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}
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/*--------------------------------------------------------------------------*/
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int MakeMulti(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[])
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{
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/* this does not do much, just installs the configuration command */
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pMulMot pNew = NULL;
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int iRet;
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char pBueffel[512];
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if(argc < 2)
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{
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SCWrite(pCon,"You need to specify a name for a MultiMotor",eError);
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return 0;
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}
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int MakeMulti(SConnection * pCon, SicsInterp * pSics, void *pData,
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int argc, char *argv[])
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{
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/* this does not do much, just installs the configuration command */
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pMulMot pNew = NULL;
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int iRet;
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char pBueffel[512];
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/* check rights */
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if(!SCMatchRights(pCon,usMugger))
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{
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SCWrite(pCon,"ERROR: you are not permitted to do this",eError);
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return 0;
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}
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pNew = MakeMultiMotor();
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if(!pNew)
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{
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SCWrite(pCon,"No Memory for creating MultiMot",eError);
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return 0;
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}
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pNew->name = strdup(argv[1]);
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iRet = AddCommand(pSics,argv[1],ConfigMulti,NULL,pNew);
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if(!iRet)
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{
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sprintf(pBueffel,"ERROR: duplicate command %s not created",argv[2]);
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SCWrite(pCon,pBueffel,eError);
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return 0;
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}
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return 1;
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}
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/*-------------------------------------------------------------------------*/
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static int ParseAlias(SicsInterp *pSics,psParser pPP, pMulMot self, SConnection *pCon)
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{
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int iToken;
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char pError[132];
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pMotor pMot;
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/* next token should be a motor name */
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iToken = GetNextToken(pPP);
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if(iToken != SYMBOL)
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{
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sprintf(pError,"ERROR: Token %s not recognized in MulMot alias",
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pPP->Token);
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SCWrite(pCon,pError,eError);
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return 0;
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}
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/* try find the motor and verify that it is a motor */
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pMot = FindMotor(pSics,pPP->Token);
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if(!pMot)
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{
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sprintf(pError,"ERROR: Motor %s not found, no alias created",
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pPP->Token);
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SCWrite(pCon,pError,eError);
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return 0;
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}
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/* now pMot holds all info ever needed about the motor */
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/* the next Token should be a symbol giving the alias */
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iToken = GetNextToken(pPP);
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if(iToken == EQUALITY) /* tolerate Equality */
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{
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iToken = GetNextToken(pPP);
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}
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if(iToken != SYMBOL)
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{
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sprintf(pError,"ERROR: Token %s not recognized in MulMot alias",
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pPP->Token);
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SCWrite(pCon,pError,eError);
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return 0;
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}
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/* now we have all that is ever needed to create an alias. We have done
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so much work in order to get here, that it will be done, here and
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now!
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*/
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StringDictAddPair(self->pAlias,pPP->Token,pMot->name);
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return 1;
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}
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/*-------------------------------------------------------------------------*/
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static int ParsePos(SicsInterp *pSics,psParser pPP,
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pMulMot self, SConnection *pCon)
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{
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pMotor pMot = NULL;
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char pError[132];
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int iToken;
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float fVal;
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iToken = GetNextToken(pPP);
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if(iToken != SYMBOL) /* we want a name here */
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{
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sprintf(pError,"ERROR: Invalid Token %s in ParsePos",pPP->Token);
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SCWrite(pCon,pError,eError);
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return 0;
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}
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/* The rest of the stuff should be the motors to drive until
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we are there
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*/
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StringDictAddPair(self->pNamPos,pPP->Token,pPP->pPtr);
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return 1;
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}
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/*--------------------------------------------------------------------------*/
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int ConfigMulti(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[])
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{
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pMulMot self;
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char pBueffel[512];
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char pError[132];
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int i, iToken, iRet;
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sParser PP;
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CommandList *pCom = NULL;
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assert(pCon);
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assert(pSics);
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assert(pData);
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self = (pMulMot)pData;
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iRet = Arg2Text(argc,argv,pBueffel,511);
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if(!iRet)
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{
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sprintf(pBueffel,"Argument string to long for %s configuration",argv[0]);
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SCWrite(pCon,pBueffel,eError);
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return 0;
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}
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strtolower(pBueffel);
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||||
/* first token is name, ignore */
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PP.pCommand = pBueffel;
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||||
PP.pPtr = pBueffel;
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iToken = GetNextToken(&PP);
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iToken = GetNextToken(&PP);
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||||
while(iToken != END)
|
||||
{
|
||||
switch(iToken)
|
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{
|
||||
case END:
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||||
return 1; /* ignored */
|
||||
break;
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||||
case ENDCONFIG:
|
||||
/* reconfigure command to final state */
|
||||
pCom = FindCommand(pSics,argv[0]);
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||||
assert(pCom != NULL);
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||||
pCom->OFunc = MultiWrapper;
|
||||
pCom->KFunc = KillMultiMotor;
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||||
return 1;
|
||||
break;
|
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case ALIAS:
|
||||
return ParseAlias(pSics,&PP,self,pCon);
|
||||
break;
|
||||
case POS:
|
||||
return ParsePos(pSics,&PP,self,pCon);
|
||||
break;
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default:
|
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sprintf(pError,"ERROR: Invalid Token %s found in %s",
|
||||
PP.Token, argv[0]);
|
||||
SCWrite(pCon,pBueffel,eError);
|
||||
return 0;
|
||||
}
|
||||
iToken = GetNextToken(&PP);
|
||||
}
|
||||
/* should never end here */
|
||||
sprintf(pError,"ERROR: %s was NOT understood in mumoconf",pBueffel);
|
||||
SCWrite(pCon,pError,eError);
|
||||
if (argc < 2) {
|
||||
SCWrite(pCon, "You need to specify a name for a MultiMotor", eError);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
/* check rights */
|
||||
if (!SCMatchRights(pCon, usMugger)) {
|
||||
SCWrite(pCon, "ERROR: you are not permitted to do this", eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
pNew = MakeMultiMotor();
|
||||
if (!pNew) {
|
||||
SCWrite(pCon, "No Memory for creating MultiMot", eError);
|
||||
return 0;
|
||||
}
|
||||
pNew->name = strdup(argv[1]);
|
||||
iRet = AddCommand(pSics, argv[1], ConfigMulti, NULL, pNew);
|
||||
if (!iRet) {
|
||||
sprintf(pBueffel, "ERROR: duplicate command %s not created", argv[2]);
|
||||
SCWrite(pCon, pBueffel, eError);
|
||||
return 0;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
/*-------------------------------------------------------------------------*/
|
||||
static int ParseAlias(SicsInterp * pSics, psParser pPP, pMulMot self,
|
||||
SConnection * pCon)
|
||||
{
|
||||
int iToken;
|
||||
char pError[132];
|
||||
pMotor pMot;
|
||||
|
||||
/* next token should be a motor name */
|
||||
iToken = GetNextToken(pPP);
|
||||
if (iToken != SYMBOL) {
|
||||
sprintf(pError, "ERROR: Token %s not recognized in MulMot alias",
|
||||
pPP->Token);
|
||||
SCWrite(pCon, pError, eError);
|
||||
return 0;
|
||||
}
|
||||
/* try find the motor and verify that it is a motor */
|
||||
pMot = FindMotor(pSics, pPP->Token);
|
||||
if (!pMot) {
|
||||
sprintf(pError, "ERROR: Motor %s not found, no alias created",
|
||||
pPP->Token);
|
||||
SCWrite(pCon, pError, eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* now pMot holds all info ever needed about the motor */
|
||||
/* the next Token should be a symbol giving the alias */
|
||||
iToken = GetNextToken(pPP);
|
||||
if (iToken == EQUALITY) { /* tolerate Equality */
|
||||
iToken = GetNextToken(pPP);
|
||||
}
|
||||
if (iToken != SYMBOL) {
|
||||
sprintf(pError, "ERROR: Token %s not recognized in MulMot alias",
|
||||
pPP->Token);
|
||||
SCWrite(pCon, pError, eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* now we have all that is ever needed to create an alias. We have done
|
||||
so much work in order to get here, that it will be done, here and
|
||||
now!
|
||||
*/
|
||||
StringDictAddPair(self->pAlias, pPP->Token, pMot->name);
|
||||
return 1;
|
||||
}
|
||||
|
||||
/*-------------------------------------------------------------------------*/
|
||||
static int ParsePos(SicsInterp * pSics, psParser pPP,
|
||||
pMulMot self, SConnection * pCon)
|
||||
{
|
||||
pMotor pMot = NULL;
|
||||
char pError[132];
|
||||
int iToken;
|
||||
float fVal;
|
||||
|
||||
iToken = GetNextToken(pPP);
|
||||
if (iToken != SYMBOL) { /* we want a name here */
|
||||
sprintf(pError, "ERROR: Invalid Token %s in ParsePos", pPP->Token);
|
||||
SCWrite(pCon, pError, eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* The rest of the stuff should be the motors to drive until
|
||||
we are there
|
||||
*/
|
||||
StringDictAddPair(self->pNamPos, pPP->Token, pPP->pPtr);
|
||||
return 1;
|
||||
}
|
||||
|
||||
/*--------------------------------------------------------------------------*/
|
||||
int ConfigMulti(SConnection * pCon, SicsInterp * pSics, void *pData,
|
||||
int argc, char *argv[])
|
||||
{
|
||||
pMulMot self;
|
||||
char pBueffel[512];
|
||||
char pError[132];
|
||||
int i, iToken, iRet;
|
||||
sParser PP;
|
||||
CommandList *pCom = NULL;
|
||||
|
||||
assert(pCon);
|
||||
assert(pSics);
|
||||
assert(pData);
|
||||
|
||||
self = (pMulMot) pData;
|
||||
|
||||
iRet = Arg2Text(argc, argv, pBueffel, 511);
|
||||
if (!iRet) {
|
||||
sprintf(pBueffel, "Argument string to long for %s configuration",
|
||||
argv[0]);
|
||||
SCWrite(pCon, pBueffel, eError);
|
||||
return 0;
|
||||
}
|
||||
strtolower(pBueffel);
|
||||
|
||||
/* first token is name, ignore */
|
||||
PP.pCommand = pBueffel;
|
||||
PP.pPtr = pBueffel;
|
||||
iToken = GetNextToken(&PP);
|
||||
iToken = GetNextToken(&PP);
|
||||
while (iToken != END) {
|
||||
switch (iToken) {
|
||||
case END:
|
||||
return 1; /* ignored */
|
||||
break;
|
||||
case ENDCONFIG:
|
||||
/* reconfigure command to final state */
|
||||
pCom = FindCommand(pSics, argv[0]);
|
||||
assert(pCom != NULL);
|
||||
pCom->OFunc = MultiWrapper;
|
||||
pCom->KFunc = KillMultiMotor;
|
||||
return 1;
|
||||
break;
|
||||
case ALIAS:
|
||||
return ParseAlias(pSics, &PP, self, pCon);
|
||||
break;
|
||||
case POS:
|
||||
return ParsePos(pSics, &PP, self, pCon);
|
||||
break;
|
||||
default:
|
||||
sprintf(pError, "ERROR: Invalid Token %s found in %s",
|
||||
PP.Token, argv[0]);
|
||||
SCWrite(pCon, pBueffel, eError);
|
||||
return 0;
|
||||
}
|
||||
iToken = GetNextToken(&PP);
|
||||
}
|
||||
/* should never end here */
|
||||
sprintf(pError, "ERROR: %s was NOT understood in mumoconf", pBueffel);
|
||||
SCWrite(pCon, pError, eError);
|
||||
return 0;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user