private bool IsValidInput(Module source, string s)
{
Command cmd;
Response rsp;
if ((Response.IsResponse(s) && Response.TryParse(s, source, out rsp)) ||
Command.IsCommand(s) && Command.TryParse(s, source, out cmd))
{
return(true);
}
return(false);
}
private void Inject()
{
Module source;
Command cmd;
Response rsp;
string[] inputs;
HistoryToken token;
if ((source = (Module)cbModules.SelectedItem) == null)
{
return;
}
inputs = BulkMode ?
txtMessage.Text.Split(separators, StringSplitOptions.RemoveEmptyEntries) :
new string[] { txtMessage.Text.Trim() };
foreach (string input in inputs)
{
//blackboard.Inject(source.Name + " " + input);
token = null;
if (Response.IsResponse(input) && Response.TryParse(input, source, out rsp))
{
token = new HistoryToken(rsp);
}
else if (Command.IsCommand(input) && Command.TryParse(input, source, out cmd))
{
token = new HistoryToken(cmd);
}
if (token == null)
{
blackboard.Inject(source.Name + " " + input);
continue;
}
blackboard.Inject(token.StringToInject);
AddHystoryToken(token);
}
txtMessage.Clear();
}
/// <summary>
/// Generates a Prototypes Response which includes all the prototypes for this module
/// </summary>
/// <param name="baseCommand">A Command object used to generate the response</param>
/// <param name="preAppendModuleName">indicates if the name of the module will be pre-appended</param>
/// <returns>A Response which includes all the prototypes for this module</returns>
protected Response GetPrototypesResponse(Command baseCommand, bool preAppendModuleName)
{
return GetPrototypesResponse(baseCommand, this.name, preAppendModuleName);
}
/// <summary>
/// Converts the string representation of a command to a Command object.
/// A return value indicates whether the conversion succeded or not.
/// </summary>
/// <param name="s">A string containing the command to convert</param>
/// <param name="source">The module which sent the command</param>
/// <param name="destination">The destination module for the command</param>
/// <param name="cmd">When this method returns, contains the Command equivalent to the command
/// contained in s, if the conversion succeeded, or null if the conversion failed.
/// The conversion fails if the s parameter is a null reference (Nothing in Visual Basic) or is not of the correct format.
/// This parameter is passed uninitialized</param>
/// <param name="ex">When this method returns, contains the Exception generated during the parse operation,
/// if the conversion failed, or null if the conversion succeeded. The conversion fails if the s parameter
/// is a null reference (Nothing in Visual Basic) or is not of the correct format.
/// This parameter is passed uninitialized</param>
/// <returns>true if conversion was successfull, false otherwise</returns>
protected static bool TryParse(string s, Module source, Module destination, out Command cmd, out Exception ex)
{
Regex rx;
Match m;
Prototype proto;
string sCommand;
string sParams;
string sId;
int id;
cmd = null;
ex = null;
// Module Validation
if (source.Parent != destination.Parent)
{
ex = new Exception("Source and destination modules does not belong to the same blackboard");
return false;
}
// Regular Expresion Generation
rx = rxCommandFromSrcDest;
m = rx.Match(s);
// Check if input string matchs Regular Expression
if (!m.Success)
{
ex = new ArgumentException("Invalid String", "s");
return false;
}
// Extract Data
sCommand = m.Result("${cmd}").ToLower();
sParams = m.Result("${params}");
sId = m.Result("${id}");
if ((sId == null) || (sId.Length < 1)) id = -1;
else id = Int32.Parse(sId);
// Browse for an adequate prototype
proto = null;
for (int i = 0; i < destination.Prototypes.Count; ++i)
{
if (destination.Prototypes[i].Command == sCommand)
{
proto = destination.Prototypes[i];
break;
}
}
// Check if command matchs a prototype. If no prototype found, asume redirection
if ((proto != null) && proto.ParamsRequired && ((sParams == null) || (sParams.Length < 1)))
{
ex = new Exception("Invalid string. The Command requires parameters");
return false;
}
// Create the Command
cmd = new Command(source, destination, sCommand, sParams, id);
cmd.prototype = proto;
cmd.sentTime = DateTime.Now;
return true;
}
/// <summary>
/// Converts the string representation of a command to a Command object.
/// A return value indicates whether the conversion succeded or not.
/// </summary>
/// <param name="s">A string containing the command to convert</param>
/// <param name="localEndpoint">The remote endpoint source of the string</param>
/// <param name="destination">The module which received the command</param>
/// <param name="cmd">When this method returns, contains the Command equivalent to the command
/// contained in s, if the conversion succeeded, or null if the conversion failed.
/// The conversion fails if the s parameter is a null reference (Nothing in Visual Basic) or is not of the correct format.
/// This parameter is passed uninitialized</param>
/// <param name="ex">When this method returns, contains the Exception generated during the parse operation,
/// if the conversion failed, or null if the conversion succeeded. The conversion fails if the s parameter
/// is a null reference (Nothing in Visual Basic) or is not of the correct format.
/// This parameter is passed uninitialized</param>
/// <returns>A command object that represents the command contained in s</returns>
protected static bool TryParse(string s, System.Net.IPEndPoint localEndpoint, ModuleServer destination, out Command cmd, out Exception ex)
{
Regex rx;
Match m;
Prototype proto;
//Module source;
//Module destination;
IModule src;
IModule dest;
string sCommand;
string sParams;
string sSrc;
string sDest;
string sId;
int id;
cmd = null;
ex = null;
// Regular Expresion Generation
rx = rxCommandFromEndpoint;
m = rx.Match(s);
// Check if input string matchs Regular Expression
if (!m.Success)
{
ex = new ArgumentException("Invalid String", "s");
return false;
}
// Extract Data
sCommand = m.Result("${cmd}").ToLower();
if (!destination.SupportCommand(sCommand))
{
ex = new Exception("Unsupported command provided");
return false;
}
sParams = m.Result("${params}");
sId = m.Result("${id}");
sSrc = m.Result("${src}");
sDest = m.Result("${dest}");
if ((sId == null) || (sId.Length < 1)) id = -1;
else id = Int32.Parse(sId);
// When at least one module is specified...
if ((sSrc != null) && (sSrc.Length > 0))
{
// If only one module is specified, there is two options:
// the specified module is this (and we dont know the source module) or
// the specified module is the source module
if ((sDest == null) || (sDest.Length < 1))
{
if (sSrc == destination.Name) dest = destination;
else src = new Module(sSrc, localEndpoint.Address, localEndpoint.Port);
}
// If both, source and destination module are specified, since there is no
// way of get the source module, a new one is created.
// However its necesary to check if this is the apropiate destination module
else
{
if (sDest != destination.Name) throw new Exception("Invalid destination module");
dest = destination;
src = new Module(sSrc, localEndpoint.Address, localEndpoint.Port);
}
}
// If no module is specified, then its set to null
src = null;
// Browse for an adequate prototype
proto = destination.Prototypes[sCommand];
// Check if command matchs a prototype
if ((proto != null) && proto.ParamsRequired && ((sParams == null) || (sParams.Length < 1)))
{
ex = new Exception("Invalid string. The Command requires parameters");
return false;
}
// Create the Command
cmd = new Command(src, destination, sCommand, sParams, id);
cmd.prototype = proto;
cmd.sentTime = DateTime.Now;
return true;
}
/// <summary>
/// Converts the string representation of a command to a Command object.
/// A return value indicates whether the conversion succeded or not.
/// </summary>
/// <param name="s">A string containing the command to convert</param>
/// <param name="blackboard">A blackboard which contains all information about modules</param>
/// <param name="command">When this method returns, contains the Command equivalent to the command
/// contained in s, if the conversion succeeded, or null if the conversion failed.
/// The conversion fails if the s parameter is a null reference (Nothing in Visual Basic) or is not of the correct format.
/// This parameter is passed uninitialized</param>
/// <returns>true if conversion was successfull, false otherwise</returns>
public static bool TryParse(string s, Blackboard blackboard, out Command command)
{
Exception ex;
return TryParse(s, blackboard, out command, out ex);
}
/// <summary>
/// Converts the string representation of a command to a Command object.
/// A return value indicates whether the conversion succeded or not.
/// </summary>
/// <param name="s">A string containing the command to convert</param>
/// <param name="source">The module which sent the command</param>
/// <param name="destination">The destination module for the command</param>
/// <param name="cmd">When this method returns, contains the Command equivalent to the command
/// contained in s, if the conversion succeeded, or null if the conversion failed.
/// The conversion fails if the s parameter is a null reference (Nothing in Visual Basic) or is not of the correct format.
/// This parameter is passed uninitialized</param>
/// <param name="ex">When this method returns, contains the Exception generated during the parse operation,
/// if the conversion failed, or null if the conversion succeeded. The conversion fails if the s parameter
/// is a null reference (Nothing in Visual Basic) or is not of the correct format.
/// This parameter is passed uninitialized</param>
/// <returns>true if conversion was successfull, false otherwise</returns>
protected static bool TryParse(string s, ModuleClient source, ModuleClient destination, out Command cmd, out Exception ex)
{
IPrototype proto;
string sCommand;
string sParams;
int result;
int id;
cmd = null;
ex = null;
// Module Validation
if (source.Parent != destination.Parent)
{
ex = new Exception("Source and destination modules does not belong to the same blackboard");
return false;
}
// Extract Data
CommandBase.XtractCommandElements(s, out sCommand, out sParams, out result, out id);
if ((sCommand == null) || (result != -1))
{
ex = new ArgumentException("Invalid String", "s");
return false;
}
// Browse for an adequate prototype
proto = null;
if (destination.Prototypes.Contains(sCommand))
proto = destination.Prototypes[sCommand];
// Check if command matchs a prototype. If no prototype found, asume redirection
if ((proto != null) && proto.ParamsRequired && ((sParams == null) || (sParams.Length < 1)))
{
ex = new Exception("Invalid string. The Command requires parameters");
return false;
}
// Create the Command
cmd = new Command(source, destination, sCommand, sParams, id);
cmd.prototype = proto;
cmd.sentTime = DateTime.Now;
return true;
}
/// <summary>
/// Finds the first suitable response in a response array. If not found returns null
/// </summary>
/// <param name="responses">A Response array to search in</param>
/// <param name="command">The command for which response to search</param>
/// <param name="heuristic">Indicates if use a heuristic to find the most adequate response. Set value to false to find only perfect matches</param>
/// <returns>Returns the first suitable Response if found. If not, returns null</returns>
public Response FindResponse(Command command, Response[] responses, bool heuristic)
{
if (responses.Length == 0) return null;
// Candidates to be a response for provided command
List<ResponseCandidate> candidates;
Response r;
int affinity = 0;
candidates = new List<ResponseCandidate>(responses.Length);
// Search for all suitable candidates
for (int i = 0; i < responses.Length; ++i)
{
// Check if suitable...
if ((responses[i].Source == command.Destination) && (responses[i].Command == command.Command))
{
// If is the most suitable, then return it
if (command.IsMatch(responses[i]))
return responses[i];
if (heuristic && Command.IsMatch(command, responses[i], out affinity))
candidates.Add(new ResponseCandidate(command, responses[i], affinity));
}
}
// Heuristic: Sort by affinity
if (!heuristic || (candidates.Count == 0))
return null;
candidates.Sort();
//r = candidates[0].Response;
r = candidates[0].Response;
// The selected one is modified. The condition is always true, but its added by security
if (r.Destination == null) r.Destination = command.Source;
try
{
command.Response = r;
}
catch (Exception ex)
{
Log.WriteLine(6, "Error while searching for adequate response");
Log.WriteLine(6, "\tCommand: " + command.ToString());
Log.WriteLine(6, "\tResponse: " + r.ToString());
Log.WriteLine(6, "Error: " + ex.ToString());
}
if (r.Source is ModuleClient)
((ModuleClient)r.Source).Unlock(r);
return r;
}
/// <summary>
/// Creates a response from a command data
/// </summary>
/// <param name="command">The command to use as base for the response</param>
/// <param name="failReason">the reason for which command has failed</param>
/// <returns>A generic response for the command with same parameters</returns>
public static Response CreateFromCommand(Command command, ResponseFailReason failReason)
{
Response response = new Response();
response.commandResponded = command;
response.source = command.Destination;
response.destination = command.Source;
response.command = command.Command;
response.parameters = command.Parameters;
response.id = command.Id;
response.failReason = failReason;
response.success = (failReason == ResponseFailReason.None);
response.prototype = command.Prototype;
if (command.SentTime >= DateTime.Now)
response.arrivalTime = command.SentTime.AddMilliseconds(5);
response.arrivalTime = DateTime.Now;
return response;
}
/// <summary>
/// Executes a read_var command.
/// Requests the blackboard to send the content of a stored a variable
/// </summary>
/// <param name="command">Command to execute</param>
protected virtual void ReadVarCommand(Command command)
{
string varName;
string varType;
SharedVariable variable;
SharedVariableCollection sharedVariables = this.Parent.VirtualModule.SharedVariables;
Match match = SharedVariable.RxReadSharedVariableValidator.Match(command.Parameters);
if (!match.Success)
{
SendResponse(command, false);
this.Parent.Log.WriteLine(7, this.Name + ": attempt to read variable failed. Command is not well formed");
return;
}
varName = match.Result("${name}");
varType = match.Result("${type}");
if (!sharedVariables.Contains(varName))
{
SendResponse(command, false);
this.Parent.Log.WriteLine(7, this.Name + ": attempt to read variable " + varName + " failed (variable does not exist)");
return;
}
variable = sharedVariables[varName];
if ((variable.Type != "var") && !String.IsNullOrEmpty(varType) && (varType != variable.Type))
{
SendResponse(command, false);
this.Parent.Log.WriteLine(7, this.Name + ": attempt to read variable " + varName + " failed (type mismatch)");
}
else
{
command.Parameters = variable.StringToSend;
SendResponse(command, true);
if (this.Parent.Log.VerbosityTreshold < 3)
this.Parent.Log.WriteLine(2, this.Name + ": readed variable " + varName);
else
this.Parent.Log.WriteLine(3, this.Name + ": readed variable " + varName + " with " + Clamper.Clamp(command.StringToSend, 256));
}
}
/// <summary>
/// Executes a Prototypes command.
/// Requests the blackboard to update the protype list of this module or requests the prototype list of another
/// </summary>
/// <param name="command">Command to execute</param>
protected void PrototypesCommand(Command command)
{
if (!command.HasParams)
return;
Response rsp;
if (this.parent.Modules.Contains(command.Parameters))
rsp = GetPrototypesResponse(command, command.Parameters, true);
else
{
ParsePrototypeList(command.Parameters);
rsp = GetPrototypesResponse(command, false);
}
if (rsp != null)
Send(rsp);
}
/// <summary>
/// Parses a received command
/// </summary>
/// <param name="command">Command to parse</param>
protected virtual void ParseCommand(Command command)
{
switch (command.Command)
{
case "create_var":
CreateVarCommand(command);
break;
case "list_vars":
ListVarsCommand(command);
break;
case "prototypes":
PrototypesCommand(command);
break;
case "read_var":
ReadVarCommand(command);
break;
case "read_vars":
ReadVarsCommand(command);
break;
case "stat_var":
StatVarCommand(command);
break;
//case "suscribe_var":
//case "subscribe_var":
// SubscribeVarCommand(command);
// break;
case "write_var":
WriteVarCommand(command);
break;
default:
OnCommandReceived(command);
break;
}
}
/// <summary>
/// Rises the CommandReceived event
/// </summary>
/// <param name="c">Command received</param>
protected void OnCommandReceived(Command c)
{
try
{
if (this.CommandReceived != null)
this.CommandReceived(this, c);
}
catch { }
}
/// <summary>
/// Executes a list_vars command.
/// Requests the blackboard to send the list of shared variables
/// </summary>
/// <param name="command">Command to execute</param>
protected virtual void ListVarsCommand(Command command)
{
command.Parameters = this.Parent.VirtualModule.SharedVariables.NameList;
SendResponse(command, true);
}
/// <summary>
/// Generates a Prototypes Response which includes all the prototypes for this module
/// </summary>
/// <param name="baseCommand">A Command object used to generate the response</param>
/// <param name="moduleName">The name of the module from which prototypes will be fetched</param>
/// <param name="preAppendModuleName">indicates if the name of the module will be pre-appended</param>
/// <returns>A Response which includes all the prototypes for this module</returns>
protected Response GetPrototypesResponse(Command baseCommand, string moduleName, bool preAppendModuleName)
{
if ((baseCommand == null) || !this.parent.Modules.Contains(moduleName))
return null;
ushort flags = 0;
Response rsp= Response.CreateFromCommand(baseCommand, true);
System.Text.StringBuilder sb = new System.Text.StringBuilder();
IModuleClient module = this.parent.Modules[moduleName];
IPrototype[] aProto;
if (module.Prototypes is PrototypeCollection)
aProto = ((PrototypeCollection)(module.Prototypes)).ToArray(false);
else
aProto = module.Prototypes.ToArray();
if (preAppendModuleName)
{
sb.Append(moduleName);
sb.Append(' ');
}
foreach (IPrototype proto in aProto)
{
sb.Append(proto.Command);
sb.Append(' ');
flags = (ushort)(proto.Priority & 0xFF);
if (proto.ResponseRequired) flags |= 0x0100;
if (proto.ParamsRequired) flags |= 0x0200;
sb.Append(flags);
sb.Append(' ');
sb.Append(proto.Timeout);
sb.Append(' ');
}
if (sb.Length > 0)
--sb.Length;
rsp.Parameters = sb.ToString();
return rsp;
}
/// <summary>
/// Executes a read_var command.
/// Requests the blackboard to send the content of a stored a variable
/// </summary>
/// <param name="command">Command to execute</param>
protected virtual void ReadVarsCommand(Command command)
{
int count;
System.Text.StringBuilder sb;
char[] separator ={ ' ', '\t', ',' };
string[] varNames;
SharedVariableCollection sharedVariables = this.Parent.VirtualModule.SharedVariables;
Match match = SharedVariable.RxReadMultipleSharedVariableValidator.Match(command.Parameters);
if (!match.Success)
{
SendResponse(command, false);
this.Parent.Log.WriteLine(7, this.Name + ": attempt to read multiple variables failed. Command is not well formed");
return;
}
count = 0;
sb = new System.Text.StringBuilder(4096);
varNames = match.Result("${names}").Split(separator, StringSplitOptions.RemoveEmptyEntries);
foreach (string varName in varNames)
{
if (!sharedVariables.Contains(varName))
{
this.Parent.Log.WriteLine(7, this.Name + ": attempt to read variable " + varName + " failed (the specified variable does not exist)");
continue;
}
++count;
sb.Append(sharedVariables[varName].StringToSend);
}
if(count ==0)
{
SendResponse(command, false);
this.Parent.Log.WriteLine(7, this.Name + ": attempt to read multiple variables failed (none of the specified variables exist)");
}
else
{
command.Parameters = sb.ToString();
SendResponse(command, true);
if (this.Parent.Log.VerbosityTreshold < 3)
this.Parent.Log.WriteLine(2, this.Name + ": read of multiple variables succeeded");
else
this.Parent.Log.WriteLine(3, this.Name + ": readed multiple variables with " + Clamper.Clamp(command.StringToSend, 256));
}
}
/// <summary>
/// Send a response using a command as base
/// </summary>
/// <param name="command">Base command</param>
/// <param name="success">true if command succeded, false otherwise</param>
protected virtual void SendResponse(Command command, bool success)
{
if (ResponseReceived == null) return;
Response response = Response.CreateFromCommand(command, success);
response.FailReason = ResponseFailReason.None;
Send(response);
}
/// <summary>
/// Finds the perfect match response in a response array. If not found returns null
/// </summary>
/// <param name="responses">A Response array to search in</param>
/// <param name="command">The command for which response to search</param>
/// <returns>Returns the perfect match Response if found. If not, returns null</returns>
public Response FindResponse(Command command, Response[] responses)
{
return FindResponse(command, responses, false);
}
/// <summary>
/// Gets all the information related to a shared variable
/// </summary>
/// <param name="command">Command to execute</param>
protected virtual void StatVarCommand(Command command)
{
Robotics.API.SharedVariableInfo svInfo;
string serialized;
string varName = command.Parameters;
if (!parent.VirtualModule.SharedVariables.Contains(varName))
{
SendResponse(command, false);
this.Parent.Log.WriteLine(7, this.Name + ": attempt to get status of variable " + varName + " failed (variable does not exist)");
return;
}
svInfo = parent.VirtualModule.SharedVariables[varName].GetInfo();
if (!Robotics.API.SharedVariableInfo.Serialize(svInfo, out serialized))
{
SendResponse(command, false);
this.Parent.Log.WriteLine(7, this.Name + ": attempt to get status of variable " + varName + " failed (serialization error)");
return;
}
command.Parameters = serialized;
SendResponse(command, true);
this.Parent.Log.WriteLine(7, this.Name + ": status of variable " + varName + " obtained successfully");
}
/// <summary>
/// Raises the ResponseRedirected event
/// </summary>
/// <param name="command">Command tried to be executed</param>
/// <param name="response">Response to command redirected</param>
/// <param name="sendResponseSuccess">Indicates if the response was sent successfully</param>
protected virtual void OnResponseRedirected(Command command, Response response, bool sendResponseSuccess)
{
if ((ResponseRedirected != null) && (command != null) && (command.Source != VirtualModule) && (command.Destination != VirtualModule))
ResponseRedirected(command, response, sendResponseSuccess);
}
/// <summary>
/// Executes a write_var command.
/// Requests the blackboard to write to a stored a variable the content provided
/// </summary>
/// <param name="command">Command to execute</param>
protected virtual void WriteVarCommand(Command command)
{
SharedVariableCollection sharedVariables = this.Parent.VirtualModule.SharedVariables;
Match match;
string varType;
string varName;
string varData;
string sArraySize;
int arraySize;
bool result;
bool isArray = false;
string parameters;
parameters = command.Parameters;
if ((parameters[0] == '{') && (parameters[parameters.Length - 1] == '}'))
parameters = parameters.Substring(1, parameters.Length - 2);
match = SharedVariable.RxWriteSharedVariableValidator.Match(parameters);
if (!match.Success)
{
SendResponse(command, false);
this.Parent.Log.WriteLine(7, this.Name + ": attempt to write variable failed");
return;
}
varName = match.Result("${name}");
varType = match.Result("${type}");
varData = match.Result("${data}");
arraySize = -1;
if (String.IsNullOrEmpty(varType))
varType = "var";
if (!String.IsNullOrEmpty(match.Result("${array}")))
{
isArray = true;
sArraySize = match.Result("${size}");
if (!String.IsNullOrEmpty(sArraySize))
arraySize = Int32.Parse(sArraySize);
}
if(isArray)
parameters = "{ " + varType + "[" + (arraySize != -1 ? arraySize.ToString() : String.Empty) + "]" + " " + varName + " }";
else
parameters = "{ " + varType + " " + varName + " }";
command.Parameters = parameters;
if (!sharedVariables.Contains(varName))
{
SendResponse(command, false);
this.Parent.Log.WriteLine(7, this.Name + ": attempt to write variable " + varName + " failed (variable does not exist)");
return;
}
result = sharedVariables[varName].WriteStringData(command.Source, varType, arraySize, varData);
SendResponse(command, result);
if (this.Parent.Log.VerbosityTreshold < 3)
this.Parent.Log.WriteLine(2, this.Name + ": written variable " + varName);
else
this.Parent.Log.WriteLine(3, this.Name + ": written variable " + varName + " with " + Clamper.Clamp(command.StringToSend, 256));
}
/// <summary>
/// Gets a value indicating if provided Response is a response for provided command and calculates the afinity between them
/// </summary>
/// <param name="command">Command to check with</param>
/// <param name="response">Response to check</param>
/// <param name="afinity">An integer that represents how much compatible are the command and response provided.
/// A Zero value indicates the most high afinity between them. This parameter is passed uninitialized.</param>
/// <returns>true if provided Response is a response for command, false otherwise</returns>
public static bool IsMatch(Command command, Response response, out int afinity)
{
// This one is if the response destination is known
afinity = 0;
bool result = false;
if (response.Destination != null)
{
result = (command.Source == response.Destination)
&& (command.Destination == response.Source)
&& (command.Command == response.Command)
&& (command.SentTime <= response.ArrivalTime);
//if((command.Id != -1) && (response.Id != -1) && (command.Id != response.Id)) ++afinity;
if (command.Id != response.Id) ++afinity;
if (command.parameters != response.Parameters) ++afinity;
}
else
{
++afinity;
result = (command.Destination == response.Source)
&& (command.Command == response.Command)
&& (command.SentTime <= response.ArrivalTime);
//if((command.Id != -1) && (response.Id != -1) && (command.Id != response.Id)) ++afinity;
if (command.Id != response.Id) ++afinity;
if (command.parameters != response.Parameters) ++afinity;
}
// This one is for search for an adequate command-response match
return result;
}
/// <summary>
/// Marks the module as Busy and adds the command to list of blocking commands
/// </summary>
/// <param name="command"></param>
private void Lock(Command command)
{
lockList.Add(command);
Busy = true;
}
/// <summary>
/// Converts the string representation of a command to a Command object.
/// A return value indicates whether the conversion succeded or not.
/// </summary>
/// <param name="s">A string containing the command to convert</param>
/// <param name="source">The module which sent the command</param>
/// <param name="destination">The destination module for the command</param>
/// <param name="command">When this method returns, contains the Command equivalent to the command
/// contained in s, if the conversion succeeded, or null if the conversion failed.
/// The conversion fails if the s parameter is a null reference (Nothing in Visual Basic) or is not of the correct format.
/// This parameter is passed uninitialized</param>
/// <returns>true if conversion was successfull, false otherwise</returns>
public static bool TryParse(string s, ModuleClient source, ModuleClient destination, out Command command)
{
Exception ex;
return TryParse(s, source, destination, out command, out ex);
}
/// <summary>
/// Check if given Command object matches a control command/response
/// </summary>
/// <param name="cmd">Command object to check</param>
/// <returns>true if given CommandBase object is control command/, false otherwise</returns>
public static bool IsControlCommand(Command cmd)
{
//return Regex.IsMatch(cmd.StringToSend, @"^(" + RxControlCommandNames + @")(\s+@\d+)?$") && !cmd.HasParams;
return rxControlCommandParser.IsMatch(cmd.StringToSend) && !cmd.HasParams;
}
/// <summary>
/// Converts the string representation of a command to a Command object.
/// A return value indicates whether the conversion succeded or not.
/// </summary>
/// <param name="s">A string containing the command to convert</param>
/// <param name="source">The module which sent the command</param>
/// <param name="cmd">When this method returns, contains the Command equivalent to the command
/// contained in s, if the conversion succeeded, or null if the conversion failed.
/// The conversion fails if the s parameter is a null reference (Nothing in Visual Basic) or is not of the correct format.
/// This parameter is passed uninitialized</param>
/// <param name="ex">When this method returns, contains the Exception generated during the parse operation,
/// if the conversion failed, or null if the conversion succeeded. The conversion fails if the s parameter
/// is a null reference (Nothing in Visual Basic) or is not of the correct format.
/// This parameter is passed uninitialized</param>
/// <returns>true if conversion was successfull, false otherwise</returns>
protected static bool TryParse(string s, Module source, out Command cmd, out Exception ex)
{
Regex rx;
Match m;
Prototype proto;
//Module destination;
IModule destination;
string sCommand;
string sParams;
string sDest;
string sId;
int id;
cmd = null;
ex = null;
// Regular Expresion Generation
//rx = new Regex(@"((?<src>[\w\-]+)(\s+(?<dest>[\w\-]+))?\s+)?(?<cmd>[A-Za-z_]+)\s+(""(?<params>[^""]*)"")?\s+(@(?<id>\d+))?");
rx = rxCommandFromSource;
m = rx.Match(s);
// Check if input string matchs Regular Expression
if (!m.Success)
{
ex = new ArgumentException("Invalid String", "s");
return false;
}
// Extract Data
sCommand = m.Result("${cmd}").ToLower();
sParams = m.Result("${params}");
sId = m.Result("${id}");
sDest = m.Result("${dest}");
if ((sId == null) || (sId.Length < 1)) id = -1;
else id = Int32.Parse(sId);
// Browse for destination module and prototype
if (!source.Parent.FindDestinationModule(sCommand, out destination, out proto))
{
// No destination module found. Must check if destination is availiable
if ((sDest == null) || (sDest.Length < 1) || !source.Parent.Modules.Contains(sDest))
{
ex = new Exception("No destination module found for command provided");
return false;
}
destination = source.Parent.Modules[sDest];
proto = null;
}
// Check if command matchs a prototype
if ((proto != null) && proto.ParamsRequired && ((sParams == null) || (sParams.Length < 1)))
{
ex = new Exception("Invalid string. The Command requires parameters");
return false;
}
// Create the Command
cmd = new Command(source, destination, sCommand, sParams, id);
cmd.prototype = proto;
cmd.sentTime = DateTime.Now;
return true;
}
/// <summary>
/// Sends a command to the module
/// </summary>
/// <param name="command">Response to send</param>
/// <returns>true if the command has been sent, false otherwise</returns>
public virtual bool Send(Command command)
{
// Check if this module is the destination module for the command
if (this != command.Destination)
throw new Exception("Command marked to be sent through other module");
if (!this.enabled)
return false;
++command.SendAttempts;
// Simulation mode
#region Simulation Mode
if (simOptions.SimulationEnabled)
{
Response r = Response.CreateFromCommand(command, rnd.NextDouble() <= simOptions.SuccessRatio);
command.SentStatus = SentStatus.SentSuccessfull;
this.ParseResponse(r);
return true;
}
#endregion
// Check if module is not busy and command is not a priority command
if (Busy && !command.Prototype.HasPriority && !IsControlCommand(command))
{
command.SentStatus = SentStatus.SentFailed;
return false;
}
// Send the command
if (Send(command.StringToSend + ""))
{
command.SentStatus = SentStatus.SentSuccessfull;
if (command.Prototype.ResponseRequired) Lock(command);
}
else
{
command.SentStatus = SentStatus.SentFailed;
return false;
}
return true;
}
/// <summary>
/// Converts the string representation of a command to a Command object.
/// A return value indicates whether the conversion succeded or not.
/// </summary>
/// <param name="s">A string containing the command to convert</param>
/// <param name="source">The module which sent the command</param>
/// <param name="cmd">When this method returns, contains the Command equivalent to the command
/// contained in s, if the conversion succeeded, or null if the conversion failed.
/// The conversion fails if the s parameter is a null reference (Nothing in Visual Basic) or is not of the correct format.
/// This parameter is passed uninitialized</param>
/// <param name="ex">When this method returns, contains the Exception generated during the parse operation,
/// if the conversion failed, or null if the conversion succeeded. The conversion fails if the s parameter
/// is a null reference (Nothing in Visual Basic) or is not of the correct format.
/// This parameter is passed uninitialized</param>
/// <returns>true if conversion was successfull, false otherwise</returns>
protected static bool TryParse(string s, ModuleClient source, out Command cmd, out Exception ex)
{
IPrototype proto;
//Module destination;
IModuleClient destination;
string sCommand;
string sParams;
string sDest;
int result;
int id;
cmd = null;
ex = null;
// Extract Data
CommandBase.XtractCommandElements(s, out sDest, out sCommand, out sParams, out result, out id);
if ((sCommand == null) || (result != -1))
{
ex = new ArgumentException("Invalid String", "s");
return false;
}
// Browse for destination module and prototype
if (source.SupportCommand(sCommand, out proto))
destination = source;
else if(!source.Parent.FindDestinationModule(sCommand, out destination, out proto))
{
// No destination module found. Must check if destination is availiable
if ((sDest == null) || (sDest.Length < 1) || !source.Parent.Modules.Contains(sDest))
{
ex = new Exception("No destination module found for command provided");
return false;
}
destination = source.Parent.Modules[sDest];
proto = null;
}
// Check if command matchs a prototype
if (proto == null)
{
ex = new Exception("No prototype for provided command was found");
return false;
}
if ((proto != null) && proto.ParamsRequired && ((sParams == null) || (sParams.Length < 1)))
{
ex = new Exception("Invalid string. The Command requires parameters");
return false;
}
// Create the Command
cmd = new Command(source, destination, sCommand, sParams, id);
cmd.prototype = proto;
cmd.sentTime = DateTime.Now;
return true;
}
/// <summary>
/// Executes a create_var command.
/// Requests the blackboard to create a variable with the specified name and size
/// </summary>
/// <param name="command">Command to execute</param>
protected virtual void CreateVarCommand(Command command)
{
SharedVariable variable;
bool result;
SharedVariableCollection sharedVariables = this.Parent.VirtualModule.SharedVariables;
Match match = SharedVariable.RxCreateSharedVariableValidator.Match(command.Parameters);
if (!match.Success)
{
SendResponse(command, false);
this.Parent.Log.WriteLine(7, this.Name + ": attempt to create variable failed");
return;
}
string varName = match.Result("${name}");
string varType = match.Result("${type}");
bool isArray = false;
string sArraySize;
int arraySize = -1;
if (String.IsNullOrEmpty(varType))
varType = "var";
if (!String.IsNullOrEmpty(match.Result("${array}")))
{
isArray = true;
sArraySize = match.Result("${size}");
if (!String.IsNullOrEmpty(sArraySize))
arraySize = Int32.Parse(sArraySize);
}
if (sharedVariables.Contains(varName))
{
variable = sharedVariables[varName];
result = variable.Type == varType;
result &= variable.IsArray == isArray;
result &= arraySize == variable.Size;
SendResponse(command, result);
this.Parent.Log.WriteLine(7, this.Name + ": attempt to create variable failed (already exists)");
return;
}
SharedVariable sv = new SharedVariable(this, varType, varName, isArray, arraySize);
sv.AllowedWriters.Add("*");
sharedVariables.Add(sv);
SendResponse(command, true);
if (this.Parent.Log.VerbosityTreshold < 3)
this.Parent.Log.WriteLine(2, this.Name + ": created variable " + varName);
else
this.Parent.Log.WriteLine(3, this.Name + ": created variable " + varName + " with " + Clamper.Clamp(command.StringToSend, 256));
}
