src/glove/comm/CommandProcessor.hpp

/*************************************************************************************
 * Copyright (c) 2009-2010, Christian Wressnegger
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * The names of its contributors may not be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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#ifndef __GLOVE_COMM_COMMANDPROCESSOR_HPP_
#define __GLOVE_COMM_COMMANDPROCESSOR_HPP_

#include "../config.hpp"

#include <string>

#include <boost/exception.hpp>
#include <boost/bind.hpp>
#include <boost/config/warning_disable.hpp>
#include <boost/spirit/include/qi.hpp>
#include <boost/spirit/include/phoenix.hpp>

#include "CommandInterface.hpp"
#include "msg.hpp"

#define DEBUG

#ifdef DEBUG
#include <iostream>
#endif

namespace glove {
namespace comm {

class API CommandProcessor {
  template<typename Iterator>
  struct CommandGrammar: boost::spirit::qi::grammar<Iterator, CommandInterface::result_type()> {
    boost::spirit::qi::rule<Iterator, CommandInterface::result_type()> start;
    boost::spirit::qi::rule<Iterator, bool()> bool_;

    CommandGrammar(CommandInterface& ci) :
      CommandGrammar::base_type(start), cmdInterface(ci) {

      using boost::spirit::eps;
      using boost::spirit::lit;
      using boost::spirit::int_;
      using boost::phoenix::bind;
      using boost::phoenix::construct;
      namespace arg = boost::spirit::arg_names;

      bool_ = (lit("true") [arg::_val = true] | lit("false)") [arg::_val = false]);

      CommandInterface::result_type v;
      start = eps [arg::_val = construct<CommandInterface::result_type>()] >>
              (
                lit("VTI ")
              ) | (
                lit(MAGIC) >>
                (
                  lit("requestDeviceList()")
                  [bind(&CommandInterface::requestDeviceList, &cmdInterface, arg::_val)]
                | (lit("connect(") >> int_  >> ')')
                  [bind(&CommandInterface::connect, &cmdInterface, arg::_val, arg::_1)]
                | (lit("disconnect(") >> int_  >> ')')
                  [bind(&CommandInterface::disconnect, &cmdInterface, arg::_val, arg::_1)]
                | (lit("isConnected(") >> int_  >> ')')
                  [bind(&CommandInterface::isConnected, &cmdInterface, arg::_val, arg::_1)]

                | (lit("numSensors(") >> int_  >> ')')
                  [bind(&CommandInterface::numSensors, &cmdInterface, arg::_val, arg::_1)]
                | (lit("isRightHanded(") >> int_  >> ')')
                  [bind(&CommandInterface::isRightHanded, &cmdInterface, arg::_val, arg::_1)]
                | (lit("isLeftHanded(") >> int_  >> ')')
                  [bind(&CommandInterface::isLeftHanded, &cmdInterface, arg::_val, arg::_1)]

                | (lit("getValue(") >> int_ >> ',' >> int_ >> ')')
                  [bind(&CommandInterface::getValue, &cmdInterface, arg::_val, arg::_1, arg::_2)]
                | (lit("getValues(") >> int_ >> ')')
                  [bind(&CommandInterface::getValues, &cmdInterface, arg::_val, arg::_1)]

                | (lit("info(") >> int_  >> ')')
                  [bind(&CommandInterface::info, &cmdInterface, arg::_val, arg::_1)]
                | (lit("version(") >> int_  >> ')')
                  [bind(&CommandInterface::version, &cmdInterface, arg::_val, arg::_1)]
                )
                >> lit(MAGIC_END)
              );
    }

  private:
    CommandInterface& cmdInterface;

  };
  template<typename Iterator> friend struct CommandGrammar;

  CommandGrammar<std::string::const_iterator>* cmdGrammar;

public:

  CommandProcessor(CommandInterface& ci);
  virtual ~CommandProcessor();

  CommandInterface::result_type process(const std::string& msg);
};

}
}

#endif /* __GLOVE_COMM_COMMANDPROCESSOR_HPP_ */

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