mirror of
https://github.com/supleed2/ELEC50003-P1-CW.git
synced 2024-12-22 21:45:49 +00:00
Merge branch 'main' into Integration
This commit is contained in:
commit
5f3d1b5366
656
Control/data/command.js
Normal file
656
Control/data/command.js
Normal file
|
|
@ -0,0 +1,656 @@
|
|||
/* parser generated by jison 0.4.18 */
|
||||
/*
|
||||
Returns a Parser object of the following structure:
|
||||
|
||||
Parser: {
|
||||
yy: {}
|
||||
}
|
||||
|
||||
Parser.prototype: {
|
||||
yy: {},
|
||||
trace: function(),
|
||||
symbols_: {associative list: name ==> number},
|
||||
terminals_: {associative list: number ==> name},
|
||||
productions_: [...],
|
||||
performAction: function anonymous(yytext, yyleng, yylineno, yy, yystate, $$, _$),
|
||||
table: [...],
|
||||
defaultActions: {...},
|
||||
parseError: function(str, hash),
|
||||
parse: function(input),
|
||||
|
||||
lexer: {
|
||||
EOF: 1,
|
||||
parseError: function(str, hash),
|
||||
setInput: function(input),
|
||||
input: function(),
|
||||
unput: function(str),
|
||||
more: function(),
|
||||
less: function(n),
|
||||
pastInput: function(),
|
||||
upcomingInput: function(),
|
||||
showPosition: function(),
|
||||
test_match: function(regex_match_array, rule_index),
|
||||
next: function(),
|
||||
lex: function(),
|
||||
begin: function(condition),
|
||||
popState: function(),
|
||||
_currentRules: function(),
|
||||
topState: function(),
|
||||
pushState: function(condition),
|
||||
|
||||
options: {
|
||||
ranges: boolean (optional: true ==> token location info will include a .range[] member)
|
||||
flex: boolean (optional: true ==> flex-like lexing behaviour where the rules are tested exhaustively to find the longest match)
|
||||
backtrack_lexer: boolean (optional: true ==> lexer regexes are tested in order and for each matching regex the action code is invoked; the lexer terminates the scan when a token is returned by the action code)
|
||||
},
|
||||
|
||||
performAction: function(yy, yy_, $avoiding_name_collisions, YY_START),
|
||||
rules: [...],
|
||||
conditions: {associative list: name ==> set},
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
token location info (@$, _$, etc.): {
|
||||
first_line: n,
|
||||
last_line: n,
|
||||
first_column: n,
|
||||
last_column: n,
|
||||
range: [start_number, end_number] (where the numbers are indexes into the input string, regular zero-based)
|
||||
}
|
||||
|
||||
|
||||
the parseError function receives a 'hash' object with these members for lexer and parser errors: {
|
||||
text: (matched text)
|
||||
token: (the produced terminal token, if any)
|
||||
line: (yylineno)
|
||||
}
|
||||
while parser (grammar) errors will also provide these members, i.e. parser errors deliver a superset of attributes: {
|
||||
loc: (yylloc)
|
||||
expected: (string describing the set of expected tokens)
|
||||
recoverable: (boolean: TRUE when the parser has a error recovery rule available for this particular error)
|
||||
}
|
||||
*/
|
||||
var command = (function(){
|
||||
var o=function(k,v,o,l){for(o=o||{},l=k.length;l--;o[k[l]]=v);return o};
|
||||
var parser = {trace: function trace () { },
|
||||
yy: {},
|
||||
symbols_: {"error":2,"command":3,"expr":4,"EOF":5,"move":6,"whitespace":7,"distance":8,"heading_angle":9,"percentage":10,"stop":11,"pstop":12,"stop_duration":13,"charge_to":14,"telemetry_reset":15,"help":16,"$accept":0,"$end":1},
|
||||
terminals_: {2:"error",5:"EOF",6:"move",7:"whitespace",8:"distance",9:"heading_angle",10:"percentage",11:"stop",12:"pstop",13:"stop_duration",14:"charge_to",15:"telemetry_reset",16:"help"},
|
||||
productions_: [0,[3,2],[4,7],[4,1],[4,3],[4,3],[4,1],[4,1]],
|
||||
performAction: function anonymous(yytext, yyleng, yylineno, yy, yystate /* action[1] */, $$ /* vstack */, _$ /* lstack */) {
|
||||
/* this == yyval */
|
||||
|
||||
var $0 = $$.length - 1;
|
||||
switch (yystate) {
|
||||
case 2:
|
||||
|
||||
var inDist = Number(String($$[$0-4]).substr(0, ((String($$[$0-4]).length) - 2)));
|
||||
var inHdg = Number(String($$[$0-2]).substr(0, ((String($$[$0-2]).length) - 3)));
|
||||
var inSpd = Number(String($$[$0]).substr(0, ((String($$[$0]).length) - 1)));
|
||||
moveCmd(inDist,inHdg,inSpd);
|
||||
|
||||
break;
|
||||
case 3:
|
||||
|
||||
stpCmd();
|
||||
|
||||
break;
|
||||
case 4:
|
||||
|
||||
var inStpDur = Number(String($$[$0]).substr(0, ((String($$[$0]).length) - 1)));
|
||||
pstpCmd(inStpDur);
|
||||
|
||||
break;
|
||||
case 5:
|
||||
|
||||
var inChrg = Number(String($$[$0]).substr(0, ((String($$[$0]).length) - 1)));
|
||||
chrgCmd(inChrg);
|
||||
|
||||
break;
|
||||
case 6:
|
||||
|
||||
telRst();
|
||||
|
||||
break;
|
||||
case 7:
|
||||
|
||||
printHelpDetails();
|
||||
|
||||
break;
|
||||
}
|
||||
},
|
||||
table: [{3:1,4:2,6:[1,3],11:[1,4],12:[1,5],14:[1,6],15:[1,7],16:[1,8]},{1:[3]},{5:[1,9]},{7:[1,10]},{5:[2,3]},{7:[1,11]},{7:[1,12]},{5:[2,6]},{5:[2,7]},{1:[2,1]},{8:[1,13]},{13:[1,14]},{10:[1,15]},{7:[1,16]},{5:[2,4]},{5:[2,5]},{9:[1,17]},{7:[1,18]},{10:[1,19]},{5:[2,2]}],
|
||||
defaultActions: {4:[2,3],7:[2,6],8:[2,7],9:[2,1],14:[2,4],15:[2,5],19:[2,2]},
|
||||
parseError: function parseError (str, hash) {
|
||||
if (hash.recoverable) {
|
||||
this.trace(str);
|
||||
} else {
|
||||
var error = new Error(str);
|
||||
error.hash = hash;
|
||||
throw error;
|
||||
}
|
||||
},
|
||||
parse: function parse(input) {
|
||||
var self = this, stack = [0], tstack = [], vstack = [null], lstack = [], table = this.table, yytext = '', yylineno = 0, yyleng = 0, recovering = 0, TERROR = 2, EOF = 1;
|
||||
var args = lstack.slice.call(arguments, 1);
|
||||
var lexer = Object.create(this.lexer);
|
||||
var sharedState = { yy: {} };
|
||||
for (var k in this.yy) {
|
||||
if (Object.prototype.hasOwnProperty.call(this.yy, k)) {
|
||||
sharedState.yy[k] = this.yy[k];
|
||||
}
|
||||
}
|
||||
lexer.setInput(input, sharedState.yy);
|
||||
sharedState.yy.lexer = lexer;
|
||||
sharedState.yy.parser = this;
|
||||
if (typeof lexer.yylloc == 'undefined') {
|
||||
lexer.yylloc = {};
|
||||
}
|
||||
var yyloc = lexer.yylloc;
|
||||
lstack.push(yyloc);
|
||||
var ranges = lexer.options && lexer.options.ranges;
|
||||
if (typeof sharedState.yy.parseError === 'function') {
|
||||
this.parseError = sharedState.yy.parseError;
|
||||
} else {
|
||||
this.parseError = Object.getPrototypeOf(this).parseError;
|
||||
}
|
||||
function popStack(n) {
|
||||
stack.length = stack.length - 2 * n;
|
||||
vstack.length = vstack.length - n;
|
||||
lstack.length = lstack.length - n;
|
||||
}
|
||||
_token_stack:
|
||||
var lex = function () {
|
||||
var token;
|
||||
token = lexer.lex() || EOF;
|
||||
if (typeof token !== 'number') {
|
||||
token = self.symbols_[token] || token;
|
||||
}
|
||||
return token;
|
||||
};
|
||||
var symbol, preErrorSymbol, state, action, a, r, yyval = {}, p, len, newState, expected;
|
||||
while (true) {
|
||||
state = stack[stack.length - 1];
|
||||
if (this.defaultActions[state]) {
|
||||
action = this.defaultActions[state];
|
||||
} else {
|
||||
if (symbol === null || typeof symbol == 'undefined') {
|
||||
symbol = lex();
|
||||
}
|
||||
action = table[state] && table[state][symbol];
|
||||
}
|
||||
if (typeof action === 'undefined' || !action.length || !action[0]) {
|
||||
var errStr = '';
|
||||
expected = [];
|
||||
for (p in table[state]) {
|
||||
if (this.terminals_[p] && p > TERROR) {
|
||||
expected.push('\'' + this.terminals_[p] + '\'');
|
||||
}
|
||||
}
|
||||
if (lexer.showPosition) {
|
||||
errStr = 'Parse error on line ' + (yylineno + 1) + ':\n' + lexer.showPosition() + '\nExpecting ' + expected.join(', ') + ', got \'' + (this.terminals_[symbol] || symbol) + '\'';
|
||||
} else {
|
||||
errStr = 'Parse error on line ' + (yylineno + 1) + ': Unexpected ' + (symbol == EOF ? 'end of input' : '\'' + (this.terminals_[symbol] || symbol) + '\'');
|
||||
}
|
||||
this.parseError(errStr, {
|
||||
text: lexer.match,
|
||||
token: this.terminals_[symbol] || symbol,
|
||||
line: lexer.yylineno,
|
||||
loc: yyloc,
|
||||
expected: expected
|
||||
});
|
||||
}
|
||||
if (action[0] instanceof Array && action.length > 1) {
|
||||
throw new Error('Parse Error: multiple actions possible at state: ' + state + ', token: ' + symbol);
|
||||
}
|
||||
switch (action[0]) {
|
||||
case 1:
|
||||
stack.push(symbol);
|
||||
vstack.push(lexer.yytext);
|
||||
lstack.push(lexer.yylloc);
|
||||
stack.push(action[1]);
|
||||
symbol = null;
|
||||
if (!preErrorSymbol) {
|
||||
yyleng = lexer.yyleng;
|
||||
yytext = lexer.yytext;
|
||||
yylineno = lexer.yylineno;
|
||||
yyloc = lexer.yylloc;
|
||||
if (recovering > 0) {
|
||||
recovering--;
|
||||
}
|
||||
} else {
|
||||
symbol = preErrorSymbol;
|
||||
preErrorSymbol = null;
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
len = this.productions_[action[1]][1];
|
||||
yyval.$ = vstack[vstack.length - len];
|
||||
yyval._$ = {
|
||||
first_line: lstack[lstack.length - (len || 1)].first_line,
|
||||
last_line: lstack[lstack.length - 1].last_line,
|
||||
first_column: lstack[lstack.length - (len || 1)].first_column,
|
||||
last_column: lstack[lstack.length - 1].last_column
|
||||
};
|
||||
if (ranges) {
|
||||
yyval._$.range = [
|
||||
lstack[lstack.length - (len || 1)].range[0],
|
||||
lstack[lstack.length - 1].range[1]
|
||||
];
|
||||
}
|
||||
r = this.performAction.apply(yyval, [
|
||||
yytext,
|
||||
yyleng,
|
||||
yylineno,
|
||||
sharedState.yy,
|
||||
action[1],
|
||||
vstack,
|
||||
lstack
|
||||
].concat(args));
|
||||
if (typeof r !== 'undefined') {
|
||||
return r;
|
||||
}
|
||||
if (len) {
|
||||
stack = stack.slice(0, -1 * len * 2);
|
||||
vstack = vstack.slice(0, -1 * len);
|
||||
lstack = lstack.slice(0, -1 * len);
|
||||
}
|
||||
stack.push(this.productions_[action[1]][0]);
|
||||
vstack.push(yyval.$);
|
||||
lstack.push(yyval._$);
|
||||
newState = table[stack[stack.length - 2]][stack[stack.length - 1]];
|
||||
stack.push(newState);
|
||||
break;
|
||||
case 3:
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}};
|
||||
/* generated by jison-lex 0.3.4 */
|
||||
var lexer = (function(){
|
||||
var lexer = ({
|
||||
|
||||
EOF:1,
|
||||
|
||||
parseError:function parseError(str, hash) {
|
||||
if (this.yy.parser) {
|
||||
this.yy.parser.parseError(str, hash);
|
||||
} else {
|
||||
throw new Error(str);
|
||||
}
|
||||
},
|
||||
|
||||
// resets the lexer, sets new input
|
||||
setInput:function (input, yy) {
|
||||
this.yy = yy || this.yy || {};
|
||||
this._input = input;
|
||||
this._more = this._backtrack = this.done = false;
|
||||
this.yylineno = this.yyleng = 0;
|
||||
this.yytext = this.matched = this.match = '';
|
||||
this.conditionStack = ['INITIAL'];
|
||||
this.yylloc = {
|
||||
first_line: 1,
|
||||
first_column: 0,
|
||||
last_line: 1,
|
||||
last_column: 0
|
||||
};
|
||||
if (this.options.ranges) {
|
||||
this.yylloc.range = [0,0];
|
||||
}
|
||||
this.offset = 0;
|
||||
return this;
|
||||
},
|
||||
|
||||
// consumes and returns one char from the input
|
||||
input:function () {
|
||||
var ch = this._input[0];
|
||||
this.yytext += ch;
|
||||
this.yyleng++;
|
||||
this.offset++;
|
||||
this.match += ch;
|
||||
this.matched += ch;
|
||||
var lines = ch.match(/(?:\r\n?|\n).*/g);
|
||||
if (lines) {
|
||||
this.yylineno++;
|
||||
this.yylloc.last_line++;
|
||||
} else {
|
||||
this.yylloc.last_column++;
|
||||
}
|
||||
if (this.options.ranges) {
|
||||
this.yylloc.range[1]++;
|
||||
}
|
||||
|
||||
this._input = this._input.slice(1);
|
||||
return ch;
|
||||
},
|
||||
|
||||
// unshifts one char (or a string) into the input
|
||||
unput:function (ch) {
|
||||
var len = ch.length;
|
||||
var lines = ch.split(/(?:\r\n?|\n)/g);
|
||||
|
||||
this._input = ch + this._input;
|
||||
this.yytext = this.yytext.substr(0, this.yytext.length - len);
|
||||
//this.yyleng -= len;
|
||||
this.offset -= len;
|
||||
var oldLines = this.match.split(/(?:\r\n?|\n)/g);
|
||||
this.match = this.match.substr(0, this.match.length - 1);
|
||||
this.matched = this.matched.substr(0, this.matched.length - 1);
|
||||
|
||||
if (lines.length - 1) {
|
||||
this.yylineno -= lines.length - 1;
|
||||
}
|
||||
var r = this.yylloc.range;
|
||||
|
||||
this.yylloc = {
|
||||
first_line: this.yylloc.first_line,
|
||||
last_line: this.yylineno + 1,
|
||||
first_column: this.yylloc.first_column,
|
||||
last_column: lines ?
|
||||
(lines.length === oldLines.length ? this.yylloc.first_column : 0)
|
||||
+ oldLines[oldLines.length - lines.length].length - lines[0].length :
|
||||
this.yylloc.first_column - len
|
||||
};
|
||||
|
||||
if (this.options.ranges) {
|
||||
this.yylloc.range = [r[0], r[0] + this.yyleng - len];
|
||||
}
|
||||
this.yyleng = this.yytext.length;
|
||||
return this;
|
||||
},
|
||||
|
||||
// When called from action, caches matched text and appends it on next action
|
||||
more:function () {
|
||||
this._more = true;
|
||||
return this;
|
||||
},
|
||||
|
||||
// When called from action, signals the lexer that this rule fails to match the input, so the next matching rule (regex) should be tested instead.
|
||||
reject:function () {
|
||||
if (this.options.backtrack_lexer) {
|
||||
this._backtrack = true;
|
||||
} else {
|
||||
return this.parseError('Lexical error on line ' + (this.yylineno + 1) + '. You can only invoke reject() in the lexer when the lexer is of the backtracking persuasion (options.backtrack_lexer = true).\n' + this.showPosition(), {
|
||||
text: "",
|
||||
token: null,
|
||||
line: this.yylineno
|
||||
});
|
||||
|
||||
}
|
||||
return this;
|
||||
},
|
||||
|
||||
// retain first n characters of the match
|
||||
less:function (n) {
|
||||
this.unput(this.match.slice(n));
|
||||
},
|
||||
|
||||
// displays already matched input, i.e. for error messages
|
||||
pastInput:function () {
|
||||
var past = this.matched.substr(0, this.matched.length - this.match.length);
|
||||
return (past.length > 20 ? '...':'') + past.substr(-20).replace(/\n/g, "");
|
||||
},
|
||||
|
||||
// displays upcoming input, i.e. for error messages
|
||||
upcomingInput:function () {
|
||||
var next = this.match;
|
||||
if (next.length < 20) {
|
||||
next += this._input.substr(0, 20-next.length);
|
||||
}
|
||||
return (next.substr(0,20) + (next.length > 20 ? '...' : '')).replace(/\n/g, "");
|
||||
},
|
||||
|
||||
// displays the character position where the lexing error occurred, i.e. for error messages
|
||||
showPosition:function () {
|
||||
var pre = this.pastInput();
|
||||
var c = new Array(pre.length + 1).join("-");
|
||||
return pre + this.upcomingInput() + "\n" + c + "^";
|
||||
},
|
||||
|
||||
// test the lexed token: return FALSE when not a match, otherwise return token
|
||||
test_match:function(match, indexed_rule) {
|
||||
var token,
|
||||
lines,
|
||||
backup;
|
||||
|
||||
if (this.options.backtrack_lexer) {
|
||||
// save context
|
||||
backup = {
|
||||
yylineno: this.yylineno,
|
||||
yylloc: {
|
||||
first_line: this.yylloc.first_line,
|
||||
last_line: this.last_line,
|
||||
first_column: this.yylloc.first_column,
|
||||
last_column: this.yylloc.last_column
|
||||
},
|
||||
yytext: this.yytext,
|
||||
match: this.match,
|
||||
matches: this.matches,
|
||||
matched: this.matched,
|
||||
yyleng: this.yyleng,
|
||||
offset: this.offset,
|
||||
_more: this._more,
|
||||
_input: this._input,
|
||||
yy: this.yy,
|
||||
conditionStack: this.conditionStack.slice(0),
|
||||
done: this.done
|
||||
};
|
||||
if (this.options.ranges) {
|
||||
backup.yylloc.range = this.yylloc.range.slice(0);
|
||||
}
|
||||
}
|
||||
|
||||
lines = match[0].match(/(?:\r\n?|\n).*/g);
|
||||
if (lines) {
|
||||
this.yylineno += lines.length;
|
||||
}
|
||||
this.yylloc = {
|
||||
first_line: this.yylloc.last_line,
|
||||
last_line: this.yylineno + 1,
|
||||
first_column: this.yylloc.last_column,
|
||||
last_column: lines ?
|
||||
lines[lines.length - 1].length - lines[lines.length - 1].match(/\r?\n?/)[0].length :
|
||||
this.yylloc.last_column + match[0].length
|
||||
};
|
||||
this.yytext += match[0];
|
||||
this.match += match[0];
|
||||
this.matches = match;
|
||||
this.yyleng = this.yytext.length;
|
||||
if (this.options.ranges) {
|
||||
this.yylloc.range = [this.offset, this.offset += this.yyleng];
|
||||
}
|
||||
this._more = false;
|
||||
this._backtrack = false;
|
||||
this._input = this._input.slice(match[0].length);
|
||||
this.matched += match[0];
|
||||
token = this.performAction.call(this, this.yy, this, indexed_rule, this.conditionStack[this.conditionStack.length - 1]);
|
||||
if (this.done && this._input) {
|
||||
this.done = false;
|
||||
}
|
||||
if (token) {
|
||||
return token;
|
||||
} else if (this._backtrack) {
|
||||
// recover context
|
||||
for (var k in backup) {
|
||||
this[k] = backup[k];
|
||||
}
|
||||
return false; // rule action called reject() implying the next rule should be tested instead.
|
||||
}
|
||||
return false;
|
||||
},
|
||||
|
||||
// return next match in input
|
||||
next:function () {
|
||||
if (this.done) {
|
||||
return this.EOF;
|
||||
}
|
||||
if (!this._input) {
|
||||
this.done = true;
|
||||
}
|
||||
|
||||
var token,
|
||||
match,
|
||||
tempMatch,
|
||||
index;
|
||||
if (!this._more) {
|
||||
this.yytext = '';
|
||||
this.match = '';
|
||||
}
|
||||
var rules = this._currentRules();
|
||||
for (var i = 0; i < rules.length; i++) {
|
||||
tempMatch = this._input.match(this.rules[rules[i]]);
|
||||
if (tempMatch && (!match || tempMatch[0].length > match[0].length)) {
|
||||
match = tempMatch;
|
||||
index = i;
|
||||
if (this.options.backtrack_lexer) {
|
||||
token = this.test_match(tempMatch, rules[i]);
|
||||
if (token !== false) {
|
||||
return token;
|
||||
} else if (this._backtrack) {
|
||||
match = false;
|
||||
continue; // rule action called reject() implying a rule MISmatch.
|
||||
} else {
|
||||
// else: this is a lexer rule which consumes input without producing a token (e.g. whitespace)
|
||||
return false;
|
||||
}
|
||||
} else if (!this.options.flex) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (match) {
|
||||
token = this.test_match(match, rules[index]);
|
||||
if (token !== false) {
|
||||
return token;
|
||||
}
|
||||
// else: this is a lexer rule which consumes input without producing a token (e.g. whitespace)
|
||||
return false;
|
||||
}
|
||||
if (this._input === "") {
|
||||
return this.EOF;
|
||||
} else {
|
||||
return this.parseError('Lexical error on line ' + (this.yylineno + 1) + '. Unrecognized text.\n' + this.showPosition(), {
|
||||
text: "",
|
||||
token: null,
|
||||
line: this.yylineno
|
||||
});
|
||||
}
|
||||
},
|
||||
|
||||
// return next match that has a token
|
||||
lex:function lex () {
|
||||
var r = this.next();
|
||||
if (r) {
|
||||
return r;
|
||||
} else {
|
||||
return this.lex();
|
||||
}
|
||||
},
|
||||
|
||||
// activates a new lexer condition state (pushes the new lexer condition state onto the condition stack)
|
||||
begin:function begin (condition) {
|
||||
this.conditionStack.push(condition);
|
||||
},
|
||||
|
||||
// pop the previously active lexer condition state off the condition stack
|
||||
popState:function popState () {
|
||||
var n = this.conditionStack.length - 1;
|
||||
if (n > 0) {
|
||||
return this.conditionStack.pop();
|
||||
} else {
|
||||
return this.conditionStack[0];
|
||||
}
|
||||
},
|
||||
|
||||
// produce the lexer rule set which is active for the currently active lexer condition state
|
||||
_currentRules:function _currentRules () {
|
||||
if (this.conditionStack.length && this.conditionStack[this.conditionStack.length - 1]) {
|
||||
return this.conditions[this.conditionStack[this.conditionStack.length - 1]].rules;
|
||||
} else {
|
||||
return this.conditions["INITIAL"].rules;
|
||||
}
|
||||
},
|
||||
|
||||
// return the currently active lexer condition state; when an index argument is provided it produces the N-th previous condition state, if available
|
||||
topState:function topState (n) {
|
||||
n = this.conditionStack.length - 1 - Math.abs(n || 0);
|
||||
if (n >= 0) {
|
||||
return this.conditionStack[n];
|
||||
} else {
|
||||
return "INITIAL";
|
||||
}
|
||||
},
|
||||
|
||||
// alias for begin(condition)
|
||||
pushState:function pushState (condition) {
|
||||
this.begin(condition);
|
||||
},
|
||||
|
||||
// return the number of states currently on the stack
|
||||
stateStackSize:function stateStackSize() {
|
||||
return this.conditionStack.length;
|
||||
},
|
||||
options: {},
|
||||
performAction: function anonymous(yy,yy_,$avoiding_name_collisions,YY_START) {
|
||||
var YYSTATE=YY_START;
|
||||
switch($avoiding_name_collisions) {
|
||||
case 0:return 7
|
||||
break;
|
||||
case 1:return 8
|
||||
break;
|
||||
case 2:return 9
|
||||
break;
|
||||
case 3:return 10
|
||||
break;
|
||||
case 4:return 13
|
||||
break;
|
||||
case 5:return 6
|
||||
break;
|
||||
case 6:return 12
|
||||
break;
|
||||
case 7:return 11
|
||||
break;
|
||||
case 8:return 16
|
||||
break;
|
||||
case 9:return 14
|
||||
break;
|
||||
case 10:return 15
|
||||
break;
|
||||
case 11:return 5
|
||||
break;
|
||||
case 12:return 'invalid_command'
|
||||
break;
|
||||
}
|
||||
},
|
||||
rules: [/^(?:\s)/,/^(?:\b[0-9]+mm\b)/,/^(?:\b([0-9]|[1-8][0-9]|9[0-9]|[12][0-9]{2}|3[0-4][0-9]|35[0-9])deg\b)/,/^(?:\b([0-9]|[1-8][0-9]|9[0-9]|100)%)/,/^(?:\b[0-9]+s\b)/,/^(?:\bmove\b)/,/^(?:\bpstop\b)/,/^(?:\bstop\b)/,/^(?:\bhelp\b)/,/^(?:\bcharge\sto\b)/,/^(?:\btelemetry\sreset\b)/,/^(?:$)/,/^(?:.)/],
|
||||
conditions: {"INITIAL":{"rules":[0,1,2,3,4,5,6,7,8,9,10,11,12],"inclusive":true}}
|
||||
});
|
||||
return lexer;
|
||||
})();
|
||||
parser.lexer = lexer;
|
||||
function Parser () {
|
||||
this.yy = {};
|
||||
}
|
||||
Parser.prototype = parser;parser.Parser = Parser;
|
||||
return new Parser;
|
||||
})();
|
||||
|
||||
|
||||
if (typeof require !== 'undefined' && typeof exports !== 'undefined') {
|
||||
exports.parser = command;
|
||||
exports.Parser = command.Parser;
|
||||
exports.parse = function () { return command.parse.apply(command, arguments); };
|
||||
exports.main = function commonjsMain (args) {
|
||||
if (!args[1]) {
|
||||
console.log('Usage: '+args[0]+' FILE');
|
||||
process.exit(1);
|
||||
}
|
||||
var source = require('fs').readFileSync(require('path').normalize(args[1]), "utf8");
|
||||
return exports.parser.parse(source);
|
||||
};
|
||||
if (typeof module !== 'undefined' && require.main === module) {
|
||||
exports.main(process.argv.slice(1));
|
||||
}
|
||||
}
|
||||
|
|
@ -12,82 +12,91 @@
|
|||
box-sizing: border-box;
|
||||
}
|
||||
|
||||
.section_container {
|
||||
float: left;
|
||||
width: 50%;
|
||||
padding: 10px;
|
||||
}
|
||||
|
||||
.flex-container {
|
||||
display: flex;
|
||||
flex-wrap: nowrap;
|
||||
}
|
||||
|
||||
ul {
|
||||
list-style-type: none;
|
||||
margin: 0;
|
||||
padding: 0;
|
||||
}
|
||||
|
||||
li {
|
||||
padding: 0px;
|
||||
margin-bottom: 0px;
|
||||
}
|
||||
|
||||
:is(h1, h2, h3, h4, h5, h6, label, strong, meter) {
|
||||
font-family: Arial, Helvetica, sans-serif;
|
||||
}
|
||||
|
||||
.movement_control {
|
||||
text-align: center;
|
||||
h2{
|
||||
margin: 0px;
|
||||
}
|
||||
|
||||
.sensor_data {
|
||||
text-align: center;
|
||||
.slider {
|
||||
-webkit-appearance: none;
|
||||
width: 100%;
|
||||
height: 25px;
|
||||
background: #d3d3d3;
|
||||
outline: none;
|
||||
opacity: 0.7;
|
||||
-webkit-transition: .2s;
|
||||
transition: opacity .2s;
|
||||
}
|
||||
|
||||
.slider:hover {
|
||||
opacity: 1;
|
||||
}
|
||||
|
||||
.slider::-webkit-slider-thumb {
|
||||
-webkit-appearance: none;
|
||||
appearance: none;
|
||||
width: 25px;
|
||||
height: 25px;
|
||||
background: #000000;
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
#command_space {
|
||||
width:100%;
|
||||
height: 200px;
|
||||
line-height: normal;
|
||||
overflow: auto;
|
||||
background-color: rgb(248, 248, 248);
|
||||
color: black;
|
||||
border: 1px solid black;
|
||||
}
|
||||
|
||||
meter {
|
||||
width: 100%;
|
||||
height: 40px;
|
||||
transform: translateY(-8px);
|
||||
transform: translateY(8px);
|
||||
}
|
||||
|
||||
meter::after {
|
||||
content: attr(value) attr(title);
|
||||
top: -28px;
|
||||
left: 0px;
|
||||
left: 45%;
|
||||
position: relative;
|
||||
}
|
||||
|
||||
.button {
|
||||
button {
|
||||
width: 100%;
|
||||
display: inline-block;
|
||||
padding: 15px 25px;
|
||||
font-size: 24px;
|
||||
padding: 7px 7px;
|
||||
font-size: 12px;
|
||||
cursor: pointer;
|
||||
text-align: center;
|
||||
text-decoration: none;
|
||||
outline: none;
|
||||
color: rgb(255, 255, 255);
|
||||
background-color: #161616;
|
||||
background-color: #222222;
|
||||
border: none;
|
||||
border-radius: 15px;
|
||||
box-shadow: 0 9px rgb(161, 161, 161);
|
||||
border-radius: 5px;
|
||||
box-shadow: 0 3px rgb(161, 161, 161);
|
||||
-webkit-transition: .2s;
|
||||
transition: background-color .2s;
|
||||
}
|
||||
|
||||
.button:hover {
|
||||
button:hover {
|
||||
background-color: #585858
|
||||
}
|
||||
|
||||
.button:active {
|
||||
background-color: #107C10;
|
||||
box-shadow: 0 5px rgb(161, 161, 161);
|
||||
transform: translateY(4px);
|
||||
}
|
||||
|
||||
.pressed {
|
||||
background-color: #107C10;
|
||||
box-shadow: 0 5px rgb(161, 161, 161);
|
||||
transform: translateY(4px);
|
||||
button:active {
|
||||
box-shadow: 0 3px rgb(161, 161, 161);
|
||||
transform: translateY(1px);
|
||||
}
|
||||
|
||||
.clearfix::after {
|
||||
|
|
@ -96,203 +105,337 @@
|
|||
display: table;
|
||||
}
|
||||
</style>
|
||||
<script>
|
||||
|
||||
var connection = new WebSocket('ws://' + location.hostname + ':81/');
|
||||
|
||||
var MVM_F_status = 0;
|
||||
var MVM_L_status = 0;
|
||||
var MVM_R_status = 0;
|
||||
var MVM_B_status = 0;
|
||||
|
||||
var BTRY_VOLT = 0;
|
||||
var ODO_DIST = 0;
|
||||
|
||||
connection.onmessage = function (event) {
|
||||
var raw_data = event.data;
|
||||
console.log(raw_data);
|
||||
var data = JSON.parse(raw_data);
|
||||
BTRY_VOLT = data.BTRY_VOLT;
|
||||
ODO_DIST = data.ODO_DIST;
|
||||
document.getElementById("btry_meter").value = BTRY_VOLT;
|
||||
document.getElementById("Odometer").innerHTML = ODO_DIST;
|
||||
}
|
||||
|
||||
function send_data() {
|
||||
var raw_data = '{"MVM_F":' + MVM_F_status + ',"MVM_L":' + MVM_L_status + ',"MVM_R":' + MVM_R_status + ',"MVM_B":' + MVM_B_status + '}';
|
||||
connection.send(raw_data);
|
||||
console.log(raw_data);
|
||||
}
|
||||
|
||||
function left_pressed() {
|
||||
MVM_L_status = 1;
|
||||
send_data();
|
||||
}
|
||||
function left_unpressed() {
|
||||
MVM_L_status = 0;
|
||||
send_data();
|
||||
}
|
||||
function up_pressed() {
|
||||
MVM_F_status = 1;
|
||||
send_data();
|
||||
}
|
||||
function up_unpressed() {
|
||||
MVM_F_status = 0;
|
||||
send_data();
|
||||
}
|
||||
function right_pressed() {
|
||||
MVM_R_status = 1;
|
||||
send_data();
|
||||
}
|
||||
function right_unpressed() {
|
||||
MVM_R_status = 0;
|
||||
send_data();
|
||||
}
|
||||
function down_pressed() {
|
||||
MVM_B_status = 1;
|
||||
send_data();
|
||||
}
|
||||
function down_unpressed() {
|
||||
MVM_B_status = 0;
|
||||
send_data();
|
||||
}
|
||||
|
||||
var timer = null;
|
||||
|
||||
function up_mouseDown() {
|
||||
timer = setInterval(up_pressed, 100);
|
||||
}
|
||||
function up_mouseUp() {
|
||||
clearInterval(timer);
|
||||
up_unpressed();
|
||||
}
|
||||
|
||||
function down_mouseDown() {
|
||||
timer = setInterval(down_pressed, 100);
|
||||
}
|
||||
function down_mouseUp() {
|
||||
clearInterval(timer);
|
||||
down_unpressed();
|
||||
}
|
||||
|
||||
function right_mouseDown() {
|
||||
timer = setInterval(right_pressed, 100);
|
||||
}
|
||||
function right_mouseUp() {
|
||||
clearInterval(timer);
|
||||
right_unpressed();
|
||||
}
|
||||
|
||||
function left_mouseDown() {
|
||||
timer = setInterval(left_pressed, 100);
|
||||
}
|
||||
function left_mouseUp() {
|
||||
clearInterval(timer);
|
||||
left_unpressed();
|
||||
}
|
||||
|
||||
|
||||
document.onkeydown = function (e) {
|
||||
switch (e.keyCode) {
|
||||
case 37:
|
||||
document.getElementById("left_arrow").className = "button pressed";
|
||||
left_pressed();
|
||||
break;
|
||||
case 38:
|
||||
document.getElementById("up_arrow").className = "button pressed";
|
||||
up_pressed();
|
||||
break;
|
||||
case 39:
|
||||
document.getElementById("right_arrow").className = "button pressed";
|
||||
right_pressed();
|
||||
break;
|
||||
case 40:
|
||||
document.getElementById("down_arrow").className = "button pressed";
|
||||
down_pressed();
|
||||
break;
|
||||
}
|
||||
};
|
||||
document.onkeyup = function (e) {
|
||||
switch (e.keyCode) {
|
||||
case 37:
|
||||
document.getElementById("left_arrow").className = "button";
|
||||
left_unpressed();
|
||||
break;
|
||||
case 38:
|
||||
document.getElementById("up_arrow").className = "button";
|
||||
up_unpressed();
|
||||
break;
|
||||
case 39:
|
||||
document.getElementById("right_arrow").className = "button";
|
||||
right_unpressed();
|
||||
break;
|
||||
case 40:
|
||||
document.getElementById("down_arrow").className = "button";
|
||||
down_unpressed();
|
||||
break;
|
||||
}
|
||||
};
|
||||
|
||||
</script>
|
||||
</head>
|
||||
|
||||
<body>
|
||||
|
||||
<h1 style="text-align:center;">ROVER COMMAND CENTER</h1>
|
||||
|
||||
<div class="clearfix">
|
||||
<table style="width:1100px; border-spacing: 10px; margin-left: auto; margin-right: auto;">
|
||||
<tr>
|
||||
<th style="width: 33%;"><h2>Control Panel</h2></th>
|
||||
<th style="width: 33%;"><h2>Telemetry</h2></th>
|
||||
<th style="width: 33%;"><h2>Command Console</h2></th>
|
||||
</tr>
|
||||
<tr><hr></tr>
|
||||
|
||||
<div class="section_container">
|
||||
<div class="movement_control">
|
||||
<h2>Movement Control</h2>
|
||||
<div style="transform: translateY(0px);">
|
||||
<button id="up_arrow" onmousedown="up_mouseDown()" onmouseup="up_mouseUp()"
|
||||
class="button"><span>⇧</span></button>
|
||||
</div>
|
||||
<div style="transform: translateY(13px);">
|
||||
<button id="left_arrow" onmousedown="left_mouseDown()" onmouseup="left_mouseUp()"
|
||||
class="button"><span>⇦</span></button>
|
||||
<button id="down_arrow" onmousedown="down_mouseDown()" onmouseup="down_mouseUp()"
|
||||
class="button"><span>⇩</span></button>
|
||||
<button id="right_arrow" onmousedown="right_mouseDown()" onmouseup="right_mouseUp()"
|
||||
class="button"><span>⇨</span></button>
|
||||
</div>
|
||||
<!-- Control Panel Section -->
|
||||
<tr>
|
||||
<td style="vertical-align: top;">
|
||||
<table style="width:100%; border-spacing: 5px;">
|
||||
<tr><td colspan="6"><hr></td></tr>
|
||||
<tr>
|
||||
<td style="text-align: center;" colspan="6"><strong>Main</strong></td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td style="text-align: center;" colspan="2"><button style="color: red;">Emergency <br> Stop</button></td>
|
||||
<td style="text-align: center;" colspan="2"><button>Telemetry Reset</button></td>
|
||||
<td style="text-align: center;" colspan="2"><button>Full <br> Charge</button></td>
|
||||
</tr>
|
||||
<tr><td colspan="6"><hr></td></tr>
|
||||
<tr>
|
||||
<td style="text-align: center;" colspan="6"><strong> Set Heading to: </strong><strong id="SetHeading" style="font-size: 18px;">270</strong><strong>°</strong></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td colspan="6"><input type ="range" min="0" max="359" value="270" class="slider" id="HdgSlider"></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;" colspan="6"><strong>Set Translation to: </strong><strong id="SetTrans" style="font-size: 18px;">180</strong><strong>mm</strong></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td colspan="6"><input type ="range" min="0" max="1000" value="100" class="slider" id="TranSlider"></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;" colspan="6"><strong>Set Speed to: </strong><strong id="SetSpd" style="font-size: 18px;">50</strong><strong>%</strong></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td colspan="6"><input type ="range" min="0" max="100" value="50" class="slider" id="SpdSlider"></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td colspan="6"><button onclick="setCmdMode(1); moveCmd(setTransto, setHdgto, setSpdto);">Send<br>Command</button></td>
|
||||
</tr>
|
||||
<tr><td colspan="6"><hr></td></tr>
|
||||
</table>
|
||||
</td>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<!-- Telemetry Section -->
|
||||
|
||||
<div class="section_container">
|
||||
<div id="bleh" class="sensor_data">
|
||||
<h2>Sensor Data</h2>
|
||||
<ul>
|
||||
|
||||
<li>
|
||||
<div class="section_container">
|
||||
<label>Battery Voltage</label>
|
||||
</div>
|
||||
<div class="section_container">
|
||||
<meter id="btry_meter" min="4.0" max="6.0" low="4.5" optimum="5.0" high="4.8" value="5.8"
|
||||
title="V"></meter>
|
||||
</div>
|
||||
</li>
|
||||
|
||||
|
||||
<li>
|
||||
<div class="section_container">
|
||||
<label>Odometer</label>
|
||||
</div>
|
||||
<div class="section_container">
|
||||
<strong id="Odometer">28</strong><strong>mm</strong>
|
||||
</div>
|
||||
</li>
|
||||
|
||||
</ul>
|
||||
</div>
|
||||
|
||||
</div>
|
||||
<td style="vertical-align: top;">
|
||||
<table style="width:100%; border-spacing: 5px; ">
|
||||
<tr><td colspan="2"><hr></td></tr>
|
||||
<tr>
|
||||
<td style="width:50%;"><label>Rover Status</label></td>
|
||||
<td style="width:50%;"><strong id="Rov_status">X</strong>
|
||||
</tr>
|
||||
<tr><td colspan="2"><hr></td></tr>
|
||||
<tr>
|
||||
<td style="width:50%;"><label>Signal Strength</label></td>
|
||||
<td style="width:50%;"><meter id="SigStr" min="-80" max="-30" low="-70" high="-50" optimum="-40" value="-XX"
|
||||
title="dB"></meter></td>
|
||||
</tr>
|
||||
<tr><td colspan="2"><hr></td></tr>
|
||||
<tr>
|
||||
<td style="width:50%;"><label>Position</label></td>
|
||||
<td style="width:50%;"><strong id="PosX">X</strong><strong>,</strong><strong id="PosY">Y</strong></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="width:50%;"><label>Heading</label></td>
|
||||
<td style="width:50%;"><strong id="Hdg">H</strong><strong>°</strong></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="width:50%;"><label>Trip Distance</label></td>
|
||||
<td style="width:50%;"><strong id="TrpDist">X</strong><strong> mm</strong></td>
|
||||
</tr>
|
||||
<tr><td colspan="2"><hr></td></tr>
|
||||
<tr>
|
||||
<td style="width:50%;"><label>Battery Voltage</label></td>
|
||||
<td style="width:50%;"><strong id="btry_volt">X</strong><strong>V</strong></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="width:50%;"><label>Battery Level</label></td>
|
||||
<td style="width:50%;"><strong id="btry_lvl">X</strong><strong>%</strong></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="width:50%;"><label>Battery Cycles</label></td>
|
||||
<td style="width:50%;"><strong id="btry_cycls">X</strong></td>
|
||||
</tr>
|
||||
<tr><td colspan="2"><hr></td></tr>
|
||||
|
||||
</table>
|
||||
</td>
|
||||
|
||||
<!-- Command Buffer Section -->
|
||||
<td style="vertical-align: top;">
|
||||
<table style="width:100%; border-spacing: 5px; ">
|
||||
<tr><td colspan="2"><hr></td></tr>
|
||||
<tr><td colspan="2"><div id="command_space"><p id="command_buffer" style="padding-left: 5px; font-size: 12px; font-family: 'Courier New', Courier, monospace;"></p></div></td></tr>
|
||||
<tr>
|
||||
<td><input type="text" placeholder="Type a command or 'help'." id="commandInput" value="" onkeyup="if(event.keyCode == 13){document.getElementById('commandEnter').click();}" style="width: 100%; font-size: 14px; font-family: 'Courier New', Courier, monospace;"></td>
|
||||
<td style="width: 7%; "><button onclick="setCmdMode(0); RunParser();" id="commandEnter" style="height: 20px; width: 20px; padding: 3px 2px;">↵</button></td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
</div>
|
||||
|
||||
|
||||
</body>
|
||||
<script src="command.js"></script>
|
||||
<script>
|
||||
var connection = new WebSocket('ws://' + location.hostname + ':81/');
|
||||
|
||||
var command_id = 1;
|
||||
var mode = 0;
|
||||
var reqHeading = 0;
|
||||
var reqDistance = 0;
|
||||
var reqSpeed = 0;
|
||||
var reqCharge = 0;
|
||||
var pstop_time = 0;
|
||||
|
||||
var state = 0;
|
||||
var batteryVoltage = 0;
|
||||
var batteryLevel = 0;
|
||||
var totalTripDistance = 0;
|
||||
var currentHeading = 0;
|
||||
var current_pos = [,];
|
||||
var current_x = 0;
|
||||
var current_y = 0;
|
||||
var signal_strength = 0;
|
||||
var lastCompletedCommand_id = 0;
|
||||
var batteryCycles = 0;
|
||||
|
||||
|
||||
connection.onmessage = function (event) {
|
||||
var raw_data = event.data;
|
||||
console.log(raw_data);
|
||||
var data = JSON.parse(raw_data);
|
||||
|
||||
state = data.st;
|
||||
batteryLevel = data.bV;
|
||||
batteryVoltage = data.bV;
|
||||
batteryCycles = data.bC;
|
||||
totalTripDistance = data.tD;
|
||||
currentHeading = data.cH;
|
||||
current_pos = data.pos;
|
||||
current_x = current_pos[0];
|
||||
current_y = current_pos[1];
|
||||
signal_strength = data.rssi;
|
||||
lastCompletedCommand_id = data.LCCid;
|
||||
|
||||
var rStatus = ""
|
||||
if(state == -1){
|
||||
rStatus = "Error";
|
||||
}else if(state == 0){
|
||||
rStatus = "Idle";
|
||||
}else if(state == 1){
|
||||
rStatus = "Moving";
|
||||
}else if(state == 2){
|
||||
rStatus = "Charging";
|
||||
}else{
|
||||
rStatus = "Undefined";
|
||||
}
|
||||
|
||||
document.getElementById("Rov_status").innerHTML = rStatus;
|
||||
document.getElementById("SigStr").value = signal_strength;
|
||||
document.getElementById("PosX").innerHTML = current_x;
|
||||
document.getElementById("PosY").innerHTML = current_y;
|
||||
document.getElementById("Hdg").innerHTML = currentHeading;
|
||||
document.getElementById("TrpDist").innerHTML = totalTripDistance;
|
||||
document.getElementById("btry_volt").innerHTML = batteryVoltage;
|
||||
document.getElementById("btry_lvl").innerHTML = batteryLevel;
|
||||
document.getElementById("btry_cycls").innerHTML = batteryCycles;
|
||||
}
|
||||
|
||||
function send_data() {
|
||||
var raw_data = '{"Cid":' + command_id + ',"mode":' + mode + ',"rH":' + reqHeading + ',"rD":' + reqDistance + ',"rS":' + reqSpeed + ',"rC":' + reqCharge + ',"pSt":' + pstop_time + '}';
|
||||
connection.send(raw_data);
|
||||
console.log(raw_data);
|
||||
}
|
||||
|
||||
function setCmdMode(mode){
|
||||
cmdMode = mode;
|
||||
}
|
||||
|
||||
function updateCommandBuffer(){
|
||||
var bufferOutput = "";
|
||||
if(cmdMode == 0){
|
||||
bufferOutput = document.getElementById("commandInput").value;
|
||||
}else if(cmdMode == 1){
|
||||
bufferOutput = "move " + reqDistance + "mm " + reqHeading + "deg " + reqSpeed + "%";
|
||||
}
|
||||
if((mode == 1) || (mode == -1) || (mode == 2) || (mode == 3)){
|
||||
document.getElementById("command_buffer").innerHTML += '[' + command_id + '] ' + bufferOutput + "<br>";
|
||||
document.getElementById("commandInput").value = ""
|
||||
}else if(mode == 0){
|
||||
document.getElementById("command_buffer").innerHTML = "Rover Emergency Stop." + "<br>" +"Command buffer cleared." + "<br>";
|
||||
document.getElementById("commandInput").value = "";
|
||||
}
|
||||
}
|
||||
|
||||
function printHelpDetails(){
|
||||
document.getElementById("command_buffer").innerHTML =
|
||||
("------------------------------------------" + "<br>" + "<br>" +
|
||||
"Types of commands available:" + "<br>" + "<br>" +
|
||||
"'move' moves rover along a given vector" + "<br>" +
|
||||
"> move [distance]mm [heading]deg [speed]%" + "<br>" + "<br>" +
|
||||
"'pstop' short for planned stop it stops the rover without reseting the command buffer" + "<br>" +
|
||||
"> pstop" + "<br>" + "<br>" +
|
||||
"'charge' stops the rover and recharges to a set battery level" + "<br>" +
|
||||
"> charge to [percentage]%" + "<br>" + "<br>" +
|
||||
"'telemetry reset' resets X,Y coordinates and Trip Distance" + "<br>" +
|
||||
"> telemetry reset" + "<br>" + "<br>" +
|
||||
"'stop' and emergency stop that stops the rover and resets the command buffer" + "<br>" +
|
||||
"> stop" + "<br>" + "<br>" +
|
||||
"------------------------------------------"
|
||||
)
|
||||
document.getElementById("commandInput").value = "";
|
||||
}
|
||||
|
||||
function moveCmd(dist,hdg,spd){
|
||||
mode = 1;
|
||||
reqDistance = dist;
|
||||
reqHeading = hdg;
|
||||
reqSpeed = spd;
|
||||
reqCharge = 0;
|
||||
pstop_time = 0;
|
||||
tel_rst = 0;
|
||||
send_data();
|
||||
updateCommandBuffer();
|
||||
command_id++;
|
||||
}
|
||||
|
||||
function stpCmd(){
|
||||
mode = 0;
|
||||
reqDistance = 0;
|
||||
reqHeading = 0;
|
||||
reqSpeed = 0;
|
||||
reqCharge = 0;
|
||||
pstop_time = 0;
|
||||
tel_rst = 0;
|
||||
send_data();
|
||||
command_id = 1;
|
||||
updateCommandBuffer();
|
||||
}
|
||||
|
||||
function pstpCmd(pstp_tme){
|
||||
mode = 3;
|
||||
reqDistance = 0;
|
||||
reqHeading = 0;
|
||||
reqSpeed = 0;
|
||||
reqCharge = 0;
|
||||
pstop_time = pstp_tme;
|
||||
tel_rst = 0;
|
||||
send_data();
|
||||
updateCommandBuffer();
|
||||
command_id++;
|
||||
}
|
||||
|
||||
function chrgCmd(chrglvl){
|
||||
mode = 2;
|
||||
reqDistance = 0;
|
||||
reqHeading = 0;
|
||||
reqSpeed = 0;
|
||||
reqCharge = chrglvl;
|
||||
pstop_time = 0;
|
||||
tel_rst = 0;
|
||||
send_data();
|
||||
updateCommandBuffer();
|
||||
command_id++;
|
||||
}
|
||||
|
||||
function telRst(){
|
||||
mode = -1;
|
||||
reqDistance = 0;
|
||||
reqHeading = 0;
|
||||
reqSpeed = 0;
|
||||
reqCharge = 0;
|
||||
pstop_time = 0;
|
||||
send_data();
|
||||
updateCommandBuffer();
|
||||
command_id++;
|
||||
}
|
||||
|
||||
|
||||
function RunParser(){
|
||||
var commandstring = document.getElementById("commandInput").value;
|
||||
try{
|
||||
command.parse(commandstring);
|
||||
} catch(err){
|
||||
alert(err);
|
||||
}
|
||||
}
|
||||
|
||||
var setHdgto = 270;
|
||||
var hdg_slider = document.getElementById("HdgSlider");
|
||||
var hdg_output = document.getElementById("SetHeading");
|
||||
hdg_output.innerHTML = hdg_slider.value;
|
||||
hdg_slider.oninput = function() {
|
||||
hdg_output.innerHTML = this.value;
|
||||
setHdgto = this.value;
|
||||
}
|
||||
|
||||
var setTransto = 100;
|
||||
var tran_slider = document.getElementById("TranSlider");
|
||||
var tran_output = document.getElementById("SetTrans");
|
||||
tran_output.innerHTML = tran_slider.value;
|
||||
tran_slider.oninput = function() {
|
||||
tran_output.innerHTML = this.value;
|
||||
setTransto = this.value;
|
||||
}
|
||||
|
||||
var setSpdto = 50;
|
||||
var spd_slider = document.getElementById("SpdSlider");
|
||||
var spd_output = document.getElementById("SetSpd");
|
||||
spd_output.innerHTML = spd_slider.value;
|
||||
spd_slider.oninput = function() {
|
||||
spd_output.innerHTML = this.value;
|
||||
setSpdto = this.value;
|
||||
}
|
||||
|
||||
</script>
|
||||
|
||||
</html>
|
||||
|
|
@ -13,11 +13,10 @@ platform = espressif32
|
|||
board = esp32dev
|
||||
framework = arduino
|
||||
monitor_speed = 115200
|
||||
upload_port = COM13
|
||||
monitor_filters =
|
||||
monitor_filters =
|
||||
send_on_enter
|
||||
esp32_exception_decoder
|
||||
build_flags =
|
||||
build_flags =
|
||||
-DCORE_DEBUG_LEVEL=5
|
||||
-Wno-unknown-pragmas
|
||||
build_type = debug
|
||||
|
|
|
|||
59
Control/src/command.jison
Normal file
59
Control/src/command.jison
Normal file
|
|
@ -0,0 +1,59 @@
|
|||
%lex
|
||||
%%
|
||||
|
||||
\s return 'whitespace'
|
||||
\b[0-9]+"mm"\b return 'distance'
|
||||
\b([0-9]|[1-8][0-9]|9[0-9]|[12][0-9]{2}|3[0-4][0-9]|35[0-9])"deg"\b return 'heading_angle'
|
||||
\b([0-9]|[1-8][0-9]|9[0-9]|100)"%" return 'percentage'
|
||||
\b[0-9]+"s"\b return 'stop_duration'
|
||||
\bmove\b return 'move'
|
||||
\bpstop\b return 'pstop'
|
||||
\bstop\b return 'stop'
|
||||
\bhelp\b return 'help'
|
||||
\bcharge\sto\b return 'charge_to'
|
||||
\btelemetry\sreset\b return 'telemetry_reset'
|
||||
<<EOF>> return 'EOF'
|
||||
. return 'invalid_command'
|
||||
|
||||
/lex
|
||||
|
||||
%start command
|
||||
|
||||
%%
|
||||
|
||||
command
|
||||
: expr EOF
|
||||
;
|
||||
|
||||
expr
|
||||
: move whitespace distance whitespace heading_angle whitespace percentage
|
||||
{
|
||||
var inDist = Number(String($3).substr(0, ((String($3).length) - 2)));
|
||||
var inHdg = Number(String($5).substr(0, ((String($5).length) - 3)));
|
||||
var inSpd = Number(String($7).substr(0, ((String($7).length) - 1)));
|
||||
moveCmd(inDist,inHdg,inSpd);
|
||||
}
|
||||
| stop
|
||||
{
|
||||
stpCmd();
|
||||
}
|
||||
| pstop whitespace stop_duration
|
||||
{
|
||||
var inStpDur = Number(String($3).substr(0, ((String($3).length) - 1)));
|
||||
pstpCmd(inStpDur);
|
||||
}
|
||||
| charge_to whitespace percentage
|
||||
{
|
||||
var inChrg = Number(String($3).substr(0, ((String($3).length) - 1)));
|
||||
chrgCmd(inChrg);
|
||||
}
|
||||
| telemetry_reset
|
||||
{
|
||||
telRst();
|
||||
}
|
||||
| help
|
||||
{
|
||||
printHelpDetails();
|
||||
}
|
||||
;
|
||||
|
||||
Loading…
Reference in a new issue