From 6c221f6d12990b9a3f2ebfbfd48a2368fae65042 Mon Sep 17 00:00:00 2001
From: jc4419 <60656643+jc4419@users.noreply.github.com>
Date: Sun, 13 Jun 2021 22:42:00 +0400
Subject: [PATCH] Fully implemented the console. Console required the additon
of a parser written in .jison api and output as command.js which is linked in
html. Tested working sending correct JSON packets.
---
Control/data/command.js | 681 ++++++++++++++++++++++++++++++++++++++
Control/data/index.html | 46 ++-
Control/lib/command.jison | 87 +++++
3 files changed, 796 insertions(+), 18 deletions(-)
create mode 100644 Control/data/command.js
create mode 100644 Control/lib/command.jison
diff --git a/Control/data/command.js b/Control/data/command.js
new file mode 100644
index 0000000..76df3fe
--- /dev/null
+++ b/Control/data/command.js
@@ -0,0 +1,681 @@
+/* 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,"DIST":8,"HEADING":9,"PERCENTAGE":10,"STOP":11,"PSTOP":12,"CHARGETO":13,"TELERST":14,"$accept":0,"$end":1},
+terminals_: {2:"error",5:"EOF",6:"MOVE",7:"WHITESPACE",8:"DIST",9:"HEADING",10:"PERCENTAGE",11:"STOP",12:"PSTOP",13:"CHARGETO",14:"TELERST"},
+productions_: [0,[3,2],[4,7],[4,1],[4,1],[4,3],[4,1]],
+performAction: function anonymous(yytext, yyleng, yylineno, yy, yystate /* action[1] */, $$ /* vstack */, _$ /* lstack */) {
+/* this == yyval */
+
+var $0 = $$.length - 1;
+switch (yystate) {
+case 2:
+
+ var inDist = String($$[$0-4]).substr(0, ((String($$[$0-4]).length) - 2));
+ var inHdg = String($$[$0-2]).substr(0, ((String($$[$0-2]).length) - 3));
+ var inSpd = String($$[$0]).substr(0, ((String($$[$0]).length) - 1));
+ mode = 1;
+ reqDistance = Number(inDist);
+ reqHeading = Number(inHdg);
+ reqSpeed = Number(inSpd);
+ reqCharge = 0;
+ send_data();
+ updateCommandBuffer();
+ command_id++;
+
+break;
+case 3:
+
+ mode = 0;
+ reqDistance = 0;
+ reqHeading = 0;
+ reqSpeed = 0;
+ reqCharge = 0;
+ send_data();
+ command_id = 0;
+ updateCommandBuffer()
+
+break;
+case 4:
+
+ mode = 1;
+ reqDistance = 0;
+ reqHeading = 0;
+ reqSpeed = 0;
+ reqCharge = 0;
+ send_data();
+ updateCommandBuffer();
+ command_id++;
+
+break;
+case 5:
+
+ mode = 1;
+ reqDistance = 0;
+ reqHeading = 0;
+ reqSpeed = 0;
+
+ var inChrg = String($$[$0]).substr(0, ((String($$[$0]).length) - 1));
+ reqCharge = Number(inChrg);
+
+ send_data();
+ updateCommandBuffer();
+ command_id++;
+
+break;
+case 6:
+mode = 1;
+ reqDistance = 0;
+ reqHeading = 0;
+ reqSpeed = 0;
+ reqCharge = 0;
+ send_data();
+ updateCommandBuffer();
+ command_id++;
+break;
+}
+},
+table: [{3:1,4:2,6:[1,3],11:[1,4],12:[1,5],13:[1,6],14:[1,7]},{1:[3]},{5:[1,8]},{7:[1,9]},{5:[2,3]},{5:[2,4]},{7:[1,10]},{5:[2,6]},{1:[2,1]},{8:[1,11]},{10:[1,12]},{7:[1,13]},{5:[2,5]},{9:[1,14]},{7:[1,15]},{10:[1,16]},{5:[2,2]}],
+defaultActions: {4:[2,3],5:[2,4],7:[2,6],8:[2,1],12:[2,5],16:[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($avoiding_name_collisions) {
+case 0:return 7
+break;
+case 1:return 8
+break;
+case 2:return 9
+break;
+case 3:return 10
+break;
+case 4:return 6
+break;
+case 5:return 12
+break;
+case 6:return 11
+break;
+case 7:return 13
+break;
+case 8:return 14
+break;
+case 9:return 5
+break;
+case 10:return 'INVALID'
+break;
+}
+},
+rules: [/^(?:\s)/,/^(?:\b[0-9]+mm\b)/,/^(?:\b([0-9]|[1-8][0-9]|9[0-9]|[12][0-9]{2}|3[0-4][0-9]|35[0-9])deg\b)/,/^(?:\b([0-9]|[1-8][0-9]|9[0-9]|100)%)/,/^(?:\bmove\b)/,/^(?:\bpstop\b)/,/^(?:\bstop\b)/,/^(?:\bcharge\sto\b)/,/^(?:\btelemetry\sreset\b)/,/^(?:$)/,/^(?:.)/],
+conditions: {"INITIAL":{"rules":[0,1,2,3,4,5,6,7,8,9,10],"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));
+}
+}
\ No newline at end of file
diff --git a/Control/data/index.html b/Control/data/index.html
index 592791d..998e6f2 100644
--- a/Control/data/index.html
+++ b/Control/data/index.html
@@ -80,25 +80,28 @@
display: table;
}
+
@@ -253,7 +263,7 @@
|
|
- |
+ |
diff --git a/Control/lib/command.jison b/Control/lib/command.jison
new file mode 100644
index 0000000..1278857
--- /dev/null
+++ b/Control/lib/command.jison
@@ -0,0 +1,87 @@
+%lex
+%%
+
+\s return 'WHITESPACE'
+\b[0-9]+"mm"\b return 'DIST'
+\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'
+\b([0-9]|[1-8][0-9]|9[0-9]|100)"%" return 'PERCENTAGE'
+\bmove\b return 'MOVE'
+\bpstop\b return 'PSTOP'
+\bstop\b return 'STOP'
+\bcharge\sto\b return 'CHARGETO'
+\btelemetry\sreset\b return 'TELERST'
+<> return 'EOF'
+. return 'INVALID'
+
+/lex
+
+%start command
+
+%%
+
+command
+ : expr EOF
+ ;
+
+expr
+ : MOVE WHITESPACE DIST WHITESPACE HEADING WHITESPACE PERCENTAGE
+ {
+ var inDist = String($3).substr(0, ((String($3).length) - 2));
+ var inHdg = String($5).substr(0, ((String($5).length) - 3));
+ var inSpd = String($7).substr(0, ((String($7).length) - 1));
+ mode = 1;
+ reqDistance = Number(inDist);
+ reqHeading = Number(inHdg);
+ reqSpeed = Number(inSpd);
+ reqCharge = 0;
+ send_data();
+ updateCommandBuffer();
+ command_id++;
+ }
+ | STOP
+ {
+ mode = 0;
+ reqDistance = 0;
+ reqHeading = 0;
+ reqSpeed = 0;
+ reqCharge = 0;
+ send_data();
+ command_id = 0;
+ updateCommandBuffer()
+ }
+ | PSTOP
+ {
+ mode = 1;
+ reqDistance = 0;
+ reqHeading = 0;
+ reqSpeed = 0;
+ reqCharge = 0;
+ send_data();
+ updateCommandBuffer();
+ command_id++;
+ }
+ | CHARGETO WHITESPACE PERCENTAGE
+ {
+ mode = 1;
+ reqDistance = 0;
+ reqHeading = 0;
+ reqSpeed = 0;
+
+ var inChrg = String($3).substr(0, ((String($3).length) - 1));
+ reqCharge = Number(inChrg);
+
+ send_data();
+ updateCommandBuffer();
+ command_id++;
+ }
+ | TELERST
+ {mode = 1;
+ reqDistance = 0;
+ reqHeading = 0;
+ reqSpeed = 0;
+ reqCharge = 0;
+ send_data();
+ updateCommandBuffer();
+ command_id++;}
+ ;
+