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.

This commit is contained in:
jc4419 2021-06-13 22:42:00 +04:00
parent 44f9d8ce7b
commit 6c221f6d12
3 changed files with 796 additions and 18 deletions

681
Control/data/command.js Normal file
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@ -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));
}
}

View file

@ -80,25 +80,28 @@
display: table; display: table;
} }
</style> </style>
<script src="command.js"></script>
<script> <script>
var connection = new WebSocket('ws://' + location.hostname + ':81/'); var connection = new WebSocket('ws://' + location.hostname + ':81/');
var command_id = 0; var command_id = 1;
var mode = 0; var mode = 0;
var reqHeading = 0; var reqHeading = 0;
var reqDistance = 0; var reqDistance = 0;
var reqSpeed = 0; var reqSpeed = 0;
var reqCharge = 0; var reqCharge = 0;
var state = 0;
var batteryVoltage = 0; var batteryVoltage = 0;
var batteryLevel = 0;
var totalTripDistance = 0; var totalTripDistance = 0;
var currentHeading = rdoc["cH"]; var currentHeading = 0;
var current_pos = [,]; var current_pos = [,];
var current_x = 0; var current_x = 0;
var current_y = 0; var current_y = 0;
var signal_strength = 0; var signal_strength = 0;
var lastCompletedCommand_id = rdoc["LCCid"]; var lastCompletedCommand_id = 0;
var ChargeStatus = 0; var ChargeStatus = 0;
@ -106,7 +109,9 @@
var raw_data = event.data; var raw_data = event.data;
console.log(raw_data); console.log(raw_data);
var data = JSON.parse(raw_data); var data = JSON.parse(raw_data);
state = data.st;
batteryLevel = data.bV;
batteryVoltage = data.bV; batteryVoltage = data.bV;
totalTripDistance = data.tD; totalTripDistance = data.tD;
currentHeading = data.cH; currentHeading = data.cH;
@ -134,23 +139,28 @@
console.log(raw_data); console.log(raw_data);
} }
function echoCommandbuf() { function updateCommandBuffer(){
document.getElementById("command_buffer").innerHTML += '[' + command_id + '] ' + document.getElementById("commandInput").value + "<br>"; if((mode == 1) || (mode == -1) || (mode == 2)){
cIdIncrement(); document.getElementById("command_buffer").innerHTML += '[' + command_id + '] ' + document.getElementById("commandInput").value + "<br>";
document.getElementById("commandInput").value = ""; }else if(mode == 0){
console.log('test'); document.getElementById("comand_buffer").innerHTML = "Rover Emergency Stop.\n Command buffer cleared. ";
document.getElementById("commandInput").value = "";
}
}
function commandError(){
} }
function cIdIncrement() { function RunParser(){
command_id++; var commandstring = document.getElementById("commandInput").value;
try{
command.parse(commandstring);
} catch(err){
alert(err);
}
} }
</script> </script>
</head> </head>
@ -253,7 +263,7 @@
<tr><td colspan="2"><div id="command_space"><p id="command_buffer" style="padding-left: 5px; font-size: 14px; font-family: 'Courier New', Courier, monospace;"></p></div></td></tr> <tr><td colspan="2"><div id="command_space"><p id="command_buffer" style="padding-left: 5px; font-size: 14px; font-family: 'Courier New', Courier, monospace;"></p></div></td></tr>
<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><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="echoCommandbuf()" id="commandEnter" style="height: 20px; width: 20px; padding: 3px 2px;">&crarr;</button></td> <td style="width: 7%; "><button onclick="RunParser()" id="commandEnter" style="height: 20px; width: 20px; padding: 3px 2px;">&crarr;</button></td>
</tr> </tr>
</table> </table>

87
Control/lib/command.jison Normal file
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%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'
<<EOF>> 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++;}
;