102 lines
2.5 KiB
C++
Executable File
102 lines
2.5 KiB
C++
Executable File
#pragma once
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#include <mutex>
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#include <string>
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#include <boost/spirit/include/qi.hpp>
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#include <boost/spirit/include/phoenix.hpp>
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namespace qi = boost::spirit::qi;
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enum InputCommands
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{
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no_cmd,
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startcamera,
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stopcamera,
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setcamera,
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setimagerate,
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setgimbal,
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setmotorcontrol,
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setdebug
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};
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struct parser_data {
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std::string command="";
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std::string device = "";
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std::string option = "";
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double command_val=0.0;
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};
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struct Parser
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{
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parser_data p_data;
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std::mutex mut;
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void set_parser_data(parser_data& data) {
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std::cout << "parser set data..." << std::endl;
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std::lock_guard<std::mutex> lg(mut);
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p_data = data;
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}
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void clear_parser_data() {
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//std::cout << "parser clear data..." << std::endl;
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std::lock_guard<std::mutex> lg(mut);
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p_data.command = "";
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}
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parser_data get_parser_data() {
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//std::cout << "parser get data..." << std::endl;
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std::lock_guard<std::mutex> lg(mut);
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parser_data temp= p_data;
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//clear_parser_data();
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return temp;
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}
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void parse_input(std::string input) {
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parser_data temp_data;
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qi::parse(
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input.begin(), input.end(),
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(*qi::char_("a-zA-Z") >> ' ' >> *qi::char_("a-zA-Z") >> ' ' >> *qi::char_("a-zA-Z") >> ' ' >> qi::double_),
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temp_data.command, temp_data.device, temp_data.option, temp_data.command_val
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);
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std::cout << temp_data.command << " ... " << temp_data.device << " ... " << temp_data.option << " ... " << temp_data.command_val << std::endl;
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set_parser_data(temp_data);
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std::cout << "parser data set" << temp_data.command_val << std::endl;
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}
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};
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struct CMD_eval {
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InputCommands eval(Parser& parse) {
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if (parse.p_data.command == "start") {
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std::cout << "starting Camera" << std::endl;
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parse.clear_parser_data();
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return startcamera;
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}
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else if (parse.p_data.command == "stop") {
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std::cout << "stopping Camera" << std::endl;
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parse.clear_parser_data();
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return stopcamera;
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}
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else if (parse.p_data.command == "debug") {
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parse.clear_parser_data();
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return setdebug;
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}
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else if (parse.p_data.command == "set") {
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//std::cout << "setting" << std::endl;
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if (parse.p_data.device == "camera") {
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parse.clear_parser_data();
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return setcamera;
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}
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else if (parse.p_data.device == "fps") {
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parse.clear_parser_data();
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return setimagerate;
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}
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else if (parse.p_data.device == "motorctl") {
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parse.clear_parser_data();
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return setmotorcontrol;
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}
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}
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else {
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return no_cmd;
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}
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}
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};
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