radomctld/src/rotctl.rs

use nom::{
    branch::alt,
    bytes::complete::tag,
    character::complete::{alphanumeric1, i8, multispace1, space1},
    combinator::{all_consuming, map, rest},
    error::{context, convert_error, VerboseError},
    number::complete::float,
    sequence::{preceded, separated_pair, terminated},
    IResult, Parser,
};

#[derive(PartialEq, Debug)]
pub enum Command {
    Exit,
    SetPos(f32, f32),
    GetPos,
    Move(Direction, i8),
    Stop,
    Park,
    SetConf(String, String),
    Reset,
    GetInfo,
    DumpState,
    DumpCaps,
    SendCmd(String),
}

#[derive(PartialEq, Debug)]
pub enum Direction {
    UP,
    DOWN,
    CW,
    CCW,
}

fn exit(input: &str) -> IResult<&str, Command, VerboseError<&str>> {
    all_consuming(map(alt((tag("q"), tag("Q"))), |_| Command::Exit)).parse(input)
}

fn float_pair(input: &str) -> IResult<&str, (f32, f32), VerboseError<&str>> {
    context("float_pair", separated_pair(float, multispace1, float)).parse(input)
}

fn set_pos(input: &str) -> IResult<&str, Command, VerboseError<&str>> {
    context(
        "set_pos",
        all_consuming(map(
            preceded(
                terminated(alt((tag("set_pos"), tag("P"))), multispace1),
                float_pair,
            ),
            |pair: (f32, f32)| Command::SetPos(pair.0, pair.1),
        )),
    )
    .parse(input)
}

fn get_pos(input: &str) -> IResult<&str, Command, VerboseError<&str>> {
    all_consuming(map(alt((tag("get_pos"), tag("p"))), |_| Command::GetPos)).parse(input)
}

fn direction(input: &str) -> IResult<&str, Direction, VerboseError<&str>> {
    context(
        "direction",
        alt((
            map(alt((tag("UP"), tag("2"))), |_| Direction::UP),
            map(alt((tag("DOWN"), tag("4"))), |_| Direction::DOWN),
            map(alt((tag("CCW"), tag("LEFT"), tag("8"))), |_| Direction::CCW),
            map(alt((tag("CW"), tag("RIGHT"), tag("16"))), |_| Direction::CW),
        )),
    )
    .parse(input)
}

fn move_parameters(input: &str) -> IResult<&str, (Direction, i8), VerboseError<&str>> {
    context(
        "move_parameters",
        separated_pair(direction, multispace1, i8),
    )
    .parse(input)
}

fn move_command(input: &str) -> IResult<&str, Command, VerboseError<&str>> {
    context(
        "move",
        all_consuming(map(
            preceded(
                terminated(alt((tag("move"), tag("M"))), multispace1),
                move_parameters,
            ),
            |pair: (Direction, i8)| Command::Move(pair.0, pair.1),
        )),
    )
    .parse(input)
}

fn stop(input: &str) -> IResult<&str, Command, VerboseError<&str>> {
    all_consuming(map(alt((tag("stop"), tag("S"))), |_| Command::Stop)).parse(input)
}

fn park(input: &str) -> IResult<&str, Command, VerboseError<&str>> {
    all_consuming(map(alt((tag("park"), tag("K"))), |_| Command::Park)).parse(input)
}

fn string_pair(input: &str) -> IResult<&str, (&str, &str), VerboseError<&str>> {
    context(
        "string_pair",
        separated_pair(alphanumeric1, multispace1, alphanumeric1),
    )
    .parse(input)
}

fn set_conf(input: &str) -> IResult<&str, Command, VerboseError<&str>> {
    context(
        "set_comf",
        all_consuming(map(
            preceded(
                terminated(alt((tag("set_conf"), tag("C"))), multispace1),
                string_pair,
            ),
            |pair: (&str, &str)| Command::SetConf(pair.0.to_owned(), pair.1.to_owned()),
        )),
    )
    .parse(input)
}

fn reset(input: &str) -> IResult<&str, Command, VerboseError<&str>> {
    all_consuming(map(alt((tag("reset"), tag("R"))), |_| Command::Reset)).parse(input)
}

fn get_info(input: &str) -> IResult<&str, Command, VerboseError<&str>> {
    all_consuming(map(alt((tag("get_info"), tag("_"))), |_| Command::GetInfo)).parse(input)
}

fn dump_state(input: &str) -> IResult<&str, Command, VerboseError<&str>> {
    all_consuming(map(tag("dump_state"), |_| Command::DumpState)).parse(input)
}

fn dump_caps(input: &str) -> IResult<&str, Command, VerboseError<&str>> {
    all_consuming(map(alt((tag("dump_caps"), tag("1"))), |_| {
        Command::DumpCaps
    }))
    .parse(input)
}

fn send_cmd(input: &str) -> IResult<&str, Command, VerboseError<&str>> {
    context(
        "set_comf",
        all_consuming(map(
            preceded(terminated(alt((tag("send_cmd"), tag("w"))), space1), rest),
            |rest: &str| Command::SendCmd(rest.to_owned()),
        )),
    )
    .parse(input)
}

fn command(input: &str) -> IResult<&str, Command, VerboseError<&str>> {
    context(
        "command",
        alt((
            exit,
            set_pos,
            get_pos,
            move_command,
            stop,
            park,
            set_conf,
            reset,
            get_info,
            dump_state,
            dump_caps,
            send_cmd,
        )),
    )
    .parse(input)
}

#[cfg(test)]
mod tests {
    use super::*;
    use nom::Err as NomErr;

    fn assert_command(input: &str, expected: Command) {
        let result = command(input);
        match result {
            Ok(("", cmd)) => assert_eq!(cmd, expected),
            Err(err) => match err {
                NomErr::Incomplete(_) => panic!("Command was ncomplete"),
                NomErr::Error(err) | NomErr::Failure(err) => {
                    panic!("{}", convert_error(input, err))
                }
            },
            _ => {}
        }
    }

    #[test]
    fn test_exit() {
        assert_command("Q", Command::Exit);
        assert_command("q", Command::Exit);
    }

    #[test]
    fn test_set_pos() {
        assert_command("set_pos 180.0 10.0", Command::SetPos(180.0, 10.0));
        assert_command("P 180.0 10.0", Command::SetPos(180.0, 10.0));
    }

    #[test]
    fn test_get_pos() {
        assert_command("get_pos", Command::GetPos);
        assert_command("p", Command::GetPos);
    }

    #[test]
    fn test_move() {
        assert_command("M UP 100", Command::Move(Direction::UP, 100));
        assert_command("M DOWN -1", Command::Move(Direction::DOWN, -1));
        assert_command("M CCW 42", Command::Move(Direction::CCW, 42));
        assert_command("M LEFT 42", Command::Move(Direction::CCW, 42));
        assert_command("M CW 42", Command::Move(Direction::CW, 42));
        assert_command("M RIGHT 42", Command::Move(Direction::CW, 42));
        assert_command("move UP 100", Command::Move(Direction::UP, 100));
    }

    #[test]
    fn test_stop() {
        assert_command("stop", Command::Stop);
        assert_command("S", Command::Stop);
    }

    #[test]
    fn test_park() {
        assert_command("park", Command::Park);
        assert_command("K", Command::Park);
    }

    #[test]
    fn test_reset() {
        assert_command("reset", Command::Reset);
        assert_command("R", Command::Reset);
    }

    #[test]
    fn test_get_info() {
        assert_command("get_info", Command::GetInfo);
        assert_command("_", Command::GetInfo);
    }

    #[test]
    fn test_dump_state() {
        assert_command("dump_state", Command::DumpState);
    }

    #[test]
    fn test_dump_caps() {
        assert_command("dump_caps", Command::DumpCaps);
        assert_command("1", Command::DumpCaps);
    }

    #[test]
    fn test_set_conf() {
        assert_command(
            "set_conf foo bar",
            Command::SetConf("foo".to_owned(), "bar".to_owned()),
        );
        assert_command(
            "C foo bar",
            Command::SetConf("foo".to_owned(), "bar".to_owned()),
        );
    }

    #[test]
    fn test_send_cmd() {
        assert_command("send_cmd foo bar", Command::SendCmd("foo bar".to_owned()));
        assert_command("w foo bar", Command::SendCmd("foo bar".to_owned()));
    }
}