commit b38014686b00fc533265a850ab6086227a96f55a
Author: Sebastian <sebastian@sebastians-site.de>
Date:   Fri May 3 16:16:24 2024 +0200

    Added rotctl protocol parser

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ea8c4bf
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+/target
diff --git a/Cargo.lock b/Cargo.lock
new file mode 100644
index 0000000..551b0ca
--- /dev/null
+++ b/Cargo.lock
@@ -0,0 +1,32 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 3
+
+[[package]]
+name = "memchr"
+version = "2.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6c8640c5d730cb13ebd907d8d04b52f55ac9a2eec55b440c8892f40d56c76c1d"
+
+[[package]]
+name = "minimal-lexical"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
+
+[[package]]
+name = "nom"
+version = "7.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d273983c5a657a70a3e8f2a01329822f3b8c8172b73826411a55751e404a0a4a"
+dependencies = [
+ "memchr",
+ "minimal-lexical",
+]
+
+[[package]]
+name = "radomctld"
+version = "0.1.0"
+dependencies = [
+ "nom",
+]
diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000..4a2ed71
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,7 @@
+[package]
+name = "radomctld"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+nom = "7.1.3"
diff --git a/src/main.rs b/src/main.rs
new file mode 100644
index 0000000..baf00d4
--- /dev/null
+++ b/src/main.rs
@@ -0,0 +1,5 @@
+mod rotctl;
+
+fn main() {
+    println!("Hello, world!");
+}
diff --git a/src/rotctl.rs b/src/rotctl.rs
new file mode 100644
index 0000000..d895e5d
--- /dev/null
+++ b/src/rotctl.rs
@@ -0,0 +1,278 @@
+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()));
+    }
+}