OfficebotXMPPController/officebot-controller.php at master · 9thSenseRobotics/OfficebotXMPPController · GitHub

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<?php

require_once ('officebot-include.php');

function is_valid_create_command($cmd)
// make sure it's a command we understand
{
	switch ($cmd)
	{
		case 'i':
		case 'o':
		case 'c':
		case 'l':
		case 's':
		case 'x':
		case 'I':
		case 'O':
		case 'C':
		case 'L':
		case 'S':
		case 'X':
		case 'a':
		case 'A':
		case 'd':
		case 'D':
		case 'aa':
		case 'ddd':
			return ($cmd);
		default:
			return (false);
	}
}

function is_valid_pantilt_command($cmd)
// make sure it's a command we understand
{
	switch ($cmd)
	{
		case 'u':
		case 'd':
		case 'l':
		case 'r':
			return ($cmd);
		default:
			return (false);
	}
}


function robot_command($cmd)
{
	global $conn, $createActionTable, $robotname;

	$commandSocket = socket_create (AF_INET, SOCK_STREAM, 0);
	socket_bind($commandSocket, '127.0.0.1');
	socket_connect($commandSocket, '127.0.0.1', '49440');
	socket_write($commandSocket, "$cmd\n");
	socket_close($commandSocket);
// 	if (is_valid_create_command($cmd))
// 	{
// 		mysql_query("update $createActionTable set command =  '$cmd', last_update = " . microtime (true));
// 	} else {
// 		syslog (LOG_NOTICE, "invalid robot command issued: $cmd");
// 	}
}

function pantilt_command($cmd)
{
	robot_command($cmd);
}

function pantilt_up()
{
	pantilt_command ('u');
}

function pantilt_down()
{
	pantilt_command ('n');
}

function pantilt_left()
{
	pantilt_command ('h');
}

function pantilt_right()
{
	pantilt_command ('k');
}
function pantilt_center()
{
	pantilt_command ('j');
}


function robot_forward()
{
	robot_command('o');
}

function robot_backward()
{
	robot_command('l');
}
function robot_left()
{
	robot_command('aa');
}
function robot_right()
{
	robot_command('dd');
}
function robot_stop()
{
	robot_command('x');
}

	header("Content-type: text/json");
	if (isset ($_REQUEST['cmd']))
	{
		switch ($_REQUEST['cmd'])
	//	switch ('l')
		{
			case 'o':
				robot_forward();
				$retval = 'f';
				break;
			case 'l':
				robot_backward();
				$retval = 'b';
				break;
			case 'a':
			case 'i':
				robot_left();
				$retval = 'l';
				break;
			case 'd':
				robot_right();
				$retval = 'c';
				break;
			case 's':
			case 'x':
				robot_stop();
				$retval = 's';
				break;
			default:
				$retval = "none";
				break;
		}
	}
	if (isset ($_REQUEST['pantilt']))
	{
		switch ($_REQUEST['pantilt'])
		{
			case 'l': // pan left
				pantilt_left();
				break;
			case 'r': // pan right
				pantilt_right();
				break;
			case 'u': // tilt up
				pantilt_up();
				break;
			case 'd': // tilt down
				pantilt_down();
				break;
			case 'j': // center
				pantilt_center();
				break;
			default:
				$cmd = NULL;
				break;
		}
	}
	header ("Content-type: text/plain\n");
	echo (json_encode(array('commandSent' => isset($_REQUEST['cmd']) ? $_REQUEST['cmd'] : $_REQUEST['pantilt'] )));
?>