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SerialCommand.cpp
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executable file
·194 lines (171 loc) · 6.22 KB
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/**
* SerialCommand - A Wiring/Arduino library to tokenize and parse commands
* received over a serial port.
*
* Copyright (C) 2014 Mark Pruden
* Copyright (C) 2012 Stefan Rado
* Copyright (C) 2011 Steven Cogswell <steven.cogswell@gmail.com>
* http://husks.wordpress.com
*
* Version 20140120
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
#include "SerialCommand.h"
/**
* Constructor makes sure some things are set and cleared.
*/
CommandHandler::CommandHandler( SerialCommand &cmd )
: serialCmd(cmd), // Constructor
commandList(NULL),
commandCount(0),
defaultHandler(NULL)
{
}
/**
* Adds a sub command handler function to the list of available commands.
* This is used for matching a found token in the buffer,
*/
void CommandHandler::addHandler(const char *command, CommandHandler& handler ) {
commandList = (SerialCommandCallback *) realloc(commandList, (commandCount + 1) * sizeof(SerialCommandCallback));
strncpy(commandList[commandCount].command, command, SERIALCOMMAND_MAXCOMMANDLENGTH);
commandList[commandCount].function1 = NULL;
commandList[commandCount].function2 = NULL;
commandList[commandCount].hand = &handler;
commandCount++;
}
/**
* Adds a "command" and a delegate function to the list of available commands.
* This is used for matching a found token in the buffer, and gives the pointer
* to the handler function to deal with it.
*/
void CommandHandler::addCommand(const char *command, CommandCallbackSimple callback) {
commandList = (SerialCommandCallback *) realloc(commandList, (commandCount + 1) * sizeof(SerialCommandCallback));
strncpy(commandList[commandCount].command, command, SERIALCOMMAND_MAXCOMMANDLENGTH);
commandList[commandCount].function1 = callback;
commandList[commandCount].function2 = NULL;
commandList[commandCount].hand = NULL;
commandCount++;
}
/**
* Adds a "command" and a delegate function to the list of available commands.
* This is used for matching a found token in the buffer, and gives the pointer
* to the handler function to deal with it.
*/
void CommandHandler::addCommand(const char *command, CommandCallback callback) {
commandList = (SerialCommandCallback *) realloc(commandList, (commandCount + 1) * sizeof(SerialCommandCallback));
strncpy(commandList[commandCount].command, command, SERIALCOMMAND_MAXCOMMANDLENGTH);
commandList[commandCount].function1 = NULL;
commandList[commandCount].function2 = callback;
commandList[commandCount].hand = NULL;
commandCount++;
}
/**
* This sets up a handler to be called in the event that the receveived command string
* isn't in the list of commands.
*/
void CommandHandler::setDefault(CommandCallback callback) {
defaultHandler = callback;
}
/**
* Handles the decision of the command to execute based on the next token in the stream
*/
void CommandHandler::handle () {
boolean matched = false;
char *command = serialCmd.nextToken();
if (command != NULL) {
for (int i = 0; i < commandCount; i++) {
// Compare the found command against the list of known commands for a match
if (strncmp(command, commandList[i].command, SERIALCOMMAND_MAXCOMMANDLENGTH) == 0) {
// Execute the stored handler function for the command
if ( *commandList[i].function1 != NULL ) {
(*commandList[i].function1)();
} else if ( *commandList[i].function2 != NULL ) {
(*commandList[i].function2)( &serialCmd );
} else if ( (commandList[i].hand) != NULL ) {
(*commandList[i].hand).handle();
}
matched = true;
break;
}
}
}
if (!matched && (defaultHandler != NULL)) {
// not matched, call the default handler
(*defaultHandler)( &serialCmd );
}
}
/**
* Constructor makes sure some things are set.
*/
SerialCommand::SerialCommand()
: term('\n'), // default terminator for commands, newline character
last(NULL),
firsttoken(true)
{
strcpy(delim, " "); // strtok_r needs a null-terminated string
clearBuffer();
}
void SerialCommand::setHandler( CommandHandler& cmdHand ) {
cmdHandle = &cmdHand;
}
/**
* This checks the Serial stream for characters, and assembles them into a buffer.
* When the terminator character (default '\n') is seen, it starts parsing the
* buffer for a prefix command, and calls handlers setup by addCommand() member
*/
void SerialCommand::readSerial() {
while (Serial.available() > 0) {
char inChar = Serial.read(); // Read single available character, there may be more waiting
if (inChar == term) { // Check for the terminator (default '\r') meaning end of command
cmdHandle->handle();
clearBuffer();
}
else if (isprint(inChar)) { // Only printable characters into the buffer
if (bufPos < SERIALCOMMAND_BUFFER) {
buffer[bufPos++] = inChar; // Put character into buffer
buffer[bufPos] = '\0'; // Null terminate
}
}
}
}
/*
* Clear the input buffer.
*/
void SerialCommand::clearBuffer() {
buffer[0] = '\0';
bufPos = 0;
firsttoken=true;
lastTok=NULL;
}
/**
* Retrieve the next token ("word" or "argument") from the command buffer.
* Returns NULL if no more tokens exist.
*/
char* SerialCommand::nextToken() {
if (firsttoken) {
firsttoken=false;
lastTok = strtok_r(buffer, delim, &last); // Search for command at start of buffer
} else {
lastTok = strtok_r(NULL, delim, &last);
}
return lastTok;
}
/**
* Retrieve the next token ("word" or "argument") from the command buffer.
* Returns NULL if no more tokens exist.
*/
char* SerialCommand::lastToken() {
return lastTok;
}