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132 lines (122 loc) · 4.2 KB
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/**
* SerialCommand - A Wiring/Arduino library to tokenize and parse commands
* received over a serial port.
*
* Copyright (C) 2012 Stefan Rado
* Copyright (C) 2011 Steven Cogswell <[email protected]>
* http://husks.wordpress.com
*
* Version 20120522
*
* 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.
*/
SerialCommand::SerialCommand()
: commandList(NULL),
commandCount(0),
defaultHandler(NULL),
term('\n'), // default terminator for commands, newline character
last(NULL)
{
strcpy(delim, " "); // strtok_r needs a null-terminated string
clearBuffer();
}
/**
* Adds a "command" and a handler 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 SerialCommand::addCommand(const char *command, void (*function)()) {
commandList = (SerialCommandCallback *) realloc(commandList, (commandCount + 1) * sizeof(SerialCommandCallback));
strncpy(commandList[commandCount].command, command, SERIALCOMMAND_MAXCOMMANDLENGTH);
commandList[commandCount].function = function;
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 SerialCommand::setDefaultHandler(void (*function)(const char *)) {
defaultHandler = function;
}
/**
* 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
char *command = strtok_r(buffer, delim, &last); // Search for command at start of buffer
if (command != NULL) {
boolean matched = false;
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
(*commandList[i].function)();
matched = true;
break;
}
}
if (!matched && (defaultHandler != NULL)) {
(*defaultHandler)(command);
}
}
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;
}
/**
* Retrieve the next token ("word" or "argument") from the command buffer.
* Returns NULL if no more tokens exist.
*/
char *SerialCommand::next() {
return strtok_r(NULL, delim, &last);
}
byte SerialCommand::commandNumber() {
return commandCount;
}
char *SerialCommand::commandName(byte i) {
byte index;
char *command;
char *comName = commandList[i].command;
for (index = 0; index < sizeof(comName); index++){
if(isprint(comName[index])) command[index] = comName[index];
else{
index--;
break;
}
}
index++;
command[index] = '\0';
return command;
}