added files

firmware/MotionControllerRP/src/command_parser/command_parser.h

@@ -0,0 +1,65 @@
+#pragma once
+
+//*** INCLUDE ***************************************************************************
+
+#include <functional>
+#include <string>
+#include <stdlib.h>
+#include <stdint.h>
+#include "utilities/math3d.h"
+
+//*** CLASS *****************************************************************************
+
+//--- GCodeCommand ----------------------------------------------------------------------
+
+class GCodeCommand {
+  public:
+    GCodeCommand();
+
+    void                reset();
+    void                set_command(const char* cmd);
+    const std::string&  get_command() const;
+    void                set_value(char word, float value);
+    float               get_value(char word) const;
+    float               get_value(char word, float default_value) const;
+    bool                has_word(char word) const;
+
+  private:
+    std::string command;
+    float word_values[26];
+};
+
+//--- ICommandProcessor -----------------------------------------------------------------
+
+class ICommandProcessor {
+  public:
+    virtual ~ICommandProcessor() {};
+
+    virtual void send_reply(const char* str) = 0;
+    virtual bool can_process_command(const GCodeCommand& cmd) = 0;
+    virtual void process_command(const GCodeCommand& cmd, std::string& reply) = 0;
+};
+
+//--- CommandParser ---------------------------------------------------------------------
+
+class CommandParser {
+  public:
+    CommandParser();
+
+    void set_command_processor(ICommandProcessor* cp);
+    void add_input_character(char c);  // Feed input chars one by one
+    void update();  // Feed input chars one by one
+
+  protected:
+    bool parse_line(const char* line);
+    bool handle_gcode_command(const GCodeCommand& cmd);
+
+  private:
+    char buffer[255];
+    int buffer_index;
+    ICommandProcessor* command_processor;
+
+    GCodeCommand command;
+    bool command_ready;
+};
+