Merge branch 'movement-command-crash' into 'master'

Fix command parsing

See merge request filipayazi/sangaboard-firmware!5

src/config.h

@@ -8,7 +8,7 @@
     //general settings
     #define MAX_COMMANDS 50
     #define MAX_MODULES 10
-    #define MAX_ARGUMENT_LENGTH 20 //used in argument parsing, takes up ram
+    #define MAX_ARGUMENT_LENGTH 25 //used in argument parsing, takes up ram
     #define VERSION_STRING "Sangaboard Firmware v1.0.0-dev"
     #define DEBUG_ON
     #define EMULATED_EEPROM_SIZE 512

src/main.cpp

@@ -113,6 +113,28 @@ uint8_t parse_arguments(char **arguments, String command, uint8_t max_args)
     return parsed;
 }
 
+void print_arg_difference(uint8_t parsed, uint8_t expected)
+{
+    comPort->print(F("Got "));
+    comPort->print(parsed);
+    comPort->print(F(" but expected "));
+    comPort->print(expected);
+}
+
+void free_parsed_arguments(char **arguments, uint8_t parsed)
+{
+    // free parsed arguments
+    for (uint8_t i = 0; i < parsed; i++)
+    {
+        free(arguments[i]);
+    }
+}
+
+bool assert_exact_args(uint8_t parsed, uint8_t num_args)
+{
+    return parsed == num_args;
+}
+
 void get_version(String)
 {
     comPort->println(F(VERSION_STRING));

src/main.h

@@ -40,6 +40,11 @@ inline bool read_eeprom_bool(uint16_t address, bool default_value)
 
 const Command end_command = END_COMMAND;
 uint8_t parse_arguments(char ** arguments, String, uint8_t);
+bool assert_exact_args(uint8_t parsed, uint8_t num_args);
+
+void print_arg_difference(uint8_t parsed, uint8_t expected);
+void free_parsed_arguments(char** arguments, uint8_t parsed);
+
 extern void register_module(const Command commands[], void (*loop_fn)(void));
 
 void get_version(String);

src/modules/stage/stage.cpp

@@ -206,13 +206,28 @@ void stage_loop()
 void stage_move_single_axis(uint8_t axis, String command)
 {
     char *args[1];
-    parse_arguments(args, command, 1);
-    int move = atoi(args[0]);
+    uint8_t parsed = parse_arguments(args, command, 1);
+
+    // make sure that the exact number of arguments are parsed
+    if(assert_exact_args(parsed, 1))
+    {
+        long move = (long) atof(args[0]);
         EACH_MOTOR displacement[i] = 0;
         displacement[axis] = move;
         start_move(displacement);
         free(args[0]);
     }
+    else
+    {
+        // report the error (in a single line)
+        comPort->print(F("Error: stage single axis movement did not receive correct number of arguments. "));
+        print_arg_difference(parsed, n_motors);
+        comPort->println(F(". Skippping command!"));
+
+        // free memory for parsed arguments
+        free_parsed_arguments(args, parsed);
+    }
+}
 
 void stage_mrx(String command)
 {
@@ -232,15 +247,30 @@ void stage_mrz(String command)
 void stage_mr(String command)
 {
     char *args[STAGE_MAX_MOTORS];
-    parse_arguments(args, command, n_motors);
+    uint8_t parsed = parse_arguments(args, command, n_motors);
+
+    if (assert_exact_args(parsed, n_motors))
+    {
+        // start executing the movement
         EACH_MOTOR
         {
-        displacement[i] = atol(args[i]);
+            displacement[i] = (long) atof(args[i]);
             free(args[i]);
         }
 
         start_move(displacement);
     }
+    else
+    {
+        // report the error (in a single line)
+        comPort->print(F("Error: stage multi axis movement did not receive correct amount of commands. "));
+        print_arg_difference(parsed, n_motors);
+        comPort->println(F(". Skippping command!"));
+
+        // free memory for parsed arguments
+        free_parsed_arguments(args, parsed);
+    }
+}
 
 void stage_release(String command)
 {