Initial commit

First and incomplete version of the refactor, stage module works, including aborting moves.

src/main.cpp

@@ -0,0 +1,131 @@
+/*
+ * Sangaboard firmware
+ *
+ * Refactored from bath_open_instrumentation_group/sangaboard/arduino_code
+ * 
+ * This firmware was written by
+ * Richard Bowman
+ * Julian Stirling
+ * Boyko Vodenicharski
+ * Filip Ayazi
+ * 
+ * Much of the code is based on older code written by
+ * James Sharkey and Fergus Riche
+ * 
+ * Released under GPL v3, 2021
+ */
+
+#include <Arduino.h>
+#include <stdint.h>
+#include "config.h"
+#include "main.h"
+
+#ifdef HELP
+#include "modules/help/help.h"
+#endif
+
+#ifdef STAGE
+#include "modules/stage/stage.h"
+#endif
+
+Command registered_commands[MAX_COMMANDS];
+void (*registered_loop_functions[MAX_MODULES])(void);
+
+uint16_t registered_commands_count = 0;
+uint8_t registered_loop_fn_count = 0;
+
+const Command core_commands[] = {
+    {"version", get_version},
+    END_COMMAND};
+
+void register_module(const Command commands[], void (*loop_fn)(void))
+{
+    for (int i = 0; CHECK_END_COMMAND(commands[i]); i++)
+        registered_commands[registered_commands_count++] = commands[i];
+
+    if (loop_fn)
+        registered_loop_functions[registered_loop_fn_count++] = loop_fn;
+}
+
+void handle_command(String received_command)
+{
+    for (int i = 0; CHECK_END_COMMAND(registered_commands[i]); i++)
+    {
+        if (received_command.startsWith(registered_commands[i].command))
+            return registered_commands[i].run(received_command.substring(registered_commands[i].command.length()));
+    }
+
+#ifdef HELP
+    Serial.println(F("Type 'help' for a list of commands."));
+#else
+    Serial.println(F("Invalid command"));
+#endif
+}
+
+uint8_t parse_arguments(String arguments[], String command, uint8_t max_args)
+{
+    uint8_t from = 0;
+    uint8_t parsed = 0;
+    while (from < command.length() && parsed < max_args)
+    {
+        int space = command.indexOf(" ", from + 1);
+        if (space == -1)
+            space = command.length();
+        arguments[parsed] = command.substring(from, space);
+        arguments[parsed++].trim();
+
+        from = space;
+    }
+
+    return parsed;
+}
+
+void get_version(String)
+{
+    Serial.println(F(VER_STRING));
+    return;
+}
+
+#ifndef UNIT_TEST
+void setup()
+{
+    // initialise serial port
+    Serial.begin(115200);
+    while (!Serial)
+        delay(1);
+
+    register_module(core_commands, NULL);
+
+#ifdef HELP
+    // D(help_commands_t[0].command);
+    help_setup();
+#endif
+
+//register modules
+#ifdef STAGE
+    stage_setup();
+#endif
+
+#ifdef LIGHT_SENSOR
+    light_sensor_setup(); //TODO
+#endif
+
+#ifdef ENDSTOPS
+    light_sensor_setup(); //TODO
+#endif
+
+    registered_commands[registered_commands_count] = END_COMMAND;
+    Serial.println(F(VERSION_STRING));
+}
+
+void loop()
+{
+    if (Serial.available())
+    {
+        handle_command(Serial.readStringUntil('\n'));
+    }
+
+    for (int i = 0; i < registered_loop_fn_count; i++)
+        registered_loop_functions[i]();
+}
+#endif