Modify Shell class API to allow dependency injection

andino_firmware/src/app.cpp

@@ -75,10 +75,13 @@
 #include "motor.h"
 #include "pid.h"
 #include "pwm_out_arduino.h"
+#include "serial_stream_arduino.h"
 #include "shell.h"
 
 namespace andino {
 
+SerialStreamArduino App::serial_stream_;
+
 Shell App::shell_;
 
 DigitalOutArduino App::left_motor_enable_digital_out_(Hw::kLeftMotorEnableGpioPin);
@@ -116,7 +119,7 @@ void App::setup() {
   // Required by Arduino libraries to work.
   init();
 
-  Serial.begin(Constants::kBaudrate);
+  serial_stream_.begin(Constants::kBaudrate);
 
   left_encoder_.begin();
   right_encoder_.begin();
@@ -130,7 +133,7 @@ void App::setup() {
   right_pid_controller_.reset(right_encoder_.read());
 
   // Initialize command shell.
-  shell_.begin(Serial);
+  shell_.set_serial_stream(&serial_stream_);
   shell_.set_default_callback(cmd_unknown_cb);
   shell_.register_command(Commands::kReadAnalogGpio, cmd_read_analog_gpio_cb);
   shell_.register_command(Commands::kReadDigitalGpio, cmd_read_digital_gpio_cb);

andino_firmware/src/app.h

@@ -35,6 +35,7 @@
 #include "motor.h"
 #include "pid.h"
 #include "pwm_out_arduino.h"
+#include "serial_stream_arduino.h"
 #include "shell.h"
 
 namespace andino {
@@ -82,6 +83,9 @@ class App {
   /// Callback method for the `Commands::kSetPidsTuningGains` command.
   static void cmd_set_pid_tuning_gains_cb(int argc, char** argv);
 
+  /// Serial stream.
+  static SerialStreamArduino serial_stream_;
+
   /// Application command shell.
   static Shell shell_;
 

andino_firmware/src/shell.cpp

@@ -33,7 +33,7 @@
 
 namespace andino {
 
-void Shell::begin(Stream& stream) { stream_ = &stream; }
+void Shell::set_serial_stream(const SerialStream* serial_stream) { serial_stream_ = serial_stream; }
 
 void Shell::set_default_callback(CommandCallback callback) { default_callback_ = callback; }
 
@@ -49,8 +49,8 @@ void Shell::register_command(const char* name, CommandCallback callback) {
 }
 
 void Shell::process_input() {
-  while (stream_->available() > 0) {
-    const char input = stream_->read();
+  while (serial_stream_->available() > 0) {
+    const char input = serial_stream_->read();
 
     switch (input) {
       case '\r':

andino_firmware/src/shell.h

@@ -31,7 +31,7 @@
 
 #include <stddef.h>
 
-#include "Arduino.h"
+#include "serial_stream.h"
 
 namespace andino {
 
@@ -41,10 +41,10 @@ class Shell {
   /// @brief Command callback type.
   typedef void (*CommandCallback)(int argc, char** argv);
 
-  /// @brief Initializes the shell.
+  /// @brief Sets the serial stream to use.
   ///
-  /// @param stream Data stream.
-  void begin(Stream& stream);
+  /// @param serial_stream Serial stream.
+  void set_serial_stream(const SerialStream* serial_stream);
 
   /// @brief Sets the default callback for unknown commands.
   ///
@@ -88,8 +88,8 @@ class Shell {
   /// Executes the corresponding command callback function.
   void execute_callback(int argc, char** argv);
 
-  /// Data stream.
-  Stream* stream_{nullptr};
+  /// Serial stream.
+  const SerialStream* serial_stream_{nullptr};
 
   /// Default callback for unknown commands.
   CommandCallback default_callback_{nullptr};