add command executor

src/control_buffer.rs → src/command_buffer.rs

@@ -9,16 +9,16 @@ impl fmt::Display for EOLReachedError {
     }
 }
 
-pub struct ControlBuffer {
+pub struct CommandBuffer {
     buf: [u8; 256],
     current_buf_idx: usize,
     is_eol: bool,
 }
 
 
-impl ControlBuffer {
+impl CommandBuffer {
     pub fn new() -> Self {
-        ControlBuffer {
+        CommandBuffer {
             buf: [0u8; 256],
             current_buf_idx: 0,
             is_eol: false,

src/command_executor.rs

@@ -0,0 +1,29 @@
+use core::str::Split;
+
+use crate::{
+    command_buffer::CommandBuffer, coordinate::PolarCoordinate, coordinate_queue,
+    transmission_channel,
+};
+
+const MOVE: &str = "MOVE";
+
+pub async fn execute(command_buf: CommandBuffer) {
+    let mut args = command_buf.to_str().unwrap().split(' ');
+    let method = args.next().unwrap();
+
+    match method {
+        MOVE => execute_move(args).await,
+        _ => {}
+    };
+}
+
+async fn execute_move(mut args: Split<'_, char>) {
+    transmission_channel::send("MOVE ACK\r\n").await;
+    let theta_str = args.next().unwrap();
+    let rho_str = args.next().unwrap();
+    coordinate_queue::queue(PolarCoordinate {
+        theta: theta_str.parse::<f64>().unwrap(),
+        rho: rho_str.parse::<f64>().unwrap(),
+    })
+    .await;
+}

src/main.rs

@@ -19,11 +19,12 @@ mod arm;
 mod coordinate;
 mod stepper;
 mod stepper_pair;
-mod control_buffer;
+mod command_buffer;
 mod coordinate_queue;
 mod uart_reader;
 mod uart_writer;
 mod transmission_channel;
+mod command_executor;
 
 bind_interrupts!(struct Irqs {
     UART0_IRQ => uart::InterruptHandler<UART0>;

src/uart_reader.rs

@@ -1,37 +1,20 @@
-use defmt::info;
 use embassy_rp::{peripherals::UART0, uart::{Async, UartRx}};
 
-use crate::{control_buffer::ControlBuffer, coordinate::PolarCoordinate, coordinate_queue, transmission_channel};
-
-static MOVE: &str = "MOVE";
+use crate::{command_buffer::CommandBuffer, command_executor};
 
 #[embassy_executor::task]
 pub async fn reader_task(mut rx: UartRx<'static, UART0, Async>) {
     loop {
-        let mut control_buffer = ControlBuffer::new();
+        let mut command_buffer = CommandBuffer::new();
         loop {
             let mut char_buf = [0u8];
             let _rr = rx.read(&mut char_buf).await;
-            let _br = control_buffer.add_char_buf(&char_buf);
-            if control_buffer.is_complete() {
+            let _br = command_buffer.add_char_buf(&char_buf);
+            if command_buffer.is_complete() {
                 break;
             }
         }
 
-        let input = control_buffer.to_str().unwrap();
-        let mut args = input.split(' ');
-        let command = args.next().unwrap();
-
-        if command == MOVE {
-            transmission_channel::send("MOVE ACK\r\n").await;
-            let theta_str = args.next().unwrap();
-            let rho_str = args.next().unwrap();
-            // TODO: parse rho
-            coordinate_queue::queue(PolarCoordinate {
-                theta: theta_str.parse::<f64>().unwrap(),
-                rho: 0.0,
-            }).await;
-            info!("Move to {}, {}", theta_str, rho_str);
-        }
+        command_executor::execute(command_buffer).await;
     }
 }