refactor: structure pico project

pico/src/Stepper.h

@@ -1,15 +0,0 @@
-#pragma once
-// ...existing code...
-class Stepper {
-protected:
-    int steps_per_rev;
-public:
-    virtual void step(int steps, bool direction) = 0;
-    void step_rev(int revs, bool direction){
-        step(steps_per_rev*revs, direction);
-    }
-    int get_steps_per_rev(){
-        return steps_per_rev;
-    }
-    virtual ~Stepper() {}
-};

pico/src/ULN2003Stepper.h

@@ -1,39 +0,0 @@
-#pragma once
-#include <Arduino.h>
-#include "Stepper.h"
-#include <array>
-class ULN2003Stepper : public Stepper {
-private:
-    std::array<uint8_t, 4> pins;
-    static constexpr int steps_per_seq = 8;
-    const uint8_t sequence[8][4] = {
-        {1, 0, 0, 0},
-        {1, 1, 0, 0},
-        {0, 1, 0, 0},
-        {0, 1, 1, 0},
-        {0, 0, 1, 0},
-        {0, 0, 1, 1},
-        {0, 0, 0, 1},
-        {1, 0, 0, 1}
-    };
-    int step_delay_us = 5000;
-public:
-    ULN2003Stepper(std::array<uint8_t, 4> pins, int rev_steps) : pins(pins) {
-        steps_per_rev = rev_steps;
-        for (auto pin : pins) {
-            pinMode(pin, OUTPUT);
-        }
-    }
-    void step(int steps, bool direction) override {
-        for (int i = 0; i < steps; ++i) {
-            int seq_idx = direction ? (i % steps_per_seq) : (steps_per_seq - 1 - (i % steps_per_seq));
-            for (int j = 0; j < 4; ++j) {
-                digitalWrite(pins[j], sequence[seq_idx][j]);
-            }
-            delayMicroseconds(step_delay_us);
-        }
-    }
-    void setSpeed(int delay_us) {
-        step_delay_us = delay_us;
-    }
-};

pico/src/main.cpp

@@ -1,6 +1,6 @@
 #include <Arduino.h>
-#include "Stepper.h"
-#include "ULN2003Stepper.h"
+#include <Stepper.h>
+#include <ULN2003Stepper.h>
 
 #ifndef LED_BUILTIN
 #define LED_BUILTIN 25
@@ -16,12 +16,10 @@ public:
 
     Serial.begin(baud);
 
-    int revSteps = driver1.get_steps_per_rev();
-    Serial.print("EVENT:START STEPS_PER_REV ");
-    Serial.println(revSteps);
-
     waitForHost(1500);
-    logStartup();
+
+    // Startup indication
+    for(int i=0;i<3;i++) blink(60,100);
   }
 
   void loop() {
@@ -31,7 +29,11 @@ public:
 private:
   String inputBuffer;
 
-  enum class CmdType { PING, STEP, SPEED, UNKNOWN };
+  struct CommandHandler {
+    const char* name;
+    void (SchafkopfSerialApp::*fn)(const String &args);
+  };
+  static const CommandHandler commandTable[]; // defined after class
 
   void waitForHost(unsigned long timeoutMs){
     unsigned long start = millis();
@@ -45,15 +47,10 @@ private:
     if(offMs) delay(offMs);
   }
 
-  void logStartup(){
-    Serial.println(F("HELLO START"));
-    for(int i=0;i<3;i++) blink(60,100);
-  }
-
   void pollSerial(){
     while(Serial.available()){
       char c = Serial.read();
-      if(c=='\r') continue; // ignore CR
+      if(c=='\r') continue;
       if(c=='\n') {
         processLine(inputBuffer);
         inputBuffer = "";
@@ -66,17 +63,21 @@ private:
   void processLine(const String &raw){
     String line = raw;
     line.trim();
+
     if(!line.length()) return;
+
     String cmdToken = firstToken(line);
     String rest = remainingAfterFirst(line);
-    CmdType type = classify(cmdToken);
-    handleCommand(type, cmdToken, rest);
+
+    cmdToken.toUpperCase();
+    dispatchCommand(cmdToken, rest);
   }
 
   static String firstToken(const String &line){
     int sp = line.indexOf(' ');
     return (sp==-1)? line : line.substring(0, sp);
   }
+
   static String remainingAfterFirst(const String &line){
     int sp = line.indexOf(' ');
     if (sp==-1) return String("");
@@ -85,67 +86,68 @@ private:
     return r;
   }
 
-  CmdType classify(String token){
-    token.toUpperCase();
-    if(token==F("PING")) return CmdType::PING;
-    if(token==F("STEP")) return CmdType::STEP;
-    if(token==F("SPEED")) return CmdType::SPEED;
-    return CmdType::UNKNOWN;
+  void dispatchCommand(const String &uppercaseToken, const String &args){
+    for(size_t i=0; commandTable[i].name != nullptr; ++i){
+      if(uppercaseToken.equals(commandTable[i].name)){
+        (this->*commandTable[i].fn)(args);
+        return;
+      }
+    }
+    Serial.print(F("ERR:UNKNOWN COMMAND '")); Serial.print(uppercaseToken); Serial.println("'");
+    blink(20);
   }
 
-  void handleCommand(CmdType type, const String &token, const String &args){
-    switch(type){
-      case CmdType::PING: {
-        Serial.println(F("PONG"));
-        blink();
-        break; }
-      case CmdType::STEP: {
-        // Expected: STEP <steps> <dir>
-        int steps = -1; int dir = -1;
-        if(parseStepArgs(args, steps, dir)) {
-          Serial.print(F("STEP: moving ")); Serial.print(steps); Serial.print(F(" dir=")); Serial.println(dir);
-          driver1.step(steps, dir!=0);
-          blink(60);
-        } else {
-          Serial.println(F("ERR:STEP usage STEP <steps> <0|1>"));
-          blink(20);
-        }
-        break; }
-      case CmdType::SPEED: {
-        int delayUs = args.toInt();
-        if(delayUs > 0) {
-          driver1.setSpeed(delayUs);
-          Serial.print(F("SPEED: set delay_us=")); Serial.println(delayUs);
-          blink();
-        } else {
-          Serial.println(F("ERR:SPEED usage SPEED <positive_delay_us>"));
-          blink(20);
-        }
-        break; }
-      case CmdType::UNKNOWN: {
-        Serial.print(F("ERR:UNKNOWN COMMAND '")); Serial.print(token); Serial.println("'");
-        blink(20);
-        break; }
-      default: {
-        Serial.println(F("ERR:UNHANDLED"));
-        blink(20);
-        break; }
+  // ---- COMMANDS ----
+  void cmdHealthcheck(const String &){
+    Serial.println(F("OK"));
+    blink();
+  }
+
+  void cmdStep(const String &args){
+    double steps = -1; int dir = -1;
+    if(parseStepArgs(args, steps, dir)) {
+      Serial.print(F("STEP: moving ")); Serial.print(steps); Serial.print(F(" dir=")); Serial.println(dir);
+      driver1.step_rev(steps, dir!=0);
+      blink(60);
+    } else {
+      Serial.println(F("ERR:STEP usage STEP <revs> <0|1>"));
+      blink(20);
     }
   }
-  // Helpers for parsing arguments
-  bool parseStepArgs(const String &args, int &steps, int &dir){
+
+  void cmdSpeed(const String &args){
+    int delayUs = args.toInt();
+    if(delayUs > 0) {
+      driver1.setStepDelay(delayUs);
+      Serial.print(F("SPEED: set delay_us=")); Serial.println(delayUs);
+      blink();
+    } else {
+      Serial.println(F("ERR:SPEED usage SPEED <positive_delay_us>"));
+      blink(20);
+    }
+  }
+
+  bool parseStepArgs(const String &args, double &steps, int &dir){
     int sp = args.indexOf(' ');
     if(sp == -1) return false;
     String a = args.substring(0, sp); a.trim();
     String b = args.substring(sp+1); b.trim();
     if(!a.length() || !b.length()) return false;
-    steps = a.toInt(); dir = b.toInt();
+    steps = a.toDouble(); dir = b.toInt();
     if(steps <= 0) return false;
     if(!(dir==0 || dir==1)) return false;
     return true;
   }
 };
 
+// ---- COMMAND TABLE ----
+const SchafkopfSerialApp::CommandHandler SchafkopfSerialApp::commandTable[] = {
+  {"HEALTHCHECK",  &SchafkopfSerialApp::cmdHealthcheck},
+  {"STEP",  &SchafkopfSerialApp::cmdStep},
+  {"SPEED", &SchafkopfSerialApp::cmdSpeed},
+  {nullptr, nullptr}
+};
+
 SchafkopfSerialApp app;
 
 void setup(){ app.begin(); }