command完成

arduino/head_file_test/main/Command.cpp

@@ -0,0 +1,28 @@
+#include "Command.h"
+
+void Command::run(char* str){
+  for(int i=0; i < call_count; i++){
+        if(isSentinel(call_ids[i],str)){  // case :   call_ids = "T2"   str = "T215.15" 
+          call_list[i](str+strlen(call_ids[i]));  // get 15.15  input function 
+          break;
+        }
+      }
+}
+void Command::add(char* id, CommandCallback onCommand){
+  call_list[call_count] = onCommand;
+  call_ids[call_count] = id;
+  call_count++;
+}
+void Command::scalar(float* value,  char* user_cmd){
+  *value = atof(user_cmd);
+}
+bool Command::isSentinel(char* ch,char* str)
+{
+  char s[strlen(ch)+1];
+  strncpy(s,str,strlen(ch));
+  s[strlen(ch)] = '\0'; //strncpy need add end '\0'     
+  if(strcmp(ch, s) == 0)
+      return true;
+  else 
+      return false;
+}

arduino/head_file_test/main/Command.h

@@ -0,0 +1,17 @@
+#include <Arduino.h>
+// callback function pointer definiton
+typedef void (* CommandCallback)(char*); //!< command callback function pointer
+class Command
+{
+  public:
+    void add(char* id , CommandCallback onCommand);
+    void run(char* str);
+    void scalar(float* value,  char* user_cmd);
+    bool isSentinel(char* ch,char* str);
+  private:
+      // Subscribed command callback variables
+      CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number
+      char* call_ids[20]; //!< added callback commands
+      int call_count;//!< number callbacks that are subscribed
+  
+}; 

arduino/head_file_test/main/main.ino

@@ -0,0 +1,11 @@
+#include "Command.h"
+Command  command;//声明一个自己的该类的对象
+void setup() {
+  // put your setup code here, to run once:
+
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+}

arduino/main/Command.cpp

@@ -0,0 +1,28 @@
+#include "Command.h"
+
+void Command::run(char* str){
+  for(int i=0; i < call_count; i++){
+        if(isSentinel(call_ids[i],str)){  // case :   call_ids = "T2"   str = "T215.15" 
+          call_list[i](str+strlen(call_ids[i]));  // get 15.15  input function 
+          break;
+        }
+      }
+}
+void Command::add(char* id, CommandCallback onCommand){
+  call_list[call_count] = onCommand;
+  call_ids[call_count] = id;
+  call_count++;
+}
+void Command::scalar(float* value,  char* user_cmd){
+  *value = atof(user_cmd);
+}
+bool Command::isSentinel(char* ch,char* str)
+{
+  char s[strlen(ch)+1];
+  strncpy(s,str,strlen(ch));
+  s[strlen(ch)] = '\0'; //strncpy need add end '\0'     
+  if(strcmp(ch, s) == 0)
+      return true;
+  else 
+      return false;
+}

arduino/main/Command.h

@@ -0,0 +1,17 @@
+#include <Arduino.h>
+// callback function pointer definiton
+typedef void (* CommandCallback)(char*); //!< command callback function pointer
+class Command
+{
+  public:
+    void add(char* id , CommandCallback onCommand);
+    void run(char* str);
+    void scalar(float* value,  char* user_cmd);
+    bool isSentinel(char* ch,char* str);
+  private:
+      // Subscribed command callback variables
+      CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number
+      char* call_ids[20]; //!< added callback commands
+      int call_count;//!< number callbacks that are subscribed
+  
+}; 

arduino/main/main.ino

@@ -7,6 +7,7 @@ Deng's FOC 闭环速度控制例程 测试库：SimpleFOC 2.1.1 测试硬件：
 默认PID针对的电机是 GB6010 ，使用自己的电机需要修改PID参数，才能实现更好效果
  */
 #include <SimpleFOC.h>
+#include "Command.h"
 #include <WiFi.h>
 #include <AsyncUDP.h> //引用以使用异步UDP
 #include <Kalman.h> // Source: https://github.com/TKJElectronics/KalmanFilter
@@ -65,6 +66,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);
 
 
 //命令设置
+Command command;
 double target_velocity = 0;
 double target_angle = 91;
 double target_voltage = 0;

ctest/Command.cpp

@@ -1,8 +1,11 @@
-#include "com.h"
+#include "Command.h"
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
 void Command::run(char* str){
   for(int i=0; i < call_count; i++){
-        if(call_ids[i]){
-          call_list[i](&str);
+        if(isSentinel(call_ids[i],str)){  // case :   call_ids = "T2"   str = "T215.15" 
+          call_list[i](str+strlen(call_ids[i]));  // get 15.15  input function 
           break;
         }
       }
@@ -15,10 +18,11 @@ void Command::add(char* id, CommandCallback onCommand){
 void Command::scalar(float* value,  char* user_cmd){
   *value = atof(user_cmd);
 }
-bool Commander::isSentinel(char* ch,char* str)
+bool Command::isSentinel(char* ch,char* str)
 {
-	char s[strlen(ch)];
+	char s[strlen(ch)+1];
 	strncpy(s,str,strlen(ch));
+	s[strlen(ch)] = '\0'; //strncpy need add end '\0'     
 	if(strcmp(ch, s) == 0)
     	return true;
 	else 

ctest/Command.h

@@ -5,12 +5,12 @@ class Command
 	public:
 		void add(char* id , CommandCallback onCommand);
 		void run(char* str);
-		void Command::scalar(float* value,  char* user_cmd);
-		bool Commander::isSentinel(char* ch);
+		void scalar(float* value,  char* user_cmd);
+		bool isSentinel(char* ch,char* str);
 	private:
 	    // Subscribed command callback variables
 	    CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number
 	    char* call_ids[20]; //!< added callback commands
-	    int call_count = 0;//!< number callbacks that are subscribed
+	    int call_count;//!< number callbacks that are subscribed
 	
-}
+}; 

ctest/Makefile.win

@@ -0,0 +1,31 @@
+# Project: ÏîÄ¿2
+# Makefile created by Dev-C++ 5.11
+
+CPP      = g++.exe
+CC       = gcc.exe
+WINDRES  = windres.exe
+OBJ      = main.o Command.o
+LINKOBJ  = main.o Command.o
+LIBS     = -L"C:/Program Files (x86)/Dev-Cpp/MinGW64/lib" -L"C:/Program Files (x86)/Dev-Cpp/MinGW64/x86_64-w64-mingw32/lib" -static-libgcc
+INCS     = -I"C:/Program Files (x86)/Dev-Cpp/MinGW64/include" -I"C:/Program Files (x86)/Dev-Cpp/MinGW64/x86_64-w64-mingw32/include" -I"C:/Program Files (x86)/Dev-Cpp/MinGW64/lib/gcc/x86_64-w64-mingw32/4.9.2/include"
+CXXINCS  = -I"C:/Program Files (x86)/Dev-Cpp/MinGW64/include" -I"C:/Program Files (x86)/Dev-Cpp/MinGW64/x86_64-w64-mingw32/include" -I"C:/Program Files (x86)/Dev-Cpp/MinGW64/lib/gcc/x86_64-w64-mingw32/4.9.2/include" -I"C:/Program Files (x86)/Dev-Cpp/MinGW64/lib/gcc/x86_64-w64-mingw32/4.9.2/include/c++"
+BIN      = ÏîÄ¿2.exe
+CXXFLAGS = $(CXXINCS) 
+CFLAGS   = $(INCS) 
+RM       = rm.exe -f
+
+.PHONY: all all-before all-after clean clean-custom
+
+all: all-before $(BIN) all-after
+
+clean: clean-custom
+	${RM} $(OBJ) $(BIN)
+
+$(BIN): $(OBJ)
+	$(CPP) $(LINKOBJ) -o $(BIN) $(LIBS)
+
+main.o: main.cpp
+	$(CPP) -c main.cpp -o main.o $(CXXFLAGS)
+
+Command.o: Command.cpp
+	$(CPP) -c Command.cpp -o Command.o $(CXXFLAGS)

ctest/ctest1.cpp

@@ -1,7 +1,8 @@
 #include <stdio.h>
 #include <string.h>
 #include <stdlib.h>
-#include "com.h"
+#include "Command.h"
+Command command;
 char buf[255];
 void wifi_print(char * s,double num)
 {
@@ -18,24 +19,8 @@ void re_command(float *num)
 {
 	*num = *num + 1;
 }
-char* str = "abc23";
-char* cmd_id = "abc";
+//void doTarget(char* cmd) { command.scalar(&v, cmd); }
 main()
 {
-	re_command(&v);
-	char s[strlen(cmd_id)];
-	
-	strncpy(s,str,strlen(cmd_id));
-	printf("%s", s);
-	if(strcmp(cmd_id, s) == 0)
-	{
-		printf("%f", v);
-		v = atof(str+strlen(cmd_id));
-		printf("%f", v);
-	}
-		
-//	char* da;
-//	da = "123456";
-//	if (da[0] == '2')
-    
+command.run();
 }

ctest/main.cpp

@@ -0,0 +1,32 @@
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include "Command.h"
+Command command;
+char buf[255];
+void wifi_print(char * s,double num)
+{
+	char str[255];
+	char n[255];
+	sprintf(n, "%.2f",num);
+	strcpy(str,s);
+	strcat(str, n);
+	strcat(buf+strlen(buf), str);
+	strcat(buf, ",");
+}
+float v = 0;
+float a = 0;
+void re_command(float *num)
+{
+	*num = *num + 1;
+}
+void doTarget_v(char* cmd) { command.scalar(&v, cmd); }
+void doTarget_a(char* cmd) { command.scalar(&a, cmd); }
+main()
+{
+	command.add("T", doTarget_v);
+	command.add("A", doTarget_a);
+	command.run("A2233");
+	printf("%.2f",v);
+	printf("%.2f",a);
+}

ctest/项目1.layout

@@ -0,0 +1,8 @@
+[Editors]
+Order=0
+Focused=0
+[Editor_0]
+CursorCol=17
+CursorRow=14
+TopLine=8
+LeftChar=1

ctest/项目2.dev

@@ -0,0 +1,82 @@
+[Project]
+FileName=ÏîÄ¿2.dev
+Name=ÏîÄ¿2
+Type=1
+Ver=2
+ObjFiles=
+Includes=
+Libs=
+PrivateResource=
+ResourceIncludes=
+MakeIncludes=
+Compiler=
+CppCompiler=
+Linker=
+IsCpp=1
+Icon=
+ExeOutput=
+ObjectOutput=
+LogOutput=
+LogOutputEnabled=0
+OverrideOutput=0
+OverrideOutputName=
+HostApplication=
+UseCustomMakefile=0
+CustomMakefile=
+CommandLine=
+Folders=
+IncludeVersionInfo=0
+SupportXPThemes=0
+CompilerSet=0
+CompilerSettings=0000000000000000000000000
+UnitCount=3
+
+[VersionInfo]
+Major=1
+Minor=0
+Release=0
+Build=0
+LanguageID=1033
+CharsetID=1252
+CompanyName=
+FileVersion=
+FileDescription=Developed using the Dev-C++ IDE
+InternalName=
+LegalCopyright=
+LegalTrademarks=
+OriginalFilename=
+ProductName=
+ProductVersion=
+AutoIncBuildNr=0
+SyncProduct=1
+
+[Unit1]
+FileName=main.cpp
+CompileCpp=1
+Folder=
+Compile=1
+Link=1
+Priority=1000
+OverrideBuildCmd=0
+BuildCmd=
+
+[Unit2]
+FileName=Command.cpp
+CompileCpp=1
+Folder=
+Compile=1
+Link=1
+Priority=1000
+OverrideBuildCmd=0
+BuildCmd=
+
+[Unit3]
+FileName=Command.h
+CompileCpp=1
+Folder=
+Compile=1
+Link=1
+Priority=1000
+OverrideBuildCmd=0
+BuildCmd=
+

ctest/项目2.layout

@@ -0,0 +1,8 @@
+[Editors]
+Order=0
+Focused=1
+[Editor_0]
+CursorCol=2
+CursorRow=20
+TopLine=12
+LeftChar=1