Commander.h

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#ifndef COMMANDS_H
#define COMMANDS_H
 
#include "Arduino.h"
#include "../common/base_classes/FOCMotor.h"
#include "../common/pid.h"
#include "../common/lowpass_filter.h"
#include "commands.h"
 
// Commander verbose display to the user type
enum VerboseMode{
  nothing = 0,   // display nothing - good for monitoring
  on_request,    // display only on user request
  user_friendly  // display textual messages to the user
};
 
 
// callback function pointer definiton
typedef void (* CommandCallback)(char*); 
 
class Commander
{
  public:
    Commander(Stream &serial);
    Commander();
 
    void run();
    void run(Stream &reader);
    void run(char* user_input);
 
    void add(char id , CommandCallback onCommand, char* label = nullptr);
 
    // printing variables
    VerboseMode verbose = VerboseMode::user_friendly; 
    uint8_t decimal_places = 3; 
 
    // monitoring functions
    Stream* com_port = nullptr; 
    
    void motor(FOCMotor* motor, char* user_cmd);
 
    void lpf(LowPassFilter* lpf, char* user_cmd);
    void pid(PIDController* pid, char* user_cmd);
    void scalar(float* value, char* user_cmd);
 
  private:
    // Subscribed command callback variables
    CommandCallback call_list[20];
    char call_ids[20]; 
    char* call_label[20]; 
    int call_count = 0;
 
    // helping variable for serial communication reading
    char received_chars[20] = {0}; 
    int rec_cnt = 0; 
        
    // serial printing functions
    void printVerbose(const char* message); 
    void printVerbose(const __FlashStringHelper *message);  
    void print(const float number);
    void print(const int number);
    void print(const char* message);
    void print(const __FlashStringHelper *message);
    void print(const char message);
    void println(const float number);
    void println(const int number);
    void println(const char* message);
    void println(const __FlashStringHelper *message);
    void println(const char message);
 
    void printError();
};
 
 
#endif