revised Remote.c in Sumo project

ADIS_Sumo/Sumo/Remote.c

@@ -38,7 +38,6 @@ static void RemoteTask(void *pv) {
   unsigned char espMsg[McuShell_DEFAULT_SHELL_BUFFER_SIZE] = "";
   uint8_t saveChar = 0;
   uint8_t writeIndex = 0;
-  uint8_t readIndex = 0;
   (void)pv; /* not used */
 #if 0 /* example making a beep */
   BUZ_Beep(200, 500);
@@ -69,39 +68,33 @@ static void RemoteTask(void *pv) {
     	/* something was received */
     	/* handle remote stream from ESP */
         if(ch == '@'){
-        	saveChar = 1;
-        }
-        if(saveChar == 1){
-        	espMsg[writeIndex++] = ch;
-        	if(writeIndex >= McuShell_DEFAULT_SHELL_BUFFER_SIZE){
-        		writeIndex = 0;
+        	saveChar = 1;  // enable saving
+        	writeIndex = 0;  // initialize string to first position
+        	// empty string
+        	for(uint8_t i = 0; i < McuShell_DEFAULT_SHELL_BUFFER_SIZE; i++){
+        		espMsg[i] = '\0';
         	}
         }
+        /* save characters on and character is termination character */
         if(ch == '!' && saveChar == 1){
-        	saveChar = 0;
-        	unsigned char str[McuShell_DEFAULT_SHELL_BUFFER_SIZE] = {'\0'};
-        	if(str != NULL){
-        		uint8_t i;
-        		for(i = 0; i < McuShell_DEFAULT_SHELL_BUFFER_SIZE; i++){
-        			str[i] = espMsg[readIndex++];
-        			if(readIndex >= McuShell_DEFAULT_SHELL_BUFFER_SIZE){
-        				readIndex = 0;
-        			}
-        			if(str[i] == '!'){
-        				break;
-        			}
-        		}
-        	}
-        	McuShell_SendStr((const uint8_t *)str, McuShell_GetStdio()->stdOut);
-        	if(McuUtility_strncmp((char *)str,"@robot:cmd ",sizeof("@robot:cmd ")-1) == 0){
+        	saveChar = 0;  // turn off
+        	// send to shell
+        	McuShell_SendStr((uint8_t *)"Parsed command from ESP32: ", McuShell_GetStdio()->stdOut);
+        	McuShell_SendStr((uint8_t *)espMsg, McuShell_GetStdio()->stdOut);
+        	McuShell_SendStr((uint8_t *)"\r\n", McuShell_GetStdio()->stdOut);
+        	// if it is a robot cmd => parse command
+			if(McuUtility_strncmp((char *)espMsg,"@robot:cmd ",sizeof("@robot:cmd ")-1) == 0){
 				unsigned char *p;
-        		p = (unsigned char*)str + sizeof(ESP_MSG_PREFIX) - 1;
-				McuUtility_strCutTail((uint8_t*)p, (uint8_t*)ESP_MSG_POSTFIX);
-				McuShell_SendStr((uint8_t*)p, McuShell_GetStdio()->stdOut);
+				p = (unsigned char*)espMsg + sizeof(ESP_MSG_PREFIX) - 1;
+				//McuUtility_strCutTail((uint8_t*)p, (uint8_t*)ESP_MSG_POSTFIX);
 				SHELL_ParseCommandWithIO((unsigned char*)p, McuESP32_GetTxToESPStdio());
-				free(p);
 			}
-        	free(str);
+        /* save characters on but character is not termination character */
+        }else if(saveChar == 1){
+        	espMsg[writeIndex++] = ch;
+        	if(writeIndex >= McuShell_DEFAULT_SHELL_BUFFER_SIZE){
+        		writeIndex = 0;  // reset to 0
+        	}
         }
     }
   }