5 files changed, 58 insertions(+), 14 deletions(-)

M .cargo/config.toml
M Cargo.lock
M Cargo.toml
M src/commands/command_handler.rs
M src/main.rs

@@ 10,4 10,4 @@ rustflags = [
 target = "xtensa-esp32-none-elf"
 
 [unstable]
-build-std = ["core"]
+build-std = ["core", "alloc"]

@@ 142,6 142,16 @@ dependencies = [
 ]
 
 [[package]]
+name = "esp-alloc"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "83792eb7261a375bb838679fea2b45654b8f4a48da6bef10a96da5054aa81c7d"
+dependencies = [
+ "critical-section",
+ "linked_list_allocator",
+]
+
+[[package]]
 name = "esp-backtrace"
 version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"


@@ 269,6 279,18 @@ dependencies = [
 ]
 
 [[package]]
+name = "libm"
+version = "0.2.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f7012b1bbb0719e1097c47611d3898568c546d597c2e74d66f6087edd5233ff4"
+
+[[package]]
+name = "linked_list_allocator"
+version = "0.10.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9afa463f5405ee81cdb9cc2baf37e08ec7e4c8209442b5d72c04cfb2cd6e6286"
+
+[[package]]
 name = "lock_api"
 version = "0.4.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"


@@ 283,10 305,12 @@ name = "map_test"
 version = "0.1.0"
 dependencies = [
  "embedded-hal",
+ "esp-alloc",
  "esp-backtrace",
  "esp-println",
  "esp32-hal",
  "fugit",
+ "libm",
  "nb 1.1.0",
  "smart-leds",
  "smart-leds-trait",

@@ 14,3 14,4 @@ nb = "1.1.0"
 smart-leds = "0.3.0"
 smart-leds-trait = "0.2.1"
 fugit = "0.3.7"
+esp-alloc = "0.3.0"

@@ 1,3 1,4 @@
+use alloc::boxed::Box;
 use embedded_hal::serial::{Read, Write};
 use esp_println::println;
 use nb::block;


@@ 15,7 16,7 @@ pub struct CommandHandler<'d, const BUFFER_SIZE: usize, const HANDLERS_COUNT: us
     buffer_position: usize,
     command_loaded: bool,
     buffer: [char; BUFFER_SIZE],
-    handlers: [(&'d str, &'d dyn SpecificCommandHandler); HANDLERS_COUNT],
+    handlers: [(&'d str, Box<dyn SpecificCommandHandler>); HANDLERS_COUNT],
     handling_special: u8
 }
 


@@ 34,7 35,7 @@ pub enum CommandHandleError {
 }
 
 impl<'d, const BUFFER_SIZE: usize, const HANDLERS_COUNT: usize> CommandHandler<'d, BUFFER_SIZE, HANDLERS_COUNT> {
-    pub fn new(handlers: [(&'d str, &'d dyn SpecificCommandHandler); HANDLERS_COUNT], buffer: [char; BUFFER_SIZE]) -> Self
+    pub fn new(handlers: [(&'d str, Box<dyn SpecificCommandHandler>); HANDLERS_COUNT], buffer: [char; BUFFER_SIZE]) -> Self
     {
         Self {
             command_loaded: false,


@@ 156,7 157,7 @@ impl<'d, const BUFFER_SIZE: usize, const HANDLERS_COUNT: usize> CommandHandler<'
     fn handle_help(&self) -> Result<(), CommandHandleError>
     {
         println!("Available commands:\r");
-        for (cmd, handler) in self.handlers {
+        for (cmd, handler) in &self.handlers {
             println!("  {0} {1}\r", cmd, handler.help());
         }
 


@@ 187,7 188,7 @@ impl<'d, const BUFFER_SIZE: usize, const HANDLERS_COUNT: usize> CommandHandler<'
             return help_handled;
         }
 
-        for (handler_command, handler) in self.handlers {
+        for (handler_command, handler) in &self.handlers {
             if !first_argument.compare(handler_command) {
                 continue;
             }

@@ 1,11 1,14 @@
 #![no_std]
 #![no_main]
 
+extern crate alloc;
+
 mod strip;
 mod map;
 mod commands;
 
 use embedded_hal::serial::{Write};
+use alloc::boxed::Box;
 use esp_backtrace as _;
 use esp_println::println;
 use hal::{clock::ClockControl, peripherals::Peripherals, prelude::*, timer::{TimerGroup}, Rtc, IO, Delay, PulseControl, Uart};


@@ 24,6 27,21 @@ use crate::strip::StripTiming;
 
 const LEDS_COUNT: usize = 72;
 const COMMAND_BUFFER: usize = 200;
+#[global_allocator]
+static ALLOCATOR: EspHeap = EspHeap::empty();
+
+fn init_heap() {
+    extern "C" {
+        static mut _heap_start: u32;
+        static mut _heap_end: u32;
+    }
+
+    unsafe {
+        let heap_start = &_heap_start as *const _ as usize;
+        let heap_end = &_heap_end as *const _ as usize;
+        ALLOCATOR.init(heap_start as *mut u8, heap_end - heap_start);
+    }
+}
 
 #[entry]
 fn main() -> ! {


@@ 32,6 50,8 @@ fn main() -> ! {
     let mut system = peripherals.DPORT.split();
     let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
 
+    init_heap();
+
     // Disable the RTC and TIMG watchdog timers
     let mut rtc = Rtc::new(peripherals.RTC_CNTL);
     let timer_group0 = TimerGroup::new(


@@ 92,18 112,16 @@ fn main() -> ! {
     let mut rgb_data: [RGB8; 72] = [RGB8 { r: 0, g: 0, b: 0 }; 72];
     let mut map = map::Map::new(&map::INDEX_MAP, &mut rgb_data);
 
-    let world_command = HelloWorldCommand::default();
-    let set_command = SetCommand::default();
-    let reset_command = ResetCommand::default();
-    let all_command = AllCommand::default();
+    // Init commands
     let mut handler = CommandHandler::new(
         [
-            ("HELLO_WORLD", &world_command),
-            ("SET", &set_command),
-            ("RESET", &reset_command),
-            ("ALL", &all_command)
+            ("HELLO_WORLD", Box::new(HelloWorldCommand::default())),
+            ("SET", Box::new(SetCommand::default())),
+            ("RESET", Box::new(ResetCommand::default())),
+            ("ALL", Box::new(AllCommand::default())),
+            ("SNAKE", Box::new(SnakeCommand::default()))
         ],
-        ['\0'; COMMAND_BUFFER],
+        ['\0'; constants::COMMAND_BUFFER],
     );
 
     block!(serial.write(b'>')).ok().unwrap();