refactor(callback_task): replace hardcoded dispatch with cmd_parser module

Separate command handlers into dedicated static functions registered
with cmd_parser, replacing the strcmp/strncmp chain.

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

app/callback_task.c

@@ -1,6 +1,8 @@
 #include "app.h"
+#include "cmd_parser.h"
 #include "cmsis_os2.h"
 #include <string.h>
+#include <stdlib.h>
 #include "FreeRTOS.h"
 #include "queue.h"
 #include "stm32f4xx_hal.h"
@@ -82,20 +84,13 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
     portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
 }
 
-void callback_task(void)
+/* ============================================================================
+ * Command handlers (registered with cmd_parser)
+ * ============================================================================ */
+
+static int cmd_help(void *ctx, int argc, char **argv)
 {
-    char cmd_buf[MAX_CMD_LEN];
+    (void)ctx; (void)argc; (void)argv;
-
-    g_cmd_parser.state     = USER_CMD_IDLE;
-    g_cmd_parser.index     = 0;
-    g_cmd_parser.cmd_queue = g_cmd_queue;
-
-    while (1) {
-        osStatus_t qstat = osMessageQueueGet(g_cmd_queue, cmd_buf, NULL, osWaitForever);
-        if (qstat != osOK) {
-            continue;
-        }
-        if (strcmp(cmd_buf, "help") == 0) {
     log_printf("[cmd] available commands:\r\n"
            "  help                    ==> show this message\r\n"
            "  motor enable [yaw|pitch] ==> enable motor(s), default both\r\n"
@@ -109,56 +104,101 @@ void callback_task(void)
            "  pid                    ==> show all PID coefficients\r\n"
            "  pid <axis> <p> <v>     ==> set PID param (v÷10=实际值, motor disabled)\r\n"
            "      axis: roll|pitch, p: kp|ki|kd, v: float\r\n");
-        } else if (strncmp(cmd_buf, "motor enable", 12) == 0) {
+    return 0;
-            const char *p = cmd_buf + 12;
+}
-            while (*p == ' ') p++;
+
-            if (*p == '\0') {
+static int cmd_motor(void *ctx, int argc, char **argv)
+{
+    (void)ctx;
+    if (argc < 2) return -1;
+
+    if (strcmp(argv[1], "enable") == 0) {
+        if (argc == 2) {
             gimbal_motor_enable();
             log_printf("[cmd] both motors enabled\r\n");
-            } else if (strcmp(p, "yaw") == 0) {
+        } else if (strcmp(argv[2], "yaw") == 0) {
             gimbal_motor_enable_id(GIMBAL_MOTOR_YAW);
             log_printf("[cmd] yaw motor enabled\r\n");
-            } else if (strcmp(p, "pitch") == 0) {
+        } else if (strcmp(argv[2], "pitch") == 0) {
             gimbal_motor_enable_id(GIMBAL_MOTOR_PITCH);
             log_printf("[cmd] pitch motor enabled\r\n");
         } else {
-                log_printf("[cmd] unknown motor: %s\r\n", p);
+            log_printf("[cmd] unknown motor: %s\r\n", argv[2]);
         }
-        } else if (strncmp(cmd_buf, "motor disable", 13) == 0) {
+        return 0;
-            const char *p = cmd_buf + 13;
+    }
-            while (*p == ' ') p++;
+
-            if (*p == '\0') {
+    if (strcmp(argv[1], "disable") == 0) {
+        if (argc == 2) {
             gimbal_motor_disable();
             log_printf("[cmd] both motors disabled\r\n");
-            } else if (strcmp(p, "yaw") == 0) {
+        } else if (strcmp(argv[2], "yaw") == 0) {
             gimbal_motor_disable_id(GIMBAL_MOTOR_YAW);
             log_printf("[cmd] yaw motor disabled\r\n");
-            } else if (strcmp(p, "pitch") == 0) {
+        } else if (strcmp(argv[2], "pitch") == 0) {
             gimbal_motor_disable_id(GIMBAL_MOTOR_PITCH);
             log_printf("[cmd] pitch motor disabled\r\n");
         } else {
-                log_printf("[cmd] unknown motor: %s\r\n", p);
+            log_printf("[cmd] unknown motor: %s\r\n", argv[2]);
         }
-        } else if (strcmp(cmd_buf, "sensor enable") == 0) {
+        return 0;
+    }
+
+    return -1;
+}
+
+static int cmd_sensor(void *ctx, int argc, char **argv)
+{
+    (void)ctx;
+    if (argc < 2) return -1;
+
+    if (strcmp(argv[1], "enable") == 0) {
         sensor_enable();
         log_printf("[cmd] sensor enabled\r\n");
-        } else if (strcmp(cmd_buf, "sensor disable") == 0) {
+    } else if (strcmp(argv[1], "disable") == 0) {
         sensor_disable();
         log_printf("[cmd] sensor disabled\r\n");
-        } else if (strcmp(cmd_buf, "sensorcali acc enable") == 0) {
+    } else {
+        return -1;
+    }
+    return 0;
+}
+
+static int cmd_sensorcali(void *ctx, int argc, char **argv)
+{
+    (void)ctx;
+    if (argc < 3) return -1;
+
+    if (strcmp(argv[1], "acc") == 0) {
+        if (strcmp(argv[2], "enable") == 0) {
             sensor_acc_cali_enable();
             log_printf("[cmd] acc calibration started\r\n");
-        } else if (strcmp(cmd_buf, "sensorcali acc disable") == 0) {
+        } else if (strcmp(argv[2], "disable") == 0) {
             sensor_acc_cali_disable();
             log_printf("[cmd] acc calibration stopped\r\n");
-        } else if (strcmp(cmd_buf, "sensorcali mag enable") == 0) {
+        } else {
+            return -1;
+        }
+    } else if (strcmp(argv[1], "mag") == 0) {
+        if (strcmp(argv[2], "enable") == 0) {
             sensor_mag_cali_enable();
             log_printf("[cmd] mag calibration started\r\n");
-        } else if (strcmp(cmd_buf, "sensorcali mag disable") == 0) {
+        } else if (strcmp(argv[2], "disable") == 0) {
             sensor_mag_cali_disable();
             log_printf("[cmd] mag calibration stopped\r\n");
-        } else if (strcmp(cmd_buf, "pid") == 0) {
+        } else {
-            /* 查看当前 PID 系数（整数显示，值 = 实际系数 × 10） */
+            return -1;
+        }
+    } else {
+        return -1;
+    }
+    return 0;
+}
+
+static int cmd_pid(void *ctx, int argc, char **argv)
+{
+    (void)ctx;
+    if (argc == 1) {
         float kp, ki, kd;
         gimbal_get_pid("roll", &kp, &ki, &kd);
         log_printf("[cmd] Roll:  Kp=%d  Ki=%d  Kd=%d\r\n",
@@ -166,26 +206,57 @@ void callback_task(void)
         gimbal_get_pid("pitch", &kp, &ki, &kd);
         log_printf("[cmd] Pitch: Kp=%d  Ki=%d  Kd=%d\r\n",
                (int)(kp * 10.0f), (int)(ki * 10.0f), (int)(kd * 10.0f));
-        } else if (strncmp(cmd_buf, "pid ", 4) == 0) {
+        return 0;
-            /* 调参：pid <roll|pitch> <kp|ki|kd> <value>  （value ÷ 10 = 实际系数） */
+    }
-            char axis[8], param[8];
+
-            int int_val;
+    if (argc == 4) {
-            if (sscanf(cmd_buf, "pid %7s %7s %d", axis, param, &int_val) == 3) {
         if (gimbal_is_motor_enabled()) {
             log_printf("[cmd] ERROR: disable motor first (motor disable)\r\n");
-                } else {
+            return 0;
+        }
+        char *end;
+        long int_val = strtol(argv[3], &end, 10);
+        if (*end != '\0' || end == argv[3]) {
+            log_printf("[cmd] usage: pid <roll|pitch> <kp|ki|kd> <value>\r\n");
+            return 0;
+        }
         float value = (float)int_val / 10.0f;
-                    if (gimbal_set_pid(axis, param, value) == 0) {
+        if (gimbal_set_pid(argv[1], argv[2], value) == 0) {
-                        log_printf("[cmd] pid.%s.%s = %d\r\n", axis, param, int_val);
+            log_printf("[cmd] pid.%s.%s = %ld\r\n", argv[1], argv[2], int_val);
         } else {
             log_printf("[cmd] usage: pid <roll|pitch> <kp|ki|kd> <value>\r\n");
         }
+        return 0;
     }
-            } else {
+
-                log_printf("[cmd] usage: pid <roll|pitch> <kp|ki|kd> <value>\r\n");
+    return -1;
 }
-        } else {
+
-            log_printf("[cmd] unknown: %s\r\n", cmd_buf);
+void callback_task(void)
+{
+    char cmd_buf[MAX_CMD_LEN];
+    char disp_buf[MAX_CMD_LEN];
+    cmd_parser_t parser;
+
+    g_cmd_parser.state     = USER_CMD_IDLE;
+    g_cmd_parser.index     = 0;
+    g_cmd_parser.cmd_queue = g_cmd_queue;
+
+    cmd_parser_init(&parser);
+    cmd_parser_register(&parser, "help",       cmd_help);
+    cmd_parser_register(&parser, "motor",      cmd_motor);
+    cmd_parser_register(&parser, "sensor",     cmd_sensor);
+    cmd_parser_register(&parser, "sensorcali", cmd_sensorcali);
+    cmd_parser_register(&parser, "pid",        cmd_pid);
+
+    while (1) {
+        osStatus_t qstat = osMessageQueueGet(g_cmd_queue, cmd_buf, NULL, osWaitForever);
+        if (qstat != osOK) continue;
+        if (cmd_buf[0] == '\0') continue;
+
+        memcpy(disp_buf, cmd_buf, MAX_CMD_LEN);
+        if (cmd_parser_dispatch(&parser, cmd_buf, NULL) != 0) {
+            log_printf("[cmd] unknown: %s\r\n", disp_buf);
         }
     }
 }