ESP32 Serial Kommunikation mit Arduino Uno (GRBL)

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#include <queue>
std::queue<String> gcodeQueue;
bool waitingForOk = false;

void loop()
{
  webSocket.loop();

  // Check for "ok" response on Serial2
  while (Serial2.available())
  {
    String response = Serial2.readStringUntil('\n');
    response.trim();
    if (response == "ok")
    {

      Serial.println("Received OK");
      waitingForOk = false;
    }
    else if (response == "[Pgm End]")
    {
      Serial.println("Program End");
      webSocket.broadcastTXT("Program End");
    }
  }

  sendNextGCodeCommand();
}

void changePenPos(int pos)
{
  if (pos == 0)
  {
    Serial.println("Changed Pen Position to Down");
  }
  else if (pos == 1)
  {
    Serial.println("Changed Pen Position to Up");
  }
}

void ReceivedGCodeData(uint8_t *payload, size_t length)
{
  // Tokenize the payload into lines
  char *token;
  char *saveptr;
  token = strtok_r((char *)payload, "\n", &saveptr);
  while (token != NULL)
  {

    if (strcmp(token, "M7") == 0)
    {
      // Add each line to the queue
      gcodeQueue.push(String(token));
    }
    else if (strcmp(token, "M8") == 0)
    {
      // Add each line to the queue
      gcodeQueue.push(String(token));
    }
    else if (strcmp(token, "M2") == 0)
    {
      // Add each line to the queue
      gcodeQueue.push(String(token));
    }
    else if (strncmp(token, "G1", 2) == 0)
    {
      // Add each line to the queue
      gcodeQueue.push(String(token));
    }
    else if (strncmp(token, "G0", 2) == 0)
    {
      // Add each line to the queue
      gcodeQueue.push(String(token));
    }
    else if (strcmp(token, "G21") == 0)
    {
      // Add each line to the queue
      gcodeQueue.push(String(token));
    }
    else if (strcmp(token, "G90") == 0)
    {
      // Add each line to the queue
      gcodeQueue.push(String(token));
    }
    else if (strcmp(token, "F1000") == 0)
    {
      // Add each line to the queue
      gcodeQueue.push(String(token));
    }

    token = strtok_r(NULL, "\n", &saveptr);
  }
}

void sendNextGCodeCommand()
{
  if (!waitingForOk && !gcodeQueue.empty())
  {
    int packetSize = 2; // Number of lines to send at once
    for (int i = 0; i < packetSize; i++)
    {
      if (!gcodeQueue.empty())
      {
        String command = gcodeQueue.front();
        gcodeQueue.pop();
        Serial.println("Sending GCode: " + command);
        Serial2.println(command);
      }
      else
      {
        break;
      }
    }
    waitingForOk = true;
    delay(200);
  }
}

Habe jetzt schonmal etwas versucht kann man das optimieren?

Also so funktioniert das schonmal ohne Datenverlust