Serial Commanded Arduino

#include <WString.h>

#define MSG_METHOD_SUCCESS 0                      //Code which is used when an operation terminated  successfully
#define WRG_NO_SERIAL_DATA_AVAILABLE 250            //Code indicates that no new data is AVAILABLE at the serial input buffer
#define ERR_SERIAL_IN_COMMAND_NOT_TERMINATED -1   //Code is used when a serial input commands' last char is not a '#'

const String StartTX = "\x02";
const String ResumeTX = "$";
const String EndTX = "\x03";

String self = "1A"; // Just a sort of mode select, or listener group perhaps.

char charBuf[12] = {0};
char message1FromPC[4];
char message2FromPC[4];
char message3FromPC[4];
//String messages[5] = {0};
int integerFromPC = 0;
float floatFromPC = 0.0;

void setup()
{
  pinMode(LED_BUILTIN, OUTPUT);
  Serial.begin(115200);
}

void loop()
{
  String command = "";  //Used to store the latest received command
  int serialResult = 0; //return value for reading operation method on serial in put buffer
  serialResult = readSerialInputCommand(&command);

  if(serialResult == MSG_METHOD_SUCCESS)
  {
    command.toCharArray(charBuf, 32);
    parseData();
    useParsedData();
  }
  if(self == "1A")
  {
    if(serialResult == WRG_NO_SERIAL_DATA_AVAILABLE)
    {//If there is no data AVAILABLE at the serial port, let the LED blink
      digitalWrite(LED_BUILTIN, HIGH);
      delay(750);
      digitalWrite(LED_BUILTIN, LOW);
      delay(750);
    }
    else
    {
      if(serialResult == ERR_SERIAL_IN_COMMAND_NOT_TERMINATED)
      {//If the command format was invalid, the led is turned off for two seconds
        digitalWrite(LED_BUILTIN, LOW);
        delay(2000);
      }
    }
  }
  else if (self == "1B");
    digitalWrite(LED_BUILTIN, LOW);
}

void parseData()
{
    char * strtokIndx; // this is used by strtok() as an index
    strtokIndx = strtok(charBuf, " ");      // get the first part - the string
    strcpy(message1FromPC, strtokIndx); // copy it to messageFromPC

    strtokIndx = strtok(NULL, " "); // this continues where the previous call left off
    strcpy(message2FromPC, strtokIndx); // copy it to messageFromPC

    strtokIndx = strtok(NULL, "#");
    strcpy(message3FromPC, strtokIndx); // copy it to messageFromPC
    //floatFromPC = atof(strtokIndx);     // convert this part to a float
    //integerFromPC = atoi(strtokIndx);     // convert this part to an integer
}
void useParsedData() //GO 111 222#
{
  Serial.println("Yes.");
  Serial.println(message1FromPC);
  Serial.println(message2FromPC);
  Serial.println(message3FromPC);

  if (strcmp(message1FromPC,"GO")==0){
    Serial.println("GO command.");
    int moveX = message2FromPC;
    int moveY = message3FromPC;
    Serial.println(moveX+" "+moveY);
  }
}

int readSerialInputCommand(String *command)
{
  int operationStatus = MSG_METHOD_SUCCESS;                //Default return is MSG_METHOD_SUCCESS reading data from com buffer.

  if (Serial.available())                                  //check if serial data is available for reading
  {
     char serialInByte;                                    //temporary variable to hold the last serial input buffer character
     do
     {                                                     //Read serial input buffer data byte by byte
       serialInByte = Serial.read();
       *command = *command + serialInByte;                 //Add last read serial input buffer byte to *command pointer
     } while(serialInByte != '#' && Serial.available());   //until '#' comes up or no serial data is available anymore

     if(serialInByte != '#')
       operationStatus = ERR_SERIAL_IN_COMMAND_NOT_TERMINATED;
  }
  else
    operationStatus = WRG_NO_SERIAL_DATA_AVAILABLE;
  return operationStatus;
}

void SendOutput(String Send1)
{
  Serial.print(StartTX);
  Serial.print(Send1);
  Serial.print(EndTX);
}
void SendOutput(String Send1, String Send2)
{
  Serial.print(StartTX);
  Serial.print(Send1);
  Serial.print(ResumeTX);
  Serial.print(Send2);
  Serial.print(EndTX);
}
void SendOutput(String Send1, String Send2, String Send3)
{
  Serial.print(StartTX);
  Serial.print(Send1);
  Serial.print(ResumeTX);
  Serial.print(Send2);
  Serial.print(ResumeTX);
  Serial.print(Send3);
  Serial.print(EndTX);
}