improved, C++ (vc++)

Language: Layout:

#include <boost/config/warning_disable.hpp>

#include <string>
#include <vector>
#include <boost/variant.hpp>

namespace Ast {
    struct Keyword : std::string { // needs to be strong-typed to distinguish from quoted values
        using std::string::string;
        using std::string::operator=;
    };

struct Nil {};
    using Value = boost::variant<Nil, std::string, int, double, Keyword>;

struct Qualifier {
        enum Kind { positive, negative } kind;
        std::string identifier;
        Value       value;
    };

struct Param {
        Keyword                keyword;
        std::vector<Qualifier> qualifiers;
    };

struct Command {
        std::string            verb;
        std::vector<Qualifier> qualifiers;
        std::vector<Param>     params;
    };
}

#include <boost/fusion/adapted/struct.hpp>
BOOST_FUSION_ADAPT_STRUCT(Ast::Qualifier, kind, identifier, value)
BOOST_FUSION_ADAPT_STRUCT(Ast::Param, keyword, qualifiers)
BOOST_FUSION_ADAPT_STRUCT(Ast::Command, verb, qualifiers, params)

#include <boost/spirit/home/x3.hpp>

namespace x3 = boost::spirit::x3;
namespace scl {
    //
    // Grammar for simple command language
    //
    using x3::char_;
    using x3::int_;
    using x3::lexeme;
    using x3::no_case;

// lexeme tokens
    auto keyword       = x3::rule<struct _keyword, Ast::Keyword> { "keyword" }
                       = lexeme [ +char_("a-zA-Z0-9$_.") ];
    auto identifier    = lexeme [ +char_("a-zA-Z_") ];
    auto quoted_string = lexeme['"' >> *('\\' >> x3::char_ | ~x3::char_('"')) >> '"'];

auto value
        = quoted_string
        | x3::real_parser<double, x3::strict_real_policies<double>>{}
        | x3::int_
        | keyword;

auto qual
        = x3::attr(Ast::Qualifier::positive) >> identifier >> -('=' >> value);
    auto neg_qual
        = x3::attr(Ast::Qualifier::negative) >> lexeme[no_case["no"] >> identifier] >> x3::attr(Ast::Nil{}); // never a value
    auto qualifier 
        = lexeme['/' >> (neg_qual | qual)];

auto verb      
        = identifier;

auto parameter = x3::rule<struct _parameter, Ast::Param> {"parameter"}
        = keyword >> *qualifier;

auto command = x3::rule<struct _command, Ast::Command> {"command"} 
        = x3::skip(x3::space) [ verb >> *qualifier >> *parameter ];

} // End namespace scl

// For Demo, Debug: printing the Ast types back
#include <iostream>
#include <iomanip>

namespace Ast {
    static inline std::ostream& operator<<(std::ostream& os, Value const& v) {
        struct {
            std::ostream& _os;
            void operator()(std::string const& s) const { _os << std::quoted(s); }
            void operator()(int i)                const { _os << i; } 
            void operator()(double d)             const { _os << d; } 
            void operator()(Keyword const& kwv)   const { _os << kwv; } 
            void operator()(Nil)                  const { }
        } vis{os};

boost::apply_visitor(vis, v);
        return os;
    }

static inline std::ostream& operator<<(std::ostream& os, Qualifier const& q) {
        os << "/" << (q.kind==Qualifier::negative?"no":"") << q.identifier;
        if (q.value.which())
           os << "=" << q.value;
        return os;
    }

static inline std::ostream& operator<<(std::ostream& os, std::vector<Qualifier> const& qualifiers) {
        for (auto& qualifier : qualifiers)
            os << qualifier;
        return os;
    }

static inline std::ostream& operator<<(std::ostream& os, Param const& p) {
        return os << p.keyword << p.qualifiers;
    }

static inline std::ostream& operator<<(std::ostream& os, Command const& cmd) {
        os << cmd.verb << cmd.qualifiers;
        for (auto& param : cmd.params)         os << " " << param;
        return os;
    }
}

int main() {
    for (std::string const str : {
            "show/out=\"somefile.txt\" motors/all cameras/full",
            "start/speed=5 motors arm1 arm2/speed=2.5/track arm3",
            "rotate camera1/notrack/axis=y/angle=45",
        })
    {
        auto b = str.begin(), e = str.end();

Ast::Command cmd;
        bool ok = parse(b, e, scl::command, cmd);
        std::cout << (ok?"OK":"FAIL") << '\t' << std::quoted(str) << '\n';

if (ok) {
            std::cout << " -- Full AST: " << cmd << "\n";
            std::cout << " -- Verb+Qualifiers: " << cmd.verb << cmd.qualifiers << "\n";
            for (auto& param : cmd.params)
                std::cout << "     -- Param+Qualifiers: " << param << "\n";
        }
         
        if (b != e) {
            std::cout << " -- Remaining unparsed: " << std::quoted(std::string(b,e)) << "\n";
        }
    }
}

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Compilation time: 7,42 sec, absolute running time: 1,36 sec, absolute service time: 8,8 sec