Removed duplicate source directory

1 files changed, 0 insertions, 680 deletions

diff --git a/Source/modelPlugFirmata.cpp b/Source/modelPlugFirmata.cpp
deleted file mode 100755
index d6ae2ec..0000000
--- a/Source/modelPlugFirmata.cpp
+++ /dev/null
@@ -1,680 +0,0 @@
-
-/*  ModelPlug: Modelica connection to Firmata
- *  Author: Leonardo Laguna Ruiz
- *  Based on Firmata GUI-friendly queries test by Paul Stoffregen (paul@pjrc.com)
- *
- *  This program is free software: you can redistribute it and/or modify
- *  it under the terms of the GNU General Public License as published by
- *  the Free Software Foundation, either version 3 of the License, or
- *  (at your option) any later version.
- *
- *  This program is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- *  GNU General Public License for more details.
- *
- *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdio.h>
-#include <stdint.h>
-#include <algorithm>
-#include <vector>
-
-#include "serial.h"
-#include "modelPlugFirmata.h"
-
-
-typedef struct {
-	uint8_t  mode;
-	uint8_t  analog_channel;
-	uint64_t supported_modes;
-	uint32_t value;
-	uint32_t next_value;
-	uint8_t  ready;
-} pin_t;
-
-#define MODE_INPUT    0x00
-#define MODE_OUTPUT   0x01
-#define MODE_ANALOG   0x02
-#define MODE_PWM      0x03
-#define MODE_SERVO    0x04
-#define MODE_SHIFT    0x05
-#define MODE_I2C      0x06
-
-#define START_SYSEX             0xF0 // start a MIDI Sysex message
-#define END_SYSEX               0xF7 // end a MIDI Sysex message
-#define PIN_MODE_QUERY          0x72 // ask for current and supported pin modes
-#define PIN_MODE_RESPONSE       0x73 // reply with current and supported pin modes
-
-#define RESERVED_COMMAND        0x00 // 2nd SysEx data byte is a chip-specific command (AVR, PIC, TI, etc).
-#define ANALOG_MAPPING_QUERY    0x69 // ask for mapping of analog to pin numbers
-#define ANALOG_MAPPING_RESPONSE 0x6A // reply with mapping info
-#define CAPABILITY_QUERY        0x6B // ask for supported modes and resolution of all pins
-#define CAPABILITY_RESPONSE     0x6C // reply with supported modes and resolution
-#define PIN_STATE_QUERY         0x6D // ask for a pin's current mode and value
-#define PIN_STATE_RESPONSE      0x6E // reply with a pin's current mode and value
-#define EXTENDED_ANALOG         0x6F // analog write (PWM, Servo, etc) to any pin
-#define SERVO_CONFIG            0x70 // set max angle, minPulse, maxPulse, freq
-#define STRING_DATA             0x71 // a string message with 14-bits per char
-#define SHIFT_DATA              0x75 // shiftOut config/data message (34 bits)
-#define I2C_REQUEST             0x76 // I2C request messages from a host to an I/O board
-#define I2C_REPLY               0x77 // I2C reply messages from an I/O board to a host
-#define I2C_CONFIG              0x78 // Configure special I2C settings such as power pins and delay times
-#define REPORT_FIRMWARE         0x79 // report name and version of the firmware
-#define SAMPLING_INTERVAL       0x7A // sampling interval
-#define SYSEX_NON_REALTIME      0x7E // MIDI Reserved for non-realtime messages
-#define SYSEX_REALTIME          0x7F // MIDI Reserved for realtime messages
-
-class firmataBoard
-{
-public:
-	firmataBoard(std::string port = "dummy",bool showCapabilitites=false,int samplingMs=10,int baudRate=57600,bool fake=true);
-	~firmataBoard(){};
-
-	std::string getPortName();
-	int openPort();
-	void closePort();
-	std::vector<std::string> getPortList();
-	void setPinMode(uint32_t pin, uint32_t mode);
-	void writeDigitalPin(uint32_t pin,uint32_t value);
-	void writeAnalogPin(uint32_t pin, uint32_t value);
-	void writeServoPin(uint32_t pin, uint32_t value, int min, int max);
-	double readAnalogPin(uint32_t pin, double min, double max, double init);
-	uint32_t readDigitalPin(uint32_t pin, int init);
-	void setServoConfig(uint32_t pin,uint32_t min,uint32_t max);
-
-public:
-	void initialize(bool dtr);
-	void updateBoard(int timeout);
-	void reportFirmware();
-	void showPinCapabilities();
-	void setSamplingInterval();
-	void setAsFakePort();
-private:
-
-	int write(const void *ptr, int len);
-	int read(void *ptr, int count,int timeout);
-	void Parse(const uint8_t *buf, int len);
-	void DoMessage(void);
-
-	pin_t pin_info[128];
-	std::string port_name;
-	bool show_capabilitites;
-	int sampling;
-	int baudrate;
-	Serial serial_port;
-	bool ready;
-	bool is_fake_port;
-
-
-	std::string firmata_name;
-	int parse_count;
-	int parse_command_len;
-	uint8_t parse_buf[4096];
-};
-
-// This is an external object that we want to use in our modelica code.
-class firmataBoardHandler  {
-	firmataBoardHandler(){
-		try
-		{
-			std::vector<std::string> available_ports = dummyPort.getPortList();
-			printf("[ModelPlug.Firmata]: Available ports:\n"); fflush(stdout);
-			for (std::vector<std::string>::iterator it = available_ports.begin() ; it != available_ports.end(); ++it){
-				printf("- %s\n",(*it).c_str());fflush(stdout);
-			}
-		}
-		catch(std::exception&)
-		{
-			printf("[ModelPlug.Firmata]: Failed to show the port names\n");fflush(stdout);
-		}
-	}
-
-public:
-	static firmataBoardHandler *instance()
-    {
-        if (!s_instance)
-          s_instance = new firmataBoardHandler;
-        return s_instance;
-    }
-    firmataBoard* registerBoard(char* port,bool showCapabilitites,int samplingMs,int baudRate,bool dtr);
-    int getPortIndex(firmataBoard* elem);
-
-    firmataBoard* getBoard(uint32_t id);
-
-private:
-	std::vector<firmataBoard*> ports;
-
-	firmataBoard dummyPort;
-
-	static firmataBoardHandler *s_instance;
-
-};
-
-firmataBoardHandler *firmataBoardHandler::s_instance = 0;
-
-int firmataBoard::write(const void *ptr, int len){
-	if(!is_fake_port) return serial_port.Write(ptr,len);
-	return 0;
-}
-
-int firmataBoard::read(void *ptr, int count, int timeout){
-	if(!is_fake_port){
-		if (serial_port.Is_open() && (serial_port.Input_wait(timeout)>0))
-			return serial_port.Read(ptr, count);
-		return 0;
-	}
-	return 0;
-}
-
-void firmataBoard::setAsFakePort(){
-	is_fake_port = true;
-}
-
-firmataBoard::firmataBoard(std::string port, bool showCapabilitites, int samplingMs, int baudRate, bool fake)
-	:port_name(port),show_capabilitites(showCapabilitites),sampling(samplingMs),baudrate(baudRate),is_fake_port(fake){
-	// Initialize the pin information
-	for (int i=0; i < 128; i++) {
-		pin_info[i].mode = 255;
-		pin_info[i].analog_channel = 127;
-		pin_info[i].supported_modes = 0;
-		pin_info[i].value = 0;
-		pin_info[i].next_value = 0;
-		pin_info[i].ready = 0;
-	}
-	ready = false;
-}
-
-void firmataBoard::setPinMode(uint32_t pin, uint32_t mode){
-
-	if (mode != pin_info[pin].mode && ready) {
-		// send the mode change message
-		uint8_t buf[4];
-		buf[0] = 0xF4;
-		buf[1] = pin;
-		buf[2] = mode;
-		write(buf, 3);
-		pin_info[pin].mode = mode;
-		pin_info[pin].value = 0;
-		pin_info[pin].next_value = 0;
-		printf("[ModelPlug.Firmata]: %s setting pin %i to mode %i\n",port_name.c_str(),pin,mode);
-	}
-}
-
-void firmataBoard::setServoConfig(uint32_t pin,uint32_t min,uint32_t max){
-	if(ready){
-		uint8_t buf[8];
-		buf[0] = START_SYSEX;
-		buf[1] = SERVO_CONFIG;
-		buf[2] = pin;
-		buf[3] = min & 0x7F;
-		buf[4] = (min >> 7) & 0x7F;
-		buf[5] = max & 0x7F;
-		buf[6] = (max >> 7) & 0x7F;
-		buf[7] = END_SYSEX;
-		write(buf, 8);
-	}
-}
-
-void firmataBoard::writeDigitalPin(uint32_t pin,uint32_t value){
-	if(ready){
-		if(pin_info[pin].mode!=MODE_OUTPUT)
-			setPinMode(pin,MODE_OUTPUT);
-		pin_info[pin].next_value = value;
-	}
-}
-
-void firmataBoard::writeAnalogPin(uint32_t pin, uint32_t value){
-	if(ready){
-		if(pin_info[pin].mode!=MODE_PWM)
-			setPinMode(pin,MODE_PWM);
-		pin_info[pin].next_value = value;
-	}
-}
-
-void firmataBoard::writeServoPin(uint32_t pin, uint32_t value, int min, int max){
-	if(ready){
-		if(pin_info[pin].mode!=MODE_SERVO){
-			setPinMode(pin,MODE_SERVO);
-			setServoConfig(pin,min,max);
-		}
-		pin_info[pin].next_value = value;
-	}
-}
-
-double firmataBoard::readAnalogPin(uint32_t pin,double min, double max, double init){
-	if(ready){
-		if(pin_info[pin].mode!=MODE_ANALOG)
-			setPinMode(pin,MODE_ANALOG);
-		if(pin_info[pin].ready)
-			return min+((pin_info[pin].value/4095.0)*(max-min));
-		else
-			return init;
-	}
-	return init;
-}
-
-uint32_t firmataBoard::readDigitalPin(uint32_t pin, int init){
-	if(ready){
-		if(pin_info[pin].mode!=MODE_INPUT)
-			setPinMode(pin,MODE_INPUT);
-		if(pin_info[pin].ready)
-			return pin_info[pin].value;
-		else
-			return init;
-	}
-	return init;
-}
-
-void firmataBoard::reportFirmware(){
-	uint8_t buf[3];
-	buf[0] = START_SYSEX;
-	buf[1] = REPORT_FIRMWARE; // read firmata name & version
-	buf[2] = END_SYSEX;
-	write(buf, 3);
-}
-
-void firmataBoard::setSamplingInterval(){
-	uint8_t buf[5];
-	buf[0] = START_SYSEX;
-	buf[1] = SAMPLING_INTERVAL; // read firmata name & version
-	buf[2] = sampling & 0x7F;
-	buf[3] = (sampling >> 7) & 0x7F;
-	buf[4] = END_SYSEX;
-	write(buf, 5);
-	printf("[ModelPlug.Firmata]: Setting sampling interval to %i ms for board %s\n",sampling,port_name.c_str()); fflush(stdout);
-}
-
-void firmataBoard::showPinCapabilities(){
-	printf("[ModelPlug.Firmata]: Board %s capabilities\n", port_name.c_str());
-	for (int pin=0; pin<128; pin++) {
-		if(pin_info[pin].supported_modes!=0){
-			printf("- Pin %i supports: ",pin);
-			if (pin_info[pin].supported_modes & (1<<MODE_INPUT))  printf(" DigitalInput");
-			if (pin_info[pin].supported_modes & (1<<MODE_OUTPUT)) printf(" - DigitalOutput");
-			if (pin_info[pin].supported_modes & (1<<MODE_ANALOG)) printf(" - AnalogInput(A%d)",pin_info[pin].analog_channel);
-			if (pin_info[pin].supported_modes & (1<<MODE_PWM))    printf(" - AnalogOutput");
-			if (pin_info[pin].supported_modes & (1<<MODE_SERVO))  printf(" - Servo");
-			printf("\n");
-		}
-	}
-	fflush(stdout);
-}
-
-void firmataBoard::updateBoard(int timeout){
-	uint8_t buf[1024];
-	int r;
-	// write the output values
-	if(ready)
-	for (int pin=0; pin<128; pin++) {
-		if(pin_info[pin].value!=pin_info[pin].next_value && (pin_info[pin].mode==MODE_OUTPUT || pin_info[pin].mode==MODE_PWM || pin_info[pin].mode==MODE_SERVO)){
-
-			pin_info[pin].value=pin_info[pin].next_value;
-
-			// Digital output
-			if(pin_info[pin].mode==MODE_OUTPUT){
-				int port_num = pin / 8;
-				int port_val = 0;
-				for (int i=0; i<8; i++) {
-					int p = port_num * 8 + i;
-					if (pin_info[p].mode == MODE_OUTPUT || pin_info[p].mode == MODE_INPUT) {
-						if (pin_info[p].value) {
-							port_val |= (1<<i);
-						}
-					}
-				}
-				uint8_t buf[3];
-				buf[0] = 0x90 | port_num;
-				buf[1] = port_val & 0x7F;
-				buf[2] = (port_val >> 7) & 0x7F;
-				write(buf, 3);
-			}
-			// Analog output or servo
-			if(pin_info[pin].mode==MODE_PWM || pin_info[pin].mode==MODE_SERVO){
-				uint32_t value = pin_info[pin].value;
-
-				if (pin <= 15 && value <= 16383) {
-					uint8_t buf[3];
-					buf[0] = 0xE0 | pin;
-					buf[1] = value & 0x7F;
-					buf[2] = (value >> 7) & 0x7F;
-					write(buf, 3);
-				} else {
-					uint8_t buf[12];
-					int len=4;
-					buf[0] = 0xF0;
-					buf[1] = 0x6F;
-					buf[2] = pin;
-					buf[3] = value & 0x7F;
-					if (value > 0x00000080) buf[len++] = (value >> 7) & 0x7F;
-					if (value > 0x00004000) buf[len++] = (value >> 14) & 0x7F;
-					if (value > 0x00200000) buf[len++] = (value >> 21) & 0x7F;
-					if (value > 0x10000000) buf[len++] = (value >> 28) & 0x7F;
-					buf[len++] = 0xF7;
-					write(buf, len);
-				}
-			}
-		}
-	}
-	// receieve bytes from the serial port
-	r = read(buf, sizeof(buf),timeout);
-	if (r) {
-		Parse(buf, r);
-	}
-}
-
-void firmataBoard::Parse(const uint8_t *buf, int len)
-{
-	const uint8_t *p, *end;
-
-	p = buf;
-	end = p + len;
-	for (p = buf; p < end; p++) {
-		uint8_t msn = *p & 0xF0;
-		if (msn == 0xE0 || msn == 0x90 || *p == 0xF9) {
-			parse_command_len = 3;
-			parse_count = 0;
-		} else if (msn == 0xC0 || msn == 0xD0) {
-			parse_command_len = 2;
-			parse_count = 0;
-		} else if (*p == START_SYSEX) {
-			parse_count = 0;
-			parse_command_len = sizeof(parse_buf);
-		} else if (*p == END_SYSEX) {
-			parse_command_len = parse_count + 1;
-		} else if (*p & 0x80) {
-			parse_command_len = 1;
-			parse_count = 0;
-		}
-		if (parse_count < (int)sizeof(parse_buf)) {
-			parse_buf[parse_count++] = *p;
-		}
-		if (parse_count == parse_command_len) {
-			DoMessage();
-			parse_count = parse_command_len = 0;
-		}
-	}
-}
-
-void firmataBoard::DoMessage(void)
-{
-	uint8_t cmd = (parse_buf[0] & 0xF0);
-
-	if (cmd == 0xE0 && parse_count == 3) {
-		int analog_ch = (parse_buf[0] & 0x0F);
-		int analog_val = parse_buf[1] | (parse_buf[2] << 7);
-		for (int pin=0; pin<128; pin++) {
-			if (pin_info[pin].analog_channel == analog_ch) {
-				pin_info[pin].value = analog_val;
-				pin_info[pin].ready = 1;
-				return;
-			}
-		}
-		return;
-	}
-	if (cmd == 0x90 && parse_count == 3) {
-		int port_num = (parse_buf[0] & 0x0F);
-		int port_val = parse_buf[1] | (parse_buf[2] << 7);
-		int pin = port_num * 8;
-		//printf("port_num = %d, port_val = %d\n", port_num, port_val);
-		for (int mask=1; mask & 0xFF; mask <<= 1, pin++) {
-			if (pin_info[pin].mode == MODE_INPUT) {
-				uint32_t val = (port_val & mask) ? 1 : 0;
-				if (pin_info[pin].value != val) {
-					pin_info[pin].value = val;
-					pin_info[pin].ready = 1;
-				}
-			}
-		}
-		return;
-	}
-
-
-	if (parse_buf[0] == START_SYSEX && parse_buf[parse_count-1] == END_SYSEX) {
-		// Sysex message
-		if (parse_buf[1] == REPORT_FIRMWARE) {
-			char name[140];
-			int len=0;
-			for (int i=4; i < parse_count-2; i+=2) {
-				name[len++] = (parse_buf[i] & 0x7F)
-				  | ((parse_buf[i+1] & 0x7F) << 7);
-			}
-			name[len++] = '-';
-			name[len++] = parse_buf[2] + '0';
-			name[len++] = '.';
-			name[len++] = parse_buf[3] + '0';
-			name[len++] = 0;
-			firmata_name = name;
-			printf("[ModelPlug.Firmata]: %s %s\n",port_name.c_str(),name);
-			ready = true;
-			// query the board's capabilities only after hearing the
-			// REPORT_FIRMWARE message.  For boards that reset when
-			// the port open (eg, Arduino with reset=DTR), they are
-			// not ready to communicate for some time, so the only
-			// way to reliably query their capabilities is to wait
-			// until the REPORT_FIRMWARE message is heard.
-			uint8_t buf[80];
-			len=0;
-			buf[len++] = START_SYSEX;
-			buf[len++] = ANALOG_MAPPING_QUERY; // read analog to pin # info
-			buf[len++] = END_SYSEX;
-			buf[len++] = START_SYSEX;
-			buf[len++] = CAPABILITY_QUERY; // read capabilities
-			buf[len++] = END_SYSEX;
-			for (int i=0; i<16; i++) {
-				buf[len++] = 0xC0 | i;  // report analog
-				buf[len++] = 1;
-				buf[len++] = 0xD0 | i;  // report digital
-				buf[len++] = 1;
-			}
-			write(buf, len);
-			setSamplingInterval();
-		} else if (parse_buf[1] == CAPABILITY_RESPONSE) {
-			int pin, i, n;
-			for (pin=0; pin < 128; pin++) {
-				pin_info[pin].supported_modes = 0;
-			}
-			for (i=2, n=0, pin=0; i<parse_count; i++) {
-				if (parse_buf[i] == 127) {
-					pin++;
-					n = 0;
-					continue;
-				}
-				if (n == 0) {
-					// first byte is supported mode
-					pin_info[pin].supported_modes |= (1<<parse_buf[i]);
-				}
-				n = n ^ 1;
-			}
-			if(show_capabilitites) {
-				showPinCapabilities();
-				show_capabilitites = false;
-			}
-			// send a state query for for every pin with any modes
-			for (pin=0; pin < 128; pin++) {
-				uint8_t buf[512];
-				int len=0;
-				if (pin_info[pin].supported_modes) {
-					buf[len++] = START_SYSEX;
-					buf[len++] = PIN_STATE_QUERY;
-					buf[len++] = pin;
-					buf[len++] = END_SYSEX;
-				}
-				write(buf, len);
-			}
-		} else if (parse_buf[1] == ANALOG_MAPPING_RESPONSE) {
-			int pin=0;
-			for (int i=2; i<parse_count-1; i++) {
-				pin_info[pin].analog_channel = parse_buf[i];
-				pin++;
-			}
-			return;
-		} else if (parse_buf[1] == PIN_STATE_RESPONSE && parse_count >= 6) {
-			int pin = parse_buf[2];
-			pin_info[pin].mode = parse_buf[3];
-			pin_info[pin].value = parse_buf[4];
-			if (parse_count > 6) pin_info[pin].value |= (parse_buf[5] << 7);
-			if (parse_count > 7) pin_info[pin].value |= (parse_buf[6] << 14);
-			//add_pin(pin);
-		}
-		return;
-	}
-}
-
-std::vector<std::string> firmataBoard::getPortList(){
-	return serial_port.port_list();
-}
-
-firmataBoard* firmataBoardHandler::getBoard(uint32_t id){
-	if(id<0)
-		return &dummyPort;
-	else
-		return ports[id];
-}
-
-firmataBoard* firmataBoardHandler::registerBoard(char* port,bool showCapabilitites,int samplingMs,int baudRate,bool dtr){
-
-	// Check if the port exists
-	bool port_exists = false;
-	bool fake_port = false;
-	std::string port_name(port);
-	std::vector<std::string> available_ports = dummyPort.getPortList();
-	for (std::vector<std::string>::iterator it = available_ports.begin() ; it != available_ports.end(); ++it){
-		if((*it).compare(port_name)==0){
-			port_exists = true;
-			break;
-		}
-	}
-
-	if(!port_exists) {
-		printf("[ModelPlug.Firmata]: ERROR The port %s does not exist\n",port); fflush(stdout);
-		fake_port |= true;
-	}
-
-	// Check if the port is already used
-	for (std::vector<firmataBoard*>::iterator it = ports.begin() ; it != ports.end(); ++it){
-		if ((*it)->getPortName().compare(port_name)==0)
-		{
-			// Print duplicated port, report error
-			printf("[ModelPlug.Firmata]: ERROR: Trying to use two boards with the port %s\n",port);fflush(stdout);
-			fake_port |= true;
-		}
-	}
-
-	firmataBoard* new_port = new firmataBoard(port_name,showCapabilitites,samplingMs,baudRate,fake_port);
-
-	if(new_port->openPort()==0){
-		ports.push_back(new_port);
-		new_port->initialize(dtr);
-		return new_port;
-	}
-	else{
-		// Could not open the port return error
-		printf("[ModelPlug.Firmata]: ERROR Failed to open the port %s\n",port); fflush(stdout);
-		new_port->setAsFakePort();
-		return new_port;
-	}
-	return new_port;
-}
-
-int firmataBoardHandler::getPortIndex(firmataBoard* elem) {
-	unsigned pos = std::find(ports.begin(), ports.end(), elem) - ports.begin();
-	if(pos >= ports.size()){ // not found
-		return -1;
-	}
-	return pos;
-}
-
-std::string firmataBoard::getPortName(){
-	return port_name;
-}
-
-int firmataBoard::openPort(){
-	if(is_fake_port){
-		return 0;
-	} else {
-		serial_port.Open(port_name);
-		serial_port.Set_baud(baudrate);
-		if(serial_port.Is_open()){
-			printf("[ModelPlug.Firmata]: Using port %s with baud rate %i\n",port_name.c_str(),baudrate); fflush(stdout);
-			return 0;
-		}
-		else
-			return -1;
-	}
-	return -1;
-}
-
-void firmataBoard::initialize(bool dtr){
-	serial_port.Set_control(dtr?1:0,-1);
-	updateBoard(5);
-	reportFirmware();
-	updateBoard(5);
-}
-
-void firmataBoard::closePort(){
-	if(is_fake_port) return;
-	else
-		if(serial_port.Is_open())
-			serial_port.Close();
-}
-
-extern "C"
-
-{
-
-
-EXPORT void* boardConstructor(char* port,bool showCapabilitites,int samplingMs,int baudRate,bool dtr){
-	firmataBoardHandler* boards = firmataBoardHandler::instance();
-	void* object = (void*)boards->registerBoard(port,showCapabilitites,samplingMs,baudRate,dtr);
-	return object;
-}
-EXPORT void boardDestructor(void* object){
-	if(object!=NULL){
-		firmataBoard* board = (firmataBoard*)object;
-		board->closePort();
-		delete board;
-	}
-}
-
-EXPORT void updateBoard(int id){
-	firmataBoard* board = firmataBoardHandler::instance()->getBoard(id);
-	board->updateBoard(0);
-}
-
-EXPORT int getBoardId(void* object){
-	if(object!=NULL){
-		return firmataBoardHandler::instance()->getPortIndex((firmataBoard*)object);
-	}
-	else
-		return -1;
-}
-
-EXPORT double readAnalogPin(int pin, double min, double max, double init, int id){
-	firmataBoard* board = firmataBoardHandler::instance()->getBoard(id);
-	double value = board->readAnalogPin(pin,min,max,init);
-	return value;
-}
-EXPORT int readDigitalPin(int pin, int init, int id){
-	firmataBoard* board = firmataBoardHandler::instance()->getBoard(id);
-	int value = board->readDigitalPin(pin,init);
-	return value;
-}
-EXPORT void writeAnalogPin(int pin, int id,double value){
-	double croped = value>1.0?1.0:(value<0.0?0.0:value);
-	firmataBoard* board = firmataBoardHandler::instance()->getBoard(id);
-	board->writeAnalogPin(pin,(uint32_t)(croped*1023));
-}
-EXPORT void writeDigitalPin(int pin, int id,int value){
-	firmataBoard* board = firmataBoardHandler::instance()->getBoard(id);
-	board->writeDigitalPin(pin,value);
-}
-EXPORT void writeServoPin(int pin, int id,double value,int min,int max){
-	double croped = value>1.0?1.0:(value<0.0?0.0:value);
-	firmataBoard* board = firmataBoardHandler::instance()->getBoard(id);
-	board->writeServoPin(pin,(int)(croped*180),min,max);
-}
-
-} // end extern "C"