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-/*
- Firmata.cpp - Firmata library v2.5.6 - 2017-03-18
- Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
- Copyright (C) 2009-2017 Jeff Hoefs. All rights reserved.
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public
- License as published by the Free Software Foundation; either
- version 2.1 of the License, or (at your option) any later version.
-
- See file LICENSE.txt for further informations on licensing terms.
-*/
-
-//******************************************************************************
-//* Includes
-//******************************************************************************
-
-#include "Firmata.h"
-#include "HardwareSerial.h"
-
-#include <string.h>
-#include <stdlib.h>
-
-using namespace firmata;
-
-//******************************************************************************
-//* Static Members
-//******************************************************************************
-// make one instance for the user to use
-FirmataClass Firmata;
-
-/* callback functions */
-callbackFunction FirmataClass::currentAnalogCallback = (callbackFunction)NULL;
-callbackFunction FirmataClass::currentDigitalCallback = (callbackFunction)NULL;
-callbackFunction FirmataClass::currentPinModeCallback = (callbackFunction)NULL;
-callbackFunction FirmataClass::currentPinValueCallback = (callbackFunction)NULL;
-callbackFunction FirmataClass::currentReportAnalogCallback = (callbackFunction)NULL;
-callbackFunction FirmataClass::currentReportDigitalCallback = (callbackFunction)NULL;
-stringCallbackFunction FirmataClass::currentStringCallback = (stringCallbackFunction)NULL;
-sysexCallbackFunction FirmataClass::currentSysexCallback = (sysexCallbackFunction)NULL;
-systemCallbackFunction FirmataClass::currentSystemResetCallback = (systemCallbackFunction)NULL;
-
-//******************************************************************************
-//* Support Functions
-//******************************************************************************
-
-/**
- * Split a 16-bit byte into two 7-bit values and write each value.
- * @param value The 16-bit value to be split and written separately.
- */
-void FirmataClass::sendValueAsTwo7bitBytes(int value)
-{
- marshaller.encodeByteStream(sizeof(value), reinterpret_cast<uint8_t *>(&value), sizeof(value));
-}
-
-/**
- * A helper method to write the beginning of a Sysex message transmission.
- */
-void FirmataClass::startSysex(void)
-{
- FirmataStream->write(START_SYSEX);
-}
-
-/**
- * A helper method to write the end of a Sysex message transmission.
- */
-void FirmataClass::endSysex(void)
-{
- FirmataStream->write(END_SYSEX);
-}
-
-//******************************************************************************
-//* Constructors
-//******************************************************************************
-
-/**
- * The Firmata class.
- * An instance named "Firmata" is created automatically for the user.
- */
-FirmataClass::FirmataClass()
-:
- parser(FirmataParser(parserBuffer, MAX_DATA_BYTES))
-{
- firmwareVersionCount = 0;
- firmwareVersionVector = 0;
- blinkVersionDisabled = false;
-
- // Establish callback translation to parser callbacks
- parser.attach(ANALOG_MESSAGE, (FirmataParser::callbackFunction)staticAnalogCallback, (void *)NULL);
- parser.attach(DIGITAL_MESSAGE, (FirmataParser::callbackFunction)staticDigitalCallback, (void *)NULL);
- parser.attach(REPORT_ANALOG, (FirmataParser::callbackFunction)staticReportAnalogCallback, (void *)NULL);
- parser.attach(REPORT_DIGITAL, (FirmataParser::callbackFunction)staticReportDigitalCallback, (void *)NULL);
- parser.attach(SET_PIN_MODE, (FirmataParser::callbackFunction)staticPinModeCallback, (void *)NULL);
- parser.attach(SET_DIGITAL_PIN_VALUE, (FirmataParser::callbackFunction)staticPinValueCallback, (void *)NULL);
- parser.attach(STRING_DATA, (FirmataParser::stringCallbackFunction)staticStringCallback, (void *)NULL);
- parser.attach(START_SYSEX, (FirmataParser::sysexCallbackFunction)staticSysexCallback, (void *)NULL);
- parser.attach(REPORT_FIRMWARE, (FirmataParser::versionCallbackFunction)staticReportFirmwareCallback, this);
- parser.attach(REPORT_VERSION, (FirmataParser::systemCallbackFunction)staticReportVersionCallback, this);
- parser.attach(SYSTEM_RESET, (FirmataParser::systemCallbackFunction)staticSystemResetCallback, (void *)NULL);
-}
-
-//******************************************************************************
-//* Public Methods
-//******************************************************************************
-
-/**
- * Initialize the default Serial transport at the default baud of 57600.
- */
-void FirmataClass::begin(void)
-{
- begin(57600);
-}
-
-/**
- * Initialize the default Serial transport and override the default baud.
- * Sends the protocol version to the host application followed by the firmware version and name.
- * blinkVersion is also called. To skip the call to blinkVersion, call Firmata.disableBlinkVersion()
- * before calling Firmata.begin(baud).
- * @param speed The baud to use. 57600 baud is the default value.
- */
-void FirmataClass::begin(long speed)
-{
- Serial.begin(speed);
- blinkVersion();
- begin(Serial);
-}
-
-/**
- * Reassign the Firmata stream transport.
- * @param s A reference to the Stream transport object. This can be any type of
- * transport that implements the Stream interface. Some examples include Ethernet, WiFi
- * and other UARTs on the board (Serial1, Serial2, etc).
- */
-void FirmataClass::begin(Stream &s)
-{
- FirmataStream = &s;
- marshaller.begin(s);
- // do not call blinkVersion() here because some hardware such as the
- // Ethernet shield use pin 13
- printVersion(); // send the protocol version
- printFirmwareVersion(); // send the firmware name and version
-}
-
-/**
- * Send the Firmata protocol version to the Firmata host application.
- */
-void FirmataClass::printVersion(void)
-{
- marshaller.sendVersion(FIRMATA_PROTOCOL_MAJOR_VERSION, FIRMATA_PROTOCOL_MINOR_VERSION);
-}
-
-/**
- * Blink the Firmata protocol version to the onboard LEDs (if the board has an onboard LED).
- * If VERSION_BLINK_PIN is not defined in Boards.h for a particular board, then this method
- * does nothing.
- * The first series of flashes indicates the firmware major version (2 flashes = 2).
- * The second series of flashes indicates the firmware minor version (5 flashes = 5).
- */
-void FirmataClass::blinkVersion(void)
-{
-#if defined(VERSION_BLINK_PIN)
- if (blinkVersionDisabled) return;
- // flash the pin with the protocol version
- pinMode(VERSION_BLINK_PIN, OUTPUT);
- strobeBlinkPin(VERSION_BLINK_PIN, FIRMATA_FIRMWARE_MAJOR_VERSION, 40, 210);
- delay(250);
- strobeBlinkPin(VERSION_BLINK_PIN, FIRMATA_FIRMWARE_MINOR_VERSION, 40, 210);
- delay(125);
-#endif
-}
-
-/**
- * Provides a means to disable the version blink sequence on the onboard LED, trimming startup
- * time by a couple of seconds.
- * Call this before Firmata.begin(). It only applies when using the default Serial transport.
- */
-void FirmataClass::disableBlinkVersion()
-{
- blinkVersionDisabled = true;
-}
-
-/**
- * Sends the firmware name and version to the Firmata host application. The major and minor version
- * numbers are the first 2 bytes in the message. The following bytes are the characters of the
- * firmware name.
- */
-void FirmataClass::printFirmwareVersion(void)
-{
- if (firmwareVersionCount) { // make sure that the name has been set before reporting
- marshaller.sendFirmwareVersion(static_cast<uint8_t>(firmwareVersionVector[0]), static_cast<uint8_t>(firmwareVersionVector[1]), (firmwareVersionCount - 2), reinterpret_cast<uint8_t *>(&firmwareVersionVector[2]));
- }
-}
-
-/**
- * Sets the name and version of the firmware. This is not the same version as the Firmata protocol
- * (although at times the firmware version and protocol version may be the same number).
- * @param name A pointer to the name char array
- * @param major The major version number
- * @param minor The minor version number
- */
-void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte minor)
-{
- const char *firmwareName;
- const char *extension;
-
- // parse out ".cpp" and "applet/" that comes from using __FILE__
- extension = strstr(name, ".cpp");
- firmwareName = strrchr(name, '/');
-
- if (!firmwareName) {
- // windows
- firmwareName = strrchr(name, '\\');
- }
- if (!firmwareName) {
- // user passed firmware name
- firmwareName = name;
- } else {
- firmwareName ++;
- }
-
- if (!extension) {
- firmwareVersionCount = strlen(firmwareName) + 2;
- } else {
- firmwareVersionCount = extension - firmwareName + 2;
- }
-
- // in case anyone calls setFirmwareNameAndVersion more than once
- free(firmwareVersionVector);
-
- firmwareVersionVector = (byte *) malloc(firmwareVersionCount + 1);
- firmwareVersionVector[firmwareVersionCount] = 0;
- firmwareVersionVector[0] = major;
- firmwareVersionVector[1] = minor;
- strncpy((char *)firmwareVersionVector + 2, firmwareName, firmwareVersionCount - 2);
-}
-
-//------------------------------------------------------------------------------
-// Serial Receive Handling
-
-/**
- * A wrapper for Stream::available()
- * @return The number of bytes remaining in the input stream buffer.
- */
-int FirmataClass::available(void)
-{
- return FirmataStream->available();
-}
-
-/**
- * Read a single int from the input stream. If the value is not = -1, pass it on to parse(byte)
- */
-void FirmataClass::processInput(void)
-{
- int inputData = FirmataStream->read(); // this is 'int' to handle -1 when no data
- if (inputData != -1) {
- parser.parse(inputData);
- }
-}
-
-/**
- * Parse data from the input stream.
- * @param inputData A single byte to be added to the parser.
- */
-void FirmataClass::parse(byte inputData)
-{
- parser.parse(inputData);
-}
-
-/**
- * @return Returns true if the parser is actively parsing data.
- */
-boolean FirmataClass::isParsingMessage(void)
-{
- return parser.isParsingMessage();
-}
-
-//------------------------------------------------------------------------------
-// Output Stream Handling
-
-/**
- * Send an analog message to the Firmata host application. The range of pins is limited to [0..15]
- * when using the ANALOG_MESSAGE. The maximum value of the ANALOG_MESSAGE is limited to 14 bits
- * (16384). To increase the pin range or value, see the documentation for the EXTENDED_ANALOG
- * message.
- * @param pin The analog pin to send the value of (limited to pins 0 - 15).
- * @param value The value of the analog pin (0 - 1024 for 10-bit analog, 0 - 4096 for 12-bit, etc).
- * The maximum value is 14-bits (16384).
- */
-void FirmataClass::sendAnalog(byte pin, int value)
-{
- marshaller.sendAnalog(pin, value);
-}
-
-/* (intentionally left out asterix here)
- * STUB - NOT IMPLEMENTED
- * Send a single digital pin value to the Firmata host application.
- * @param pin The digital pin to send the value of.
- * @param value The value of the pin.
- */
-void FirmataClass::sendDigital(byte pin, int value)
-{
- (void)pin;
- (void)value;
- /* TODO add single pin digital messages to the protocol, this needs to
- * track the last digital data sent so that it can be sure to change just
- * one bit in the packet. This is complicated by the fact that the
- * numbering of the pins will probably differ on Arduino, Wiring, and
- * other boards.
- */
-
- // TODO: the digital message should not be sent on the serial port every
- // time sendDigital() is called. Instead, it should add it to an int
- // which will be sent on a schedule. If a pin changes more than once
- // before the digital message is sent on the serial port, it should send a
- // digital message for each change.
-
- // if(value == 0)
- // sendDigitalPortPair();
-}
-
-
-/**
- * Send an 8-bit port in a single digital message (protocol v2 and later).
- * Send 14-bits in a single digital message (protocol v1).
- * @param portNumber The port number to send. Note that this is not the same as a "port" on the
- * physical microcontroller. Ports are defined in order per every 8 pins in ascending order
- * of the Arduino digital pin numbering scheme. Port 0 = pins D0 - D7, port 1 = pins D8 - D15, etc.
- * @param portData The value of the port. The value of each pin in the port is represented by a bit.
- */
-void FirmataClass::sendDigitalPort(byte portNumber, int portData)
-{
- marshaller.sendDigitalPort(portNumber, portData);
-}
-
-/**
- * Send a sysex message where all values after the command byte are packet as 2 7-bit bytes
- * (this is not always the case so this function is not always used to send sysex messages).
- * @param command The sysex command byte.
- * @param bytec The number of data bytes in the message (excludes start, command and end bytes).
- * @param bytev A pointer to the array of data bytes to send in the message.
- */
-void FirmataClass::sendSysex(byte command, byte bytec, byte *bytev)
-{
- marshaller.sendSysex(command, bytec, bytev);
-}
-
-/**
- * Send a string to the Firmata host application.
- * @param command Must be STRING_DATA
- * @param string A pointer to the char string
- */
-void FirmataClass::sendString(byte command, const char *string)
-{
- if (command == STRING_DATA) {
- marshaller.sendString(string);
- }
-}
-
-/**
- * Send a string to the Firmata host application.
- * @param string A pointer to the char string
- */
-void FirmataClass::sendString(const char *string)
-{
- marshaller.sendString(string);
-}
-
-/**
- * A wrapper for Stream::available().
- * Write a single byte to the output stream.
- * @param c The byte to be written.
- */
-void FirmataClass::write(byte c)
-{
- FirmataStream->write(c);
-}
-
-/**
- * Attach a generic sysex callback function to a command (options are: ANALOG_MESSAGE,
- * DIGITAL_MESSAGE, REPORT_ANALOG, REPORT DIGITAL, SET_PIN_MODE and SET_DIGITAL_PIN_VALUE).
- * @param command The ID of the command to attach a callback function to.
- * @param newFunction A reference to the callback function to attach.
- */
-void FirmataClass::attach(uint8_t command, ::callbackFunction newFunction)
-{
- switch (command) {
- case ANALOG_MESSAGE:
- currentAnalogCallback = newFunction;
- break;
- case DIGITAL_MESSAGE:
- currentDigitalCallback = newFunction;
- break;
- case REPORT_ANALOG:
- currentReportAnalogCallback = newFunction;
- break;
- case REPORT_DIGITAL:
- currentReportDigitalCallback = newFunction;
- break;
- case SET_PIN_MODE:
- currentPinModeCallback = newFunction;
- break;
- case SET_DIGITAL_PIN_VALUE:
- currentPinValueCallback = newFunction;
- break;
- }
-}
-
-/**
- * Attach a callback function for the SYSTEM_RESET command.
- * @param command Must be set to SYSTEM_RESET or it will be ignored.
- * @param newFunction A reference to the system reset callback function to attach.
- */
-void FirmataClass::attach(uint8_t command, systemCallbackFunction newFunction)
-{
- switch (command) {
- case SYSTEM_RESET:
- currentSystemResetCallback = newFunction;
- break;
- }
-}
-
-/**
- * Attach a callback function for the STRING_DATA command.
- * @param command Must be set to STRING_DATA or it will be ignored.
- * @param newFunction A reference to the string callback function to attach.
- */
-void FirmataClass::attach(uint8_t command, stringCallbackFunction newFunction)
-{
- switch (command) {
- case STRING_DATA:
- currentStringCallback = newFunction;
- break;
- }
-}
-
-/**
- * Attach a generic sysex callback function to sysex command.
- * @param command The ID of the command to attach a callback function to.
- * @param newFunction A reference to the sysex callback function to attach.
- */
-void FirmataClass::attach(uint8_t command, sysexCallbackFunction newFunction)
-{
- (void)command;
- currentSysexCallback = newFunction;
-}
-
-/**
- * Detach a callback function for a specified command (such as SYSTEM_RESET, STRING_DATA,
- * ANALOG_MESSAGE, DIGITAL_MESSAGE, etc).
- * @param command The ID of the command to detatch the callback function from.
- */
-void FirmataClass::detach(uint8_t command)
-{
- switch (command) {
- case SYSTEM_RESET:
- attach(command, (systemCallbackFunction)NULL);
- break;
- case STRING_DATA:
- attach(command, (stringCallbackFunction)NULL);
- break;
- case START_SYSEX:
- attach(command, (sysexCallbackFunction)NULL);
- break;
- default:
- attach(command, (callbackFunction)NULL);
- break;
- }
-}
-
-/**
- * @param pin The pin to get the configuration of.
- * @return The configuration of the specified pin.
- */
-byte FirmataClass::getPinMode(byte pin)
-{
- return pinConfig[pin];
-}
-
-/**
- * Set the pin mode/configuration. The pin configuration (or mode) in Firmata represents the
- * current function of the pin. Examples are digital input or output, analog input, pwm, i2c,
- * serial (uart), etc.
- * @param pin The pin to configure.
- * @param config The configuration value for the specified pin.
- */
-void FirmataClass::setPinMode(byte pin, byte config)
-{
- if (pinConfig[pin] == PIN_MODE_IGNORE)
- return;
-
- pinConfig[pin] = config;
-}
-
-/**
- * @param pin The pin to get the state of.
- * @return The state of the specified pin.
- */
-int FirmataClass::getPinState(byte pin)
-{
- return pinState[pin];
-}
-
-/**
- * Set the pin state. The pin state of an output pin is the pin value. The state of an
- * input pin is 0, unless the pin has it's internal pull up resistor enabled, then the value is 1.
- * @param pin The pin to set the state of
- * @param state Set the state of the specified pin
- */
-void FirmataClass::setPinState(byte pin, int state)
-{
- pinState[pin] = state;
-}
-
-// sysex callbacks
-/*
- * this is too complicated for analogReceive, but maybe for Sysex?
- void FirmataClass::attachSysex(sysexFunction newFunction)
- {
- byte i;
- byte tmpCount = analogReceiveFunctionCount;
- analogReceiveFunction* tmpArray = analogReceiveFunctionArray;
- analogReceiveFunctionCount++;
- analogReceiveFunctionArray = (analogReceiveFunction*) calloc(analogReceiveFunctionCount, sizeof(analogReceiveFunction));
- for(i = 0; i < tmpCount; i++) {
- analogReceiveFunctionArray[i] = tmpArray[i];
- }
- analogReceiveFunctionArray[tmpCount] = newFunction;
- free(tmpArray);
- }
-*/
-
-//******************************************************************************
-//* Private Methods
-//******************************************************************************
-
-/**
- * Flashing the pin for the version number
- * @private
- * @param pin The pin the LED is attached to.
- * @param count The number of times to flash the LED.
- * @param onInterval The number of milliseconds for the LED to be ON during each interval.
- * @param offInterval The number of milliseconds for the LED to be OFF during each interval.
- */
-void FirmataClass::strobeBlinkPin(byte pin, int count, int onInterval, int offInterval)
-{
- byte i;
- for (i = 0; i < count; i++) {
- delay(offInterval);
- digitalWrite(pin, HIGH);
- delay(onInterval);
- digitalWrite(pin, LOW);
- }
-}
-