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-rwxr-xr-xSource/modelPlugFirmata.cpp680
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diff --git a/Source/modelPlugFirmata.cpp b/Source/modelPlugFirmata.cpp
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--- a/Source/modelPlugFirmata.cpp
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@@ -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"
generated by cgit (git 2.34.1) at 2024-12-19 11:50:35 +0000