require 'stringio'
require 'event_spitter'
require "firmata/event"
module Firmata
class Board
include EventSpitter
# Internal: Data structure representing a pin on Arduino.
Pin = Struct.new(:supported_modes, :mode, :value, :analog_channel)
# Public: Fixnum byte for pin mode input.
INPUT = 0x00
# Public: Fixnum byte for pin mode output.
OUTPUT = 0x01
# Public: Fixnum byte for pin mode analog.
ANALOG = 0x02
# Public: Fixnum byte for pin mode pulse width modulation.
PWM = 0x03
# Public: Fixnum byte for pin mode servo.
SERVO = 0x04
LOW = 0
HIGH = 1
# Internal: Fixnum byte command for protocol version
REPORT_VERSION = 0xF9
# Internal: Fixnum byte command for system reset
SYSTEM_RESET = 0xFF
# Internal: Fixnum byte command for digital I/O message
DIGITAL_MESSAGE = 0x90
# Pubilc: Fixnum byte for range for digital pins for digital 2 byte data format
DIGITAL_MESSAGE_RANGE = 0x90..0x9F
# Internal: Fixnum byte command for an analog I/O message
ANALOG_MESSAGE = 0xE0
# Internal: Fixnum byte range for analog pins for analog 14-bit data format
ANALOG_MESSAGE_RANGE = 0xE0..0xEF
# Internal: Fixnum byte command to report analog pin
REPORT_ANALOG = 0xC0
# Internal: Fixnum byte command to report digital port
REPORT_DIGITAL = 0xD0
# Internal: Fixnum byte command to set pin mode (I/O)
PIN_MODE = 0xF4
# Internal: Fixnum byte command for start of Sysex message
START_SYSEX = 0xF0
# Internal: Fixnum byte command for end of Sysex message
END_SYSEX = 0xF7
# Internal: Fixnum byte sysex command for capabilities query
CAPABILITY_QUERY = 0x6B
# Internal: Fixnum byte sysex command for capabilities response
CAPABILITY_RESPONSE = 0x6C
# Internal: Fixnum byte sysex command for pin state query
PIN_STATE_QUERY = 0x6D
# Internal: Fixnum byte sysex command for pin state response
PIN_STATE_RESPONSE = 0x6E
# Internal: Fixnum byte sysex command for analog mapping query
ANALOG_MAPPING_QUERY = 0x69
# Internal: Fixnum byte sysex command for analog mapping response
ANALOG_MAPPING_RESPONSE = 0x6A
# Internal: Fixnum byte sysex command for i2c request
I2C_REQUEST = 0x76
# Internal: Fixnum byte sysex command for i2c reply
I2C_REPLY = 0x77
# Internal: Fixnum byte sysex command for i2c config
I2C_CONFIG = 0x78
# Internal: Fixnum byte sysex command for firmware query and response
FIRMWARE_QUERY = 0x79
# Internal: Fixnum byte i2c mode write
I2C_MODE_WRITE = 0x00
# Internal: Fixnum byte i2c mode read
I2C_MODE_READ = 0x01
# Internal: Fixnum byte i2c mode continous read
I2C_MODE_CONTINUOUS_READ = 0x02
# Internal: Fixnum byte i2c mode stop reading
I2C_MODE_STOP_READING = 0x03
# Public: Returns the SerialPort port the Arduino is attached to.
attr_reader :serial_port
# Public: Returns the Array of pins on Arduino.
attr_reader :pins
# Public: Returns the Array of analog pins on Arduino.
attr_reader :analog_pins
# Public: Returns the String firmware name of Arduion.
attr_reader :firmware_name
# Public: Returns array of any Events returned from
attr_reader :async_events
# Public: Initialize a Board
#
# port - a String port or an Object that responds to read and write.
def initialize(port)
if port.is_a?(String)
require 'serialport'
@serial_port = SerialPort.new(port, 57600, 8, 1, SerialPort::NONE)
@serial_port.read_timeout = 2
else
@serial_port = port
end
@major_version = 0
@minor_version = 0
@pins = []
@analog_pins = []
@connected = false
@async_events = []
rescue LoadError
puts "Please 'gem install hybridgroup-serialport' for serial port support."
end
# Pubilc: Check if a connection to Arduino has been made.
#
# Returns Boolean connected state.
def connected?
@connected
end
def event(name, *data)
async_events << Event.new(name, *data)
emit(name, *data)
end
# Public: Make connection to Arduino.
#
# Returns Firmata::Board board.
def connect
unless @connected
once('report_version', ->() do
once('firmware_query', ->() do
once('capability_query', ->() do
once('analog_mapping_query', ->() do
2.times { |i| toggle_pin_reporting(i) }
@connected = true
event('ready')
end)
query_analog_mapping
end)
query_capabilities
end)
end)
until connected?
read_and_process
delay(0.5)
end
end
self
end
# Internal: Write data to the underlying serial port.
#
# commands - Zero or more byte commands to be written.
#
# Examples
#
# write(START_SYSEX, CAPABILITY_QUERY, END_SYSEX)
#
# Returns nothing.
def write(*commands)
serial_port.write_nonblock(commands.map(&:chr).join)
end
# Internal: Read data from the underlying serial port.
#
# Returns String data read for serial port.
def read
return serial_port.read_nonblock(1024)
rescue EOFError
rescue Errno::EAGAIN
end
# Internal: Process a series of bytes.
#
# data: The String data to process.
#
# Returns nothing.
def process(data)
bytes = StringIO.new(String(data))
while byte = bytes.getbyte
case byte
when REPORT_VERSION
@major_version = bytes.getbyte
@minor_version = bytes.getbyte
event('report_version')
when ANALOG_MESSAGE_RANGE
least_significant_byte = bytes.getbyte
most_significant_byte = bytes.getbyte
value = least_significant_byte | (most_significant_byte << 7)
pin = byte & 0x0F
if analog_pin = analog_pins[pin]
pins[analog_pin].value = value
event('analog-read', pin, value)
event("analog-read-#{pin}", value)
end
when DIGITAL_MESSAGE_RANGE
port = byte & 0x0F
first_bitmask = bytes.getbyte
second_bitmask = bytes.getbyte
port_value = first_bitmask | (second_bitmask << 7)
8.times do |i|
pin_number = 8 * port + i
if pin = pins[pin_number] and pin.mode == INPUT
value = (port_value >> (i & 0x07)) & 0x01
pin.value = value
event('digital-read', pin_number, value)
event("digital-read-#{pin_number}", value)
end
end
when START_SYSEX
current_buffer = [byte]
begin
current_buffer.push(bytes.getbyte)
end until current_buffer.last == END_SYSEX
command = current_buffer[1]
case command
when CAPABILITY_RESPONSE
supported_modes = 0
n = 0
current_buffer.slice(2, current_buffer.length - 3).each do |byte|
if byte == 127
modes = []
# the pin modes
[ INPUT, OUTPUT, ANALOG, PWM, SERVO ].each do |mode|
modes.push(mode) unless (supported_modes & (1 << mode)).zero?
end
@pins.push(Pin.new(modes, OUTPUT, 0))
supported_modes = 0
n = 0
next
end
supported_modes |= (1 << byte) if n.zero?
n ^= 1
end
event('capability_query')
when ANALOG_MAPPING_RESPONSE
pin_index = 0
current_buffer.slice(2, current_buffer.length - 3).each do |byte|
@pins[pin_index].analog_channel = byte
@analog_pins.push(pin_index) unless byte == 127
pin_index += 1
end
event('analog_mapping_query')
when PIN_STATE_RESPONSE
pin = pins[current_buffer[2]]
pin.mode = current_buffer[3]
pin.value = current_buffer[4]
pin.value |= (current_buffer[5] << 7) if current_buffer.size > 6
pin.value |= (current_buffer[6] << 14) if current_buffer.size > 7
when I2C_REPLY
# I2C reply
# 0 START_SYSEX (0xF0) (MIDI System Exclusive)
# 1 I2C_REPLY (0x77)
# 2 slave address (LSB)
# 3 slave address (MSB)
# 4 register (LSB)
# 5 register (MSB)
# 6 data 0 LSB
# 7 data 0 MSB
# n END_SYSEX (0xF7)
i2c_reply = {
:slave_address => current_buffer[2,2].pack("CC").unpack("v").first,
:register => current_buffer[4,2].pack("CC").unpack("v").first,
:data => [current_buffer[6,2].pack("CC").unpack("v").first]
}
i = 8
while current_buffer[i] != "0xF7".hex do
break if !(!current_buffer[i,2].nil? && current_buffer[i,2].count == 2)
i2c_reply[:data].push(current_buffer[i,2].pack("CC").unpack("v").first)
i += 2
end
event('i2c_reply', i2c_reply)
when FIRMWARE_QUERY
@firmware_name = current_buffer.slice(4, current_buffer.length - 5).reject { |b| b.zero? }.map(&:chr).join
event('firmware_query')
else
puts 'bad byte'
end
end
end
rescue StopIteration
# do nadda
rescue NoMethodError
# got some bad data or something? hack to just skip to next attempt to process...
end
# Public: Read the serial port and process the results
#
# Returns nothing.
def read_and_process
process(read)
end
# Public: Send a SYSTEM_RESET to the Arduino
#
# Returns nothing.
def reset
write(SYSTEM_RESET)
end
# Public: Set the mode for a pin.
#
# pin - The Integer pin to set.
# mode - The Fixnum mode (INPUT, OUTPUT, ANALOG, PWM or SERVO)
#
# Examples
#
# set_pin_mode(13, OUTPUT)
#
# Returns nothing.
def set_pin_mode(pin, mode)
pins[pin].mode = mode
write(PIN_MODE, pin, mode)
end
# Public: Write a value to a digital pin.
#
# pin - The Integer pin to write to.
# value - The value to write (HIGH or LOW).
#
# Returns nothing.
def digital_write(pin, value)
port = (pin / 8).floor
port_value = 0
@pins[pin].value = value
8.times do |i|
port_value |= (1 << i) unless @pins[8 * port + i].value.zero?
end
write(DIGITAL_MESSAGE | port, port_value & 0x7F, (port_value >> 7) & 0x7F)
end
# Public: Write an analog messege.
#
# pin - The Integer pin to write to.
# value - The Integer value to write to the pin between 0-255.
#
# Returns nothing.
def analog_write(pin, value)
@pins[pin].value = value
write(ANALOG_MESSAGE | pin, value & 0x7F, (value >> 7) & 0x7F)
end
# Public: Write to a servo.
#
# pin - The Integer pin to write to.
# degrees - The Integer degrees to move the servo.
#
# Returns nothing.
alias_method :servo_write, :analog_write
# Public: Ask the Arduino to sleep for a number of seconds.
#
# seconds - The Integer seconds to sleep for.
#
# Returns nothing.
def delay(seconds)
sleep(seconds)
end
# Public: The major and minor firmware version on the board. Will report as
# "0.0" if report_version command has not been run.
#
# Returns String the firmware version as "minor.major".
def version
[@major_version, @minor_version].join('.')
end
# Public: Ask the Arduino to report its version.
#
# Returns nothing.
def report_version
write(REPORT_VERSION)
end
# Public: Ask the Ardution for its firmware name.
#
# Returns nothing.
def query_firmware
write(FIRMWARE_QUERY)
end
# Public: Ask the Arduino for the current configuration of any pin.
#
# pin - The Integer pin to query on the board.
#
# Returns nothing.
def query_pin_state(pin)
write(START_SYSEX, PIN_STATE_QUERY, pin.to_i, END_SYSEX)
end
# Public: Ask the Arduino about its capabilities and current state.
#
# Returns nothing.
def query_capabilities
write(START_SYSEX, CAPABILITY_QUERY, END_SYSEX)
end
# Public: Ask the Arduino which pins (used with pin mode message) correspond to the analog channels.
#
# Returns nothing.
def query_analog_mapping
write(START_SYSEX, ANALOG_MAPPING_QUERY, END_SYSEX)
end
# Public: Toggle pin reporting on or off.
#
# pin - The Integer pin to toggle.
# mode - The Integer mode the pin will report. The valid values are
# REPORT_DIGITAL or REPORT_ANALOG (default: REPORT_DIGITAL).
# state - The Integer state to toggle the pin. The valid value are
# HIGH or LOW (default: HIGH)
#
# Returns nothing.
def toggle_pin_reporting(pin, state = HIGH, mode = REPORT_DIGITAL)
write(mode | pin, state)
end
# Public: Make an i2c request.
#
# I2C read/write request
#
# 0 START_SYSEX (0xF0) (MIDI System Exclusive)
# 1 I2C_REQUEST (0x76)
# 2 slave address (LSB)
# 3 slave address (MSB) + read/write and address mode bits
# {7: always 0} + {6: reserved} + {5: address mode, 1 means 10-bit mode} +
# {4-3: read/write, 00 => write, 01 => read once, 10 => read continuously, 11 => stop reading} +
# {2-0: slave address MSB in 10-bit mode, not used in 7-bit mode}
# 4 data 0 (LSB)
# 5 data 0 (MSB)
# 6 data 1 (LSB)
# 7 data 1 (MSB)
# n END_SYSEX (0xF7)
# Returns nothing.
def i2c_read_request(slave_address, num_bytes)
address = [slave_address].pack("v")
write(START_SYSEX, I2C_REQUEST, address[0], (I2C_MODE_READ << 3), num_bytes & 0x7F, ((num_bytes >> 7) & 0x7F), END_SYSEX)
end
def i2c_write_request(slave_address, *data)
address = [slave_address].pack("v")
ret = [START_SYSEX, I2C_REQUEST, address[0], (I2C_MODE_WRITE << 3)]
data.each do |n|
ret.push([n].pack("v")[0])
ret.push([n].pack("v")[1])
end
ret.push(END_SYSEX)
write(*ret)
end
# Public: Set i2c config.
# I2C config
# 0 START_SYSEX (0xF0) (MIDI System Exclusive)
# 1 I2C_CONFIG (0x78)
# 2 Delay in microseconds (LSB)
# 3 Delay in microseconds (MSB)
# ... user defined for special cases, etc
# n END_SYSEX (0xF7)
# Returns nothing.
def i2c_config(*data)
ret = [START_SYSEX, I2C_CONFIG]
data.each do |n|
ret.push([n].pack("v")[0])
ret.push([n].pack("v")[1])
end
ret.push(END_SYSEX)
write(*ret)
end
end
end