lib/arduino_firmata/arduino.rb in arduino_firmata-0.1.5 vs lib/arduino_firmata/arduino.rb in arduino_firmata-0.1.6

@@ -1,12 +1,13 @@
 module ArduinoFirmata
 
   class Arduino
 
-    attr_reader :version
+    attr_reader :version, :status
 
     def initialize(serial_name, params)
+      @status = Status::CLOSE
       @wait_for_data = 0
       @execute_multi_byte_command = 0
       @multi_byte_channel = 0
       @stored_input_data = []
       @parsing_sysex = false
@@ -21,29 +22,37 @@
       @on_analog_changed = []
 
       @serial = SerialPort.new(serial_name, params[:bps], params[:bit], params[:stopbit], params[:parity])
       @serial.read_timeout = 3
       sleep 3
+      @status = Status::OPEN
 
       trap 'SIGHUP' do
         close
+        exit
       end
       trap 'SIGINT' do
         close
+        exit
       end
       trap 'SIGKILL' do
         close
+        exit
       end
       trap 'SIGTERM' do
         close
+        exit
       end
 
+      @thread_status = false
       Thread.new{
-        loop do
+        @thread_status = true
+        while status == Status::OPEN do
           process_input
-          sleep 0.1
+          sleep 0.01
         end
+        @thread_status = false
       }.run
 
       (0...6).each do |i|
         write(REPORT_ANALOG | i)
         write 1
@@ -51,20 +60,28 @@
       (0...2).each do |i|
         write(REPORT_DIGITAL | i)
         write 1
       end
 
+      write REPORT_VERSION
       loop do
         break if @version
         sleep 0.3
       end
       sleep 0.5
-
     end
 
     def close
+      return if status == Status::CLOSE
+      @status = Status::CLOSE
       @serial.close
+      loop do
+        if @serial.closed? and @thread_status != true
+          break
+        end
+        sleep 0.01
+      end
     end
 
     def digital_read(pin)
       (@digital_input_data[pin >> 3] >> (pin & 0x07)) & 0x01 > 0
     end
@@ -106,13 +123,15 @@
       write(angle >> 7)
     end
 
     private
     def write(cmd)
+      return if status == Status::CLOSE
       @serial.write_nonblock cmd.chr
     end
 
     def read
+      return if status == Status::CLOSE
       @serial.read_nonblock 9600 rescue EOFError
     end
 
     def process_input
       StringIO.new(String read).bytes.each do |input_data|