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node-arduino-firmata/files/usr/lib/node/arduino-firmata/lib/arduino-firmata.js
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,295 @@ | ||
| (function() { | ||
| 'use strict'; | ||
| var ArduinoFirmata, debug, events, exports, serialport; | ||
|
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| events = require('eventemitter2'); | ||
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| serialport = require('serialport'); | ||
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| debug = require('debug')('arduino-firmata'); | ||
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| exports = module.exports = ArduinoFirmata = (function() { | ||
| class ArduinoFirmata extends events.EventEmitter2 { | ||
| static list(callback) { | ||
| return serialport.list(function(err, ports) { | ||
| var devices, j, len, port; | ||
| if (err) { | ||
| return callback(err); | ||
| } | ||
| devices = []; | ||
| for (j = 0, len = ports.length; j < len; j++) { | ||
| port = ports[j]; | ||
| if (/usb|acm|com|ama\d+/i.test(port.comName)) { | ||
| devices.push(port.comName); | ||
| } | ||
| } | ||
| return callback(null, devices); | ||
| }); | ||
| } | ||
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| constructor() { | ||
| super(); | ||
| this.status = ArduinoFirmata.Status.CLOSE; | ||
| this.wait_for_data = 0; | ||
| this.execute_multi_byte_command = 0; | ||
| this.multi_byte_channel = 0; | ||
| this.stored_input_data = []; | ||
| this.parsing_sysex = false; | ||
| this.sysex_bytes_read = 0; | ||
| this.digital_output_data = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; | ||
| this.digital_input_data = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; | ||
| this.analog_input_data = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; | ||
| this.boardVersion = null; | ||
| } | ||
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| isOldArduinoDevice() { | ||
| return /usbserial|USB/.test(this.serialport_name); | ||
| } | ||
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| connect(serialport_name, opts = { | ||
| baudRate: 57600 | ||
| }) { | ||
| this.serialport_name = serialport_name; | ||
| opts.parser = serialport.parsers.raw; | ||
| if (!this.serialport_name) { | ||
| ArduinoFirmata.list((err, devices) => { | ||
| return this.connect(devices[0], opts); | ||
| }); | ||
| return this; | ||
| } | ||
| this.once('boardReady', function() { | ||
| var io_init_wait; | ||
| debug('boardReady'); | ||
| io_init_wait = this.isOldArduinoDevice() ? (debug(`old arduino device found ${this.serialport_name}`), 3000) : (debug(`new arduino device found ${this.serialport_name}`), 100); | ||
| debug(`wait ${io_init_wait}(msec)`); | ||
| return setTimeout(() => { | ||
| var i, j, k; | ||
| for (i = j = 0; j < 6; i = ++j) { | ||
| this.write([ArduinoFirmata.REPORT_ANALOG | i, 1]); | ||
| } | ||
| for (i = k = 0; k < 2; i = ++k) { | ||
| this.write([ArduinoFirmata.REPORT_DIGITAL | i, 1]); | ||
| } | ||
| debug('init IO ports'); | ||
| return this.emit('connect'); | ||
| }, io_init_wait); | ||
| }); | ||
| this.serialport = new serialport(this.serialport_name, opts); | ||
| this.serialport.once('open', () => { | ||
| var cid; | ||
| cid = setInterval(() => { | ||
| debug('request REPORT_VERSION'); | ||
| return this.write([ArduinoFirmata.REPORT_VERSION]); | ||
| }, 500); | ||
| this.once('boardVersion', (version) => { | ||
| clearInterval(cid); | ||
| this.status = ArduinoFirmata.Status.OPEN; | ||
| return this.emit('boardReady'); | ||
| }); | ||
| return this.serialport.on('data', (data) => { | ||
| var byte, j, len, results; | ||
| results = []; | ||
| for (j = 0, len = data.length; j < len; j++) { | ||
| byte = data[j]; | ||
| results.push(this.process_input(byte)); | ||
| } | ||
| return results; | ||
| }); | ||
| }); | ||
| return this; | ||
| } | ||
|
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| isOpen() { | ||
| return this.status === ArduinoFirmata.Status.OPEN; | ||
| } | ||
|
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| close(callback) { | ||
| this.status = ArduinoFirmata.Status.CLOSE; | ||
| return this.serialport.close(callback); | ||
| } | ||
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| reset(callback) { | ||
| return this.write([ArduinoFirmata.SYSTEM_RESET], callback); | ||
| } | ||
|
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| write(bytes, callback) { | ||
| return this.serialport.write(bytes, callback); | ||
| } | ||
|
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| sysex(command, data = [], callback) { | ||
| var write_data; | ||
| //# http://firmata.org/wiki/V2.1ProtocolDetails#Sysex_Message_Format | ||
| data = data.map(function(i) { | ||
| return i & 0b1111111; // 7bit | ||
| }); | ||
| write_data = [ArduinoFirmata.START_SYSEX, command].concat(data, [ArduinoFirmata.END_SYSEX]); | ||
| return this.write(write_data, callback); | ||
| } | ||
|
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| pinMode(pin, mode, callback) { | ||
| switch (mode) { | ||
| case true: | ||
| mode = ArduinoFirmata.OUTPUT; | ||
| break; | ||
| case false: | ||
| mode = ArduinoFirmata.INPUT; | ||
| } | ||
| return this.write([ArduinoFirmata.SET_PIN_MODE, pin, mode], callback); | ||
| } | ||
|
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| digitalWrite(pin, value, callback) { | ||
| var port_num; | ||
| this.pinMode(pin, ArduinoFirmata.OUTPUT); | ||
| port_num = (pin >>> 3) & 0x0F; | ||
| if (value === 0 || value === false) { | ||
| this.digital_output_data[port_num] &= ~(1 << (pin & 0x07)); | ||
| } else { | ||
| this.digital_output_data[port_num] |= 1 << (pin & 0x07); | ||
| } | ||
| return this.write([ArduinoFirmata.DIGITAL_MESSAGE | port_num, this.digital_output_data[port_num] & 0x7F, this.digital_output_data[port_num] >>> 7], callback); | ||
| } | ||
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| analogWrite(pin, value, callback) { | ||
| value = Math.floor(value); | ||
| this.pinMode(pin, ArduinoFirmata.PWM); | ||
| return this.write([ArduinoFirmata.ANALOG_MESSAGE | (pin & 0x0F), value & 0x7F, value >>> 7], callback); | ||
| } | ||
|
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| servoWrite(pin, angle, callback) { | ||
| this.pinMode(pin, ArduinoFirmata.SERVO); | ||
| return this.write([ArduinoFirmata.ANALOG_MESSAGE | (pin & 0x0F), angle & 0x7F, angle >>> 7], callback); | ||
| } | ||
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| digitalRead(pin) { | ||
| return ((this.digital_input_data[pin >>> 3] >>> (pin & 0x07)) & 0x01) > 0; | ||
| } | ||
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| analogRead(pin) { | ||
| return this.analog_input_data[pin]; | ||
| } | ||
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| process_input(input_data) { | ||
| var analog_value, command, diff, i, j, old_analog_value, results, stat, sysex_command, sysex_data; | ||
| if (this.parsing_sysex) { | ||
| if (input_data === ArduinoFirmata.END_SYSEX) { | ||
| this.parsing_sysex = false; | ||
| sysex_command = this.stored_input_data[0]; | ||
| sysex_data = this.stored_input_data.slice(1, this.sysex_bytes_read); | ||
| return this.emit('sysex', { | ||
| command: sysex_command, | ||
| data: sysex_data | ||
| }); | ||
| } else { | ||
| this.stored_input_data[this.sysex_bytes_read] = input_data; | ||
| return this.sysex_bytes_read += 1; | ||
| } | ||
| } else if (this.wait_for_data > 0 && input_data < 128) { | ||
| this.wait_for_data -= 1; | ||
| this.stored_input_data[this.wait_for_data] = input_data; | ||
| if (this.execute_multi_byte_command !== 0 && this.wait_for_data === 0) { | ||
| switch (this.execute_multi_byte_command) { | ||
| case ArduinoFirmata.DIGITAL_MESSAGE: | ||
| input_data = (this.stored_input_data[0] << 7) + this.stored_input_data[1]; | ||
| diff = this.digital_input_data[this.multi_byte_channel] ^ input_data; | ||
| this.digital_input_data[this.multi_byte_channel] = input_data; | ||
| if (this.listeners('digitalChange').length > 0) { | ||
| results = []; | ||
| for (i = j = 0; j <= 13; i = ++j) { | ||
| if (((0x01 << i) & diff) > 0) { | ||
| stat = (input_data & diff) > 0; | ||
| results.push(this.emit('digitalChange', { | ||
| pin: i + this.multi_byte_channel * 8, | ||
| value: stat, | ||
| old_value: !stat | ||
| })); | ||
| } else { | ||
| results.push(void 0); | ||
| } | ||
| } | ||
| return results; | ||
| } | ||
| break; | ||
| case ArduinoFirmata.ANALOG_MESSAGE: | ||
| analog_value = (this.stored_input_data[0] << 7) + this.stored_input_data[1]; | ||
| old_analog_value = this.analogRead(this.multi_byte_channel); | ||
| this.analog_input_data[this.multi_byte_channel] = analog_value; | ||
| if (old_analog_value !== analog_value) { | ||
| return this.emit('analogChange', { | ||
| pin: this.multi_byte_channel, | ||
| value: analog_value, | ||
| old_value: old_analog_value | ||
| }); | ||
| } | ||
| break; | ||
| case ArduinoFirmata.REPORT_VERSION: | ||
| this.boardVersion = `${this.stored_input_data[1]}.${this.stored_input_data[0]}`; | ||
| return this.emit('boardVersion', this.boardVersion); | ||
| } | ||
| } | ||
| } else { | ||
| if (input_data < 0xF0) { | ||
| command = input_data & 0xF0; | ||
| this.multi_byte_channel = input_data & 0x0F; | ||
| } else { | ||
| command = input_data; | ||
| } | ||
| if (command === ArduinoFirmata.START_SYSEX) { | ||
| this.parsing_sysex = true; | ||
| return this.sysex_bytes_read = 0; | ||
| } else if (command === ArduinoFirmata.DIGITAL_MESSAGE || command === ArduinoFirmata.ANALOG_MESSAGE || command === ArduinoFirmata.REPORT_VERSION) { | ||
| this.wait_for_data = 2; | ||
| return this.execute_multi_byte_command = command; | ||
| } | ||
| } | ||
| } | ||
|
|
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| }; | ||
|
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| ArduinoFirmata.Status = { | ||
| CLOSE: 0, | ||
| OPEN: 1 | ||
| }; | ||
|
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| ArduinoFirmata.INPUT = 0; | ||
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| ArduinoFirmata.OUTPUT = 1; | ||
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| ArduinoFirmata.ANALOG = 2; | ||
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| ArduinoFirmata.PWM = 3; | ||
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| ArduinoFirmata.SERVO = 4; | ||
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| ArduinoFirmata.SHIFT = 5; | ||
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| ArduinoFirmata.I2C = 6; | ||
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| ArduinoFirmata.LOW = 0; | ||
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| ArduinoFirmata.HIGH = 1; | ||
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| ArduinoFirmata.MAX_DATA_BYTES = 32; | ||
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| ArduinoFirmata.DIGITAL_MESSAGE = 0x90; // send data for a digital port | ||
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| ArduinoFirmata.ANALOG_MESSAGE = 0xE0; // send data for an analog pin (or PWM) | ||
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| ArduinoFirmata.REPORT_ANALOG = 0xC0; // enable analog input by pin | ||
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| ArduinoFirmata.REPORT_DIGITAL = 0xD0; // enable digital input by port | ||
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| ArduinoFirmata.SET_PIN_MODE = 0xF4; // set a pin to INPUT/OUTPUT/PWM/etc | ||
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| ArduinoFirmata.REPORT_VERSION = 0xF9; // report firmware version | ||
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| ArduinoFirmata.SYSTEM_RESET = 0xFF; // reset from MIDI | ||
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| ArduinoFirmata.START_SYSEX = 0xF0; // start a MIDI SysEx message | ||
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| ArduinoFirmata.END_SYSEX = 0xF7; // end a MIDI SysEx message | ||
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| return ArduinoFirmata; | ||
|
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| }).call(this); | ||
|
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| }).call(this); |
17 changes: 17 additions & 0 deletions
17
node-arduino-firmata/patches/900-fix_the_usage_of_serialport.patch
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| diff --git a/tests/test_arduino.coffee b/tests/test_arduino.coffee | ||
| index 3009336..776c2a4 100644 | ||
| --- a/tests/test_arduino.coffee | ||
| +++ b/tests/test_arduino.coffee | ||
| @@ -16,10 +16,9 @@ describe 'class ArduinoFirmata', -> | ||
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| describe 'method list', -> | ||
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| - it 'should return list of serialports', (done) -> | ||
| + it 'should return list of serialports', -> | ||
| ArduinoFirmata.list (err, devices) -> | ||
| - assert.equal devices instanceof Array, true | ||
| - done() | ||
| + assert.equal (devices instanceof Array), true | ||
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| describe 'instance of ArduinoFirmata', -> |
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