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websocket: initial proof of concept
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‎examples/esp8266-websocket/esp8266-websocket.ino

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#include <Servo.h>
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#include <Wire.h>
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#include <Firmata.h>
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#include <ESP8266mDNS.h> // esp8266 Arduino standard library
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#include <WebSocketsServer.h> // https://github.com/Links2004/arduinoWebSockets
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#include <PipedStream.h> // https://github.com/paulo-raca/ArduinoBufferedStreams
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#include <utility/ExampleStandardFirmataCommon.h>
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#define DEBUG_ENABLED 0 // 0 or 1
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#if DEBUG_ENABLED
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#define DEBUG(x...) do { x; } while (0)
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#define IS_IGNORE_PIN(i) ((i) == 1) // 1 == Serial TX
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#else
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#define DEBUG(x...) do { (void)0; } while (0)
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#endif
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PipedStreamPair pipe; // streamify data coming from websocket
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PipedStream& StreamFirmataInternal = pipe.first;
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PipedStream& StreamAsFirmata = pipe.second;
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WebSocketsServer webSocket(3031);
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/*
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* StandardFirmataWiFi communicates with WiFi shields over SPI. Therefore all
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* SPI pins must be set to IGNORE. Otherwise Firmata would break SPI communication.
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* Additional pins may also need to be ignored depending on the particular board or
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* shield in use.
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*/
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void ignorePins()
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{
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#ifdef IS_IGNORE_PIN
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for (byte i = 0; i < TOTAL_PINS; i++) {
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if (IS_IGNORE_PIN(i)) {
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Firmata.setPinMode(i, PIN_MODE_IGNORE);
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}
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}
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#endif
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}
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void initTransport()
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{
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WiFi.mode(WIFI_STA);
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WiFi.begin(STASSID, STAPSK);
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DEBUG(Serial.printf("Connecting to SSID '%s'...\n", STASSID));
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while (WiFi.status() != WL_CONNECTED)
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{
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delay(1000);
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DEBUG(Serial.print('.'));
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}
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DEBUG(Serial.printf("Connected, IP address: %s\n", WiFi.localIP().toString().c_str()));
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}
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int clients = 0;
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void webSocketEvent(uint8_t num, WStype_t type, uint8_t * payload, size_t length)
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{
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DEBUG(Serial.printf("[ws:%u,t:%d,l:%z]: ", num, (int)type, length));
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switch(type) {
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case WStype_DISCONNECTED:
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DEBUG(Serial.println("Disconnected!"));
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clients--;
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break;
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case WStype_CONNECTED:
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{
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DEBUG(Serial.printf("Connected from %s url:%s\n", webSocket.remoteIP(num).toString().c_str(), (const char*)payload));
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webSocket.sendTXT(num, "Firmata WebSocket Server ready for your network/wireless service");
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clients++;
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}
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break;
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case WStype_TEXT:
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DEBUG(Serial.printf("Informative Text from WebSocket: '%s'\n", (const char*)payload));
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break;
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case WStype_BIN:
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DEBUG(Serial.printf("binary from WebSocket\n"));
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#if 1
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// !! there is a Print::write(ptr,size_t) !?
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//DEBUG(Serial.print("before: ");
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//DEBUG(Serial.println(StreamFirmataInternal.available());
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for (size_t i = 0; i < length; i++)
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{
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//Serial.printf("0x%02x ", (int)payload[i]);
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if (StreamAsFirmata.write(payload[i]) != 1) {
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DEBUG(Serial.println("stream error writing to StreamAsFirmata"));
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}
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}
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//DEBUG(Serial.println();
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//DEBUG(Serial.print("after: ");
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//DEBUG(Serial.println(StreamFirmataInternal.available());
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#else
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if (StreamAsFirmata.write(payload, length) != length) {
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DEBUG(Serial.println("stream error writing to StreamAsFirmata"));
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}
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#endif
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break;
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default:
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DEBUG(Serial.println("TODO: unhandled WS message type"));
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}
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}
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void initWebSocket()
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{
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webSocket.begin();
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webSocket.onEvent(webSocketEvent);
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DEBUG(Serial.println("WS: initialized"));
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}
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void initFirmata()
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{
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initFirmataCommonBegin();
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ignorePins();
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// Using the pipes stream
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// it is written to by the websocket event function
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// it is read from by the main loop
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Firmata.begin(StreamFirmataInternal);
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initFirmataCommonEnd();
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}
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void setup()
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{
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DEBUG(Serial.begin(115200));
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initTransport();
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initWebSocket();
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initFirmata();
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MDNS.begin("firmata"); // "firmata.local" will be the dns name in LAN
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}
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/*==============================================================================
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* LOOP()
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*============================================================================*/
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void loop()
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{
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loopFirmataCommon();
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webSocket.loop();
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MDNS.update();
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size_t StreamAsFirmataLen = StreamAsFirmata.available();
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#if DEBUG_ENABLED
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static unsigned long last = 0;
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if (millis() - last > 1000)
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{
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last += 1000;
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DEBUG(Serial.printf("Firmata to WS: available=%zd --- WS to Firmata: available=%zd\n",
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StreamAsFirmataLen,
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StreamFirmataInternal.available()));
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}
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#endif
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if (clients && StreamAsFirmataLen)
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{
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DEBUG(Serial.printf("Firmata -> WS: %zd bytes", StreamAsFirmataLen));
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static byte tempBuffer [MAX_DATA_BYTES];
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if (StreamAsFirmataLen > sizeof(tempBuffer))
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StreamAsFirmataLen = sizeof(tempBuffer);
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if ( StreamAsFirmata.readBytes(tempBuffer, StreamAsFirmataLen) == StreamAsFirmataLen
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&& webSocket.broadcastBIN(tempBuffer, StreamAsFirmataLen))
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{
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DEBUG(Serial.printf("Successfully broadcasted-to-websocket a binary message of %zd bytes\n", StreamAsFirmataLen));
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}
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else
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{
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DEBUG(Serial.printf("Error broadcasting-to-websocket a binary message of %zd bytes", StreamAsFirmataLen));
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}
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}
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}

‎examples/esp8266-websocket/wsdemo.html

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<!DOCTYPE HTML>
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<html>
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<head>
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<script type = "text/javascript">
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// message command bytes (128-255/0x80-0xFF)
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const DIGITAL_MESSAGE = 0x90; // send data for a digital port (collection of 8 pins)
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const ANALOG_MESSAGE = 0xE0; // send data for an analog pin (or PWM)
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const REPORT_ANALOG = 0xC0; // enable analog input by pin #
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const REPORT_DIGITAL = 0xD0; // enable digital input by port pair
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//
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const SET_PIN_MODE = 0xF4; // set a pin to INPUT/OUTPUT/PWM/etc
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const SET_DIGITAL_PIN_VALUE = 0xF5; // set value of an individual digital pin
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//
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const REPORT_VERSION = 0xF9; // report protocol version
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const SYSTEM_RESET = 0xFF; // reset from MIDI
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//
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const START_SYSEX = 0xF0; // start a MIDI Sysex message
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const END_SYSEX = 0xF7; // end a MIDI Sysex message
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// extended command set using sysex (0-127/0x00-0x7F)
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/* 0x00-0x0F reserved for user-defined commands */
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const SERIAL_DATA = 0x60; // communicate with serial devices, including other boards
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const ENCODER_DATA = 0x61; // reply with encoders current positions
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const SERVO_CONFIG = 0x70; // set max angle, minPulse, maxPulse, freq
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const STRING_DATA = 0x71; // a string message with 14-bits per char
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const STEPPER_DATA = 0x72; // control a stepper motor
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const ONEWIRE_DATA = 0x73; // send an OneWire read/write/reset/select/skip/search request
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const SHIFT_DATA = 0x75; // a bitstream to/from a shift register
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const I2C_REQUEST = 0x76; // send an I2C read/write request
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const I2C_REPLY = 0x77; // a reply to an I2C read request
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const I2C_CONFIG = 0x78; // config I2C settings such as delay times and power pins
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const REPORT_FIRMWARE = 0x79; // report name and version of the firmware
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const EXTENDED_ANALOG = 0x6F; // analog write (PWM, Servo, etc) to any pin
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const PIN_STATE_QUERY = 0x6D; // ask for a pin's current mode and value
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const PIN_STATE_RESPONSE = 0x6E; // reply with pin's current mode and value
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const CAPABILITY_QUERY = 0x6B; // ask for supported modes and resolution of all pins
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const CAPABILITY_RESPONSE = 0x6C; // reply with supported modes and resolution
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const ANALOG_MAPPING_QUERY = 0x69; // ask for mapping of analog to pin numbers
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const ANALOG_MAPPING_RESPONSE = 0x6A; // reply with mapping info
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const SAMPLING_INTERVAL = 0x7A; // set the poll rate of the main loop
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const SCHEDULER_DATA = 0x7B; // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler
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const SYSEX_NON_REALTIME = 0x7E; // MIDI Reserved for non-realtime messages
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const SYSEX_REALTIME = 0x7F; // MIDI Reserved for realtime messages
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// pin modes
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const PIN_MODE_INPUT = 0x00; // same as INPUT defined in Arduino.h
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const PIN_MODE_OUTPUT = 0x01; // same as OUTPUT defined in Arduino.h
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const PIN_MODE_ANALOG = 0x02; // analog pin in analogInput mode
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const PIN_MODE_PWM = 0x03; // digital pin in PWM output mode
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const PIN_MODE_SERVO = 0x04; // digital pin in Servo output mode
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const PIN_MODE_SHIFT = 0x05; // shiftIn/shiftOut mode
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const PIN_MODE_I2C = 0x06; // pin included in I2C setup
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const PIN_MODE_ONEWIRE = 0x07; // pin configured for 1-wire
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const PIN_MODE_STEPPER = 0x08; // pin configured for stepper motor
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const PIN_MODE_ENCODER = 0x09; // pin configured for rotary encoders
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const PIN_MODE_SERIAL = 0x0A; // pin configured for serial communication
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const PIN_MODE_PULLUP = 0x0B; // enable internal pull-up resistor for pin
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const PIN_MODE_IGNORE = 0x7F; // pin configured to be ignored by digitalWrite and capabilityResponse
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const TOTAL_PIN_MODES = 13;
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var server = "ws://firmata.local:3031";
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var ws = undefined;
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function WebSocketTest() {
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console.log("hello");
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document.body.addEventListener('click', clickEvent, true);
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if (!("WebSocket" in window))
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{
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alert("WebSocket NOT supported by your Browser!");
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return;
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}
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//var ws = new WebSocket("ws://firmata.local:3031");
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ws = new WebSocket("ws://10.0.1.30:3031");
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if (!ws)
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{
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alert("Cannot open WebSocket " + server);
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return;
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}
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ws.onopen = function() {
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console.log('connected to server\n');
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ws.send("hello from ws");
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};
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ws.onmessage = function (evt) {
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var len = evt.data.length;
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console.log('type=' + typeof(evt.data));
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if (evt.data instanceof ArrayBuffer)
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{
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console.log('receive binary event, len=' + evt.data.length + '\n');
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for (var i = 0; i < evt.data.length; i++)
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console.log(' 0x' + evt.data[i].toString(16));
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console.log('\n');
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}
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else
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{
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console.log('receive text event len=' + evt.data.length + ': "' + evt.data + '"\n');
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}
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//ws.send(evt.data);
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};
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ws.onclose = function() {
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console.log('ws closed\n');
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ws = undefined;
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};
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}
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function clickEvent (n)
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{
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console.log("click" + n);
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ws.send("click" + n.toString());
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b = new Uint8Array(4);
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b[0] = DIGITAL_MESSAGE;
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b[1] = 1 << n;
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b[2] = 1;
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b[3] = 0;
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console.log('length to send = ' + b.byteLength + ': ' + b);
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ws.send(b);
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}
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</script>
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</head>
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<body onload="WebSocketTest()">
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<button onclick="clickEvent(0)">toggle 0</button>
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<button onclick="clickEvent(1)">toggle 1</button>
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<button onclick="clickEvent(2)">toggle 2</button>
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<button onclick="clickEvent(3)">toggle 3</button>
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<button onclick="clickEvent(4)">toggle 4</button>
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</body>
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</html>

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