Merge pull request #1 from firmata/master

merge upstream changes

Author: jnsbyr

Boards.h

@@ -1,7 +1,7 @@
 /*
-  Firmata.h - Firmata library v2.5.2 - 2016-2-15
+  Firmata.h - Firmata library v2.5.8 - 2018-04-15
   Copyright (c) 2006-2008 Hans-Christoph Steiner.  All rights reserved.
-  Copyright (C) 2009-2015 Jeff Hoefs.  All rights reserved.
+  Copyright (C) 2009-2017 Jeff Hoefs.  All rights reserved.
 
   This library is free software; you can redistribute it and/or
   modify it under the terms of the GNU Lesser General Public
@@ -15,22 +15,9 @@
 #define Firmata_h
 
 #include "Boards.h"  /* Hardware Abstraction Layer + Wiring/Arduino */
-
-/* Version numbers for the protocol.  The protocol is still changing, so these
- * version numbers are important.
- * Query using the REPORT_VERSION message.
- */
-#define FIRMATA_PROTOCOL_MAJOR_VERSION  2 // for non-compatible changes
-#define FIRMATA_PROTOCOL_MINOR_VERSION  5 // for backwards compatible changes
-#define FIRMATA_PROTOCOL_BUGFIX_VERSION 1 // for bugfix releases
-
-/* Version numbers for the Firmata library.
- * The firmware version will not always equal the protocol version going forward.
- * Query using the REPORT_FIRMWARE message.
- */
-#define FIRMATA_FIRMWARE_MAJOR_VERSION  2
-#define FIRMATA_FIRMWARE_MINOR_VERSION  5
-#define FIRMATA_FIRMWARE_BUGFIX_VERSION 2
+#include "FirmataDefines.h"
+#include "FirmataMarshaller.h"
+#include "FirmataParser.h"
 
 /* DEPRECATED as of Firmata v2.5.1. As of 2.5.1 there are separate version numbers for
  * the protocol version and the firmware version.
@@ -39,52 +26,8 @@
 #define FIRMATA_MINOR_VERSION           5 // same as FIRMATA_PROTOCOL_MINOR_VERSION
 #define FIRMATA_BUGFIX_VERSION          1 // same as FIRMATA_PROTOCOL_BUGFIX_VERSION
 
-#define MAX_DATA_BYTES                  64 // max number of data bytes in incoming messages
-
-// Arduino 101 also defines SET_PIN_MODE as a macro in scss_registers.h
-#ifdef SET_PIN_MODE
-#undef SET_PIN_MODE
-#endif
-
-// message command bytes (128-255/0x80-0xFF)
-#define DIGITAL_MESSAGE         0x90 // send data for a digital port (collection of 8 pins)
-#define ANALOG_MESSAGE          0xE0 // send data for an analog pin (or PWM)
-#define REPORT_ANALOG           0xC0 // enable analog input by pin #
-#define REPORT_DIGITAL          0xD0 // enable digital input by port pair
-//
-#define SET_PIN_MODE            0xF4 // set a pin to INPUT/OUTPUT/PWM/etc
-#define SET_DIGITAL_PIN_VALUE   0xF5 // set value of an individual digital pin
-//
-#define REPORT_VERSION          0xF9 // report protocol version
-#define SYSTEM_RESET            0xFF // reset from MIDI
-//
-#define START_SYSEX             0xF0 // start a MIDI Sysex message
-#define END_SYSEX               0xF7 // end a MIDI Sysex message
-
 // extended command set using sysex (0-127/0x00-0x7F)
 /* 0x00-0x0F reserved for user-defined commands */
-#define SERIAL_MESSAGE          0x60 // communicate with serial devices, including other boards
-#define ENCODER_DATA            0x61 // reply with encoders current positions
-#define SERVO_CONFIG            0x70 // set max angle, minPulse, maxPulse, freq
-#define STRING_DATA             0x71 // a string message with 14-bits per char
-#define STEPPER_DATA            0x72 // control a stepper motor
-#define ONEWIRE_DATA            0x73 // send an OneWire read/write/reset/select/skip/search request
-#define SHIFT_DATA              0x75 // a bitstream to/from a shift register
-#define I2C_REQUEST             0x76 // send an I2C read/write request
-#define I2C_REPLY               0x77 // a reply to an I2C read request
-#define I2C_CONFIG              0x78 // config I2C settings such as delay times and power pins
-#define EXTENDED_ANALOG         0x6F // analog write (PWM, Servo, etc) to any pin
-#define PIN_STATE_QUERY         0x6D // ask for a pin's current mode and value
-#define PIN_STATE_RESPONSE      0x6E // reply with pin's current mode and value
-#define CAPABILITY_QUERY        0x6B // ask for supported modes and resolution of all pins
-#define CAPABILITY_RESPONSE     0x6C // reply with supported modes and resolution
-#define ANALOG_MAPPING_QUERY    0x69 // ask for mapping of analog to pin numbers
-#define ANALOG_MAPPING_RESPONSE 0x6A // reply with mapping info
-#define REPORT_FIRMWARE         0x79 // report name and version of the firmware
-#define SAMPLING_INTERVAL       0x7A // set the poll rate of the main loop
-#define SCHEDULER_DATA          0x7B // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler
-#define SYSEX_NON_REALTIME      0x7E // MIDI Reserved for non-realtime messages
-#define SYSEX_REALTIME          0x7F // MIDI Reserved for realtime messages
 // these are DEPRECATED to make the naming more consistent
 #define FIRMATA_STRING          0x71 // same as STRING_DATA
 #define SYSEX_I2C_REQUEST       0x76 // same as I2C_REQUEST
@@ -94,18 +37,6 @@
 // pin modes
 //#define INPUT                 0x00 // defined in Arduino.h
 //#define OUTPUT                0x01 // defined in Arduino.h
-#define PIN_MODE_ANALOG         0x02 // analog pin in analogInput mode
-#define PIN_MODE_PWM            0x03 // digital pin in PWM output mode
-#define PIN_MODE_SERVO          0x04 // digital pin in Servo output mode
-#define PIN_MODE_SHIFT          0x05 // shiftIn/shiftOut mode
-#define PIN_MODE_I2C            0x06 // pin included in I2C setup
-#define PIN_MODE_ONEWIRE        0x07 // pin configured for 1-wire
-#define PIN_MODE_STEPPER        0x08 // pin configured for stepper motor
-#define PIN_MODE_ENCODER        0x09 // pin configured for rotary encoders
-#define PIN_MODE_SERIAL         0x0A // pin configured for serial communication
-#define PIN_MODE_PULLUP         0x0B // enable internal pull-up resistor for pin
-#define PIN_MODE_IGNORE         0x7F // pin configured to be ignored by digitalWrite and capabilityResponse
-#define TOTAL_PIN_MODES         13
 // DEPRECATED as of Firmata v2.5
 #define ANALOG                  0x02 // same as PIN_MODE_ANALOG
 #define PWM                     0x03 // same as PIN_MODE_PWM
@@ -117,35 +48,39 @@
 #define ENCODER                 0x09 // same as PIN_MODE_ENCODER
 #define IGNORE                  0x7F // same as PIN_MODE_IGNORE
 
-extern "C" {
-  // callback function types
-  typedef void (*callbackFunction)(byte, int);
-  typedef void (*systemResetCallbackFunction)(void);
-  typedef void (*stringCallbackFunction)(char *);
-  typedef void (*sysexCallbackFunction)(byte command, byte argc, byte *argv);
-}
+namespace firmata {
 
 // TODO make it a subclass of a generic Serial/Stream base class
 class FirmataClass
 {
   public:
+    typedef void (*callbackFunction)(uint8_t, int);
+    typedef void (*systemCallbackFunction)(void);
+    typedef void (*stringCallbackFunction)(char *);
+    typedef void (*sysexCallbackFunction)(uint8_t command, uint8_t argc, uint8_t *argv);
+
     FirmataClass();
+
     /* Arduino constructors */
     void begin();
     void begin(long);
     void begin(Stream &s);
+
     /* querying functions */
     void printVersion(void);
     void blinkVersion(void);
     void printFirmwareVersion(void);
+
     //void setFirmwareVersion(byte major, byte minor);  // see macro below
     void setFirmwareNameAndVersion(const char *name, byte major, byte minor);
     void disableBlinkVersion();
+
     /* serial receive handling */
     int available(void);
     void processInput(void);
     void parse(unsigned char value);
     boolean isParsingMessage(void);
+
     /* serial send handling */
     void sendAnalog(byte pin, int value);
     void sendDigital(byte pin, int value); // TODO implement this
@@ -154,16 +89,18 @@ class FirmataClass
     void sendString(byte command, const char *string);
     void sendSysex(byte command, byte bytec, byte *bytev);
     void write(byte c);
+
     /* attach & detach callback functions to messages */
-    void attach(byte command, callbackFunction newFunction);
-    void attach(byte command, systemResetCallbackFunction newFunction);
-    void attach(byte command, stringCallbackFunction newFunction);
-    void attach(byte command, sysexCallbackFunction newFunction);
-    void detach(byte command);
+    void attach(uint8_t command, callbackFunction newFunction);
+    void attach(uint8_t command, systemCallbackFunction newFunction);
+    void attach(uint8_t command, stringCallbackFunction newFunction);
+    void attach(uint8_t command, sysexCallbackFunction newFunction);
+    void detach(uint8_t command);
 
     /* access pin state and config */
     byte getPinMode(byte pin);
     void setPinMode(byte pin, byte config);
+
     /* access pin state */
     int getPinState(byte pin);
     void setPinState(byte pin, int state);
@@ -174,42 +111,61 @@ class FirmataClass
     void endSysex(void);
 
   private:
+    uint8_t parserBuffer[MAX_DATA_BYTES];
+    FirmataMarshaller marshaller;
+    FirmataParser parser;
     Stream *FirmataStream;
+
     /* firmware name and version */
     byte firmwareVersionCount;
     byte *firmwareVersionVector;
-    /* input message handling */
-    byte waitForData; // this flag says the next serial input will be data
-    byte executeMultiByteCommand; // execute this after getting multi-byte data
-    byte multiByteChannel; // channel data for multiByteCommands
-    byte storedInputData[MAX_DATA_BYTES]; // multi-byte data
-    /* sysex */
-    boolean parsingSysex;
-    int sysexBytesRead;
+
     /* pin configuration */
     byte pinConfig[TOTAL_PINS];
     int pinState[TOTAL_PINS];
 
-    /* callback functions */
-    callbackFunction currentAnalogCallback;
-    callbackFunction currentDigitalCallback;
-    callbackFunction currentReportAnalogCallback;
-    callbackFunction currentReportDigitalCallback;
-    callbackFunction currentPinModeCallback;
-    callbackFunction currentPinValueCallback;
-    systemResetCallbackFunction currentSystemResetCallback;
-    stringCallbackFunction currentStringCallback;
-    sysexCallbackFunction currentSysexCallback;
-
-    boolean blinkVersionDisabled = false;
+    boolean blinkVersionDisabled;
 
     /* private methods ------------------------------ */
-    void processSysexMessage(void);
-    void systemReset(void);
     void strobeBlinkPin(byte pin, int count, int onInterval, int offInterval);
+    friend void FirmataMarshaller::encodeByteStream (size_t bytec, uint8_t * bytev, size_t max_bytes) const;
+
+    /* callback functions */
+    static callbackFunction currentAnalogCallback;
+    static callbackFunction currentDigitalCallback;
+    static callbackFunction currentPinModeCallback;
+    static callbackFunction currentPinValueCallback;
+    static callbackFunction currentReportAnalogCallback;
+    static callbackFunction currentReportDigitalCallback;
+    static stringCallbackFunction currentStringCallback;
+    static sysexCallbackFunction currentSysexCallback;
+    static systemCallbackFunction currentSystemResetCallback;
+
+    /* static callbacks */
+    inline static void staticAnalogCallback (void *, uint8_t command, uint16_t value) { if ( currentAnalogCallback ) { currentAnalogCallback(command,(int)value); } }
+    inline static void staticDigitalCallback (void *, uint8_t command, uint16_t value) { if ( currentDigitalCallback ) { currentDigitalCallback(command, (int)value); } }
+    inline static void staticPinModeCallback (void *, uint8_t command, uint16_t value) { if ( currentPinModeCallback ) { currentPinModeCallback(command, (int)value); } }
+    inline static void staticPinValueCallback (void *, uint8_t command, uint16_t value) { if ( currentPinValueCallback ) { currentPinValueCallback(command, (int)value); } }
+    inline static void staticReportAnalogCallback (void *, uint8_t command, uint16_t value) { if ( currentReportAnalogCallback ) { currentReportAnalogCallback(command, (int)value); } }
+    inline static void staticReportDigitalCallback (void *, uint8_t command, uint16_t value) { if ( currentReportDigitalCallback ) { currentReportDigitalCallback(command, (int)value); } }
+    inline static void staticStringCallback (void *, const char * c_str) { if ( currentStringCallback ) { currentStringCallback((char *)c_str); } }
+    inline static void staticSysexCallback (void *, uint8_t command, size_t argc, uint8_t *argv) { if ( currentSysexCallback ) { currentSysexCallback(command, (uint8_t)argc, argv); } }
+    inline static void staticReportFirmwareCallback (void * context, size_t, size_t, const char *) { if ( context ) { ((FirmataClass *)context)->printFirmwareVersion(); } }
+    inline static void staticReportVersionCallback (void * context) { if ( context ) { ((FirmataClass *)context)->printVersion(); } }
+    inline static void staticSystemResetCallback (void *) { if ( currentSystemResetCallback ) { currentSystemResetCallback(); } }
 };
 
-extern FirmataClass Firmata;
+} // namespace firmata
+
+extern "C" {
+  // callback function types
+  typedef firmata::FirmataClass::callbackFunction callbackFunction;
+  typedef firmata::FirmataClass::systemCallbackFunction systemCallbackFunction;
+  typedef firmata::FirmataClass::stringCallbackFunction stringCallbackFunction;
+  typedef firmata::FirmataClass::sysexCallbackFunction sysexCallbackFunction;
+}
+
+extern firmata::FirmataClass Firmata;
 
 /*==============================================================================
  * MACROS

Firmata.cpp

@@ -0,0 +1,97 @@
+/*
+  FirmataConstants.h
+  Copyright (c) 2006-2008 Hans-Christoph Steiner.  All rights reserved.
+  Copyright (C) 2009-2017 Jeff Hoefs.  All rights reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  See file LICENSE.txt for further informations on licensing terms.
+*/
+
+#ifndef FirmataConstants_h
+#define FirmataConstants_h
+
+namespace firmata {
+/* Version numbers for the Firmata library.
+ * The firmware version will not always equal the protocol version going forward.
+ * Query using the REPORT_FIRMWARE message.
+ */
+static const int FIRMWARE_MAJOR_VERSION =  2;
+static const int FIRMWARE_MINOR_VERSION =  5;
+static const int FIRMWARE_BUGFIX_VERSION = 7;
+
+/* Version numbers for the protocol.  The protocol is still changing, so these
+ * version numbers are important.
+ * Query using the REPORT_VERSION message.
+ */
+static const int PROTOCOL_MAJOR_VERSION =  2; // for non-compatible changes
+static const int PROTOCOL_MINOR_VERSION =  5; // for backwards compatible changes
+static const int PROTOCOL_BUGFIX_VERSION = 1; // for bugfix releases
+
+static const int MAX_DATA_BYTES =          64; // max number of data bytes in incoming messages
+
+// message command bytes (128-255/0x80-0xFF)
+
+static const int DIGITAL_MESSAGE =         0x90; // send data for a digital port (collection of 8 pins)
+static const int ANALOG_MESSAGE =          0xE0; // send data for an analog pin (or PWM)
+static const int REPORT_ANALOG =           0xC0; // enable analog input by pin #
+static const int REPORT_DIGITAL =          0xD0; // enable digital input by port pair
+//
+static const int SET_PIN_MODE =            0xF4; // set a pin to INPUT/OUTPUT/PWM/etc
+static const int SET_DIGITAL_PIN_VALUE =   0xF5; // set value of an individual digital pin
+//
+static const int REPORT_VERSION =          0xF9; // report protocol version
+static const int SYSTEM_RESET =            0xFF; // reset from MIDI
+//
+static const int START_SYSEX =             0xF0; // start a MIDI Sysex message
+static const int END_SYSEX =               0xF7; // end a MIDI Sysex message
+
+// extended command set using sysex (0-127/0x00-0x7F)
+/* 0x00-0x0F reserved for user-defined commands */
+
+static const int SERIAL_DATA =             0x60; // communicate with serial devices, including other boards
+static const int ENCODER_DATA =            0x61; // reply with encoders current positions
+static const int SERVO_CONFIG =            0x70; // set max angle, minPulse, maxPulse, freq
+static const int STRING_DATA =             0x71; // a string message with 14-bits per char
+static const int STEPPER_DATA =            0x72; // control a stepper motor
+static const int ONEWIRE_DATA =            0x73; // send an OneWire read/write/reset/select/skip/search request
+static const int SHIFT_DATA =              0x75; // a bitstream to/from a shift register
+static const int I2C_REQUEST =             0x76; // send an I2C read/write request
+static const int I2C_REPLY =               0x77; // a reply to an I2C read request
+static const int I2C_CONFIG =              0x78; // config I2C settings such as delay times and power pins
+static const int REPORT_FIRMWARE =         0x79; // report name and version of the firmware
+static const int EXTENDED_ANALOG =         0x6F; // analog write (PWM, Servo, etc) to any pin
+static const int PIN_STATE_QUERY =         0x6D; // ask for a pin's current mode and value
+static const int PIN_STATE_RESPONSE =      0x6E; // reply with pin's current mode and value
+static const int CAPABILITY_QUERY =        0x6B; // ask for supported modes and resolution of all pins
+static const int CAPABILITY_RESPONSE =     0x6C; // reply with supported modes and resolution
+static const int ANALOG_MAPPING_QUERY =    0x69; // ask for mapping of analog to pin numbers
+static const int ANALOG_MAPPING_RESPONSE = 0x6A; // reply with mapping info
+static const int SAMPLING_INTERVAL =       0x7A; // set the poll rate of the main loop
+static const int SCHEDULER_DATA =          0x7B; // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler
+static const int SYSEX_NON_REALTIME =      0x7E; // MIDI Reserved for non-realtime messages
+static const int SYSEX_REALTIME =          0x7F; // MIDI Reserved for realtime messages
+
+// pin modes
+static const int PIN_MODE_INPUT =          0x00; // same as INPUT defined in Arduino.h
+static const int PIN_MODE_OUTPUT =         0x01; // same as OUTPUT defined in Arduino.h
+static const int PIN_MODE_ANALOG =         0x02; // analog pin in analogInput mode
+static const int PIN_MODE_PWM =            0x03; // digital pin in PWM output mode
+static const int PIN_MODE_SERVO =          0x04; // digital pin in Servo output mode
+static const int PIN_MODE_SHIFT =          0x05; // shiftIn/shiftOut mode
+static const int PIN_MODE_I2C =            0x06; // pin included in I2C setup
+static const int PIN_MODE_ONEWIRE =        0x07; // pin configured for 1-wire
+static const int PIN_MODE_STEPPER =        0x08; // pin configured for stepper motor
+static const int PIN_MODE_ENCODER =        0x09; // pin configured for rotary encoders
+static const int PIN_MODE_SERIAL =         0x0A; // pin configured for serial communication
+static const int PIN_MODE_PULLUP =         0x0B; // enable internal pull-up resistor for pin
+static const int PIN_MODE_IGNORE =         0x7F; // pin configured to be ignored by digitalWrite and capabilityResponse
+
+static const int TOTAL_PIN_MODES =         13;
+
+} // namespace firmata
+
+#endif // FirmataConstants_h