296 lines
10 KiB
JavaScript
296 lines
10 KiB
JavaScript
(function() {
|
|
'use strict';
|
|
var ArduinoFirmata, debug, events, exports, serialport;
|
|
|
|
events = require('eventemitter2');
|
|
|
|
serialport = require('serialport');
|
|
|
|
debug = require('debug')('arduino-firmata');
|
|
|
|
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);
|
|
});
|
|
}
|
|
|
|
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;
|
|
}
|
|
|
|
isOldArduinoDevice() {
|
|
return /usbserial|USB/.test(this.serialport_name);
|
|
}
|
|
|
|
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;
|
|
}
|
|
|
|
isOpen() {
|
|
return this.status === ArduinoFirmata.Status.OPEN;
|
|
}
|
|
|
|
close(callback) {
|
|
this.status = ArduinoFirmata.Status.CLOSE;
|
|
return this.serialport.close(callback);
|
|
}
|
|
|
|
reset(callback) {
|
|
return this.write([ArduinoFirmata.SYSTEM_RESET], callback);
|
|
}
|
|
|
|
write(bytes, callback) {
|
|
return this.serialport.write(bytes, callback);
|
|
}
|
|
|
|
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);
|
|
}
|
|
|
|
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);
|
|
}
|
|
|
|
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);
|
|
}
|
|
|
|
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);
|
|
}
|
|
|
|
servoWrite(pin, angle, callback) {
|
|
this.pinMode(pin, ArduinoFirmata.SERVO);
|
|
return this.write([ArduinoFirmata.ANALOG_MESSAGE | (pin & 0x0F), angle & 0x7F, angle >>> 7], callback);
|
|
}
|
|
|
|
digitalRead(pin) {
|
|
return ((this.digital_input_data[pin >>> 3] >>> (pin & 0x07)) & 0x01) > 0;
|
|
}
|
|
|
|
analogRead(pin) {
|
|
return this.analog_input_data[pin];
|
|
}
|
|
|
|
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;
|
|
}
|
|
}
|
|
}
|
|
|
|
};
|
|
|
|
ArduinoFirmata.Status = {
|
|
CLOSE: 0,
|
|
OPEN: 1
|
|
};
|
|
|
|
ArduinoFirmata.INPUT = 0;
|
|
|
|
ArduinoFirmata.OUTPUT = 1;
|
|
|
|
ArduinoFirmata.ANALOG = 2;
|
|
|
|
ArduinoFirmata.PWM = 3;
|
|
|
|
ArduinoFirmata.SERVO = 4;
|
|
|
|
ArduinoFirmata.SHIFT = 5;
|
|
|
|
ArduinoFirmata.I2C = 6;
|
|
|
|
ArduinoFirmata.LOW = 0;
|
|
|
|
ArduinoFirmata.HIGH = 1;
|
|
|
|
ArduinoFirmata.MAX_DATA_BYTES = 32;
|
|
|
|
ArduinoFirmata.DIGITAL_MESSAGE = 0x90; // send data for a digital port
|
|
|
|
ArduinoFirmata.ANALOG_MESSAGE = 0xE0; // send data for an analog pin (or PWM)
|
|
|
|
ArduinoFirmata.REPORT_ANALOG = 0xC0; // enable analog input by pin
|
|
|
|
ArduinoFirmata.REPORT_DIGITAL = 0xD0; // enable digital input by port
|
|
|
|
ArduinoFirmata.SET_PIN_MODE = 0xF4; // set a pin to INPUT/OUTPUT/PWM/etc
|
|
|
|
ArduinoFirmata.REPORT_VERSION = 0xF9; // report firmware version
|
|
|
|
ArduinoFirmata.SYSTEM_RESET = 0xFF; // reset from MIDI
|
|
|
|
ArduinoFirmata.START_SYSEX = 0xF0; // start a MIDI SysEx message
|
|
|
|
ArduinoFirmata.END_SYSEX = 0xF7; // end a MIDI SysEx message
|
|
|
|
return ArduinoFirmata;
|
|
|
|
}).call(this);
|
|
|
|
}).call(this);
|