Update FirmataClass to use FirmataMarshaller

zfields · zfields · commit 5668cfca5e93 · 2016-11-06T22:09:58.000-08:00
diff --git a/Firmata.cpp b/Firmata.cpp
@@ -47,8 +47,7 @@ void printFirmwareVersion (void) {
  */
 void FirmataClass::sendValueAsTwo7bitBytes(int value)
 {
-  FirmataStream->write(value & 0x7F); // LSB
-  FirmataStream->write(value >> 7 & 0x7F); // MSB
+  marshaller.sendValueAsTwo7bitBytes(value);
 }
 
 /**
@@ -106,10 +105,8 @@ void FirmataClass::begin(void)
 void FirmataClass::begin(long speed)
 {
   Serial.begin(speed);
-  FirmataStream = &Serial;
   blinkVersion();
-  printVersion();         // send the protocol version
-  printFirmwareVersion(); // send the firmware name and version
+  begin(Serial);
 }
 
 /**
@@ -121,10 +118,11 @@ void FirmataClass::begin(long speed)
 void FirmataClass::begin(Stream &s)
 {
   FirmataStream = &s;
+  marshaller.begin(s);
   // do not call blinkVersion() here because some hardware such as the
   // Ethernet shield use pin 13
-  printVersion();
-  printFirmwareVersion();
+  printVersion();         // send the protocol version
+  printFirmwareVersion(); // send the firmware name and version
 }
 
 /**
@@ -182,7 +180,7 @@ void FirmataClass::printFirmwareVersion(void)
     FirmataStream->write(firmwareVersionVector[0]); // major version number
     FirmataStream->write(firmwareVersionVector[1]); // minor version number
     for (i = 2; i < firmwareVersionCount; ++i) {
-      sendValueAsTwo7bitBytes(firmwareVersionVector[i]);
+      marshaller.sendValueAsTwo7bitBytes(firmwareVersionVector[i]);
     }
     endSysex();
   }
@@ -285,9 +283,7 @@ boolean FirmataClass::isParsingMessage(void)
  */
 void FirmataClass::sendAnalog(byte pin, int value)
 {
-  // pin can only be 0-15, so chop higher bits
-  FirmataStream->write(ANALOG_MESSAGE | (pin & 0xF));
-  sendValueAsTwo7bitBytes(value);
+  marshaller.sendAnalog(pin, value);
 }
 
 /* (intentionally left out asterix here)
@@ -326,9 +322,7 @@ void FirmataClass::sendDigital(byte pin, int value)
  */
 void FirmataClass::sendDigitalPort(byte portNumber, int portData)
 {
-  FirmataStream->write(DIGITAL_MESSAGE | (portNumber & 0xF));
-  FirmataStream->write((byte)portData % 128); // Tx bits 0-6 (protocol v1 and higher)
-  FirmataStream->write(portData >> 7);  // Tx bits 7-13 (bit 7 only for protocol v2 and higher)
+  marshaller.sendDigitalPort(portNumber, portData);
 }
 
 /**
@@ -340,13 +334,7 @@ void FirmataClass::sendDigitalPort(byte portNumber, int portData)
  */
 void FirmataClass::sendSysex(byte command, byte bytec, byte *bytev)
 {
-  byte i;
-  startSysex();
-  FirmataStream->write(command);
-  for (i = 0; i < bytec; i++) {
-    sendValueAsTwo7bitBytes(bytev[i]);
-  }
-  endSysex();
+  marshaller.sendSysex(command, bytec, bytev);
 }
 
 /**
@@ -357,7 +345,7 @@ void FirmataClass::sendSysex(byte command, byte bytec, byte *bytev)
 void FirmataClass::sendString(byte command, const char *string)
 {
   if (command == STRING_DATA) {
-    sendSysex(command, strlen(string), (byte *)string);
+    marshaller.sendString(string);
   }
 }
 
@@ -367,7 +355,7 @@ void FirmataClass::sendString(byte command, const char *string)
  */
 void FirmataClass::sendString(const char *string)
 {
-  sendString(STRING_DATA, string);
+  marshaller.sendString(string);
 }
 
 /**
diff --git a/Firmata.h b/Firmata.h
@@ -15,16 +15,10 @@
 #define Firmata_h
 
 #include "Boards.h"  /* Hardware Abstraction Layer + Wiring/Arduino */
+#include "FirmataConstants.h"
+#include "FirmataMarshaller.h"
 #include "FirmataParser.h"
 
-/* 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 4
-
 /* 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.
  */
@@ -34,26 +28,6 @@
 
 // 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 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 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
@@ -63,18 +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
@@ -135,6 +97,7 @@ class FirmataClass
     void endSysex(void);
 
   private:
+    FirmataMarshaller marshaller;
     FirmataParser parser;
     Stream *FirmataStream;
     /* firmware name and version */
@@ -148,6 +111,7 @@ class FirmataClass
 
     /* private methods ------------------------------ */
     void strobeBlinkPin(byte pin, int count, int onInterval, int offInterval);
+    friend void FirmataMarshaller::sendValueAsTwo7bitBytes(uint16_t value);
 };
 
 extern FirmataClass Firmata;
diff --git a/FirmataParser.h b/FirmataParser.h
@@ -22,87 +22,7 @@
   #include <stdint.h>
 #endif
 
-/* 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
-
-#ifdef MAX_DATA_BYTES
-#undef MAX_DATA_BYTES
-#endif
-#define MAX_DATA_BYTES                  64 // max number of data bytes in incoming messages
-
-// message command bytes (128-255/0x80-0xFF)
-#ifdef DIGITAL_MESSAGE
-#undef DIGITAL_MESSAGE
-#endif
-#define DIGITAL_MESSAGE         0x90 // send data for a digital port (collection of 8 pins)
-
-#ifdef ANALOG_MESSAGE
-#undef ANALOG_MESSAGE
-#endif
-#define ANALOG_MESSAGE          0xE0 // send data for an analog pin (or PWM)
-
-#ifdef REPORT_ANALOG
-#undef REPORT_ANALOG
-#endif
-#define REPORT_ANALOG           0xC0 // enable analog input by pin #
-
-#ifdef REPORT_DIGITAL
-#undef REPORT_DIGITAL
-#endif
-#define REPORT_DIGITAL          0xD0 // enable digital input by port pair
-
-//
-
-#ifdef SET_PIN_MODE
-#undef SET_PIN_MODE
-#endif
-#define SET_PIN_MODE            0xF4 // set a pin to INPUT/OUTPUT/PWM/etc
-
-#ifdef SET_DIGITAL_PIN_VALUE
-#undef SET_DIGITAL_PIN_VALUE
-#endif
-#define SET_DIGITAL_PIN_VALUE   0xF5 // set value of an individual digital pin
-
-//
-
-#ifdef REPORT_VERSION
-#undef REPORT_VERSION
-#endif
-#define REPORT_VERSION          0xF9 // report protocol version
-
-#ifdef SYSTEM_RESET
-#undef SYSTEM_RESET
-#endif
-#define SYSTEM_RESET            0xFF // reset from MIDI
-
-//
-
-#ifdef START_SYSEX
-#undef START_SYSEX
-#endif
-#define START_SYSEX             0xF0 // start a MIDI Sysex message
-
-#ifdef END_SYSEX
-#undef END_SYSEX
-#endif
-#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 */
-#ifdef STRING_DATA
-#undef STRING_DATA
-#endif
-#define STRING_DATA             0x71 // a string message with 14-bits per char
-
-#ifdef REPORT_FIRMWARE
-#undef REPORT_FIRMWARE
-#endif
-#define REPORT_FIRMWARE         0x79 // report name and version of the firmware
+#include "FirmataConstants.h"
 
 extern "C" {
   // callback function types

Original file line number	Diff line number	Diff line change
`@@ -47,8 +47,7 @@ void printFirmwareVersion (void) {`
`47`	`47`	`*/`
`48`	`48`	`void FirmataClass::sendValueAsTwo7bitBytes(int value)`
`49`	`49`	`{`
`50`		`- FirmataStream->write(value & 0x7F); // LSB`
`51`		`- FirmataStream->write(value >> 7 & 0x7F); // MSB`
	`50`	`+ marshaller.sendValueAsTwo7bitBytes(value);`
`52`	`51`	`}`
`53`	`52`
`54`	`53`	`/**`
`@@ -106,10 +105,8 @@ void FirmataClass::begin(void)`
`106`	`105`	`void FirmataClass::begin(long speed)`
`107`	`106`	`{`
`108`	`107`	`Serial.begin(speed);`
`109`		`- FirmataStream = &Serial;`
`110`	`108`	`blinkVersion();`
`111`		`- printVersion(); // send the protocol version`
`112`		`- printFirmwareVersion(); // send the firmware name and version`
	`109`	`+ begin(Serial);`
`113`	`110`	`}`
`114`	`111`
`115`	`112`	`/**`
`@@ -121,10 +118,11 @@ void FirmataClass::begin(long speed)`
`121`	`118`	`void FirmataClass::begin(Stream &s)`
`122`	`119`	`{`
`123`	`120`	`FirmataStream = &s;`
	`121`	`+ marshaller.begin(s);`
`124`	`122`	`// do not call blinkVersion() here because some hardware such as the`
`125`	`123`	`// Ethernet shield use pin 13`
`126`		`- printVersion();`
`127`		`- printFirmwareVersion();`
	`124`	`+ printVersion(); // send the protocol version`
	`125`	`+ printFirmwareVersion(); // send the firmware name and version`
`128`	`126`	`}`
`129`	`127`
`130`	`128`	`/**`
`@@ -182,7 +180,7 @@ void FirmataClass::printFirmwareVersion(void)`
`182`	`180`	`FirmataStream->write(firmwareVersionVector[0]); // major version number`
`183`	`181`	`FirmataStream->write(firmwareVersionVector[1]); // minor version number`
`184`	`182`	`for (i = 2; i < firmwareVersionCount; ++i) {`
`185`		`- sendValueAsTwo7bitBytes(firmwareVersionVector[i]);`
	`183`	`+ marshaller.sendValueAsTwo7bitBytes(firmwareVersionVector[i]);`
`186`	`184`	`}`
`187`	`185`	`endSysex();`
`188`	`186`	`}`
`@@ -285,9 +283,7 @@ boolean FirmataClass::isParsingMessage(void)`
`285`	`283`	`*/`
`286`	`284`	`void FirmataClass::sendAnalog(byte pin, int value)`
`287`	`285`	`{`
`288`		`- // pin can only be 0-15, so chop higher bits`
`289`		`- FirmataStream->write(ANALOG_MESSAGE \| (pin & 0xF));`
`290`		`- sendValueAsTwo7bitBytes(value);`
	`286`	`+ marshaller.sendAnalog(pin, value);`
`291`	`287`	`}`
`292`	`288`
`293`	`289`	`/* (intentionally left out asterix here)`
`@@ -326,9 +322,7 @@ void FirmataClass::sendDigital(byte pin, int value)`
`326`	`322`	`*/`
`327`	`323`	`void FirmataClass::sendDigitalPort(byte portNumber, int portData)`
`328`	`324`	`{`
`329`		`- FirmataStream->write(DIGITAL_MESSAGE \| (portNumber & 0xF));`
`330`		`- FirmataStream->write((byte)portData % 128); // Tx bits 0-6 (protocol v1 and higher)`
`331`		`- FirmataStream->write(portData >> 7); // Tx bits 7-13 (bit 7 only for protocol v2 and higher)`
	`325`	`+ marshaller.sendDigitalPort(portNumber, portData);`
`332`	`326`	`}`
`333`	`327`
`334`	`328`	`/**`
`@@ -340,13 +334,7 @@ void FirmataClass::sendDigitalPort(byte portNumber, int portData)`
`340`	`334`	`*/`
`341`	`335`	`void FirmataClass::sendSysex(byte command, byte bytec, byte *bytev)`
`342`	`336`	`{`
`343`		`- byte i;`
`344`		`- startSysex();`
`345`		`- FirmataStream->write(command);`
`346`		`- for (i = 0; i < bytec; i++) {`
`347`		`- sendValueAsTwo7bitBytes(bytev[i]);`
`348`		`- }`
`349`		`- endSysex();`
	`337`	`+ marshaller.sendSysex(command, bytec, bytev);`
`350`	`338`	`}`
`351`	`339`
`352`	`340`	`/**`
`@@ -357,7 +345,7 @@ void FirmataClass::sendSysex(byte command, byte bytec, byte *bytev)`
`357`	`345`	`void FirmataClass::sendString(byte command, const char *string)`
`358`	`346`	`{`
`359`	`347`	`if (command == STRING_DATA) {`
`360`		`- sendSysex(command, strlen(string), (byte *)string);`
	`348`	`+ marshaller.sendString(string);`
`361`	`349`	`}`
`362`	`350`	`}`
`363`	`351`
`@@ -367,7 +355,7 @@ void FirmataClass::sendString(byte command, const char *string)`
`367`	`355`	`*/`
`368`	`356`	`void FirmataClass::sendString(const char *string)`
`369`	`357`	`{`
`370`		`- sendString(STRING_DATA, string);`
	`358`	`+ marshaller.sendString(string);`
`371`	`359`	`}`
`372`	`360`
`373`	`361`	`/**`