Add system calls to Marshaller

Author: zfields

Firmata.cpp

@@ -146,9 +146,7 @@ void FirmataClass::begin(Stream &s)
  */
 void FirmataClass::printVersion(void)
 {
-  FirmataStream->write(REPORT_VERSION);
-  FirmataStream->write(FIRMATA_PROTOCOL_MAJOR_VERSION);
-  FirmataStream->write(FIRMATA_PROTOCOL_MINOR_VERSION);
+  marshaller.sendVersion(FIRMATA_PROTOCOL_MAJOR_VERSION, FIRMATA_PROTOCOL_MINOR_VERSION);
 }
 
 /**
@@ -188,17 +186,8 @@ void FirmataClass::disableBlinkVersion()
  */
 void FirmataClass::printFirmwareVersion(void)
 {
-  byte i;
-
   if (firmwareVersionCount) { // make sure that the name has been set before reporting
-    startSysex();
-    FirmataStream->write(REPORT_FIRMWARE);
-    FirmataStream->write(firmwareVersionVector[0]); // major version number
-    FirmataStream->write(firmwareVersionVector[1]); // minor version number
-    for (i = 2; i < firmwareVersionCount; ++i) {
-      sendValueAsTwo7bitBytes(firmwareVersionVector[i]);
-    }
-    endSysex();
+    marshaller.sendFirmwareVersion(static_cast<uint8_t>(firmwareVersionVector[0]), static_cast<uint8_t>(firmwareVersionVector[1]), (firmwareVersionCount - 2), reinterpret_cast<uint8_t *>(&firmwareVersionVector[2]));
   }
 }
 

FirmataMarshaller.cpp

@@ -159,6 +159,28 @@ void FirmataMarshaller::end(void)
 //* Output Stream Handling
 //******************************************************************************
 
+/**
+ * Query the target's firmware name and version
+ */
+void FirmataMarshaller::queryFirmwareVersion(void)
+const
+{
+  if ( (Stream *)NULL == FirmataStream ) { return; }
+  FirmataStream->write(START_SYSEX);
+  FirmataStream->write(REPORT_FIRMWARE);
+  FirmataStream->write(END_SYSEX);
+}
+
+/**
+ * Query the target's Firmata protocol version
+ */
+void FirmataMarshaller::queryVersion(void)
+const
+{
+  if ( (Stream *)NULL == FirmataStream ) { return; }
+  FirmataStream->write(REPORT_VERSION);
+}
+
 /**
  * Halt the stream of analog readings from the Firmata host application. The range of pins is
  * limited to [0..15] when using the REPORT_ANALOG. The maximum result of the REPORT_ANALOG is limited to 14 bits
@@ -224,7 +246,6 @@ void FirmataMarshaller::sendAnalog(uint8_t pin, uint16_t value)
 const
 {
   if ( (Stream *)NULL == FirmataStream ) { return; }
-
   if ( (0xF >= pin) && (0x3FFF >= value) ) {
     FirmataStream->write(ANALOG_MESSAGE|pin);
     transformByteStreamToMessageBytes(sizeof(value), reinterpret_cast<uint8_t *>(&value), sizeof(value));
@@ -285,7 +306,43 @@ const
   FirmataStream->write(DIGITAL_MESSAGE | (portNumber & 0xF));
   // Tx bits  0-6 (protocol v1 and higher)
   // Tx bits 7-13 (bit 7 only for protocol v2 and higher)
-  transformByteStreamToMessageBytes(sizeof(portData), reinterpret_cast<uint8_t *>(&portData), 2);
+  transformByteStreamToMessageBytes(sizeof(portData), reinterpret_cast<uint8_t *>(&portData), sizeof(portData));
+}
+
+/**
+ * Sends the firmware name and version to the Firmata host application.
+ * @param major The major verison number
+ * @param minor The minor version number
+ * @param bytec The length of the firmware name
+ * @param bytev The firmware name array
+ */
+void FirmataMarshaller::sendFirmwareVersion(uint8_t major, uint8_t minor, size_t bytec, uint8_t *bytev)
+const
+{
+  if ( (Stream *)NULL == FirmataStream ) { return; }
+  size_t i;
+  FirmataStream->write(START_SYSEX);
+  FirmataStream->write(REPORT_FIRMWARE);
+  FirmataStream->write(major);
+  FirmataStream->write(minor);
+  for (i = 0; i < bytec; ++i) {
+    transformByteStreamToMessageBytes(sizeof(bytev[i]), reinterpret_cast<uint8_t *>(&bytev[i]), sizeof(bytev[i]));
+  }
+  FirmataStream->write(END_SYSEX);
+}
+
+/**
+ * Send the Firmata protocol version to the Firmata host application.
+ * @param major The major verison number
+ * @param minor The minor version number
+ */
+void FirmataMarshaller::sendVersion(uint8_t major, uint8_t minor)
+const
+{
+  if ( (Stream *)NULL == FirmataStream ) { return; }
+  FirmataStream->write(REPORT_VERSION);
+  FirmataStream->write(major);
+  FirmataStream->write(minor);
 }
 
 /**
@@ -336,7 +393,7 @@ const
   FirmataStream->write(START_SYSEX);
   FirmataStream->write(command);
   for (i = 0; i < bytec; ++i) {
-    transformByteStreamToMessageBytes(sizeof(bytev[i]), reinterpret_cast<uint8_t *>(&bytev[i]), 2);
+    transformByteStreamToMessageBytes(sizeof(bytev[i]), reinterpret_cast<uint8_t *>(&bytev[i]), sizeof(bytev[i]));
   }
   FirmataStream->write(END_SYSEX);
 }
@@ -361,3 +418,14 @@ const
 {
   sendSysex(SAMPLING_INTERVAL, sizeof(interval_ms), reinterpret_cast<uint8_t *>(&interval_ms));
 }
+
+/**
+ * Perform a software reset on the target. For example, StandardFirmata.ino will initialize
+ * everything to a known state and reset the parsing buffer.
+ */
+void FirmataMarshaller::systemReset(void)
+const
+{
+  if ( (Stream *)NULL == FirmataStream ) { return; }
+  FirmataStream->write(SYSTEM_RESET);
+}

FirmataMarshaller.h

@@ -39,6 +39,8 @@ class FirmataMarshaller
     void end();
 
     /* serial send handling */
+    void queryFirmwareVersion(void) const;
+    void queryVersion(void) const;
     void reportAnalogDisable(uint8_t pin) const;
     void reportAnalogEnable(uint8_t pin) const;
     void reportDigitalPortDisable(uint8_t portNumber) const;
@@ -48,11 +50,14 @@ class FirmataMarshaller
     void sendCapabilityQuery(void) const;
     void sendDigital(uint8_t pin, uint8_t value) const;
     void sendDigitalPort(uint8_t portNumber, uint16_t portData) const;
+    void sendFirmwareVersion(uint8_t major, uint8_t minor, size_t bytec, uint8_t *bytev) const;
+    void sendVersion(uint8_t major, uint8_t minor) const;
     void sendPinMode(uint8_t pin, uint8_t config) const;
     void sendPinStateQuery(uint8_t pin) const;
     void sendString(const char *string) const;
     void sendSysex(uint8_t command, size_t bytec, uint8_t *bytev) const;
     void setSamplingInterval(uint16_t interval_ms) const;
+    void systemReset(void) const;
 
   private:
     /* utility methods */