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306 lines
11 KiB
306 lines
11 KiB
(function() {
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'use strict';
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var ArduinoFirmata, SerialPort, debug, events, exports, serialport,
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extend = function(child, parent) { for (var key in parent) { if (hasProp.call(parent, key)) child[key] = parent[key]; } function ctor() { this.constructor = child; } ctor.prototype = parent.prototype; child.prototype = new ctor(); child.__super__ = parent.prototype; return child; },
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hasProp = {}.hasOwnProperty;
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events = require('eventemitter2');
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SerialPort = (serialport = require('serialport')).SerialPort;
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debug = require('debug')('arduino-firmata');
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exports = module.exports = ArduinoFirmata = (function(superClass) {
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extend(ArduinoFirmata, superClass);
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ArduinoFirmata.Status = {
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CLOSE: 0,
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OPEN: 1
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};
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ArduinoFirmata.INPUT = 0;
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ArduinoFirmata.OUTPUT = 1;
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ArduinoFirmata.ANALOG = 2;
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ArduinoFirmata.PWM = 3;
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ArduinoFirmata.SERVO = 4;
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ArduinoFirmata.SHIFT = 5;
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ArduinoFirmata.I2C = 6;
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ArduinoFirmata.LOW = 0;
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ArduinoFirmata.HIGH = 1;
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ArduinoFirmata.MAX_DATA_BYTES = 32;
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ArduinoFirmata.DIGITAL_MESSAGE = 0x90;
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ArduinoFirmata.ANALOG_MESSAGE = 0xE0;
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ArduinoFirmata.REPORT_ANALOG = 0xC0;
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ArduinoFirmata.REPORT_DIGITAL = 0xD0;
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ArduinoFirmata.SET_PIN_MODE = 0xF4;
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ArduinoFirmata.REPORT_VERSION = 0xF9;
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ArduinoFirmata.SYSTEM_RESET = 0xFF;
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ArduinoFirmata.START_SYSEX = 0xF0;
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ArduinoFirmata.END_SYSEX = 0xF7;
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ArduinoFirmata.list = function(callback) {
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return serialport.list(function(err, ports) {
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var devices, j, len, port;
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if (err) {
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return callback(err);
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}
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devices = [];
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for (j = 0, len = ports.length; j < len; j++) {
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port = ports[j];
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if (/usb|acm|com\d+/i.test(port.comName)) {
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devices.push(port.comName);
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}
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}
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return callback(null, devices);
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});
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};
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function ArduinoFirmata() {
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this.status = ArduinoFirmata.Status.CLOSE;
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this.wait_for_data = 0;
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this.execute_multi_byte_command = 0;
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this.multi_byte_channel = 0;
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this.stored_input_data = [];
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this.parsing_sysex = false;
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this.sysex_bytes_read = 0;
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this.digital_output_data = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
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this.digital_input_data = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
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this.analog_input_data = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
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this.boardVersion = null;
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}
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ArduinoFirmata.prototype.isOldArduinoDevice = function() {
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return /usbserial|USB/.test(this.serialport_name);
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};
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ArduinoFirmata.prototype.connect = function(serialport_name, opts) {
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this.serialport_name = serialport_name;
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if (opts == null) {
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opts = {
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baudrate: 57600
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};
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}
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opts.parser = serialport.parsers.raw;
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if (!this.serialport_name) {
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ArduinoFirmata.list((function(_this) {
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return function(err, devices) {
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return _this.connect(devices[0], opts);
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};
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})(this));
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return this;
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}
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this.once('boardReady', function() {
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var io_init_wait;
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debug('boardReady');
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io_init_wait = this.isOldArduinoDevice() ? (debug("old arduino device found " + this.serialport_name), 3000) : (debug("new arduino device found " + this.serialport_name), 100);
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debug("wait " + io_init_wait + "(msec)");
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return setTimeout((function(_this) {
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return function() {
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var i, j, k;
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for (i = j = 0; j < 6; i = ++j) {
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_this.write([ArduinoFirmata.REPORT_ANALOG | i, 1]);
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}
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for (i = k = 0; k < 2; i = ++k) {
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_this.write([ArduinoFirmata.REPORT_DIGITAL | i, 1]);
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}
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debug('init IO ports');
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return _this.emit('connect');
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};
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})(this), io_init_wait);
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});
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this.serialport = new SerialPort(this.serialport_name, opts);
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this.serialport.once('open', (function(_this) {
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return function() {
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var cid;
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cid = setInterval(function() {
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debug('request REPORT_VERSION');
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return _this.write([ArduinoFirmata.REPORT_VERSION]);
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}, 500);
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_this.once('boardVersion', function(version) {
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clearInterval(cid);
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_this.status = ArduinoFirmata.Status.OPEN;
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return _this.emit('boardReady');
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});
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return _this.serialport.on('data', function(data) {
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var byte, j, len, results;
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results = [];
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for (j = 0, len = data.length; j < len; j++) {
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byte = data[j];
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results.push(_this.process_input(byte));
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}
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return results;
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});
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};
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})(this));
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return this;
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};
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ArduinoFirmata.prototype.isOpen = function() {
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return this.status === ArduinoFirmata.Status.OPEN;
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};
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ArduinoFirmata.prototype.close = function(callback) {
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this.status = ArduinoFirmata.Status.CLOSE;
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return this.serialport.close(callback);
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};
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ArduinoFirmata.prototype.reset = function(callback) {
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return this.write([ArduinoFirmata.SYSTEM_RESET], callback);
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};
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ArduinoFirmata.prototype.write = function(bytes, callback) {
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return this.serialport.write(bytes, callback);
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};
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ArduinoFirmata.prototype.sysex = function(command, data, callback) {
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var write_data;
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if (data == null) {
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data = [];
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}
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data = data.map(function(i) {
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return i & 0x7f;
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});
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write_data = [ArduinoFirmata.START_SYSEX, command].concat(data, [ArduinoFirmata.END_SYSEX]);
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return this.write(write_data, callback);
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};
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ArduinoFirmata.prototype.pinMode = function(pin, mode, callback) {
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switch (mode) {
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case true:
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mode = ArduinoFirmata.OUTPUT;
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break;
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case false:
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mode = ArduinoFirmata.INPUT;
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}
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return this.write([ArduinoFirmata.SET_PIN_MODE, pin, mode], callback);
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};
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ArduinoFirmata.prototype.digitalWrite = function(pin, value, callback) {
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var port_num;
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this.pinMode(pin, ArduinoFirmata.OUTPUT);
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port_num = (pin >>> 3) & 0x0F;
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if (value === 0 || value === false) {
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this.digital_output_data[port_num] &= ~(1 << (pin & 0x07));
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} else {
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this.digital_output_data[port_num] |= 1 << (pin & 0x07);
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}
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return this.write([ArduinoFirmata.DIGITAL_MESSAGE | port_num, this.digital_output_data[port_num] & 0x7F, this.digital_output_data[port_num] >>> 7], callback);
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};
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ArduinoFirmata.prototype.analogWrite = function(pin, value, callback) {
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value = Math.floor(value);
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this.pinMode(pin, ArduinoFirmata.PWM);
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return this.write([ArduinoFirmata.ANALOG_MESSAGE | (pin & 0x0F), value & 0x7F, value >>> 7], callback);
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};
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ArduinoFirmata.prototype.servoWrite = function(pin, angle, callback) {
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this.pinMode(pin, ArduinoFirmata.SERVO);
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return this.write([ArduinoFirmata.ANALOG_MESSAGE | (pin & 0x0F), angle & 0x7F, angle >>> 7], callback);
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};
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ArduinoFirmata.prototype.digitalRead = function(pin) {
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return ((this.digital_input_data[pin >>> 3] >>> (pin & 0x07)) & 0x01) > 0;
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};
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ArduinoFirmata.prototype.analogRead = function(pin) {
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return this.analog_input_data[pin];
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};
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ArduinoFirmata.prototype.process_input = function(input_data) {
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var analog_value, command, diff, i, j, old_analog_value, results, stat, sysex_command, sysex_data;
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if (this.parsing_sysex) {
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if (input_data === ArduinoFirmata.END_SYSEX) {
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this.parsing_sysex = false;
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sysex_command = this.stored_input_data[0];
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sysex_data = this.stored_input_data.slice(1, this.sysex_bytes_read);
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return this.emit('sysex', {
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command: sysex_command,
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data: sysex_data
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});
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} else {
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this.stored_input_data[this.sysex_bytes_read] = input_data;
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return this.sysex_bytes_read += 1;
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}
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} else if (this.wait_for_data > 0 && input_data < 128) {
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this.wait_for_data -= 1;
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this.stored_input_data[this.wait_for_data] = input_data;
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if (this.execute_multi_byte_command !== 0 && this.wait_for_data === 0) {
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switch (this.execute_multi_byte_command) {
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case ArduinoFirmata.DIGITAL_MESSAGE:
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input_data = (this.stored_input_data[0] << 7) + this.stored_input_data[1];
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diff = this.digital_input_data[this.multi_byte_channel] ^ input_data;
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this.digital_input_data[this.multi_byte_channel] = input_data;
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if (this.listeners('digitalChange').length > 0) {
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results = [];
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for (i = j = 0; j <= 13; i = ++j) {
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if (((0x01 << i) & diff) > 0) {
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stat = (input_data & diff) > 0;
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results.push(this.emit('digitalChange', {
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pin: i + this.multi_byte_channel * 8,
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value: stat,
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old_value: !stat
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}));
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} else {
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results.push(void 0);
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}
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}
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return results;
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}
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break;
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case ArduinoFirmata.ANALOG_MESSAGE:
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analog_value = (this.stored_input_data[0] << 7) + this.stored_input_data[1];
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old_analog_value = this.analogRead(this.multi_byte_channel);
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this.analog_input_data[this.multi_byte_channel] = analog_value;
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if (old_analog_value !== analog_value) {
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return this.emit('analogChange', {
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pin: this.multi_byte_channel,
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value: analog_value,
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old_value: old_analog_value
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});
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}
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break;
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case ArduinoFirmata.REPORT_VERSION:
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this.boardVersion = this.stored_input_data[1] + "." + this.stored_input_data[0];
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return this.emit('boardVersion', this.boardVersion);
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}
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}
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} else {
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if (input_data < 0xF0) {
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command = input_data & 0xF0;
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this.multi_byte_channel = input_data & 0x0F;
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} else {
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command = input_data;
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}
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if (command === ArduinoFirmata.START_SYSEX) {
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this.parsing_sysex = true;
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return this.sysex_bytes_read = 0;
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} else if (command === ArduinoFirmata.DIGITAL_MESSAGE || command === ArduinoFirmata.ANALOG_MESSAGE || command === ArduinoFirmata.REPORT_VERSION) {
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this.wait_for_data = 2;
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return this.execute_multi_byte_command = command;
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}
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}
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};
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return ArduinoFirmata;
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})(events.EventEmitter2);
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}).call(this);
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