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(function() {
'use strict';
var ArduinoFirmata, SerialPort, debug, events, exports, serialport,
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; },
hasProp = {}.hasOwnProperty;
events = require('eventemitter2');
SerialPort = (serialport = require('serialport')).SerialPort;
debug = require('debug')('arduino-firmata');
exports = module.exports = ArduinoFirmata = (function(superClass) {
extend(ArduinoFirmata, superClass);
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;
ArduinoFirmata.ANALOG_MESSAGE = 0xE0;
ArduinoFirmata.REPORT_ANALOG = 0xC0;
ArduinoFirmata.REPORT_DIGITAL = 0xD0;
ArduinoFirmata.SET_PIN_MODE = 0xF4;
ArduinoFirmata.REPORT_VERSION = 0xF9;
ArduinoFirmata.SYSTEM_RESET = 0xFF;
ArduinoFirmata.START_SYSEX = 0xF0;
ArduinoFirmata.END_SYSEX = 0xF7;
ArduinoFirmata.list = function(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\d+/i.test(port.comName)) {
devices.push(port.comName);
}
}
return callback(null, devices);
});
};
function ArduinoFirmata() {
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;
}
ArduinoFirmata.prototype.isOldArduinoDevice = function() {
return /usbserial|USB/.test(this.serialport_name);
};
ArduinoFirmata.prototype.connect = function(serialport_name, opts) {
this.serialport_name = serialport_name;
if (opts == null) {
opts = {
baudrate: 57600
};
}
opts.parser = serialport.parsers.raw;
if (!this.serialport_name) {
ArduinoFirmata.list((function(_this) {
return function(err, devices) {
return _this.connect(devices[0], opts);
};
})(this));
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((function(_this) {
return function() {
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');
};
})(this), io_init_wait);
});
this.serialport = new SerialPort(this.serialport_name, opts);
this.serialport.once('open', (function(_this) {
return function() {
var cid;
cid = setInterval(function() {
debug('request REPORT_VERSION');
return _this.write([ArduinoFirmata.REPORT_VERSION]);
}, 500);
_this.once('boardVersion', function(version) {
clearInterval(cid);
_this.status = ArduinoFirmata.Status.OPEN;
return _this.emit('boardReady');
});
return _this.serialport.on('data', function(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;
});
};
})(this));
return this;
};
ArduinoFirmata.prototype.isOpen = function() {
return this.status === ArduinoFirmata.Status.OPEN;
};
ArduinoFirmata.prototype.close = function(callback) {
this.status = ArduinoFirmata.Status.CLOSE;
return this.serialport.close(callback);
};
ArduinoFirmata.prototype.reset = function(callback) {
return this.write([ArduinoFirmata.SYSTEM_RESET], callback);
};
ArduinoFirmata.prototype.write = function(bytes, callback) {
return this.serialport.write(bytes, callback);
};
ArduinoFirmata.prototype.sysex = function(command, data, callback) {
var write_data;
if (data == null) {
data = [];
}
data = data.map(function(i) {
return i & 0x7f;
});
write_data = [ArduinoFirmata.START_SYSEX, command].concat(data, [ArduinoFirmata.END_SYSEX]);
return this.write(write_data, callback);
};
ArduinoFirmata.prototype.pinMode = function(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);
};
ArduinoFirmata.prototype.digitalWrite = function(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);
};
ArduinoFirmata.prototype.analogWrite = function(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);
};
ArduinoFirmata.prototype.servoWrite = function(pin, angle, callback) {
this.pinMode(pin, ArduinoFirmata.SERVO);
return this.write([ArduinoFirmata.ANALOG_MESSAGE | (pin & 0x0F), angle & 0x7F, angle >>> 7], callback);
};
ArduinoFirmata.prototype.digitalRead = function(pin) {
return ((this.digital_input_data[pin >>> 3] >>> (pin & 0x07)) & 0x01) > 0;
};
ArduinoFirmata.prototype.analogRead = function(pin) {
return this.analog_input_data[pin];
};
ArduinoFirmata.prototype.process_input = function(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;
}
}
};
return ArduinoFirmata;
})(events.EventEmitter2);
}).call(this);