From 3f5220e4549900f1d1dd768ca204b34625ca9558 Mon Sep 17 00:00:00 2001
From: "David A. Mellis" <d.mellis@arduino.cc>
Date: Tue, 14 Jul 2009 21:32:55 +0000
Subject: Updating to Firmata-2.1beta1 (rev 23).

---
 libraries/Firmata/Firmata.cpp | 466 +++++++++++++++++++++---------------------
 1 file changed, 233 insertions(+), 233 deletions(-)

(limited to 'libraries/Firmata/Firmata.cpp')

diff --git a/libraries/Firmata/Firmata.cpp b/libraries/Firmata/Firmata.cpp
index 4e59d27..9a18615 100644
--- a/libraries/Firmata/Firmata.cpp
+++ b/libraries/Firmata/Firmata.cpp
@@ -29,18 +29,18 @@ extern "C" {
 
 void sendValueAsTwo7bitBytes(int value)
 {
-    Serial.print(value & B01111111, BYTE); // LSB
-    Serial.print(value >> 7 & B01111111, BYTE); // MSB
+  Serial.print(value & B01111111, BYTE); // LSB
+  Serial.print(value >> 7 & B01111111, BYTE); // MSB
 }
 
 void startSysex(void)
 {
-    Serial.print(START_SYSEX, BYTE);
+  Serial.print(START_SYSEX, BYTE);
 }
 
 void endSysex(void)
 {
-    Serial.print(END_SYSEX, BYTE);
+  Serial.print(END_SYSEX, BYTE);
 }
 
 //******************************************************************************
@@ -49,8 +49,8 @@ void endSysex(void)
 
 FirmataClass::FirmataClass(void)
 {
-    firmwareVersionCount = 0;
-    systemReset();
+  firmwareVersionCount = 0;
+  systemReset();
 }
 
 //******************************************************************************
@@ -60,83 +60,83 @@ FirmataClass::FirmataClass(void)
 /* begin method for overriding default serial bitrate */
 void FirmataClass::begin(void)
 {
-    Serial.begin(115200);
-    blinkVersion();
-    delay(300);
-    printVersion();
+  Serial.begin(57600);
+  blinkVersion();
+  delay(300);
+  printVersion();
 }
 
 /* begin method for overriding default serial bitrate */
 void FirmataClass::begin(long speed)
 {
-    blinkVersion();
+  blinkVersion();
 #if defined(__AVR_ATmega128__)  // Wiring
-    Serial.begin((uint32_t)speed);
+  Serial.begin((uint32_t)speed);
 #else
-    Serial.begin(speed);
+  Serial.begin(speed);
 #endif
-    delay(300);
-    printVersion();
-    printFirmwareVersion();
+  delay(300);
+  printVersion();
+  printFirmwareVersion();
 }
 
 // output the protocol version message to the serial port
 void FirmataClass::printVersion(void) {
-    Serial.print(REPORT_VERSION, BYTE);
-    Serial.print(FIRMATA_MAJOR_VERSION, BYTE);
-    Serial.print(FIRMATA_MINOR_VERSION, BYTE);
+  Serial.print(REPORT_VERSION, BYTE);
+  Serial.print(FIRMATA_MAJOR_VERSION, BYTE);
+  Serial.print(FIRMATA_MINOR_VERSION, BYTE);
 }
 
 void FirmataClass::blinkVersion(void)
 {
-    // flash the pin with the protocol version
-    pinMode(VERSION_BLINK_PIN,OUTPUT);
-    pin13strobe(FIRMATA_MAJOR_VERSION, 200, 400);
-    delay(300);
-    pin13strobe(2,1,4); // separator, a quick burst
-    delay(300);
-    pin13strobe(FIRMATA_MINOR_VERSION, 200, 400);
+  // flash the pin with the protocol version
+  pinMode(VERSION_BLINK_PIN,OUTPUT);
+  pin13strobe(FIRMATA_MAJOR_VERSION, 200, 400);
+  delay(300);
+  pin13strobe(2,1,4); // separator, a quick burst
+  delay(300);
+  pin13strobe(FIRMATA_MINOR_VERSION, 200, 400);
 }
 
 void FirmataClass::printFirmwareVersion(void)
 {
-    byte i;
-
-    if(firmwareVersionCount) { // make sure that the name has been set before reporting
-        startSysex();
-        Serial.print(REPORT_FIRMWARE, BYTE);
-        Serial.print(firmwareVersionVector[0]); // major version number
-        Serial.print(firmwareVersionVector[1]); // minor version number
-        for(i=2; i<firmwareVersionCount; ++i) {
-            sendValueAsTwo7bitBytes(firmwareVersionVector[i]);
-        }
-        endSysex();
+  byte i;
+
+  if(firmwareVersionCount) { // make sure that the name has been set before reporting
+    startSysex();
+    Serial.print(REPORT_FIRMWARE, BYTE);
+    Serial.print(firmwareVersionVector[0]); // major version number
+    Serial.print(firmwareVersionVector[1]); // minor version number
+    for(i=2; i<firmwareVersionCount; ++i) {
+      sendValueAsTwo7bitBytes(firmwareVersionVector[i]);
     }
+    endSysex();
+  }
 }
 
 void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte minor)
 {
-    const char *filename;
-    char *extension;
-
-// parse out ".cpp" and "applet/" that comes from using __FILE__
-    extension = strstr(name, ".cpp");
-    filename = strrchr(name, '/') + 1; //points to slash, +1 gets to start of filename
-    // add two bytes for version numbers
-    if(extension && filename) {
-        firmwareVersionCount = extension - filename + 2;
-    } else {
-        firmwareVersionCount = strlen(name) + 2;
-        filename = name;
-    }
-    firmwareVersionVector = (byte *) malloc(firmwareVersionCount);
-    firmwareVersionVector[firmwareVersionCount] = 0;
-    firmwareVersionVector[0] = major;
-    firmwareVersionVector[1] = minor;
-    strncpy((char*)firmwareVersionVector + 2, filename, firmwareVersionCount - 2);
-// alas, no snprintf on Arduino
-//    snprintf(firmwareVersionVector, MAX_DATA_BYTES, "%c%c%s", 
-//             (char)major, (char)minor, firmwareVersionVector);
+  const char *filename;
+  char *extension;
+
+  // parse out ".cpp" and "applet/" that comes from using __FILE__
+  extension = strstr(name, ".cpp");
+  filename = strrchr(name, '/') + 1; //points to slash, +1 gets to start of filename
+  // add two bytes for version numbers
+  if(extension && filename) {
+    firmwareVersionCount = extension - filename + 2;
+  } else {
+    firmwareVersionCount = strlen(name) + 2;
+    filename = name;
+  }
+  firmwareVersionVector = (byte *) malloc(firmwareVersionCount);
+  firmwareVersionVector[firmwareVersionCount] = 0;
+  firmwareVersionVector[0] = major;
+  firmwareVersionVector[1] = minor;
+  strncpy((char*)firmwareVersionVector + 2, filename, firmwareVersionCount - 2);
+  // alas, no snprintf on Arduino
+  //    snprintf(firmwareVersionVector, MAX_DATA_BYTES, "%c%c%s", 
+  //             (char)major, (char)minor, firmwareVersionVector);
 }
 
 //------------------------------------------------------------------------------
@@ -144,123 +144,123 @@ void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte
 
 int FirmataClass::available(void)
 {
-    return Serial.available();
+  return Serial.available();
 }
 
 
 void FirmataClass::processSysexMessage(void)
 {
-    switch(storedInputData[0]) { //first byte in buffer is command
-    case REPORT_FIRMWARE:
-        printFirmwareVersion();
-        break;
-    case FIRMATA_STRING:
-        if(currentStringCallback) {
-            byte bufferLength = (sysexBytesRead - 1) / 2;
-            char *buffer = (char*)malloc(bufferLength * sizeof(char));
-            byte i = 1;
-            byte j = 0;
-            while(j < bufferLength) {
-                buffer[j] = (char)storedInputData[i];
-                i++;
-                buffer[j] += (char)(storedInputData[i] << 7);
-                i++;
-                j++;
-            }
-            (*currentStringCallback)(buffer);
-        }
-        break;
-    default:
-        if(currentSysexCallback)
-        (*currentSysexCallback)(storedInputData[0], sysexBytesRead - 1, storedInputData + 1);
+  switch(storedInputData[0]) { //first byte in buffer is command
+  case REPORT_FIRMWARE:
+    printFirmwareVersion();
+    break;
+  case STRING_DATA:
+    if(currentStringCallback) {
+      byte bufferLength = (sysexBytesRead - 1) / 2;
+      char *buffer = (char*)malloc(bufferLength * sizeof(char));
+      byte i = 1;
+      byte j = 0;
+      while(j < bufferLength) {
+        buffer[j] = (char)storedInputData[i];
+        i++;
+        buffer[j] += (char)(storedInputData[i] << 7);
+        i++;
+        j++;
+      }
+      (*currentStringCallback)(buffer);
     }
+    break;
+  default:
+    if(currentSysexCallback)
+      (*currentSysexCallback)(storedInputData[0], sysexBytesRead - 1, storedInputData + 1);
+  }
 }
 
 void FirmataClass::processInput(void)
 {
-    int inputData = Serial.read(); // this is 'int' to handle -1 when no data
-    int command;
+  int inputData = Serial.read(); // this is 'int' to handle -1 when no data
+  int command;
     
-    // TODO make sure it handles -1 properly
-
-    if (parsingSysex) {
-        if(inputData == END_SYSEX) {
-            //stop sysex byte      
-            parsingSysex = false;
-            //fire off handler function
-            processSysexMessage();
-        } else {
-            //normal data byte - add to buffer
-            storedInputData[sysexBytesRead] = inputData;
-            sysexBytesRead++;
-        }
-    } else if( (waitForData > 0) && (inputData < 128) ) {  
-        waitForData--;
-        storedInputData[waitForData] = inputData;
-        if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message
-            switch(executeMultiByteCommand) {
-            case ANALOG_MESSAGE:
-                if(currentAnalogCallback) {
-                    (*currentAnalogCallback)(multiByteChannel,
-                                             (storedInputData[0] << 7)
-                                             + storedInputData[1]);
-                }
-                break;
-            case DIGITAL_MESSAGE:
-                if(currentDigitalCallback) {
-                    (*currentDigitalCallback)(multiByteChannel,
-                                              (storedInputData[0] << 7)
-                                              + storedInputData[1]);
-                }
-                break;
-            case SET_PIN_MODE:
-                if(currentPinModeCallback)
-                    (*currentPinModeCallback)(storedInputData[1], storedInputData[0]);
-                break;
-            case REPORT_ANALOG:
-                if(currentReportAnalogCallback)
-                    (*currentReportAnalogCallback)(multiByteChannel,storedInputData[0]);
-                break;
-            case REPORT_DIGITAL:
-                if(currentReportDigitalCallback)
-                    (*currentReportDigitalCallback)(multiByteChannel,storedInputData[0]);
-                break;
-            }
-            executeMultiByteCommand = 0;
-        }	
+  // TODO make sure it handles -1 properly
+
+  if (parsingSysex) {
+    if(inputData == END_SYSEX) {
+      //stop sysex byte      
+      parsingSysex = false;
+      //fire off handler function
+      processSysexMessage();
     } else {
-        // remove channel info from command byte if less than 0xF0
-        if(inputData < 0xF0) {
-            command = inputData & 0xF0;
-            multiByteChannel = inputData & 0x0F;
-        } else {
-            command = inputData;
-            // commands in the 0xF* range don't use channel data
+      //normal data byte - add to buffer
+      storedInputData[sysexBytesRead] = inputData;
+      sysexBytesRead++;
+    }
+  } else if( (waitForData > 0) && (inputData < 128) ) {  
+    waitForData--;
+    storedInputData[waitForData] = inputData;
+    if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message
+      switch(executeMultiByteCommand) {
+      case ANALOG_MESSAGE:
+        if(currentAnalogCallback) {
+          (*currentAnalogCallback)(multiByteChannel,
+                                   (storedInputData[0] << 7)
+                                   + storedInputData[1]);
         }
-        switch (command) {
-        case ANALOG_MESSAGE:
-        case DIGITAL_MESSAGE:
-        case SET_PIN_MODE:
-            waitForData = 2; // two data bytes needed
-            executeMultiByteCommand = command;
-            break;
-        case REPORT_ANALOG:
-        case REPORT_DIGITAL:
-            waitForData = 1; // two data bytes needed
-            executeMultiByteCommand = command;
-            break;
-        case START_SYSEX:
-            parsingSysex = true;
-            sysexBytesRead = 0;
-            break;
-        case SYSTEM_RESET:
-            systemReset();
-            break;
-        case REPORT_VERSION:
-            Firmata.printVersion();
-            break;
+        break;
+      case DIGITAL_MESSAGE:
+        if(currentDigitalCallback) {
+          (*currentDigitalCallback)(multiByteChannel,
+                                    (storedInputData[0] << 7)
+                                    + storedInputData[1]);
         }
+        break;
+      case SET_PIN_MODE:
+        if(currentPinModeCallback)
+          (*currentPinModeCallback)(storedInputData[1], storedInputData[0]);
+        break;
+      case REPORT_ANALOG:
+        if(currentReportAnalogCallback)
+          (*currentReportAnalogCallback)(multiByteChannel,storedInputData[0]);
+        break;
+      case REPORT_DIGITAL:
+        if(currentReportDigitalCallback)
+          (*currentReportDigitalCallback)(multiByteChannel,storedInputData[0]);
+        break;
+      }
+      executeMultiByteCommand = 0;
+    }	
+  } else {
+    // remove channel info from command byte if less than 0xF0
+    if(inputData < 0xF0) {
+      command = inputData & 0xF0;
+      multiByteChannel = inputData & 0x0F;
+    } else {
+      command = inputData;
+      // commands in the 0xF* range don't use channel data
     }
+    switch (command) {
+    case ANALOG_MESSAGE:
+    case DIGITAL_MESSAGE:
+    case SET_PIN_MODE:
+      waitForData = 2; // two data bytes needed
+      executeMultiByteCommand = command;
+      break;
+    case REPORT_ANALOG:
+    case REPORT_DIGITAL:
+      waitForData = 1; // two data bytes needed
+      executeMultiByteCommand = command;
+      break;
+    case START_SYSEX:
+      parsingSysex = true;
+      sysexBytesRead = 0;
+      break;
+    case SYSTEM_RESET:
+      systemReset();
+      break;
+    case REPORT_VERSION:
+      Firmata.printVersion();
+      break;
+    }
+  }
 }
 
 //------------------------------------------------------------------------------
@@ -269,31 +269,31 @@ void FirmataClass::processInput(void)
 // send an analog message
 void FirmataClass::sendAnalog(byte pin, int value) 
 {
-	// pin can only be 0-15, so chop higher bits
-	Serial.print(ANALOG_MESSAGE | (pin & 0xF), BYTE);
-    sendValueAsTwo7bitBytes(value);
+  // pin can only be 0-15, so chop higher bits
+  Serial.print(ANALOG_MESSAGE | (pin & 0xF), BYTE);
+  sendValueAsTwo7bitBytes(value);
 }
 
 // send a single digital pin in a digital message
 void FirmataClass::sendDigital(byte pin, int value) 
 {
-	/* TODO add single pin digital messages to the protocol, this needs to
-     * track the last digital data sent so that it can be sure to change just
-     * one bit in the packet.  This is complicated by the fact that the
-     * numbering of the pins will probably differ on Arduino, Wiring, and
-     * other boards.  The DIGITAL_MESSAGE sends 14 bits at a time, but it is
-     * probably easier to send 8 bit ports for any board with more than 14
-     * digital pins.
-     */
-
-	// TODO: the digital message should not be sent on the serial port every
-	// time sendDigital() is called.  Instead, it should add it to an int
-	// which will be sent on a schedule.  If a pin changes more than once
-	// before the digital message is sent on the serial port, it should send a
-	// digital message for each change.
-
-//    if(value == 0)
-//        sendDigitalPortPair();
+  /* TODO add single pin digital messages to the protocol, this needs to
+   * track the last digital data sent so that it can be sure to change just
+   * one bit in the packet.  This is complicated by the fact that the
+   * numbering of the pins will probably differ on Arduino, Wiring, and
+   * other boards.  The DIGITAL_MESSAGE sends 14 bits at a time, but it is
+   * probably easier to send 8 bit ports for any board with more than 14
+   * digital pins.
+   */
+
+  // TODO: the digital message should not be sent on the serial port every
+  // time sendDigital() is called.  Instead, it should add it to an int
+  // which will be sent on a schedule.  If a pin changes more than once
+  // before the digital message is sent on the serial port, it should send a
+  // digital message for each change.
+
+  //    if(value == 0)
+  //        sendDigitalPortPair();
 }
 
 
@@ -301,33 +301,33 @@ void FirmataClass::sendDigital(byte pin, int value)
 // send an 8-bit port in a single digital message (protocol v2)
 void FirmataClass::sendDigitalPort(byte portNumber, int portData)
 {
-	Serial.print(DIGITAL_MESSAGE | (portNumber & 0xF),BYTE);
-	Serial.print(portData % 128, BYTE); // Tx bits 0-6
-	Serial.print(portData >> 7, BYTE);  // Tx bits 7-13
+  Serial.print(DIGITAL_MESSAGE | (portNumber & 0xF),BYTE);
+  Serial.print(portData % 128, BYTE); // Tx bits 0-6
+  Serial.print(portData >> 7, BYTE);  // Tx bits 7-13
 }
 
 
 void FirmataClass::sendSysex(byte command, byte bytec, byte* bytev) 
 {
-    byte i;
-    startSysex();
-    Serial.print(command, BYTE);
-    for(i=0; i<bytec; i++) {
-        sendValueAsTwo7bitBytes(bytev[i]);        
-    }
-    endSysex();
+  byte i;
+  startSysex();
+  Serial.print(command, BYTE);
+  for(i=0; i<bytec; i++) {
+    sendValueAsTwo7bitBytes(bytev[i]);        
+  }
+  endSysex();
 }
 
 void FirmataClass::sendString(byte command, const char* string) 
 {
-    sendSysex(command, strlen(string), (byte *)string);
+  sendSysex(command, strlen(string), (byte *)string);
 }
 
 
 // send a string as the protocol string type
 void FirmataClass::sendString(const char* string) 
 {
-    sendString(FIRMATA_STRING, string);
+  sendString(STRING_DATA, string);
 }
 
 
@@ -336,43 +336,43 @@ void FirmataClass::sendString(const char* string)
 // generic callbacks
 void FirmataClass::attach(byte command, callbackFunction newFunction)
 {
-    switch(command) {
-    case ANALOG_MESSAGE: currentAnalogCallback = newFunction; break;
-    case DIGITAL_MESSAGE: currentDigitalCallback = newFunction; break;
-    case REPORT_ANALOG: currentReportAnalogCallback = newFunction; break;
-    case REPORT_DIGITAL: currentReportDigitalCallback = newFunction; break;
-    case SET_PIN_MODE: currentPinModeCallback = newFunction; break;
-    }
+  switch(command) {
+  case ANALOG_MESSAGE: currentAnalogCallback = newFunction; break;
+  case DIGITAL_MESSAGE: currentDigitalCallback = newFunction; break;
+  case REPORT_ANALOG: currentReportAnalogCallback = newFunction; break;
+  case REPORT_DIGITAL: currentReportDigitalCallback = newFunction; break;
+  case SET_PIN_MODE: currentPinModeCallback = newFunction; break;
+  }
 }
 
 void FirmataClass::attach(byte command, systemResetCallbackFunction newFunction)
 {
-    switch(command) {
-    case SYSTEM_RESET: currentSystemResetCallback = newFunction; break;
-    }
+  switch(command) {
+  case SYSTEM_RESET: currentSystemResetCallback = newFunction; break;
+  }
 }
 
 void FirmataClass::attach(byte command, stringCallbackFunction newFunction)
 {
-    switch(command) {
-    case FIRMATA_STRING: currentStringCallback = newFunction; break;
-    }
+  switch(command) {
+  case STRING_DATA: currentStringCallback = newFunction; break;
+  }
 }
 
 void FirmataClass::attach(byte command, sysexCallbackFunction newFunction)
 {
-    currentSysexCallback = newFunction;
+  currentSysexCallback = newFunction;
 }
 
 void FirmataClass::detach(byte command)
 {
-    switch(command) {
-    case SYSTEM_RESET: currentSystemResetCallback = NULL; break;
-    case FIRMATA_STRING: currentStringCallback = NULL; break;
-    case START_SYSEX: currentSysexCallback = NULL; break;
-    default:
-        attach(command, (callbackFunction)NULL);
-    }
+  switch(command) {
+  case SYSTEM_RESET: currentSystemResetCallback = NULL; break;
+  case STRING_DATA: currentStringCallback = NULL; break;
+  case START_SYSEX: currentSysexCallback = NULL; break;
+  default:
+    attach(command, (callbackFunction)NULL);
+  }
 }
 
 // sysex callbacks
@@ -402,24 +402,24 @@ void FirmataClass::detach(byte command)
 // resets the system state upon a SYSTEM_RESET message from the host software
 void FirmataClass::systemReset(void)
 {
-    byte i;
+  byte i;
 
-    waitForData = 0; // this flag says the next serial input will be data
-    executeMultiByteCommand = 0; // execute this after getting multi-byte data
-    multiByteChannel = 0; // channel data for multiByteCommands
+  waitForData = 0; // this flag says the next serial input will be data
+  executeMultiByteCommand = 0; // execute this after getting multi-byte data
+  multiByteChannel = 0; // channel data for multiByteCommands
 
 
-    for(i=0; i<MAX_DATA_BYTES; i++) {
-        storedInputData[i] = 0;
-    }
+  for(i=0; i<MAX_DATA_BYTES; i++) {
+    storedInputData[i] = 0;
+  }
 
-    parsingSysex = false;
-    sysexBytesRead = 0;
+  parsingSysex = false;
+  sysexBytesRead = 0;
 
-    if(currentSystemResetCallback)
-                    (*currentSystemResetCallback)();
+  if(currentSystemResetCallback)
+    (*currentSystemResetCallback)();
 
-    //flush(); //TODO uncomment when Firmata is a subclass of HardwareSerial
+  //flush(); //TODO uncomment when Firmata is a subclass of HardwareSerial
 }
 
 
@@ -428,14 +428,14 @@ void FirmataClass::systemReset(void)
 // used for flashing the pin for the version number
 void FirmataClass::pin13strobe(int count, int onInterval, int offInterval) 
 {
-    byte i;
-    pinMode(VERSION_BLINK_PIN, OUTPUT);
-    for(i=0; i<count; i++) {
-        delay(offInterval);
-        digitalWrite(VERSION_BLINK_PIN, HIGH);
-        delay(onInterval);
-        digitalWrite(VERSION_BLINK_PIN, LOW);
-    }
+  byte i;
+  pinMode(VERSION_BLINK_PIN, OUTPUT);
+  for(i=0; i<count; i++) {
+    delay(offInterval);
+    digitalWrite(VERSION_BLINK_PIN, HIGH);
+    delay(onInterval);
+    digitalWrite(VERSION_BLINK_PIN, LOW);
+  }
 }
 
 
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