(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;
+ var ArduinoFirmata, debug, events, exports, serialport;
events = require('eventemitter2');
- SerialPort = (serialport = require('serialport')).SerialPort;
+ serialport = require('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);
+ exports = module.exports = ArduinoFirmata = (function() {
+ class ArduinoFirmata extends events.EventEmitter2 {
+ static list(callback) {
+ return serialport.list(function(err, ports) {
+ var devices, j, len, port;
+ if (err) {
+ return callback(err);
}
- }
- 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);
- };
+ devices = [];
+ for (j = 0, len = ports.length; j < len; j++) {
+ port = ports[j];
+ if (/usb|acm|com|ama\d+/i.test(port.comName)) {
+ devices.push(port.comName);
+ }
+ }
+ return callback(null, devices);
+ });
+ }
- ArduinoFirmata.prototype.connect = function(serialport_name, opts) {
- this.serialport_name = serialport_name;
- if (opts == null) {
- opts = {
- baudrate: 57600
- };
+ constructor() {
+ super();
+ 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;
}
- 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;
+
+ isOldArduinoDevice() {
+ return /usbserial|USB/.test(this.serialport_name);
}
- 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() {
+
+ connect(serialport_name, opts = {
+ baudRate: 57600
+ }) {
+ this.serialport_name = serialport_name;
+ opts.parser = serialport.parsers.raw;
+ if (!this.serialport_name) {
+ ArduinoFirmata.list((err, devices) => {
+ return this.connect(devices[0], opts);
+ });
+ 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(() => {
var i, j, k;
for (i = j = 0; j < 6; i = ++j) {
- _this.write([ArduinoFirmata.REPORT_ANALOG | i, 1]);
+ this.write([ArduinoFirmata.REPORT_ANALOG | i, 1]);
}
for (i = k = 0; k < 2; i = ++k) {
- _this.write([ArduinoFirmata.REPORT_DIGITAL | i, 1]);
+ 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() {
+ return this.emit('connect');
+ }, io_init_wait);
+ });
+ this.serialport = new serialport(this.serialport_name, opts);
+ this.serialport.once('open', () => {
var cid;
- cid = setInterval(function() {
+ cid = setInterval(() => {
debug('request REPORT_VERSION');
- return _this.write([ArduinoFirmata.REPORT_VERSION]);
+ return this.write([ArduinoFirmata.REPORT_VERSION]);
}, 500);
- _this.once('boardVersion', function(version) {
+ this.once('boardVersion', (version) => {
clearInterval(cid);
- _this.status = ArduinoFirmata.Status.OPEN;
- return _this.emit('boardReady');
+ this.status = ArduinoFirmata.Status.OPEN;
+ return this.emit('boardReady');
});
- return _this.serialport.on('data', function(data) {
+ return this.serialport.on('data', (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));
+ results.push(this.process_input(byte));
}
return results;
});
- };
- })(this));
- return this;
- };
+ });
+ return this;
+ }
- ArduinoFirmata.prototype.isOpen = function() {
- return this.status === ArduinoFirmata.Status.OPEN;
- };
+ isOpen() {
+ return this.status === ArduinoFirmata.Status.OPEN;
+ }
- ArduinoFirmata.prototype.close = function(callback) {
- this.status = ArduinoFirmata.Status.CLOSE;
- return this.serialport.close(callback);
- };
+ close(callback) {
+ this.status = ArduinoFirmata.Status.CLOSE;
+ return this.serialport.close(callback);
+ }
- ArduinoFirmata.prototype.reset = function(callback) {
- return this.write([ArduinoFirmata.SYSTEM_RESET], callback);
- };
+ reset(callback) {
+ return this.write([ArduinoFirmata.SYSTEM_RESET], callback);
+ }
- ArduinoFirmata.prototype.write = function(bytes, callback) {
- return this.serialport.write(bytes, callback);
- };
+ write(bytes, callback) {
+ return this.serialport.write(bytes, callback);
+ }
- ArduinoFirmata.prototype.sysex = function(command, data, callback) {
- var write_data;
- if (data == null) {
- data = [];
+ sysex(command, data = [], callback) {
+ var write_data;
+ //# http://firmata.org/wiki/V2.1ProtocolDetails#Sysex_Message_Format
+ data = data.map(function(i) {
+ return i & 0b1111111; // 7bit
+ });
+ write_data = [ArduinoFirmata.START_SYSEX, command].concat(data, [ArduinoFirmata.END_SYSEX]);
+ return this.write(write_data, callback);
}
- 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;
+ pinMode(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);
}
- 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);
+ digitalWrite(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);
}
- 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);
- };
+ analogWrite(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);
- };
+ servoWrite(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;
- };
+ digitalRead(pin) {
+ return ((this.digital_input_data[pin >>> 3] >>> (pin & 0x07)) & 0x01) > 0;
+ }
- ArduinoFirmata.prototype.analogRead = function(pin) {
- return this.analog_input_data[pin];
- };
+ analogRead(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);
+ process_input(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
+ });
}
- 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);
+ 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;
+ 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;
+ }
}
}
+
+ };
+
+ 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; // send data for a digital port
+
+ ArduinoFirmata.ANALOG_MESSAGE = 0xE0; // send data for an analog pin (or PWM)
+
+ ArduinoFirmata.REPORT_ANALOG = 0xC0; // enable analog input by pin
+
+ ArduinoFirmata.REPORT_DIGITAL = 0xD0; // enable digital input by port
+
+ ArduinoFirmata.SET_PIN_MODE = 0xF4; // set a pin to INPUT/OUTPUT/PWM/etc
+
+ ArduinoFirmata.REPORT_VERSION = 0xF9; // report firmware version
+
+ ArduinoFirmata.SYSTEM_RESET = 0xFF; // reset from MIDI
+
+ ArduinoFirmata.START_SYSEX = 0xF0; // start a MIDI SysEx message
+
+ ArduinoFirmata.END_SYSEX = 0xF7; // end a MIDI SysEx message
+
return ArduinoFirmata;
- })(events.EventEmitter2);
+ }).call(this);
}).call(this);
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