Class: ArduinoFirmata::Arduino

Inherits:
Object
  • Object
show all
Includes:
EventEmitter
Defined in:
lib/arduino_firmata/arduino.rb

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(serialport_name, params) ⇒ Arduino

Returns a new instance of Arduino.



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# File 'lib/arduino_firmata/arduino.rb', line 8

def initialize(serialport_name, params)
  @serialport_name = serialport_name
  @nonblock_io = !!params[:nonblock_io]
  @eventmachine = !!params[:eventmachine]
  @read_byte_size = eventmachine ? 256 : 9600
  @process_input_interval = eventmachine ? 0.0001 : 0.01
  @status = Status::CLOSE
  @wait_for_data = 0
  @execute_multi_byte_command = 0
  @multi_byte_channel = 0
  @stored_input_data = []
  @parsing_sysex = false
  @sysex_bytes_read = 0

  @digital_output_data = Array.new(16, 0)
  @digital_input_data = Array.new(16, 0)
  @analog_input_data = Array.new(16, 0)

  @version = nil

  @serial = SerialPort.new(@serialport_name, params[:bps], params[:bit], params[:stopbit], params[:parity])
  @serial.read_timeout = 10
  sleep 3 if old_arduino_device?
  @status = Status::OPEN

  at_exit do
    close
  end

  @thread_status = false
  run do
    @thread_status = true
    while status == Status::OPEN do
      process_input
      sleep @process_input_interval
    end
    @thread_status = false
  end

  (0...6).each do |i|
    write(REPORT_ANALOG | i)
    write 1
  end
  (0...2).each do |i|
    write(REPORT_DIGITAL | i)
    write 1
  end

  loop do
    write REPORT_VERSION
    sleep 0.5
    break if @version
  end
  sleep 0.5 if old_arduino_device?
end

Instance Attribute Details

#eventmachine ⇒ Object (readonly)

Returns the value of attribute eventmachine.



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# File 'lib/arduino_firmata/arduino.rb', line 6

def eventmachine
  @eventmachine
end

#nonblock_io ⇒ Object (readonly)

Returns the value of attribute nonblock_io.



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# File 'lib/arduino_firmata/arduino.rb', line 6

def nonblock_io
  @nonblock_io
end

#status ⇒ Object (readonly)

Returns the value of attribute status.



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# File 'lib/arduino_firmata/arduino.rb', line 6

def status
  @status
end

#version ⇒ Object (readonly)

Returns the value of attribute version.



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# File 'lib/arduino_firmata/arduino.rb', line 6

def version
  @version
end

Instance Method Details

#analog_read(pin) ⇒ Object 



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# File 'lib/arduino_firmata/arduino.rb', line 111

def analog_read(pin)
  @analog_input_data[pin]
end

#analog_write(pin, value) ⇒ Object 



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# File 'lib/arduino_firmata/arduino.rb', line 147

def analog_write(pin, value)
  pin_mode pin, PWM
  write(ANALOG_MESSAGE | (pin & 0x0F))
  write(value & 0x7F)
  if write(value >> 7) == 1
    return value
  end
end

#close ⇒ Object 



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# File 'lib/arduino_firmata/arduino.rb', line 77

def close
  return if status == Status::CLOSE
  @status = Status::CLOSE
  @serial.close
  loop do
    if @serial.closed? and @thread_status != true
      break
    end
    sleep 0.01
  end
end

#digital_read(pin) ⇒ Object 



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# File 'lib/arduino_firmata/arduino.rb', line 107

def digital_read(pin)
  (@digital_input_data[pin >> 3] >> (pin & 0x07)) & 0x01 > 0
end

#digital_write(pin, value) ⇒ Object 



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# File 'lib/arduino_firmata/arduino.rb', line 131

def digital_write(pin, value)
  pin_mode pin, OUTPUT
  port_num = (pin >> 3) & 0x0F
  if value == 0 or value == false
    @digital_output_data[port_num] &= ~(1 << (pin & 0x07))
  else
    @digital_output_data[port_num] |= (1 << (pin & 0x07))
  end

  write(DIGITAL_MESSAGE | port_num)
  write(@digital_output_data[port_num] & 0x7F)
  if write(@digital_output_data[port_num] >> 7) == 1
    return value
  end
end

#old_arduino_device? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/arduino_firmata/arduino.rb', line 73

def old_arduino_device?
  File.basename(@serialport_name) !~ /^tty\.usbmodem/
end

#pin_mode(pin, mode) ⇒ Object 



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# File 'lib/arduino_firmata/arduino.rb', line 115

def pin_mode(pin, mode)
  write SET_PIN_MODE
  write pin
  mode = case mode
         when true
           OUTPUT
         when false
           INPUT
         else
           mode
         end
  if write(mode) == 1
    return mode
  end
end

#reset ⇒ Object 



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# File 'lib/arduino_firmata/arduino.rb', line 89

def reset
  write SYSTEM_RESET
end

#run(&block) ⇒ Object 



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# File 'lib/arduino_firmata/arduino.rb', line 64

def run(&block)
  return unless block_given?
  if eventmachine
    EM::defer &block
  else
    Thread.new &block
  end
end

#servo_write(pin, angle) ⇒ Object 



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# File 'lib/arduino_firmata/arduino.rb', line 156

def servo_write(pin, angle)
  pin_mode pin, SERVO
  write(ANALOG_MESSAGE | (pin & 0x0F))
  write(angle & 0x7F)
  if write(angle >> 7) == 1
    return angle
  end
end

#sysex(command, data = []) ⇒ Object

Raises:

  • (ArgumentError) 


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# File 'lib/arduino_firmata/arduino.rb', line 93

def sysex(command, data=[])
  ## http://firmata.org/wiki/V2.1ProtocolDetails#Sysex_Message_Format
  raise ArgumentError, 'command must be Number' unless command.kind_of? Fixnum
  raise ArgumentError, 'data must be 7bit-Number or Those Array' unless [Fixnum, Array].include? data.class

  write_data = data.kind_of?(Array) ? data : [data]
  write START_SYSEX
  write command
  write_data.each do |d|
    write (d & 0b1111111) # 7bit
  end
  write END_SYSEX
end