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FirmataParser.cpp
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FirmataParser.cpp
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/*
FirmataParser.cpp
Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
Copyright (C) 2009-2016 Jeff Hoefs. All rights reserved.
Copyright (C) 2018-2019 Alan Yorinks. All Rights Reserved.
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU AFFERO GENERAL PUBLIC LICENSE
Version 3 as published by the Free Software Foundation; either
or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
General Public License for more details.
You should have received a copy of the GNU AFFERO GENERAL PUBLIC LICENSE
along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
See file LICENSE.txt for further information on licensing terms.
*/
//******************************************************************************
//* Includes
//******************************************************************************
#include "FirmataParser.h"
#include "FirmataConstants.h"
using namespace firmata;
//******************************************************************************
//* Constructors
//******************************************************************************
/**
* The FirmataParser class.
* @param dataBuffer A pointer to an external buffer used to store parsed data
* @param dataBufferSize The size of the external buffer
*/
FirmataParser::FirmataParser(uint8_t * const dataBuffer, size_t dataBufferSize)
:
dataBuffer(dataBuffer),
dataBufferSize(dataBufferSize),
executeMultiByteCommand(0),
multiByteChannel(0),
waitForData(0),
parsingSysex(false),
sysexBytesRead(0),
currentAnalogCallbackContext((void *)NULL),
currentDigitalCallbackContext((void *)NULL),
currentReportAnalogCallbackContext((void *)NULL),
currentReportDigitalCallbackContext((void *)NULL),
currentPinModeCallbackContext((void *)NULL),
currentPinValueCallbackContext((void *)NULL),
currentReportFirmwareCallbackContext((void *)NULL),
currentReportVersionCallbackContext((void *)NULL),
currentDataBufferOverflowCallbackContext((void *)NULL),
currentStringCallbackContext((void *)NULL),
currentSysexCallbackContext((void *)NULL),
currentSystemResetCallbackContext((void *)NULL),
currentAnalogCallback((callbackFunction)NULL),
currentDigitalCallback((callbackFunction)NULL),
currentReportAnalogCallback((callbackFunction)NULL),
currentReportDigitalCallback((callbackFunction)NULL),
currentPinModeCallback((callbackFunction)NULL),
currentPinValueCallback((callbackFunction)NULL),
currentDataBufferOverflowCallback((dataBufferOverflowCallbackFunction)NULL),
currentStringCallback((stringCallbackFunction)NULL),
currentSysexCallback((sysexCallbackFunction)NULL),
currentReportFirmwareCallback((versionCallbackFunction)NULL),
currentReportVersionCallback((systemCallbackFunction)NULL),
currentSystemResetCallback((systemCallbackFunction)NULL)
{
allowBufferUpdate = ((uint8_t *)NULL == dataBuffer);
}
//******************************************************************************
//* Public Methods
//******************************************************************************
//------------------------------------------------------------------------------
// Serial Receive Handling
/**
* Parse data from the input stream.
* @param inputData A single byte to be added to the parser.
*/
void FirmataParser::parse(uint8_t inputData)
{
uint8_t command;
if (parsingSysex) {
if (inputData == END_SYSEX) {
//stop sysex byte
parsingSysex = false;
//fire off handler function
processSysexMessage();
} else {
//normal data byte - add to buffer
bufferDataAtPosition(inputData, sysexBytesRead);
++sysexBytesRead;
}
} else if ( (waitForData > 0) && (inputData < 128) ) {
--waitForData;
bufferDataAtPosition(inputData, waitForData);
if ( (waitForData == 0) && executeMultiByteCommand ) { // got the whole message
switch (executeMultiByteCommand) {
case ANALOG_MESSAGE:
if (currentAnalogCallback) {
(*currentAnalogCallback)(currentAnalogCallbackContext,
multiByteChannel,
(dataBuffer[0] << 7)
+ dataBuffer[1]);
}
break;
case DIGITAL_MESSAGE:
if (currentDigitalCallback) {
(*currentDigitalCallback)(currentDigitalCallbackContext,
multiByteChannel,
(dataBuffer[0] << 7)
+ dataBuffer[1]);
}
break;
case SET_PIN_MODE:
if (currentPinModeCallback)
(*currentPinModeCallback)(currentPinModeCallbackContext, dataBuffer[1], dataBuffer[0]);
break;
case SET_DIGITAL_PIN_VALUE:
if (currentPinValueCallback)
(*currentPinValueCallback)(currentPinValueCallbackContext, dataBuffer[1], dataBuffer[0]);
break;
case REPORT_ANALOG:
if (currentReportAnalogCallback)
(*currentReportAnalogCallback)(currentReportAnalogCallbackContext, multiByteChannel, dataBuffer[0]);
break;
case REPORT_DIGITAL:
if (currentReportDigitalCallback)
(*currentReportDigitalCallback)(currentReportDigitalCallbackContext, multiByteChannel, dataBuffer[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:
case SET_DIGITAL_PIN_VALUE:
waitForData = 2; // two data bytes needed
executeMultiByteCommand = command;
break;
case REPORT_ANALOG:
case REPORT_DIGITAL:
waitForData = 1; // one data byte needed
executeMultiByteCommand = command;
break;
case START_SYSEX:
parsingSysex = true;
sysexBytesRead = 0;
break;
case SYSTEM_RESET:
systemReset();
break;
case REPORT_VERSION:
if (currentReportVersionCallback)
(*currentReportVersionCallback)(currentReportVersionCallbackContext);
break;
}
}
}
/**
* @return Returns true if the parser is actively parsing data.
*/
bool FirmataParser::isParsingMessage(void)
const
{
return (waitForData > 0 || parsingSysex);
}
/**
* Provides a mechanism to either set or update the working buffer of the parser.
* The method will be enabled when no buffer has been provided, or an overflow
* condition exists.
* @param dataBuffer A pointer to an external buffer used to store parsed data
* @param dataBufferSize The size of the external buffer
*/
int FirmataParser::setDataBufferOfSize(uint8_t * dataBuffer, size_t dataBufferSize)
{
int result;
if ( !allowBufferUpdate ) {
result = __LINE__;
} else if ((uint8_t *)NULL == dataBuffer) {
result = __LINE__;
} else {
this->dataBuffer = dataBuffer;
this->dataBufferSize = dataBufferSize;
allowBufferUpdate = false;
result = 0;
}
return result;
}
/**
* Attach a generic sysex callback function to a command (options are: ANALOG_MESSAGE,
* DIGITAL_MESSAGE, REPORT_ANALOG, REPORT DIGITAL, SET_PIN_MODE and SET_DIGITAL_PIN_VALUE).
* @param command The ID of the command to attach a callback function to.
* @param newFunction A reference to the callback function to attach.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(uint8_t command, callbackFunction newFunction, void * context)
{
switch (command) {
case ANALOG_MESSAGE:
currentAnalogCallback = newFunction;
currentAnalogCallbackContext = context;
break;
case DIGITAL_MESSAGE:
currentDigitalCallback = newFunction;
currentDigitalCallbackContext = context;
break;
case REPORT_ANALOG:
currentReportAnalogCallback = newFunction;
currentReportAnalogCallbackContext = context;
break;
case REPORT_DIGITAL:
currentReportDigitalCallback = newFunction;
currentReportDigitalCallbackContext = context;
break;
case SET_PIN_MODE:
currentPinModeCallback = newFunction;
currentPinModeCallbackContext = context;
break;
case SET_DIGITAL_PIN_VALUE:
currentPinValueCallback = newFunction;
currentPinValueCallbackContext = context;
break;
}
}
/**
* Attach a version callback function (supported option: REPORT_FIRMWARE).
* @param command The ID of the command to attach a callback function to.
* @param newFunction A reference to the callback function to attach.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(uint8_t command, versionCallbackFunction newFunction, void * context)
{
switch (command) {
case REPORT_FIRMWARE:
currentReportFirmwareCallback = newFunction;
currentReportFirmwareCallbackContext = context;
break;
}
}
/**
* Attach a system callback function (supported options are: SYSTEM_RESET, REPORT_VERSION).
* @param command The ID of the command to attach a callback function to.
* @param newFunction A reference to the callback function to attach.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(uint8_t command, systemCallbackFunction newFunction, void * context)
{
switch (command) {
case REPORT_VERSION:
currentReportVersionCallback = newFunction;
currentReportVersionCallbackContext = context;
break;
case SYSTEM_RESET:
currentSystemResetCallback = newFunction;
currentSystemResetCallbackContext = context;
break;
}
}
/**
* Attach a callback function for the STRING_DATA command.
* @param command Must be set to STRING_DATA or it will be ignored.
* @param newFunction A reference to the string callback function to attach.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(uint8_t command, stringCallbackFunction newFunction, void * context)
{
switch (command) {
case STRING_DATA:
currentStringCallback = newFunction;
currentStringCallbackContext = context;
break;
}
}
/**
* Attach a generic sysex callback function to sysex command.
* @param command The ID of the command to attach a callback function to.
* @param newFunction A reference to the sysex callback function to attach.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(uint8_t command, sysexCallbackFunction newFunction, void * context)
{
(void)command;
currentSysexCallback = newFunction;
currentSysexCallbackContext = context;
}
/**
* Attach a buffer overflow callback
* @param newFunction A reference to the buffer overflow callback function to attach.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(dataBufferOverflowCallbackFunction newFunction, void * context)
{
currentDataBufferOverflowCallback = newFunction;
currentDataBufferOverflowCallbackContext = context;
}
/**
* Detach a callback function for a specified command (such as SYSTEM_RESET, STRING_DATA,
* ANALOG_MESSAGE, DIGITAL_MESSAGE, etc).
* @param command The ID of the command to detatch the callback function from.
*/
void FirmataParser::detach(uint8_t command)
{
switch (command) {
case REPORT_FIRMWARE:
attach(command, (versionCallbackFunction)NULL, NULL);
break;
case REPORT_VERSION:
case SYSTEM_RESET:
attach(command, (systemCallbackFunction)NULL, NULL);
break;
case STRING_DATA:
attach(command, (stringCallbackFunction)NULL, NULL);
break;
case START_SYSEX:
attach(command, (sysexCallbackFunction)NULL, NULL);
break;
default:
attach(command, (callbackFunction)NULL, NULL);
break;
}
}
/**
* Detach the buffer overflow callback
* @param <unused> Any pointer of type dataBufferOverflowCallbackFunction.
*/
void FirmataParser::detach(dataBufferOverflowCallbackFunction)
{
currentDataBufferOverflowCallback = (dataBufferOverflowCallbackFunction)NULL;
currentDataBufferOverflowCallbackContext = (void *)NULL;
}
//******************************************************************************
//* Private Methods
//******************************************************************************
/**
* Buffer abstraction to prevent memory corruption
* @param data The byte to put into the buffer
* @param pos The position to insert the byte into the buffer
* @return writeError A boolean to indicate if an error occured
* @private
*/
bool FirmataParser::bufferDataAtPosition(const uint8_t data, const size_t pos)
{
bool bufferOverflow = (pos >= dataBufferSize);
// Notify of overflow condition
if ( bufferOverflow
&& ((dataBufferOverflowCallbackFunction)NULL != currentDataBufferOverflowCallback) )
{
allowBufferUpdate = true;
currentDataBufferOverflowCallback(currentDataBufferOverflowCallbackContext);
// Check if overflow was resolved during callback
bufferOverflow = (pos >= dataBufferSize);
}
// Write data to buffer if no overflow condition persist
if ( !bufferOverflow )
{
dataBuffer[pos] = data;
}
return bufferOverflow;
}
/**
* Transform 7-bit firmata message into 8-bit stream
* @param bytec The encoded data byte length of the message (max: 16383).
* @param bytev A pointer to the encoded array of data bytes.
* @return The length of the decoded data.
* @note The conversion will be done in place on the provided buffer.
* @private
*/
size_t FirmataParser::decodeByteStream(size_t bytec, uint8_t * bytev) {
size_t decoded_bytes, i;
for ( i = 0, decoded_bytes = 0 ; i < bytec ; ++decoded_bytes, ++i ) {
bytev[decoded_bytes] = bytev[i];
bytev[decoded_bytes] |= (uint8_t)(bytev[++i] << 7);
}
return decoded_bytes;
}
/**
* Process incoming sysex messages. Handles REPORT_FIRMWARE and STRING_DATA internally.
* Calls callback function for STRING_DATA and all other sysex messages.
* @private
*/
void FirmataParser::processSysexMessage(void)
{
switch (dataBuffer[0]) { //first byte in buffer is command
case REPORT_FIRMWARE:
if (currentReportFirmwareCallback) {
const size_t major_version_offset = 1;
const size_t minor_version_offset = 2;
const size_t string_offset = 3;
// Test for malformed REPORT_FIRMWARE message (used to query firmware prior to Firmata v3.0.0)
if ( 3 > sysexBytesRead ) {
(*currentReportFirmwareCallback)(currentReportFirmwareCallbackContext, 0, 0, (const char *)NULL);
} else {
const size_t end_of_string = (string_offset + decodeByteStream((sysexBytesRead - string_offset), &dataBuffer[string_offset]));
bufferDataAtPosition('\0', end_of_string); // NULL terminate the string
(*currentReportFirmwareCallback)(currentReportFirmwareCallbackContext, (size_t)dataBuffer[major_version_offset], (size_t)dataBuffer[minor_version_offset], (const char *)&dataBuffer[string_offset]);
}
}
break;
case STRING_DATA:
if (currentStringCallback) {
const size_t string_offset = 1;
const size_t end_of_string = (string_offset + decodeByteStream((sysexBytesRead - string_offset), &dataBuffer[string_offset]));
bufferDataAtPosition('\0', end_of_string); // NULL terminate the string
(*currentStringCallback)(currentStringCallbackContext, (const char *)&dataBuffer[string_offset]);
}
break;
default:
if (currentSysexCallback)
(*currentSysexCallback)(currentSysexCallbackContext, dataBuffer[0], sysexBytesRead - 1, dataBuffer + 1);
}
}
/**
* Resets the system state upon a SYSTEM_RESET message from the host software.
* @private
*/
void FirmataParser::systemReset(void)
{
size_t 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
for (i = 0; i < dataBufferSize; ++i) {
dataBuffer[i] = 0;
}
parsingSysex = false;
sysexBytesRead = 0;
if (currentSystemResetCallback)
(*currentSystemResetCallback)(currentSystemResetCallbackContext);
}