/// <summary>
/// Searches the given list of com ports for a firmata device.
/// </summary>
/// <remarks>
/// Scanning ports and testing for devices may affect unrelated devices. It is advisable to exclude ports known to contain other hardware from this scan.
/// A board won't be found if its port is already open (by the same or a different process).
/// </remarks>
/// <param name="comPorts">List of com ports. Can be used with <see cref="SerialPort.GetPortNames"/>.</param>
/// <param name="baudRates">List of baud rates to test. <see cref="CommonBaudRates"/>.</param>
/// <param name="board">[Out] Returns the board reference. It is already initialized.</param>
/// <returns>True on success, false if no board was found</returns>
public static bool TryFindBoard(IEnumerable <string> comPorts, IEnumerable <int> baudRates,
#if !NETCOREAPP2_1
[NotNullWhen(true)]
#endif
out ArduinoBoard?board)
{
foreach (var port in comPorts)
{
foreach (var baud in baudRates)
{
ArduinoBoard?b = null;
try
{
b = new ArduinoBoard(port, baud);
b.Initialize();
board = b;
return(true);
}
catch (Exception x) when(x is NotSupportedException || x is TimeoutException || x is IOException || x is UnauthorizedAccessException)
{
b?.Dispose();
}
}
}
board = null !;
return(false);
}
public ArduinoAnalogInputPin(ArduinoBoard board, AnalogController controller, SupportedPinConfiguration configuration,
int pinNumber, ElectricPotential voltageReference)
: base(controller, pinNumber, voltageReference)
{
_board = board;
_configuration = configuration;
}
public ArduinoSpiDevice(ArduinoBoard board, SpiConnectionSettings connectionSettings)
{
Board = board;
ConnectionSettings = connectionSettings;
board.EnableSpi();
board.Firmata.ConfigureSpiDevice(connectionSettings);
}
/// <summary>
/// Tries to connect to an arduino over network.
/// This requires an arduino with an ethernet shield or an ESP32 with enabled WIFI support.
/// </summary>
/// <param name="boardAddress">The IP address of the board</param>
/// <param name="port">The network port to use</param>
/// <param name="board">Returns the board if successful</param>
/// <returns>True on success, false otherwise</returns>
public static bool TryConnectToNetworkedBoard(IPAddress boardAddress, int port,
#if NET5_0_OR_GREATER
[NotNullWhen(true)]
#endif
out ArduinoBoard?board)
{
board = null;
try
{
var socket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
socket.Connect(boardAddress, port);
socket.NoDelay = true;
var networkStream = new NetworkStream(socket, true);
board = new ArduinoBoard(networkStream);
if (!(board.FirmataVersion > new Version(1, 0)))
{
// Actually not expecting to get here (but the above will throw a SocketException if the remote end is not there)
throw new NotSupportedException("Very old firmware found on board");
}
return(true);
}
catch (SocketException)
{
return(false);
}
}
/// <summary>
/// Create a PWM Channel on the Arduino. Depending on the board, it has 4-8 pins that support PWM.
/// This expects to take the normal pin number (i.e. D6, D9) as input
/// </summary>
/// <param name="board">Reference to Board</param>
/// <param name="chip">Always needs to be 0</param>
/// <param name="channel">See above. Valid values depend on the board.</param>
/// <param name="frequency">This parameter is ignored and exists only for compatibility</param>
/// <param name="dutyCyclePercentage">PWM duty cycle (0 - 1)</param>
public ArduinoPwmChannel(ArduinoBoard board,
int chip,
int channel,
int frequency = 400,
double dutyCyclePercentage = 0.5)
{
Chip = chip;
if (chip != 0)
{
throw new NotSupportedException("No such chip: {0}");
}
Channel = channel;
_pin = channel;
var caps = board.SupportedPinConfigurations.FirstOrDefault(x => x.Pin == _pin);
if (caps == null || !caps.PinModes.Contains(SupportedMode.Pwm))
{
throw new NotSupportedException($"Pin {_pin} does not support PWM");
}
_frequency = frequency;
_dutyCycle = dutyCyclePercentage;
_board = board;
_enabled = false;
}
public ArduinoAnalogController(ArduinoBoard board,
IReadOnlyList <SupportedPinConfiguration> supportedPinConfigurations, PinNumberingScheme scheme)
: base(scheme)
{
_board = board ?? throw new ArgumentNullException(nameof(board));
_supportedPinConfigurations = supportedPinConfigurations ?? throw new ArgumentNullException(nameof(supportedPinConfigurations));
PinCount = _supportedPinConfigurations.Count;
// Note: While the Arduino does have an external analog input reference pin, Firmata doesn't allow configuring it.
VoltageReference = ElectricPotential.FromVolts(5.0);
}
internal ArduinoGpioControllerDriver(ArduinoBoard arduinoBoard, IReadOnlyCollection <SupportedPinConfiguration> supportedPinConfigurations)
{
_arduinoBoard = arduinoBoard ?? throw new ArgumentNullException(nameof(arduinoBoard));
_supportedPinConfigurations = supportedPinConfigurations ?? throw new ArgumentNullException(nameof(supportedPinConfigurations));
_callbackContainers = new Dictionary <int, CallbackContainer>();
_waitForEventResetEvent = new AutoResetEvent(false);
_callbackContainersLock = new object();
_pinModes = new ConcurrentDictionary <int, PinMode>();
PinCount = _supportedPinConfigurations.Count;
_arduinoBoard.Firmata.DigitalPortValueUpdated += FirmataOnDigitalPortValueUpdated;
}
public ArduinoI2cDevice(ArduinoBoard board, ArduinoI2cBus bus, I2cConnectionSettings connectionSettings)
{
_board = board ?? throw new ArgumentNullException(nameof(board));
_bus = bus ?? throw new ArgumentNullException(nameof(bus));
if (connectionSettings == null)
{
throw new ArgumentNullException(nameof(connectionSettings));
}
if (connectionSettings.BusId != 0)
{
throw new NotSupportedException("Only I2C Bus 0 is supported");
}
if (connectionSettings.DeviceAddress > 127)
{
throw new NotSupportedException("The device address must be less than 128.");
}
ConnectionSettings = connectionSettings;
// Ensure the corresponding pins are set to I2C (not strictly necessary, but consistent)
foreach (SupportedPinConfiguration supportedPinConfiguration in _board.SupportedPinConfigurations.Where(x => x.PinModes.Contains(SupportedMode.I2c)))
{
_board.Firmata.SetPinMode(supportedPinConfiguration.Pin, SupportedMode.I2c);
}
_board.Firmata.SendI2cConfigCommand();
// Sometimes, the very first I2C command fails (nothing happens), so try reading a byte
int retries = 3;
while (retries-- > 0)
{
try
{
ReadByte();
break;
}
catch (Exception x) when(x is TimeoutException || x is IOException)
{
}
}
// If the above still failed, there's probably no device on the other end. But this shall not throw here but only if
// the client calls ReadByte.
}
/// <summary>
/// This is internally called when the command handler is registered
/// </summary>
internal void Registered(FirmataDevice firmata, ArduinoBoard board)
{
_firmata = firmata;
_board = board;
_firmata.OnSysexReply += OnSysexDataInternal;
}
public ArduinoI2cBus(ArduinoBoard board, int busId)
{
_board = board;
_busId = busId;
_usedAddresses = new HashSet <int>();
}