public void GetBoardCapability()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
// DIGITAL INPUT/DIGITAL OUTPUT/ANALOG/PWM/SERVO/I2C, 0/1/2/3/4/6
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6B, 0xF7 }, 0xF0, 0x6C);
connection.EnqueueResponse(0, 1, 1, 1, 3, 10, 6, 1, 0x7F);
connection.EnqueueResponse(0xF7);
BoardCapability capability = session.GetBoardCapability();
Assert.AreEqual(1, capability.Pins.Length);
Assert.AreEqual(0, capability.Pins[0].PinNumber);
Assert.AreEqual(true, capability.Pins[0].DigitalInput);
Assert.AreEqual(true, capability.Pins[0].DigitalOutput);
Assert.AreEqual(true, capability.Pins[0].Pwm);
Assert.AreEqual(10, capability.Pins[0].PwmResolution);
Assert.AreEqual(true, capability.Pins[0].I2C);
Assert.AreEqual(false, capability.Pins[0].Analog);
Assert.AreEqual(0, capability.Pins[0].AnalogResolution);
Assert.AreEqual(false, capability.Pins[0].Servo);
Assert.AreEqual(0, capability.Pins[0].ServoResolution);
}
private static void DisplayPortCapabilities()
{
using (var session = new ArduinoSession(new EnhancedSerialConnection("COM4", SerialBaudRate.Bps_57600)))
{
session.StringReceived += (object sender, StringEventArgs eventArgs) =>
{
Console.WriteLine(eventArgs.Text);
};
BoardCapability cap = session.GetBoardCapability();
Console.WriteLine();
Console.WriteLine("Board Capability:");
foreach (var pin in cap.Pins)
{
Console.WriteLine("Pin {0}: Input: {1}, Output: {2}, Analog: {3}, Analog-Res: {4}, PWM: {5}, PWM-Res: {6}, Servo: {7}, Servo-Res: {8}, Serial: {9}, Encoder: {10}, Input-pullup: {11}",
pin.PinNumber,
pin.DigitalInput,
pin.DigitalOutput,
pin.Analog,
pin.AnalogResolution,
pin.Pwm,
pin.PwmResolution,
pin.Servo,
pin.ServoResolution,
pin.Serial,
pin.Encoder,
pin.InputPullup);
}
}
}
public void GetBoardCapabilityAsync()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
// DIGITAL INPUT/DIGITAL OUTPUT/ANALOG/PWM/SERVO, 0/1/2/3/4
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6B, 0xF7 }, 0xF0, 0x6C);
connection.EnqueueResponse(2, 8, 0x7F);
connection.EnqueueResponse(0, 1, 1, 1, 0x7F);
connection.EnqueueResponse(1, 1, 3, 7, 4, 7, 0x7F);
connection.EnqueueResponse(0xF7);
BoardCapability capability = session.GetBoardCapabilityAsync().Result;
Assert.AreEqual(3, capability.PinCapabilities.Length);
Assert.AreEqual(0, capability.PinCapabilities[0].PinNumber);
Assert.AreEqual(false, capability.PinCapabilities[0].DigitalInput);
Assert.AreEqual(false, capability.PinCapabilities[0].DigitalOutput);
Assert.AreEqual(true, capability.PinCapabilities[0].Analog);
Assert.AreEqual(8, capability.PinCapabilities[0].AnalogResolution);
Assert.AreEqual(false, capability.PinCapabilities[0].Pwm);
Assert.AreEqual(0, capability.PinCapabilities[0].PwmResolution);
Assert.AreEqual(false, capability.PinCapabilities[0].Servo);
Assert.AreEqual(0, capability.PinCapabilities[0].ServoResolution);
Assert.AreEqual(1, capability.PinCapabilities[1].PinNumber);
Assert.AreEqual(true, capability.PinCapabilities[1].DigitalInput);
Assert.AreEqual(true, capability.PinCapabilities[1].DigitalOutput);
Assert.AreEqual(false, capability.PinCapabilities[1].Analog);
Assert.AreEqual(0, capability.PinCapabilities[1].AnalogResolution);
Assert.AreEqual(false, capability.PinCapabilities[1].Pwm);
Assert.AreEqual(0, capability.PinCapabilities[1].PwmResolution);
Assert.AreEqual(false, capability.PinCapabilities[1].Servo);
Assert.AreEqual(0, capability.PinCapabilities[1].ServoResolution);
Assert.AreEqual(2, capability.PinCapabilities[2].PinNumber);
Assert.AreEqual(false, capability.PinCapabilities[2].DigitalInput);
Assert.AreEqual(true, capability.PinCapabilities[2].DigitalOutput);
Assert.AreEqual(false, capability.PinCapabilities[2].Analog);
Assert.AreEqual(0, capability.PinCapabilities[2].AnalogResolution);
Assert.AreEqual(true, capability.PinCapabilities[2].Pwm);
Assert.AreEqual(7, capability.PinCapabilities[2].PwmResolution);
Assert.AreEqual(true, capability.PinCapabilities[2].Servo);
Assert.AreEqual(7, capability.PinCapabilities[2].ServoResolution);
}
public void RequestBoardCapability()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
// DIGITAL INPUT/DIGITAL OUTPUT/ANALOG/PWM/SERVO, 0/1/2/3/4
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6B, 0xF7 }, 0xF0, 0x6C);
connection.EnqueueResponse(2, 8, 0x7F);
connection.EnqueueResponse(0, 127, 1, 127, 0x7F);
connection.EnqueueResponse(0xF7);
session.RequestBoardCapability();
IFirmataMessage message = _messagesReceived.Dequeue();
//Assert.AreEqual(MessageType.CapabilityResponse, message.Type);
Assert.IsInstanceOfType(message, typeof(FirmataMessage <BoardCapability>));
BoardCapability capability = (BoardCapability)message.Value;
Assert.AreEqual(2, capability.Pins.Length);
Assert.AreEqual(0, capability.Pins[0].PinNumber);
Assert.AreEqual(false, capability.Pins[0].DigitalInput);
Assert.AreEqual(false, capability.Pins[0].DigitalOutput);
Assert.AreEqual(true, capability.Pins[0].Analog);
Assert.AreEqual(8, capability.Pins[0].AnalogResolution);
Assert.AreEqual(false, capability.Pins[0].Pwm);
Assert.AreEqual(0, capability.Pins[0].PwmResolution);
Assert.AreEqual(false, capability.Pins[0].Servo);
Assert.AreEqual(0, capability.Pins[0].ServoResolution);
Assert.AreEqual(1, capability.Pins[1].PinNumber);
Assert.AreEqual(true, capability.Pins[1].DigitalInput);
Assert.AreEqual(true, capability.Pins[1].DigitalOutput);
Assert.AreEqual(false, capability.Pins[1].Analog);
Assert.AreEqual(0, capability.Pins[1].AnalogResolution);
Assert.AreEqual(false, capability.Pins[1].Pwm);
Assert.AreEqual(0, capability.Pins[1].PwmResolution);
Assert.AreEqual(false, capability.Pins[1].Servo);
Assert.AreEqual(0, capability.Pins[1].ServoResolution);
}
} = null; //To be supplied externally
public ArduinoDeviceManager(ArduinoSession firmata, Action <ADMMessage, ArduinoDeviceManager> listener, String port, String nodeID = null)
{
State = ADMState.CONNECTING;
_devices = new Dictionary <String, ArduinoDevice>();
_device2boardID = new Dictionary <String, byte>();
_boardID2device = new Dictionary <byte, ArduinoDevice>();
_pin2device = new Dictionary <int, List <ArduinoDevice> >();
_portStates = new Dictionary <int, DigitalPortState>();
_session = firmata;
_listener = listener;
_session.MessageReceived += HandleFirmataMessageReceived;
_session.ProcessMessageException += HandleFirmataProcessMessageException;
Port = port;
NodeID = nodeID;
_session.ID = PortAndNodeID;
_firmware = _session.GetFirmware();
#if DEBUG
Debug.Print(String.Format("{0}: Firmware: {1} version {2}.{3}", PortAndNodeID, _firmware.Name, _firmware.MajorVersion, _firmware.MinorVersion));
#endif
_protocolVersion = _session.GetProtocolVersion();
#if DEBUG
Debug.Print(String.Format("{0}: Firmata protocol version {1}.{2}", PortAndNodeID, _protocolVersion.Major, _protocolVersion.Minor));
#endif
_boardCapability = _session.GetBoardCapability();
State = ADMState.CONNECTED;
//if here and no exceptions then the connection should be good
//so initialise the board
Initialise();
//and request board status
RequestStatus();
}
private void compatibilityTest()
{
if (this._session != null)
{
this._firmware = this._session.GetFirmware();
Console.WriteLine(
$"Firmware: {this._firmware.Name}, version : {this._firmware.MajorVersion}.{this._firmware.MinorVersion}");
this._protocal = this._session.GetProtocolVersion();
Console.WriteLine($"Firmata protocol version : {this._protocal.Major}.{this._protocal.Minor}");
this._compatibility = this._session.GetBoardCapability();
Console.WriteLine("Board Capability List,");
foreach (var pin in this._compatibility.Pins)
{
Console.WriteLine(
"Pin {0}\t: Input: {1}, Output: {2}, Analog: {3}, Analog-Res: {4}, PWM: {5}, PWM-Res: {6}, " +
"Servo: {7}, Servo-Res: {8}, Serial: {9}, Encoder: {10}, Input-pullup: {11}",
pin.PinNumber, pin.DigitalInput, pin.DigitalOutput, pin.Analog, pin.AnalogResolution, pin.Pwm,
pin.PwmResolution, pin.Servo, pin.ServoResolution, pin.Serial, pin.Encoder, pin.InputPullup);
}
Console.WriteLine("Press any key to proceed ...");
Console.ReadKey(true);
}
}
static void SimpelTest(ISerialConnection connection)
{
var session = new ArduinoSession(connection, timeOut: 2500);
IFirmataProtocol firmata = session;
firmata.AnalogStateReceived += Session_OnAnalogStateReceived;
firmata.DigitalStateReceived += Session_OnDigitalStateReceived;
Firmware firm = firmata.GetFirmware();
Console.WriteLine();
Console.WriteLine("Firmware: {0} {1}.{2}", firm.Name, firm.MajorVersion, firm.MinorVersion);
Console.WriteLine();
ProtocolVersion version = firmata.GetProtocolVersion();
Console.WriteLine();
Console.WriteLine("Protocol version: {0}.{1}", version.Major, version.Minor);
Console.WriteLine();
BoardCapability cap = firmata.GetBoardCapability();
Console.WriteLine();
Console.WriteLine("Board Capability:");
foreach (var pin in cap.Pins)
{
Console.WriteLine("Pin {0}: Input: {1}, Output: {2}, Analog: {3}, Analog-Res: {4}, PWM: {5}, PWM-Res: {6}, Servo: {7}, Servo-Res: {8}, Serial: {9}, Encoder: {10}, Input-pullup: {11}",
pin.PinNumber,
pin.DigitalInput,
pin.DigitalOutput,
pin.Analog,
pin.AnalogResolution,
pin.Pwm,
pin.PwmResolution,
pin.Servo,
pin.ServoResolution,
pin.Serial,
pin.Encoder,
pin.InputPullup);
}
Console.WriteLine();
var analogMapping = firmata.GetBoardAnalogMapping();
Console.WriteLine("Analog channel mappings:");
foreach (var mapping in analogMapping.PinMappings)
{
Console.WriteLine("Channel {0} is mapped to pin {1}.", mapping.Channel, mapping.PinNumber);
}
firmata.ResetBoard();
Console.WriteLine();
Console.WriteLine("Digital port states:");
foreach (var pincap in cap.Pins.Where(c => (c.DigitalInput || c.DigitalOutput) && !c.Analog))
{
var pinState = firmata.GetPinState(pincap.PinNumber);
Console.WriteLine("Pin {0}: Mode = {1}, Value = {2}", pincap.PinNumber, pinState.Mode, pinState.Value);
}
Console.WriteLine();
firmata.SetDigitalPort(0, 0x04);
firmata.SetDigitalPort(1, 0xff);
firmata.SetDigitalPinMode(10, PinMode.DigitalOutput);
firmata.SetDigitalPinMode(11, PinMode.ServoControl);
firmata.SetDigitalPin(11, 90);
Thread.Sleep(500);
int hi = 0;
for (int a = 0; a <= 179; a += 1)
{
firmata.SetDigitalPin(11, a);
Thread.Sleep(100);
firmata.SetDigitalPort(1, hi);
hi ^= 4;
Console.Write("{0};", a);
}
Console.WriteLine();
Console.WriteLine();
firmata.SetDigitalPinMode(6, PinMode.DigitalInput);
//firmata.SetDigitalPortState(2, 255);
//firmata.SetDigitalPortState(3, 255);
firmata.SetSamplingInterval(500);
firmata.SetAnalogReportMode(0, true);
Console.WriteLine("Setting digital report modes:");
firmata.SetDigitalReportMode(0, true);
firmata.SetDigitalReportMode(1, true);
firmata.SetDigitalReportMode(2, true);
Console.WriteLine();
foreach (var pinCap in cap.Pins.Where(c => (c.DigitalInput || c.DigitalOutput) && !c.Analog))
{
PinState state = firmata.GetPinState(pinCap.PinNumber);
Console.WriteLine("Digital {1} pin {0}: {2}", state.PinNumber, state.Mode, state.Value);
}
Console.WriteLine();
Console.ReadLine();
firmata.SetAnalogReportMode(0, false);
firmata.SetDigitalReportMode(0, false);
firmata.SetDigitalReportMode(1, false);
firmata.SetDigitalReportMode(2, false);
Console.WriteLine("Ready.");
}
static void SimpelTest()
{
var connection = new EnhancedSerialConnection("COM6", SerialBaudRate.Bps_57600);
var session = new ArduinoSession(connection, timeOut: 250);
IFirmataProtocol firmata = session;
firmata.AnalogStateReceived += session_OnAnalogStateReceived;
firmata.DigitalStateReceived += session_OnDigitalStateReceived;
Firmware firm = firmata.GetFirmware();
Console.WriteLine();
Console.WriteLine("Firmware: {0} {1}.{2}", firm.Name, firm.MajorVersion, firm.MinorVersion);
Console.WriteLine();
ProtocolVersion version = firmata.GetProtocolVersion();
Console.WriteLine();
Console.WriteLine("Protocol version: {0}.{1}", version.Major, version.Minor);
Console.WriteLine();
BoardCapability caps = firmata.GetBoardCapability();
Console.WriteLine();
Console.WriteLine("Board Capabilities:");
foreach (var pincap in caps.PinCapabilities)
{
Console.WriteLine("Pin {0}: Input: {1}, Output: {2}, Analog: {3}, Analog-Res: {4}, PWM: {5}, PWM-Res: {6}, Servo: {7}, Servo-Res: {8}",
pincap.PinNumber, pincap.DigitalInput, pincap.DigitalOutput, pincap.Analog, pincap.AnalogResolution, pincap.Pwm, pincap.PwmResolution,
pincap.Servo, pincap.ServoResolution);
}
Console.WriteLine();
var analogMapping = firmata.GetBoardAnalogMapping();
Console.WriteLine("Analog channel mappings:");
foreach (var mapping in analogMapping.PinMappings)
{
Console.WriteLine("Channel {0} is mapped to pin {1}.", mapping.Channel, mapping.PinNumber);
}
firmata.ResetBoard();
Console.WriteLine();
Console.WriteLine("Digital port states:");
for (int x = 0; x < 20; x++)
{
var pinState = firmata.GetPinState(x);
Console.WriteLine("Pin {0}: Mode = {1}, Value = {2}", x, pinState.Mode, pinState.Value);
}
Console.WriteLine();
firmata.SetDigitalPort(0, 0x04);
firmata.SetDigitalPort(1, 0xff);
firmata.SetDigitalPinMode(10, PinMode.DigitalOutput);
firmata.SetDigitalPinMode(11, PinMode.ServoControl);
firmata.SetDigitalPin(11, 90);
Thread.Sleep(500);
int hi = 0;
for (int a = 0; a <= 179; a += 1)
{
firmata.SetDigitalPin(11, a);
Thread.Sleep(100);
firmata.SetDigitalPort(1, hi);
hi ^= 4;
Console.Write("{0};", a);
}
Console.WriteLine();
Console.WriteLine();
firmata.SetDigitalPinMode(6, PinMode.DigitalInput);
//firmata.SetDigitalPortState(2, 255);
//firmata.SetDigitalPortState(3, 255);
firmata.SetSamplingInterval(500);
firmata.SetAnalogReportMode(0, false);
firmata.SetDigitalReportMode(0, true);
firmata.SetDigitalReportMode(1, true);
firmata.SetDigitalReportMode(2, true);
for (int x = 0; x < 20; x++)
{
PinState state = firmata.GetPinState(x);
Console.WriteLine("Digital {1} pin {0}: {2}", x, state.Mode, state.Value);
}
Console.WriteLine();
Console.ReadLine();
firmata.SetAnalogReportMode(0, false);
firmata.SetDigitalReportMode(0, false);
firmata.SetDigitalReportMode(1, false);
firmata.SetDigitalReportMode(2, false);
Console.WriteLine("Ready.");
}
