queryPinState

lib/src/firmata_internal.dart

@@ -36,8 +36,8 @@ const int ANALOG_MESSAGE = 0xE0;
 //const int EXTENDED_ANALOG = 0x6F;
 const int CAPABILITY_QUERY = 0x6B;
 const int CAPABILITY_RESPONSE = 0x6C;
-//const int PIN_STATE_QUERY = 0x6D;
-//const int PIN_STATE_RESPONSE = 0x6E;
+const int PIN_STATE_QUERY = 0x6D;
+const int PIN_STATE_RESPONSE = 0x6E;
 const int ANALOG_MAPPING_QUERY = 0x69;
 const int ANALOG_MAPPING_RESPONSE = 0x6A;
 const int SERVO_CONFIG = 0x70;

lib/src/internal/board.dart

@@ -80,6 +80,9 @@ abstract class Board {
   /// Asks the arduino to tell us its analog pin mapping
   Future queryAnalogMapping();
 
+  /// Asks the arduino to tell the state of a pin
+  Future queryPinState(int pin);
+
   /// Close the connection
   Future close();
 
@@ -126,6 +129,7 @@ class BoardImpl implements Board {
   Stream<PinState> _analogReadStream;
   Stream<Map<int, List<int>>> _capabilityStream;
   Stream<List<int>> _analogMappingStream;
+  Stream<PinState> _pinStateStream;
   final Map<int, int> _pins = {};
   final SysexParser _parser = new SysexParser();
   final List<int> _digitalOutputData = new List.filled(16, 0);
@@ -141,6 +145,7 @@ class BoardImpl implements Board {
     _firmataVersionStream = _parser.onFirmataVersion.asBroadcastStream();
     _analogMappingStream = _parser.onAnalogMapping.asBroadcastStream();
     _capabilityStream = _parser.onCapability.asBroadcastStream();
+    _pinStateStream = _parser.onPinState.asBroadcastStream();
   }
 
   Future open() async {
@@ -193,7 +198,10 @@ class BoardImpl implements Board {
     return _firmataVersionStream.first;
   }
 
-  //Future<bool> queryPinState(int pin) => sendSysex( PIN_STATE_QUERY, [pin]);
+  Future<PinState> queryPinState(int pin) {
+    sendSysex( PIN_STATE_QUERY, [pin]);
+    return _pinStateStream.first;
+  }
 
   Future queryCapability() {
     sendSysex(CAPABILITY_QUERY);

lib/src/internal/sysex_parser.dart

@@ -14,7 +14,7 @@
 
 part of firmata_internal;
 
-enum ParserAnalyse { NONE, REPORT_VERSION, DIGITAL_MESSAGE, ANALOG_MESSAGE, ANALOG_MAPPING, CAPACITY}
+enum ParserAnalyse { NONE, REPORT_VERSION, DIGITAL_MESSAGE, ANALOG_MESSAGE, ANALOG_MAPPING, CAPACITY, PIN_STATE}
 
 /// Parser which read message sent from arduino
 class SysexParser {
@@ -24,6 +24,7 @@ class SysexParser {
   final _analogMessageController = new StreamController<Map<int, int>>();
   final _analogMappingController = new StreamController<List<int>>();
   final _capabilityController = new StreamController<Map<int, List<int>>>();
+  final _pinStateController = new StreamController<PinState>();
   final List<int> _buffer = [];
   int _currentAnalyse = 0;
   bool hasReceiveVersion;
@@ -43,8 +44,9 @@ class SysexParser {
           || (hasReceiveVersion && (byte == DIGITAL_MESSAGE ||
                                    (byte >= ANALOG_MESSAGE && byte <= ANALOG_MESSAGE+0x0F)) ||
                                    (byte == QUERY_FIRMWARE) ||
+                                   (byte == CAPABILITY_RESPONSE) ||
                                    (byte == ANALOG_MAPPING_RESPONSE) ||
-                                   (byte == CAPABILITY_RESPONSE)
+                                   (byte == PIN_STATE_RESPONSE)
               )
       ){
         _currentAnalyse = byte;
@@ -71,6 +73,9 @@ class SysexParser {
       }  else if(_currentAnalyse == CAPABILITY_RESPONSE && byte == END_SYSEX){
         _decodeCapability(_buffer);
         _reset();
+      } else if(_currentAnalyse == PIN_STATE_RESPONSE && byte == END_SYSEX){
+        _decodePinState(_buffer);
+        _reset();
       }
     }
   }
@@ -132,6 +137,16 @@ class SysexParser {
     _capabilityController.add(capabilities);
   }
 
+  void _decodePinState(List<int> message){
+    int pin = message[1];
+    List<int> valueAsBytes = message.getRange(3, message.length-1).toList();
+    var value = 0;
+    for(int i=0; i<valueAsBytes.length; i++){
+      value += valueAsBytes[i] << (7*i);
+    }
+    _pinStateController.add(new PinState(pin, value));
+  }
+
   /// Stream that sent FirmataVersion
   Stream<FirmataVersion> get onFirmataVersion => _firmataVersion.stream;
 
@@ -147,4 +162,6 @@ class SysexParser {
   /// Stream capability
   Stream<Map<int, List<int>>> get onCapability => _capabilityController.stream;
 
+  /// Stream pinState
+  Stream<PinState> get onPinState => _pinStateController.stream;
 }

test/test_sysex_parser.dart

@@ -187,11 +187,11 @@ void main() {
       //
       parser.append(ANALOG_MAPPING_RESPONSE_BYTES);
     });
-    
+
     test('Capability query response', (){
       // given
-      parser = new SysexParser(true);      
-      
+      parser = new SysexParser(true);
+
       // then
       parser.onCapability.first.then(expectAsync((Map<int, List<int>> capabilities){
         expect(capabilities.length, 20);
@@ -216,15 +216,55 @@ void main() {
         expect(capabilities[18], [PinModes.INPUT, PinModes.OUTPUT, PinModes.ANALOG, PinModes.SERVO, PinModes.I2C]);
         expect(capabilities[19], [PinModes.INPUT, PinModes.OUTPUT, PinModes.ANALOG, PinModes.SERVO, PinModes.I2C]);
       }));
-      
+
       new Timer(new Duration(seconds: 1), () {
         fail('event not fired in time');
       });
-      
+
       // when
       parser.append(CAPABILITY_QUERY_RESPONSE_BYTES);
-      
+
     });
 
+    test('Pin State response pin 13 is off', (){
+      // given
+      parser = new SysexParser(true);
+
+      // then
+      parser.onPinState.first.then(expectAsync((PinState pinState){
+        expect(pinState.pin, 13);
+        //expect(pinState.mode, PinModes.INPUT);
+        expect(pinState.value, PinValue.LOW);
+      }));
+
+      new Timer(new Duration(seconds: 1), () {
+        fail('event not fired in time');
+      });
+
+      // when
+      parser.append([0xF0, 0x6E, 0x0D, 0x01, 0x00, 0xF7]);
+    });
+
+    test('Pin State response pin 13 is on', (){
+      // given
+      parser = new SysexParser(true);
+
+      // then
+      parser.onPinState.first.then(expectAsync((PinState pinState){
+        expect(pinState.pin, 13);
+        //expect(pinState.mode, PinModes.INPUT);
+        expect(pinState.value, PinValue.HIGH);
+      }));
+
+      new Timer(new Duration(seconds: 1), () {
+        fail('event not fired in time');
+      });
+
+      // when
+      parser.append([0xF0, 0x6E, 0x0D, 0x01, 0x01, 0xF7]);
+    });
+
+    // TODO analog pinState + unknow pinState
+
   });
 }