void loop() {
if (client.connected()) {
isConnected = true;
report();
a = client.available();
if (a > 0) {
#ifdef DEBUG
Serial.print("Bytes Available: ");
Serial.println(a, DEC);
#endif
action = client.read();
#ifdef DEBUG
Serial.print("Action received: ");
Serial.println(action, DEC);
#endif
// is the action valid?
if (action <= msg_count) {
// is there enough data left in the buffer to process this action?
// if not, stop and fix
if (msgMinLength[action] <= a) {
int pin, mode, val, type, speed, address, stop, len, i;
switch (action) {
case msg_pinMode: // pinMode
pin = client.read();
mode = client.read();
#ifdef DEBUG
Serial.print("PIN received: ");
Serial.println(pin);
Serial.print("MODE received: ");
Serial.println(mode, HEX);
#endif
if (mode == 0x00) {
pinMode(pin, INPUT);
} else if (mode == 0x02) {
pinMode(pin, INPUT_PULLUP);
} else if (mode == 0x03) {
pinMode(pin, INPUT_PULLDOWN);
} else if (mode == 0x01) {
pinMode(pin, OUTPUT);
} else if (mode == 0x04) {
pinMode(pin, OUTPUT);
if (servos[ToServoIndex(pin)].attached()) {
servos[ToServoIndex(pin)].detach();
}
servos[ToServoIndex(pin)].attach(pin);
}
break;
case msg_digitalWrite: // digitalWrite
pin = client.read();
val = client.read();
#ifdef DEBUG
Serial.print("PIN received: ");
Serial.println(pin, DEC);
Serial.print("VALUE received: ");
Serial.println(val, HEX);
#endif
digitalWrite(pin, val);
break;
case msg_analogWrite: // analogWrite
pin = client.read();
val = client.read();
#ifdef DEBUG
Serial.print("PIN received: ");
Serial.println(pin, DEC);
Serial.print("VALUE received: ");
Serial.println(val, HEX);
#endif
analogWrite(pin, val);
break;
case msg_digitalRead: // digitalRead
pin = client.read();
val = digitalRead(pin);
#ifdef DEBUG
Serial.print("PIN received: ");
Serial.println(pin, DEC);
Serial.print("VALUE sent: ");
Serial.println(val, HEX);
#endif
server.write(0x03); // could be (action)
server.write(pin);
server.write(val);
break;
case msg_analogRead: // analogRead
pin = client.read();
val = analogRead(pin);
#ifdef DEBUG
Serial.print("PIN received: ");
Serial.println(pin, DEC);
Serial.print("VALUE sent: ");
Serial.println(val, HEX);
#endif
server.write(0x04); // could be (action)
server.write(pin);
server.write(val);
break;
case msg_setAlwaysSendBit: // set always send bit
pin = client.read();
val = client.read();
reading[pin] = val;
break;
// Serial API
case msg_serialBegin: // serial.begin
type = client.read();
speed = client.read();
if (type == 0) {
Serial.begin(SerialSpeed[speed]);
} else {
Serial1.begin(SerialSpeed[speed]);
}
break;
case msg_serialEnd: // serial.end
type = client.read();
if (type == 0) {
Serial.end();
} else {
Serial1.end();
}
break;
case msg_serialPeek: // serial.peek
type = client.read();
if (type == 0) {
val = Serial.peek();
} else {
val = Serial1.peek();
}
server.write(0x07);
server.write(type);
server.write(val);
break;
case msg_serialAvailable: // serial.available()
type = client.read();
if (type == 0) {
val = Serial.available();
} else {
val = Serial1.available();
}
server.write(0x07);
server.write(type);
server.write(val);
break;
case msg_serialWrite: // serial.write
type = client.read();
len = client.read();
for (i = 0; i < len; i++) {
if (type == 0) {
Serial.write(client.read());
} else {
Serial1.write(client.read());
}
}
break;
case msg_serialRead: // serial.read
type = client.read();
if (type == 0) {
val = Serial.read();
} else {
val = Serial1.read();
}
server.write(0x16);
server.write(type);
server.write(val);
break;
case msg_serialFlush: // serial.flush
type = client.read();
if (type == 0) {
Serial.flush();
} else {
Serial1.flush();
}
break;
// SPI API
case msg_spiBegin: // SPI.begin
SPI.begin();
break;
case msg_spiEnd: // SPI.end
SPI.end();
break;
case msg_spiSetBitOrder: // SPI.setBitOrder
type = client.read();
SPI.setBitOrder((type ? MSBFIRST : LSBFIRST));
break;
case msg_spiSetClockDivider: // SPI.setClockDivider
val = client.read();
if (val == 0) {
SPI.setClockDivider(SPI_CLOCK_DIV2);
} else if (val == 1) {
SPI.setClockDivider(SPI_CLOCK_DIV4);
} else if (val == 2) {
SPI.setClockDivider(SPI_CLOCK_DIV8);
} else if (val == 3) {
SPI.setClockDivider(SPI_CLOCK_DIV16);
} else if (val == 4) {
SPI.setClockDivider(SPI_CLOCK_DIV32);
} else if (val == 5) {
SPI.setClockDivider(SPI_CLOCK_DIV64);
} else if (val == 6) {
SPI.setClockDivider(SPI_CLOCK_DIV128);
} else if (val == 7) {
SPI.setClockDivider(SPI_CLOCK_DIV256);
}
break;
case msg_spiSetDataMode: // SPI.setDataMode
val = client.read();
if (val == 0) {
SPI.setDataMode(SPI_MODE0);
} else if (val == 1) {
SPI.setDataMode(SPI_MODE1);
} else if (val == 2) {
SPI.setDataMode(SPI_MODE2);
} else if (val == 3) {
SPI.setDataMode(SPI_MODE3);
}
break;
case msg_spiTransfer: // SPI.transfer
val = client.read();
val = SPI.transfer(val);
server.write(0x24);
server.write(val);
break;
// Wire API
case msg_wireBegin: // Wire.begin
address = client.read();
if (address == 0) {
Wire.begin();
} else {
Wire.begin(address);
}
break;
case msg_wireRequestFrom: // Wire.requestFrom
address = client.read();
val = client.read();
stop = client.read();
Wire.requestFrom(address, val, stop);
break;
case msg_wireBeginTransmission: // Wire.beginTransmission
address = client.read();
Wire.beginTransmission(address);
break;
case msg_wireEndTransmission: // Wire.endTransmission
stop = client.read();
val = Wire.endTransmission(stop);
server.write(0x33); // could be (action)
server.write(val);
break;
case msg_wireWrite: // Wire.write
len = client.read();
uint8_t wireData[len];
for (i = 0; i< len; i++) {
wireData[i] = client.read();
}
val = Wire.write(wireData, len);
server.write(0x34); // could be (action)
server.write(val);
break;
case msg_wireAvailable: // Wire.available
val = Wire.available();
server.write(0x35); // could be (action)
server.write(val);
break;
case msg_wireRead: // Wire.read
val = Wire.read();
server.write(0x36); // could be (action)
server.write(val);
break;
case msg_servoWrite:
pin = client.read();
val = client.read();
#ifdef DEBUG
Serial.print("PIN: ");
Serial.println(pin);
Serial.print("WRITING TO SERVO: ");
Serial.println(val);
#endif
servos[ToServoIndex(pin)].write(val);
break;
case msg_servoWriteMicroseconds:
pin = client.read();
val = client.read();
#ifdef DEBUG
Serial.print("PIN: ");
Serial.println(pin);
Serial.print("WRITING 'us' TO SERVO: ");
Serial.println(val);
#endif
servos[ToServoIndex(pin)].writeMicroseconds(val);
break;
case msg_servoRead:
pin = client.read();
val = servos[ToServoIndex(pin)].read();
server.write(0x43); // could be (action)
server.write(pin);
server.write(val);
break;
case msg_servoDetach:
pin = client.read();
servos[ToServoIndex(pin)].detach();
break;
default: // noop
break;
} // <-- This is the end of the switch
} // <-- This is the end of if (idx+msgMinLength[] < length)
} // <-- This is the end of the valid action check
} // <-- This is the end of the length check
} else {
// Upon disconnection, reset the state
if (isConnected) {
isConnected = false;
reset();
}
// If no client is yet connected, check for a new connection
client = server.available();
}
}
void processInput() {
int pin, mode, val, type, speed, address, stop, len, k, i;
int byteCount = bytesRead;
#if DEBUG
Serial.println("--------------PROCESSING");
#endif
// Only check if buffer[0] is possibly an action
// when there is no action in progress.
if (hasAction == false) {
if (buffer[0] < ACTION_RANGE) {
action = buffer[0];
bytesExpecting = bytesToExpectByAction[action] + 1;
hasAction = true;
#if DEBUG
Serial.print("Bytes Read: ");
Serial.println(bytesRead, DEC);
Serial.print("Bytes Required: ");
Serial.println(bytesExpecting, DEC);
Serial.print("Bytes Remaining: ");
Serial.println(bytesRead - bytesExpecting, DEC);
#endif
}
}
if ((bytesRead - bytesExpecting) < 0) {
hasAction = false;
bytesExpecting = 0;
#if DEBUG
Serial.println("Not Enough Bytes.");
#endif
return;
}
// When the first byte of buffer is an action and
// enough bytes are read, begin processing the action.
if (hasAction && bytesRead >= bytesExpecting) {
// Copy the expected bytes into the cache and shift
// the unused bytes to the beginning of the buffer
for (k = 0; k < byteCount; k++) {
// Cache the bytes that we're expecting for
// this action.
if (k < bytesExpecting) {
cached[k] = buffer[k];
// #if DEBUG
// Serial.print("Cached: ");
// Serial.println(cached[k], DEC);
// #endif
}
// Shift the unused buffer to the front
buffer[k] = buffer[k + bytesExpecting];
}
byteCount -= bytesExpecting;
#if DEBUG
Serial.print("ACTION: ");
Serial.println(action, DEC);
#endif
// Proceed with action processing
switch (action) {
case PIN_MODE: // pinMode
pin = cached[1];
mode = cached[2];
#if DEBUG
Serial.print("PIN: ");
Serial.println(pin);
Serial.print("MODE: ");
Serial.println(mode, HEX);
#endif
if (pinModeFor[pin] != mode) {
if (pinModeFor[pin] == 0x04) {
servos[ToServoIndex(pin)].detach();
}
pinModeFor[pin] = mode;
// The following modes were derived
// from uses in core-firmware.
if (mode == 0x00) {
// INPUT
pinMode(pin, INPUT_PULLDOWN);
}
if (mode == 0x01) {
// OUTPUT
pinMode(pin, OUTPUT);
}
if (mode == 0x02) {
// ANALOG INPUT
pinMode(pin, INPUT);
}
if (mode == 0x03) {
// ANALOG (PWM) OUTPUT
pinMode(pin, OUTPUT);
}
if (mode == 0x04) {
// SERVO
pinMode(pin, OUTPUT);
servos[ToServoIndex(pin)].attach(pin);
}
}
break;
case DIGITAL_WRITE: // digitalWrite
pin = cached[1];
val = cached[2];
#if DEBUG
Serial.print("PIN: ");
Serial.println(pin, DEC);
Serial.print("VALUE: ");
Serial.println(val, HEX);
#endif
digitalWrite(pin, val);
break;
case ANALOG_WRITE: // analogWrite
pin = cached[1];
val = cached[2];
#if DEBUG
Serial.print("PIN: ");
Serial.println(pin, DEC);
Serial.print("VALUE: ");
Serial.println(val, HEX);
#endif
analogWrite(pin, val);
break;
case DIGITAL_READ: // digitalRead
pin = cached[1];
val = digitalRead(pin);
#if DEBUG
Serial.print("PIN: ");
Serial.println(pin, DEC);
Serial.print("VALUE: ");
Serial.println(val, HEX);
#endif
send(0x03, pin, val);
break;
case ANALOG_READ: // analogRead
pin = cached[1];
val = analogRead(pin);
#if DEBUG
Serial.print("PIN: ");
Serial.println(pin, DEC);
Serial.print("VALUE: ");
Serial.println(val, HEX);
#endif
send(0x04, pin, val);
break;
case REPORTING: // Add pin to
pin = cached[1];
val = cached[2];
#if DEBUG
Serial.print("PIN: ");
Serial.println(pin, DEC);
Serial.print("TYPE: ");
Serial.println(val, DEC);
#endif
if (analogReporting[pin] == 0 || reporting[pin] == 0) {
reporters++;
}
if (val == 2) {
analogReporting[pin] = 1;
} else {
reporting[pin] = 1;
}
break;
case SET_SAMPLE_INTERVAL: // set the sampling interval in ms
sampleInterval = cached[1] + (cached[2] << 7);
#if DEBUG
Serial.print("SET_SAMPLE_INTERVAL (2 bytes): ");
Serial.println(sampleInterval, DEC);
#endif
// Lower than ~100ms will likely crash the spark,
// but
if (sampleInterval < 20) {
sampleInterval = 20;
}
break;
// // Serial API
// case SERIAL_BEGIN: // serial.begin
// type = cached[1];
// speed = cached[2];
// if (type == 0) {
// Serial.begin(SerialSpeed[speed]);
// } else {
// Serial1.begin(SerialSpeed[speed]);
// }
// break;
// case SERIAL_END: // serial.end
// type = cached[1];
// if (type == 0) {
// Serial.end();
// } else {
// Serial1.end();
// }
// break;
// case SERIAL_PEEK: // serial.peek
// type = cached[1];
// if (type == 0) {
// val = Serial.peek();
// } else {
// val = Serial1.peek();
// }
// send(0x07, type, val);
// break;
// case SERIAL_AVAILABLE: // serial.available()
// type = cached[1];
// if (type == 0) {
// val = Serial.available();
// } else {
// val = Serial1.available();
// }
// send(0x07, type, val);
// break;
// case SERIAL_WRITE: // serial.write
// type = cached[1];
// len = cached[2];
// for (i = 0; i < len; i++) {
// if (type == 0) {
// Serial.write(client.read());
// } else {
// Serial1.write(client.read());
// }
// }
// break;
// case SERIAL_READ: // serial.read
// type = cached[1];
// if (type == 0) {
// val = Serial.read();
// } else {
// val = Serial1.read();
// }
// send(0x16, type, val);
// break;
// case SERIAL_FLUSH: // serial.flush
// type = cached[1];
// if (type == 0) {
// Serial.flush();
// } else {
// Serial1.flush();
// }
// break;
// SPI API
// case SPI_BEGIN: // SPI.begin
// SPI.begin();
// break;
// case SPI_END: // SPI.end
// SPI.end();
// break;
// case SPI_SET_BIT_ORDER: // SPI.setBitOrder
// type = cached[1];
// SPI.setBitOrder((type ? MSBFIRST : LSBFIRST));
// break;
// case SPI_SET_CLOCK: // SPI.setClockDivider
// val = cached[1];
// if (val == 0) {
// SPI.setClockDivider(SPI_CLOCK_DIV2);
// } else if (val == 1) {
// SPI.setClockDivider(SPI_CLOCK_DIV4);
// } else if (val == 2) {
// SPI.setClockDivider(SPI_CLOCK_DIV8);
// } else if (val == 3) {
// SPI.setClockDivider(SPI_CLOCK_DIV16);
// } else if (val == 4) {
// SPI.setClockDivider(SPI_CLOCK_DIV32);
// } else if (val == 5) {
// SPI.setClockDivider(SPI_CLOCK_DIV64);
// } else if (val == 6) {
// SPI.setClockDivider(SPI_CLOCK_DIV128);
// } else if (val == 7) {
// SPI.setClockDivider(SPI_CLOCK_DIV256);
// }
// break;
// case SPI_SET_DATA_MODE: // SPI.setDataMode
// val = cached[1];
// if (val == 0) {
// SPI.setDataMode(SPI_MODE0);
// } else if (val == 1) {
// SPI.setDataMode(SPI_MODE1);
// } else if (val == 2) {
// SPI.setDataMode(SPI_MODE2);
// } else if (val == 3) {
// SPI.setDataMode(SPI_MODE3);
// }
// break;
// case SPI_TRANSFER: // SPI.transfer
// val = cached[1];
// val = SPI.transfer(val);
// server.write(0x24);
// server.write(val);
// break;
// // Wire API
// case WIRE_BEGIN: // Wire.begin
// address = cached[1];
// if (address == 0) {
// Wire.begin();
// } else {
// Wire.begin(address);
// }
// break;
// case WIRE_REQUEST_FROM: // Wire.requestFrom
// address = cached[1];
// val = cached[2];
// stop = cached[3];
// Wire.requestFrom(address, val, stop);
// break;
// case WIRE_BEGIN_TRANSMISSION: // Wire.beginTransmission
// address = cached[1];
// Wire.beginTransmission(address);
// break;
// case WIRE_END_TRANSMISSION: // Wire.endTransmission
// stop = cached[1];
// val = Wire.endTransmission(stop);
// server.write(0x33); // could be (action)
// server.write(val);
// break;
// case WIRE_WRITE: // Wire.write
// len = cached[1];
// uint8_t wireData[len];
// for (i = 0; i< len; i++) {
// wireData[i] = cached[1];
// }
// val = Wire.write(wireData, len);
// server.write(0x34); // could be (action)
// server.write(val);
// break;
// case WIRE_AVAILABLE: // Wire.available
// val = Wire.available();
// server.write(0x35); // could be (action)
// server.write(val);
// break;
// case WIRE_READ: // Wire.read
// val = Wire.read();
// server.write(0x36); // could be (action)
// server.write(val);
// break;
case SERVO_WRITE:
pin = cached[1];
val = cached[2];
#if DEBUG
Serial.print("PIN: ");
Serial.println(pin);
Serial.print("WRITING TO SERVO: ");
Serial.println(val);
#endif
servos[ToServoIndex(pin)].write(val);
break;
default: // noop
break;
} // <-- This is the end of the switch
memset(&cached[0], 0, 4);
#if DEBUG
Serial.print("Unprocessed Bytes: ");
Serial.println(byteCount, DEC);
#endif
// Reset hasAction flag (no longer needed for this opertion)
// action and byte read expectation flags
hasAction = false;
bytesExpecting = 0;
// If there were leftover bytes available,
// call processInput. This mechanism will
// continue until the buffer is exhausted.
bytesRead = byteCount;
if (byteCount > 2) {
#if DEBUG
Serial.println("Calling processInput ");
#endif
processInput();
} else {
#if DEBUG
Serial.println("RETURN TO LOOP!");
#endif
}
}
}