arduino::FirmataTransport Class Reference

Single reader thread + byte-stream parser shared by every Firmata-based hardware backend (GPIO, I2C, SPI, ...) that talks to the same device. More...

#include <FirmataTransport.h>

Public Types
using	AnalogHandler = std::function< void(const FirmataAnalogMessage &)>
using	DigitalHandler = std::function< void(const FirmataDigitalMessage &)>
using	SysexHandler = std::function< void(const FirmataSysexMessage &)>

Public Member Functions
void	addSysexHandler (uint8_t command, SysexHandler handler)
bool	begin (Stream &stream)
	Start the background reader thread on the given stream.
void	end ()
	Stop the reader thread and detach from the stream.
void	onAnalogMessage (AnalogHandler handler)
	Register the (single) handler for analog pin reports.
void	onDigitalMessage (DigitalHandler handler)
	Register the (single) handler for digital port reports.
	operator bool () const
void	removeSysexHandler (uint8_t command)
	Remove a previously registered SysEx handler.
void	writeByte (uint8_t b)
void	writeBytes (const uint8_t *data, size_t len)
	Thread-safe write of a raw byte sequence (e.g. a whole SysEx message).

Detailed Description

Single reader thread + byte-stream parser shared by every Firmata-based hardware backend (GPIO, I2C, SPI, ...) that talks to the same device.

A real Firmata device is reached over exactly one Stream (typically a serial port). Digital/analog GPIO reports, I2C replies and SPI replies are all multiplexed over that single connection, so only one thread may ever read from the Stream. Each hardware backend registers the message types it cares about via onDigitalMessage()/onAnalogMessage()/ addSysexHandler() and shares one FirmataTransport instance; writes are serialized with an internal mutex so requests from different backends don't interleave on the wire.

Member Function Documentation

addSysexHandler()

void arduino::FirmataTransport::addSysexHandler	(	uint8_t	command,
		SysexHandler	handler
	)

Register a handler for SysEx messages carrying the given command byte (e.g. I2C_REPLY or SPI_DATA). Replaces any previously registered handler for the same command.

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The documentation for this class was generated from the following files:

• ArduinoCore-Linux/cores/firmata/FirmataTransport.h
• ArduinoCore-Linux/cores/firmata/FirmataTransport.cpp