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Stabilize initial connection and device query #2639

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66 changes: 46 additions & 20 deletions src/devices/Arduino/FirmataDevice.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@ internal sealed class FirmataDevice : IDisposable
private Stream? _firmataStream;
private Thread? _inputThread;
private List<SupportedPinConfiguration> _supportedPinConfigurations;
private bool _analogPinMappingsReceived = false;
private BlockingConcurrentBag<byte[]> _pendingResponses;
private List<PinValue> _lastPinValues;
private Dictionary<int, uint> _lastAnalogValues;
Expand Down Expand Up @@ -87,6 +88,7 @@ public FirmataDevice(List<SupportedMode> supportedModes)
InputThreadShouldExit = false;
_dataReceived = new AutoResetEvent(false);
_supportedPinConfigurations = new List<SupportedPinConfiguration>();
_analogPinMappingsReceived = false;
_synchronisationLock = new object();
_lastPinValues = new List<PinValue>();
_lastPinValueLock = new object();
Expand All @@ -107,6 +109,11 @@ internal List<SupportedPinConfiguration> PinConfigurations
{
get
{
if (_analogPinMappingsReceived == false)
{
return new List<SupportedPinConfiguration>();
}

return _supportedPinConfigurations;
}
}
Expand Down Expand Up @@ -415,7 +422,7 @@ private void ProcessInput()

case FirmataSysexCommand.CAPABILITY_RESPONSE:
{
_supportedPinConfigurations.Clear();
List<SupportedPinConfiguration> newPinConfigurations = new List<SupportedPinConfiguration>();
int idx = 1;
SupportedPinConfiguration currentPin = new SupportedPinConfiguration(0);
int pin = 0;
Expand All @@ -424,7 +431,7 @@ private void ProcessInput()
int mode = raw_data[idx++];
if (mode == 0x7F)
{
_supportedPinConfigurations.Add(currentPin);
newPinConfigurations.Add(currentPin);
currentPin = new SupportedPinConfiguration(++pin);
continue;
}
Expand Down Expand Up @@ -452,8 +459,10 @@ private void ProcessInput()
}
}

_analogPinMappingsReceived = false;
_supportedPinConfigurations = newPinConfigurations;
// Add 8 entries, so that later we do not need to check whether a port (bank) is complete
_lastPinValues = new PinValue[_supportedPinConfigurations.Count + 8].ToList();
_lastPinValues = new PinValue[newPinConfigurations.Count + 8].ToList();
_dataReceived.Set();
// Do not add the last instance, should also be terminated by 0xF7
}
Expand Down Expand Up @@ -481,6 +490,7 @@ private void ProcessInput()
pin++;
}

_analogPinMappingsReceived = true;
_dataReceived.Set();
}

Expand Down Expand Up @@ -863,28 +873,44 @@ internal void QueryCapabilities()
throw new ObjectDisposedException(nameof(FirmataDevice));
}

lock (_synchronisationLock)
while (true)
{
_dataReceived.Reset();
_firmataStream.WriteByte((byte)FirmataCommand.START_SYSEX);
_firmataStream.WriteByte((byte)FirmataSysexCommand.CAPABILITY_QUERY);
_firmataStream.WriteByte((byte)FirmataCommand.END_SYSEX);
bool result = _dataReceived.WaitOne(DefaultReplyTimeout);
if (result == false)
lock (_synchronisationLock)
{
throw new TimeoutException("Timeout waiting for device capabilities");
}
_dataReceived.Reset();
_firmataStream.WriteByte((byte)FirmataCommand.START_SYSEX);
_firmataStream.WriteByte((byte)FirmataSysexCommand.CAPABILITY_QUERY);
_firmataStream.WriteByte((byte)FirmataCommand.END_SYSEX);
bool result = _dataReceived.WaitOne(DefaultReplyTimeout);
if (result == false)
{
throw new TimeoutException("Timeout waiting for device capabilities");
}

_dataReceived.Reset();
_firmataStream.WriteByte((byte)FirmataCommand.START_SYSEX);
_firmataStream.WriteByte((byte)FirmataSysexCommand.ANALOG_MAPPING_QUERY);
_firmataStream.WriteByte((byte)FirmataCommand.END_SYSEX);
result = _dataReceived.WaitOne(DefaultReplyTimeout);
if (result == false)
{
throw new TimeoutException("Timeout waiting for PWM port mappings");
_dataReceived.Reset();
_firmataStream.WriteByte((byte)FirmataCommand.START_SYSEX);
_firmataStream.WriteByte((byte)FirmataSysexCommand.ANALOG_MAPPING_QUERY);
_firmataStream.WriteByte((byte)FirmataCommand.END_SYSEX);
result = _dataReceived.WaitOne(DefaultReplyTimeout);
if (result == false)
{
throw new TimeoutException("Timeout waiting for PWM port mappings");
}

if (PinConfigurations.Count == 0)
{
// The device may be resetting itself as part of opening the serial port (this is the typical
// behavior of the Arduino Uno, but not of most newer boards)
goto wait;
}

break;
}

wait:
Thread.Sleep(100);
}

}

private void StopThread()
Expand Down
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