commented out unsetFirmwareVersion in Firmata.cpp and commented out test in firmata_test.ino. Renamed pin13strobe to strobeBlinkPin. Blink version only when using default hardware serial.

Author: soundanalogous

Firmata.cpp

@@ -49,7 +49,8 @@ void FirmataClass::endSysex(void)
 FirmataClass::FirmataClass()
 {
   firmwareVersionCount = 0;
-  init();
+  firmwareVersionVector = 0;
+  systemReset();
 }
 
 //******************************************************************************
@@ -67,13 +68,13 @@ void FirmataClass::begin(long speed)
 {
   Serial.begin(speed);
   begin(Serial);
+  blinkVersion();  
 }
 
 /* begin method for overriding default stream */
 void FirmataClass::begin(Stream &s)
 {
   FirmataSerial = &s;
-  blinkVersion();
   printVersion();
   printFirmwareVersion();
 }
@@ -89,9 +90,9 @@ void FirmataClass::blinkVersion(void)
 {
   // flash the pin with the protocol version
   pinMode(VERSION_BLINK_PIN,OUTPUT);
-  pin13strobe(FIRMATA_MAJOR_VERSION, 40, 210);
+  strobeBlinkPin(FIRMATA_MAJOR_VERSION, 40, 210);
   delay(250);
-  pin13strobe(FIRMATA_MINOR_VERSION, 40, 210);
+  strobeBlinkPin(FIRMATA_MINOR_VERSION, 40, 210);
   delay(125);
 }
 
@@ -126,6 +127,9 @@ void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte
     firmwareVersionCount = strlen(name) + 2;
     filename = name;
   }
+
+  free(firmwareVersionVector);
+
   firmwareVersionVector = (byte *) malloc(firmwareVersionCount);
   firmwareVersionVector[firmwareVersionCount] = 0;
   firmwareVersionVector[0] = major;
@@ -136,6 +140,14 @@ void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte
   //             (char)major, (char)minor, firmwareVersionVector);
 }
 
+// this method is only used for unit testing
+// void FirmataClass::unsetFirmwareVersion()
+// {
+//   firmwareVersionCount = 0;
+//   free(firmwareVersionVector); 
+//   firmwareVersionVector = 0;
+// }
+ 
 //------------------------------------------------------------------------------
 // Serial Receive Handling
 
@@ -179,7 +191,7 @@ void FirmataClass::processInput(void)
   int command;
 
   // TODO make sure it handles -1 properly
-
+  
   if (parsingSysex) {
     if(inputData == END_SYSEX) {
       //stop sysex byte      
@@ -400,8 +412,10 @@ void FirmataClass::detach(byte command)
 //* Private Methods
 //******************************************************************************
 
-// initialize to a known state
-void FirmataClass::init(void)
+
+
+// resets the system state upon a SYSTEM_RESET message from the host software
+void FirmataClass::systemReset(void)
 {
   byte i;
 
@@ -414,24 +428,19 @@ void FirmataClass::init(void)
   }
 
   parsingSysex = false;
-  sysexBytesRead = 0;  
-}
-
-// resets the system state upon a SYSTEM_RESET message from the host software
-void FirmataClass::systemReset(void)
-{
-  init();
+  sysexBytesRead = 0;
 
   if(currentSystemResetCallback)
     (*currentSystemResetCallback)();
 
-  FirmataSerial->flush();
+  //flush(); //TODO uncomment when Firmata is a subclass of HardwareSerial
 }
 
 
+
 // =============================================================================
 // used for flashing the pin for the version number
-void FirmataClass::pin13strobe(int count, int onInterval, int offInterval) 
+void FirmataClass::strobeBlinkPin(int count, int onInterval, int offInterval) 
 {
   byte i;
   pinMode(VERSION_BLINK_PIN, OUTPUT);

Firmata.h

@@ -98,6 +98,7 @@ class FirmataClass
     void printFirmwareVersion(void);
   //void setFirmwareVersion(byte major, byte minor);  // see macro below
     void setFirmwareNameAndVersion(const char *name, byte major, byte minor);
+    //void unsetFirmwareVersion(); // only used for unit test
 /* serial receive handling */
     int available(void);
     void processInput(void);
@@ -140,10 +141,9 @@ class FirmataClass
     sysexCallbackFunction currentSysexCallback;
 
 /* private methods ------------------------------ */
-    void init(void);
     void processSysexMessage(void);
     void systemReset(void);
-    void pin13strobe(int count, int onInterval, int offInterval);
+    void strobeBlinkPin(int count, int onInterval, int offInterval);
     void sendValueAsTwo7bitBytes(int value);
     void startSysex(void);
     void endSysex(void);

test/readme.md

@@ -0,0 +1,3 @@
+#Testing Firmata
+
+TO DO: overview of firmata testing process.

test/unit/firmata_test/firmata_test.ino

@@ -0,0 +1,145 @@
+#include <ArduinoUnit.h>
+#include <Firmata.h>
+
+TestSuite suite;
+
+void setup()
+{
+  Serial.begin(9600);
+}
+
+void loop()
+{
+  suite.run();
+}
+
+void assertStringsEqual(Test& __test__, const char* expected, const String& actual)
+{
+  size_t expectedLength = strlen(expected);
+  assertEquals(expectedLength, actual.length());
+  for (size_t i = 0; i < expectedLength; i++)
+  {
+    assertEquals(expected[i], actual[i]);
+  }
+}
+
+// test(setFirmwareVersionDoesNotLeakMemory)
+// {
+//   Firmata.setFirmwareVersion(1, 0);
+//   int initialMemory = freeMemory();
+
+//   Firmata.setFirmwareVersion(1, 0);
+
+//   assertEquals(0, initialMemory - freeMemory());
+  
+//   Firmata.unsetFirmwareVersion();
+// }
+
+test(beginPrintsVersion)
+{
+  FakeStream stream;
+
+  Firmata.begin(stream);
+
+  char expected[] = 
+  {
+    REPORT_VERSION,
+    FIRMATA_MAJOR_VERSION,
+    FIRMATA_MINOR_VERSION,
+    0
+  };
+  assertStringsEqual(__test__, expected, stream.bytesWritten());
+}
+
+void processMessage(const byte* message, size_t length)
+{
+  FakeStream stream;
+  Firmata.begin(stream);
+
+  for (size_t i = 0; i < length; i++)
+  {
+    stream.nextByte(message[i]);
+    Firmata.processInput();
+  }
+}
+
+byte _digitalPort;
+int _digitalPortValue;
+void writeToDigitalPort(byte port, int value)
+{
+  _digitalPort = port;
+  _digitalPortValue = value;
+}
+
+void setupDigitalPort() {
+  _digitalPort = 0;
+  _digitalPortValue = 0;
+}
+
+test(processWriteDigital_0)
+{
+  setupDigitalPort();
+  Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
+  
+  byte message[] = { DIGITAL_MESSAGE, 0, 0 };
+  processMessage(message, 3);
+
+  assertEquals(0, _digitalPortValue);
+}
+
+test(processWriteDigital_127)
+{
+  setupDigitalPort();
+  Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
+  
+  byte message[] = { DIGITAL_MESSAGE, 127, 0 };
+  processMessage(message, 3);
+
+  assertEquals(127, _digitalPortValue);
+}
+
+test(processWriteDigital_128)
+{
+  setupDigitalPort();
+  Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
+  
+  byte message[] = { DIGITAL_MESSAGE, 0, 1 };
+  processMessage(message, 3);
+
+  assertEquals(128, _digitalPortValue);
+}
+
+test(processWriteLargestDigitalValue)
+{
+  setupDigitalPort();
+  Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
+  
+  byte message[] = { DIGITAL_MESSAGE, 0x7F, 0x7F };
+  processMessage(message, 3);
+
+  // Maximum of 14 bits can be set (B0011111111111111)
+  assertEquals(0x3FFF, _digitalPortValue);
+}
+
+test(defaultDigitalWritePortIsZero)
+{
+  setupDigitalPort();
+  Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
+  
+  byte message[] = { DIGITAL_MESSAGE, 0, 0 };
+  processMessage(message, 3);
+
+  assertEquals(0, _digitalPort);
+}
+
+test(specifiedDigitalWritePort)
+{
+  setupDigitalPort();
+  Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
+  
+  byte message[] = { DIGITAL_MESSAGE + 1, 0, 0 };
+  processMessage(message, 3);
+
+  assertEquals(1, _digitalPort);
+}
+

test/unit/readme.md

@@ -0,0 +1,4 @@
+#Firmata Unit Tests
+
+TO DO: instructions on running unit tests and creating new tests for new
+features.