Update default template

src/AccelStepperFirmata.cpp

@@ -381,7 +381,7 @@ void AccelStepperFirmata::encode32BitSignedInteger(long value, byte pdata[])
 /*==============================================================================
  * LOOP()
  *============================================================================*/
-void AccelStepperFirmata::update()
+void AccelStepperFirmata::report(bool elapsed)
 {
   bool stepsLeft;
 

src/AccelStepperFirmata.h

@@ -54,7 +54,7 @@ class AccelStepperFirmata: public FirmataFeature
     long decode28BitUnsignedInteger(byte arg1, byte arg2, byte arg3, byte arg4);
     long decode32BitSignedInteger(byte arg1, byte arg2, byte arg3, byte arg4, byte arg5);
     void encode32BitSignedInteger(long value, byte pdata[]);
-    void update();
+    void report(bool elapsed) override;
     void reset();
   private:
     AccelStepper *stepper[MAX_ACCELSTEPPERS];

src/AnalogInputFirmata.cpp

@@ -94,8 +94,13 @@ void AnalogInputFirmata::reset()
   analogInputsToReport = 0;
 }
 
-void AnalogInputFirmata::report()
+void AnalogInputFirmata::report(bool elapsed)
 {
+  if (!elapsed)
+  {
+    return;
+  }
+
   byte pin, analogPin;
   /* ANALOGREAD - do all analogReads() at the configured sampling interval */
   for (pin = 0; pin < TOTAL_PINS; pin++) {

src/AnalogInputFirmata.h

@@ -32,8 +32,7 @@ class AnalogInputFirmata: public FirmataFeature
     boolean handlePinMode(byte pin, int mode);
     boolean handleSysex(byte command, byte argc, byte* argv);
     void reset();
-    void report();
-
+    void report(bool elapsed) override;
   private:
     /* analog inputs */
     int analogInputsToReport; // bitwise array to store pin reporting

src/DigitalInputFirmata.cpp

@@ -51,7 +51,7 @@ void DigitalInputFirmata::outputPort(byte portNumber, byte portValue, byte force
 /* -----------------------------------------------------------------------------
  * check all the active digital inputs for change of state, then add any events
  * to the Serial output queue using Serial.print() */
-void DigitalInputFirmata::report(void)
+void DigitalInputFirmata::report(bool elapsed)
 {
   /* Using non-looping code allows constants to be given to readPort().
    * The compiler will apply substantial optimizations if the inputs

src/DigitalInputFirmata.h

@@ -27,7 +27,7 @@ class DigitalInputFirmata: public FirmataFeature
   public:
     DigitalInputFirmata();
     void reportDigital(byte port, int value);
-    void report(void);
+    void report(bool elapsed);
     void handleCapability(byte pin);
     boolean handleSysex(byte command, byte argc, byte* argv);
     boolean handlePinMode(byte pin, int mode);

src/FirmataExt.cpp

@@ -115,3 +115,10 @@ void FirmataExt::reset()
     features[i]->reset();
   }
 }
+
+void FirmataExt::report(bool elapsed)
+{
+  for (byte i = 0; i < numFeatures; i++) {
+    features[i]->report(elapsed);
+  }
+}

src/FirmataExt.h

@@ -35,7 +35,7 @@ class FirmataExt: public FirmataFeature
     boolean handleSysex(byte command, byte argc, byte* argv);
     void addFeature(FirmataFeature &capability);
     void reset();
-
+    void report(bool elapsed) override;
   private:
     FirmataFeature *features[MAX_FEATURES];
     byte numFeatures;

src/FirmataFeature.h

@@ -26,6 +26,18 @@ class FirmataFeature
     virtual boolean handlePinMode(byte pin, int mode) = 0;
     virtual boolean handleSysex(byte command, byte argc, byte* argv) = 0;
     virtual void reset() = 0;
+
+    /// <summary>
+    /// Regularly called by main thread
+    /// </summary>
+    /// <param name="elapsed">True if the default reporting time has elapsed, false otherwise. Components wishing to report status in
+    /// a regular interval should not do anything if this is false.</param>
+    virtual void report(bool elapsed)
+    {
+      // Empty by default
+    }
+    virtual ~FirmataFeature()
+    = default;
 };
 
 #endif

src/FirmataReporting.cpp

@@ -50,10 +50,13 @@ boolean FirmataReporting::handleSysex(byte command, byte argc, byte* argv)
 boolean FirmataReporting::elapsed()
 {
   currentMillis = millis();
-  if (currentMillis - previousMillis > samplingInterval) {
+  if (currentMillis - previousMillis > samplingInterval) 
+  {
     previousMillis += samplingInterval;
     if (currentMillis - previousMillis > samplingInterval)
+    {
       previousMillis = currentMillis - samplingInterval;
+    }
     return true;
   }
   return false;
@@ -64,3 +67,4 @@ void FirmataReporting::reset()
   previousMillis = millis();
   samplingInterval = 19;
 }
+

src/FirmataReporting.h

@@ -31,9 +31,11 @@ class FirmataReporting: public FirmataFeature
     void handleCapability(byte pin); //empty method
     boolean handlePinMode(byte pin, int mode); //empty method
     boolean handleSysex(byte command, byte argc, byte* argv);
-    boolean elapsed();
     void reset();
+
+    boolean elapsed();
   private:
+
     /* timer variables */
     unsigned long currentMillis;        // store the current value from millis()
     unsigned long previousMillis;       // for comparison with currentMillis

src/FirmataScheduler.cpp

@@ -225,7 +225,7 @@ void FirmataScheduler::reportTask(byte id, firmata_task *task, boolean error)
   Firmata.write(END_SYSEX);
 };
 
-void FirmataScheduler::runTasks()
+void FirmataScheduler::report(bool elapsed)
 {
   if (tasks) {
     long now = millis();

src/FirmataScheduler.h

@@ -51,7 +51,7 @@ class FirmataScheduler: public FirmataFeature
     void handleCapability(byte pin); //empty method
     boolean handlePinMode(byte pin, int mode); //empty method
     boolean handleSysex(byte command, byte argc, byte* argv);
-    void runTasks();
+    void report(bool elapsed);
     void reset();
     void createTask(byte id, int len);
     void deleteTask(byte id);

src/I2CFirmata.h

@@ -55,7 +55,7 @@ class I2CFirmata: public FirmataFeature
     void handleCapability(byte pin);
     boolean handleSysex(byte command, byte argc, byte* argv);
     void reset();
-    void report();
+    void report(bool elapsed) override;
 
   private:
     /* for i2c read continuous more */
@@ -321,7 +321,7 @@ void I2CFirmata::reset()
   }
 }
 
-void I2CFirmata::report()
+void I2CFirmata::report(bool elapsed)
 {
   // report i2c data for all device with read continuous mode enabled
   if (queryIndex > -1) {

src/SerialFirmata.cpp

@@ -213,7 +213,7 @@ boolean SerialFirmata::handleSysex(byte command, byte argc, byte *argv)
   return false;
 }
 
-void SerialFirmata::update()
+void SerialFirmata::report(bool elapsed)
 {
   checkSerial();
 }

src/SerialFirmata.h

@@ -139,7 +139,7 @@ class SerialFirmata: public FirmataFeature
     boolean handlePinMode(byte pin, int mode);
     void handleCapability(byte pin);
     boolean handleSysex(byte command, byte argc, byte* argv);
-    void update();
+    void report(bool elapsed) override;
     void reset();
     void checkSerial();