CInterfaceFTDI_LIN.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include <mrpt/config.h>
#include <mrpt/core/exceptions.h>

#include <cstring>

#if defined(MRPT_OS_LINUX) || defined(MRPT_OS_APPLE)

#if MRPT_HAS_FTDI
#include <ftdi.h>
#if MRPT_FTDI_VERSION >= 0x120
#include <libusb-1.0/libusb.h>
#else
#include <usb.h>
#endif
#endif

#include <mrpt/comms/CInterfaceFTDI.h>

#include <iostream>

using namespace mrpt::comms;
using namespace std;

/*-------------------------------------------------------------
                    CInterfaceFTDI
-------------------------------------------------------------*/
CInterfaceFTDI::CInterfaceFTDI() : m_readBuffer(4096)
{
    MRPT_TRY_START;

#if MRPT_HAS_FTDI
    // Alloc mem:
    ftdi_context* newCtx = new ftdi_context[1];
    ASSERT_(newCtx);

    // Init:
    int ret = ftdi_init(newCtx);
    if (ret) THROW_EXCEPTION("There was a problem initializing ftdi_context.");

    // Save in member:
    m_ftdi_context = static_cast<void*>(newCtx);
#else
    THROW_EXCEPTION(
        "MRPT has been compiled without FTDI support. Please, reconfigure and "
        "recompile MRPT.");
#endif

#if MRPT_FTDI_VERSION >= 0x120
    libusb_init(nullptr);
#endif
    MRPT_TRY_END;
}

/*-------------------------------------------------------------
                    ~CInterfaceFTDI
-------------------------------------------------------------*/
CInterfaceFTDI::~CInterfaceFTDI()
{
#if MRPT_HAS_FTDI
    // Close USB:
    if (isOpen()) Close();
    ftdi_context* ctx = static_cast<ftdi_context*>(m_ftdi_context);

    // Close context:
    ftdi_deinit(ctx);

    // Free mem:
    delete[] ctx;
    ctx = nullptr;
#endif
#if MRPT_FTDI_VERSION >= 0x120
    libusb_exit(nullptr);
#endif
}

void CInterfaceFTDI::OpenBySerialNumber(const std::string& serialNumber)
{
#if MRPT_HAS_FTDI
    MRPT_TRY_START

    m_readBuffer.clear();

    // Close previous connection:
    Close();

    // ftdi_usb_open_desc ...

    // Create a list of all the devices:
    TFTDIDeviceList lstDevs;
    ListAllDevices(lstDevs);

    // Look for the one we want:
    void* myDev = nullptr;

    for (TFTDIDeviceList::iterator it = lstDevs.begin(); it != lstDevs.end();
         ++it)
    {
        if (it->ftdi_serial == serialNumber)
        {
            myDev = it->usb_device_struct;
            break;
        }
    }

    if (!myDev)
        THROW_EXCEPTION_FMT(
            "USB device with serial number '%s' not found.",
            serialNumber.c_str());

    // Open it:
    ftdi_context* ctx = static_cast<ftdi_context*>(m_ftdi_context);

    int ret = ftdi_usb_open_dev(
        ctx,
#if MRPT_FTDI_VERSION >= 0x120
        (struct libusb_device*)myDev
#else
        (struct usb_device*)myDev
#endif
        );

    if (ret) THROW_EXCEPTION(string(ftdi_get_error_string(ctx)));

    MRPT_TRY_END
#else
    MRPT_UNUSED_PARAM(serialNumber);
#endif
}

/*-------------------------------------------------------------
                    ListAllDevices
-------------------------------------------------------------*/
void CInterfaceFTDI::ListAllDevices(TFTDIDeviceList& outList)
{
    MRPT_TRY_START
#if MRPT_HAS_FTDI

    outList.clear();

#if MRPT_FTDI_VERSION >= 0x120
    // For new libftdi1-dev
    // Use libusb-1.0

    libusb_device** list;
    ssize_t nDevices = libusb_get_device_list(nullptr, &list);

    for (unsigned int i = 0; i < nDevices; i++)
    {
        libusb_device* device = list[i];
        struct libusb_device_descriptor desc;
        if (0 != libusb_get_device_descriptor(device, &desc)) continue;
        if (!desc.idVendor) continue;

        TFTDIDevice newEntry;
        newEntry.usb_device_struct = (void*)device;
        newEntry.usb_idProduct = desc.idProduct;
        newEntry.usb_idVendor = desc.idVendor;
        newEntry.usb_serialNumber = desc.iSerialNumber;

        // Open the device temporally so we can get more info:
        libusb_device_handle* handle;
        if (0 != libusb_open(device, &handle)) continue;

        char buf[1024];
        int ret;
        // manufacturer
        ret = libusb_get_string_descriptor_ascii(
            handle, desc.iManufacturer, (unsigned char*)buf, sizeof(buf) - 1);
        if (ret < 0) continue;
        buf[ret] = '\0';
        newEntry.ftdi_manufacturer = buf;

        // description
        ret = libusb_get_string_descriptor_ascii(
            handle, desc.iProduct, (unsigned char*)buf, sizeof(buf) - 1);
        if (ret < 0) continue;
        buf[ret] = '\0';
        newEntry.ftdi_description = buf;

        // serial
        ret = libusb_get_string_descriptor_ascii(
            handle, desc.iSerialNumber, (unsigned char*)buf, sizeof(buf) - 1);
        if (ret < 0) continue;
        buf[ret] = '\0';
        newEntry.ftdi_serial = buf;

        outList.push_back(newEntry);
    }

#else
    // For old libftdi-dev
    // Use old usb.h interface
    struct usb_bus* bus;
    struct usb_device* dev;

    usb_init();
    if (usb_find_busses() < 0) THROW_EXCEPTION("usb_find_busses() failed");
    if (usb_find_devices() < 0) THROW_EXCEPTION("usb_find_devices() failed");

    for (bus = usb_busses; bus; bus = bus->next)
        for (dev = bus->devices; dev; dev = dev->next)
            recursive_fill_list_devices(
                dev, outList);  // Process this node and its children:

#endif
    if (getenv("VERBOSE") != nullptr)
    {
        printf("[CInterfaceFTDI::ListAllDevices] List: \n");
        for (std::deque<TFTDIDevice>::const_iterator i = outList.begin();
             i != outList.end(); ++i)
            printf(
                "USB DEV: V=%04X P=%04X S=%s\n", i->usb_idVendor,
                i->usb_idProduct, i->ftdi_serial.c_str());
    }

#else
    MRPT_UNUSED_PARAM(outList);
#endif
    MRPT_TRY_END
}

void CInterfaceFTDI::recursive_fill_list_devices(
    void* usb_device_structure, TFTDIDeviceList& outList)
{
#if MRPT_HAS_FTDI
#if MRPT_FTDI_VERSION >= 0x120
    // For new libftdi1-dev
    throw std::runtime_error("Should not have got to this function!");
#else
    // For old libftdi-dev
    struct usb_device* dev = (struct usb_device*)usb_device_structure;

    if (dev->descriptor.idProduct && dev->descriptor.idVendor)
    {
        TFTDIDevice newEntry;
        newEntry.usb_idProduct = dev->descriptor.idProduct;
        newEntry.usb_idVendor = dev->descriptor.idVendor;
        newEntry.usb_device_struct = (void*)dev;

        int strLen;

        // Open the device temporally so we can get more info:
        usb_dev_handle* hUSB = usb_open(dev);

        if (hUSB)
        {
            char manufacturer[3000];
            if ((strLen = usb_get_string_simple(
                     hUSB, dev->descriptor.iManufacturer, manufacturer,
                     sizeof(manufacturer))) <= 0)
            {
                cerr << "Couldn't open " << (int)dev->descriptor.iManufacturer
                     << endl;
                // usb_close(hUSB); hUSB=nullptr;
            }
            else
            {
                manufacturer[strLen] = '\0';
                // cout << "Manuf: " << manufacturer << endl;
                newEntry.ftdi_manufacturer = manufacturer;
            }
        }

        if (hUSB)
        {
            char description[3000];
            if ((strLen = usb_get_string_simple(
                     hUSB, dev->descriptor.iProduct, description,
                     sizeof(description))) <= 0)
            {
                // usb_close(hUSB); hUSB=nullptr;
            }
            else
            {
                description[strLen] = '\0';
                newEntry.ftdi_description = description;
            }
        }

        if (hUSB)
        {
            char serial[300];
            if ((strLen = usb_get_string_simple(
                     hUSB, dev->descriptor.iSerialNumber, serial,
                     sizeof(serial))) <= 0)
            {
                // usb_close(hUSB); hUSB=nullptr;
            }
            else
            {
                serial[strLen] = '\0';
                newEntry.ftdi_serial = serial;
            }
        }

        if (hUSB)
        {
            outList.push_back(newEntry);
            usb_close(hUSB);
        }

        // And now its children:
        // -----------------------------------
        for (unsigned char j = 0; j < dev->num_children; j++)
            recursive_fill_list_devices((void*)dev->children[j], outList);
    }
#endif
#else
    MRPT_UNUSED_PARAM(usb_device_structure);
    MRPT_UNUSED_PARAM(outList);
#endif
}

/*-------------------------------------------------------------
                    ftdi_read
-------------------------------------------------------------*/
void CInterfaceFTDI::ftdi_read(
    void* lpvBuffer, unsigned long dwBuffSize, unsigned long* lpdwBytesRead)
{
#if MRPT_HAS_FTDI
    MRPT_TRY_START
    ftdi_context* ctx = static_cast<ftdi_context*>(m_ftdi_context);

    int ret = ftdi_read_data(ctx, (unsigned char*)lpvBuffer, dwBuffSize);
    if (ret >= 0)
        *lpdwBytesRead = ret;
    else
    {
        if (!strcmp("usb bulk read failed", ctx->error_str))
        {
            *lpdwBytesRead = 0;
            return;
        }
        THROW_EXCEPTION(string(ftdi_get_error_string(ctx)));
    }

    MRPT_TRY_END
#else
    MRPT_UNUSED_PARAM(lpvBuffer);
    MRPT_UNUSED_PARAM(dwBuffSize);
    MRPT_UNUSED_PARAM(lpdwBytesRead);
#endif
}

/*-------------------------------------------------------------
                    ftdi_write
-------------------------------------------------------------*/
void CInterfaceFTDI::ftdi_write(
    const void* lpvBuffer, unsigned long dwBuffSize, unsigned long* lpdwBytes)
{
#if MRPT_HAS_FTDI
    MRPT_TRY_START
    ftdi_context* ctx = static_cast<ftdi_context*>(m_ftdi_context);

    int ret = ftdi_write_data(ctx, (unsigned char*)lpvBuffer, dwBuffSize);
    if (ret >= 0)
        *lpdwBytes = ret;
    else
        THROW_EXCEPTION(string(ftdi_get_error_string(ctx)));

    MRPT_TRY_END
#else
    MRPT_UNUSED_PARAM(lpvBuffer);
    MRPT_UNUSED_PARAM(dwBuffSize);
    MRPT_UNUSED_PARAM(lpdwBytes);
#endif
}

/*-------------------------------------------------------------
                    isOpen
-------------------------------------------------------------*/
bool CInterfaceFTDI::isOpen()
{
#if MRPT_HAS_FTDI
    ftdi_context* ctx = static_cast<ftdi_context*>(m_ftdi_context);
    return ctx->usb_dev != nullptr;
#else
    return false;
#endif
}

/*-------------------------------------------------------------
                    Close
-------------------------------------------------------------*/
void CInterfaceFTDI::Close()
{
#if MRPT_HAS_FTDI
    ftdi_context* ctx = static_cast<ftdi_context*>(m_ftdi_context);
    if (ctx->usb_dev)
    {
        ftdi_usb_close(ctx);
        ctx->usb_dev = nullptr;
    }

    // To assure this is as a "reset", re-init the ftdi context again:
    ftdi_deinit(ctx);
    ftdi_init(ctx);

    m_readBuffer.clear();
#endif
}

/*-------------------------------------------------------------
                    ResetDevice
-------------------------------------------------------------*/
void CInterfaceFTDI::ResetDevice()
{
#if MRPT_HAS_FTDI
    ftdi_context* ctx = static_cast<ftdi_context*>(m_ftdi_context);
    ASSERT_(ctx->usb_dev);

    if (ftdi_usb_reset(ctx) < 0) THROW_EXCEPTION("Error resetting device");

    m_readBuffer.clear();
#endif
}

/*-------------------------------------------------------------
                    Purge
-------------------------------------------------------------*/
void CInterfaceFTDI::Purge()
{
#if MRPT_HAS_FTDI
    ftdi_context* ctx = static_cast<ftdi_context*>(m_ftdi_context);
    ASSERT_(ctx->usb_dev);

    if (ftdi_usb_purge_buffers(ctx) < 0)
        THROW_EXCEPTION("Error purging device buffers");

    m_readBuffer.clear();
#endif
}

/*-------------------------------------------------------------
                    SetLatencyTimer
-------------------------------------------------------------*/
void CInterfaceFTDI::SetLatencyTimer(unsigned char latency_ms)
{
#if MRPT_HAS_FTDI
    ftdi_context* ctx = static_cast<ftdi_context*>(m_ftdi_context);
    ASSERT_(ctx->usb_dev);

    if (ftdi_set_latency_timer(ctx, latency_ms) < 0)
        THROW_EXCEPTION("Error setting latency timer");
#else
    MRPT_UNUSED_PARAM(latency_ms);
#endif
}

/*-------------------------------------------------------------
                    SetTimeouts
-------------------------------------------------------------*/
void CInterfaceFTDI::SetTimeouts(
    unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms)
{
#if MRPT_HAS_FTDI
    ftdi_context* ctx = static_cast<ftdi_context*>(m_ftdi_context);
    ASSERT_(ctx->usb_dev);

// JL: It seems it works worse with timeouts...
//  ctx->usb_read_timeout  = dwReadTimeout_ms;
//  ctx->usb_write_timeout = dwWriteTimeout_ms;
#else
    MRPT_UNUSED_PARAM(dwReadTimeout_ms);
    MRPT_UNUSED_PARAM(dwWriteTimeout_ms);
#endif
}

/*-------------------------------------------------------------
                    OpenByDescription
-------------------------------------------------------------*/
std::ostream& mrpt::comms::operator<<(std::ostream& o, const TFTDIDevice& d)
{
    o << "Manufacturer            : " << d.ftdi_manufacturer << endl
      << "Description             : " << d.ftdi_description << endl
      << "FTDI serial             : " << d.ftdi_serial << endl
      << "USB ID (Vendor/Product) : "
      << format("%04X / %04X", d.usb_idVendor, d.usb_idProduct) << endl
      << "USB serial              : " << d.usb_serialNumber << endl;

    return o;
}

#endif