CInterfaceFTDI.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2012  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */

#ifndef CInterfaceFTDI_H
#define CInterfaceFTDI_H

#include <mrpt/config.h>
#include <mrpt/utils/CStream.h>
#include <mrpt/utils/stl_extensions.h>

#include <mrpt/hwdrivers/link_pragmas.h>

namespace mrpt
{
        namespace hwdrivers
        {

                /** A list of FTDI devices and their descriptors.
                  * \sa CInterfaceFTDI::ListAllDevices
                  * \ingroup mrpt_hwdrivers_grp
                  */
                struct HWDRIVERS_IMPEXP TFTDIDevice
                {
                        std::string     ftdi_manufacturer;
                        std::string     ftdi_description;
                        std::string     ftdi_serial;

                        uint16_t                usb_idVendor;
                        uint16_t                usb_idProduct;
                        uint8_t                 usb_serialNumber;

        #if defined(MRPT_OS_LINUX) || defined(MRPT_OS_APPLE)
                        /** Only for Linux: the corresponding libusb's  "usb_device*" */
                        void                    *usb_device_struct;
        #endif
                };

                /** Print out all the information of a FTDI device in textual form. */
                std::ostream HWDRIVERS_IMPEXP  &operator << ( std::ostream &o, const TFTDIDevice &d);

                /** Used in  CInterfaceFTDI::ListAllDevices */
                typedef  std::deque<TFTDIDevice> TFTDIDeviceList;

                /** A definition of a CStream actually representing a USB connection to a FTDI chip.
                 *
                 *  This class implements the communication with FT245BM / FT245RL chips.
                 *   Using this class makes a program to depend on:
                 *              - Windows: "FT2XX.DLL" and the device drivers (see FTDI website).
                 *              - Linux: "libusb.so" (quite standard!), and "libftdi.so" only if linking against the dynamic library.
                 *
                 *  If there is any error during the communications (or loading the Windows DLL), a std::exception will be raised.
                 *
                 *  To write bulk data, use CStream::ReadBuffer and CStream::WriteBuffer. See also the derived classes for
                 *   higher level communication: CInterfaceFTDIMessages
                 *
                 * Warning: Avoid defining an object of this class in a global scope if you want to catch all potential
                 *      exceptions during the constructors (like DLL not found, etc...)
                 *
                 * VERSIONS:
                 *              - 11/APR/2005: Initial development. JLBC
                 *              - 16/FEB/2007: Integration into the MRPT framework. Support for device serial numbers. JLBC
                 *              - 15/APR/2008: Implemented for Linux using libftdi. JLBC
                 *
                 * \sa CInterfaceFTDIMessages, CStream
                  * \ingroup mrpt_hwdrivers_grp
                 */
                class HWDRIVERS_IMPEXP CInterfaceFTDI : public utils::CStream
                {
                public:
                        /** Constructor, which loads driver interface (the DLL under Windows).
                          */
                        CInterfaceFTDI();

                        /** Destructor, which closes the connection with the chip and unloads the driver interface.
                          */
                        virtual ~CInterfaceFTDI();

                        /** This object cannot be copied */
                        CInterfaceFTDI(const CInterfaceFTDI &o);

                        /** This object cannot be copied */
                        CInterfaceFTDI& operator =(const CInterfaceFTDI &o);

                        /** Checks whether the chip has been successfully open.
                          * \sa OpenBySerialNumber, OpenByDescription
                          */
                        bool  isOpen();

                        /** Open by device serial number
                          */
                        void  OpenBySerialNumber( const std::string &serialNumber );

                        /** Open by device description
                          */
                        void  OpenByDescription( const std::string &description );

                        /** Close the USB device */
                        void  Close();

                        /** Reset the USB device */
                        void  ResetDevice();

                        /** Purge the I/O buffers */
                        void  Purge();

                        /** Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic. */
                        void  SetLatencyTimer (unsigned char latency_ms);

                        /** Change read & write timeouts, in milliseconds. */
                        void  SetTimeouts(unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms);


                        /** Generates a list with all FTDI devices connected right now.
                          */
                        void ListAllDevices( TFTDIDeviceList &outList );

                        /** Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error.
                         */
                        size_t  ReadSync(void *Buffer, size_t Count)
                        {
                                return Read(Buffer,Count);
                        }

                        /** Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error.
                         */
                        size_t  WriteSync(const void *Buffer, size_t Count)
                        {
                                return Write(Buffer,Count);
                        }

                        /** Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream).
                         *  In this class this method actually behaves as expected and does not fallback to ReadBuffer().
                         *      \exception std::exception On any error, or if ZERO bytes are read.
                         */
                        virtual size_t  ReadBufferImmediate(void *Buffer, size_t Count);

                protected:
                        /** Introduces a pure virtual method responsible for reading from the stream.
                          *  It integrates a cache buffer to speed-up sequences of many, small readings.
                          */
                        size_t  Read(void *Buffer, size_t Count);

                        mrpt::utils::circular_buffer<uint8_t>    m_readBuffer;  //!< Used in Read

                        /** Introduces a pure virtual method responsible for writing to the stream.
                         *  Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written.
                         */
                        size_t  Write(const void *Buffer, size_t Count);

                        /** This virtual method does nothing in this class.
                         */
                        uint64_t Seek(long Offset, CStream::TSeekOrigin Origin = sFromBeginning);

                        /** This virtual method does nothing in this class.
                         */
                        uint64_t getTotalBytesCount();

                        /** This virtual method does nothing in this class.
                         */
                        uint64_t getPosition();


                        void  ftdi_read(void  *lpvBuffer, unsigned long dwBuffSize, unsigned long  *lpdwBytesRead);
                        void  ftdi_write(const void  *lpvBuffer, unsigned long dwBuffSize, unsigned long  *lpdwBytes);

        #if defined(MRPT_OS_WINDOWS)
                private:
                        void  checkErrorAndRaise(int errorCode);

                        void  ftdi_open(void* pvDevice);
                        void  ftdi_openEx(void* pArg1, unsigned long dwFlags);
                        void  ftdi_listDevices(void *pArg1, void *pArg2, unsigned long dwFlags);
                        void  ftdi_getQueueStatus(unsigned long  *lpdwAmountInRxQueue);

                        void                            *m_hmodule;
                        unsigned long           m_ftHandle;

                        void            loadDriver();

                        enum FT_STATUS
                        {
                                dummy
                        };

                        typedef FT_STATUS (__stdcall *PtrToOpen)(void*, unsigned long  *);
                        PtrToOpen m_pOpen;

                        typedef FT_STATUS (__stdcall *PtrToOpenEx)(void*, unsigned long, unsigned long  *);
                        PtrToOpenEx m_pOpenEx;

                        typedef FT_STATUS (__stdcall *PtrToListDevices)(void*, void*, unsigned long);
                        PtrToListDevices m_pListDevices;

                        typedef FT_STATUS (__stdcall *PtrToClose)(unsigned long );
                        PtrToClose m_pClose;

                        typedef FT_STATUS (__stdcall *PtrToRead)(unsigned long , void  *, unsigned long, unsigned long  *);
                        PtrToRead m_pRead;

                        typedef FT_STATUS (__stdcall *PtrToWrite)(unsigned long , const void  *, unsigned long, unsigned long  *);
                        PtrToWrite m_pWrite;

                        typedef FT_STATUS (__stdcall *PtrToResetDevice)(unsigned long );
                        PtrToResetDevice m_pResetDevice;

                        typedef FT_STATUS (__stdcall *PtrToPurge)(unsigned long , unsigned long);
                        PtrToPurge m_pPurge;

                        typedef FT_STATUS (__stdcall *PtrToSetTimeouts)(unsigned long , unsigned long, unsigned long);
                        PtrToSetTimeouts m_pSetTimeouts;

                        typedef FT_STATUS (__stdcall *PtrToGetQueueStatus)(unsigned long , unsigned long  *);
                        PtrToGetQueueStatus m_pGetQueueStatus;

                        typedef FT_STATUS (__stdcall *PtrToSetLatencyTimer )(unsigned long , unsigned char);
                        PtrToSetLatencyTimer m_pSetLatencyTimer;

        #else
                // Declarations for Linux:
                        void            *m_ftdi_context;

                        /** Process recursively a USB device and its children: */
                        void recursive_fill_list_devices( void *usb_device_structure , TFTDIDeviceList &outList );


        #endif


                }; // end of class

        } // end of namespace
} // end of namespace

#endif