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Merge remote-tracking branch 'origin/next' into OP-932-Modularize_Radio_Driver

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Brian Webb 2013-05-25 21:56:24 -07:00
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ground/openpilotgcs/src/plugins/ophid/hidapi/.no-auto-format Normal file
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/*******************************************************
HIDAPI - Multi-Platform library for
communication with HID devices.
Alan Ott
Signal 11 Software
8/22/2009
Copyright 2009, All Rights Reserved.
At the discretion of the user of this library,
this software may be licensed under the terms of the
GNU Public License v3, a BSD-Style license, or the
original HIDAPI license as outlined in the LICENSE.txt,
LICENSE-gpl3.txt, LICENSE-bsd.txt, and LICENSE-orig.txt
files located at the root of the source distribution.
These files may also be found in the public source
code repository located at:
http://github.com/signal11/hidapi .
********************************************************/
/** @file
* @defgroup API hidapi API
*/
#ifndef HIDAPI_H__
#define HIDAPI_H__
#include <wchar.h>
#ifdef _WIN32
#define HID_API_EXPORT __declspec(dllexport)
#define HID_API_CALL
#else
#define HID_API_EXPORT /**< API export macro */
#define HID_API_CALL /**< API call macro */
#endif
#define HID_API_EXPORT_CALL HID_API_EXPORT HID_API_CALL /**< API export and call macro*/
#ifdef __cplusplus
extern "C" {
#endif
struct hid_device_;
typedef struct hid_device_ hid_device; /**< opaque hidapi structure */
/** hidapi info structure */
struct hid_device_info {
/** Platform-specific device path */
char *path;
/** Device Vendor ID */
unsigned short vendor_id;
/** Device Product ID */
unsigned short product_id;
/** Serial Number */
wchar_t *serial_number;
/** Device Release Number in binary-coded decimal,
also known as Device Version Number */
unsigned short release_number;
/** Manufacturer String */
wchar_t *manufacturer_string;
/** Product string */
wchar_t *product_string;
/** Usage Page for this Device/Interface
(Windows/Mac only). */
unsigned short usage_page;
/** Usage for this Device/Interface
(Windows/Mac only).*/
unsigned short usage;
/** The USB interface which this logical device
represents. Valid on both Linux implementations
in all cases, and valid on the Windows implementation
only if the device contains more than one interface. */
int interface_number;
/** Pointer to the next device */
struct hid_device_info *next;
};
/** @brief Initialize the HIDAPI library.
This function initializes the HIDAPI library. Calling it is not
strictly necessary, as it will be called automatically by
hid_enumerate() and any of the hid_open_*() functions if it is
needed. This function should be called at the beginning of
execution however, if there is a chance of HIDAPI handles
being opened by different threads simultaneously.
@ingroup API
@returns
This function returns 0 on success and -1 on error.
*/
int HID_API_EXPORT HID_API_CALL hid_init(void);
/** @brief Finalize the HIDAPI library.
This function frees all of the static data associated with
HIDAPI. It should be called at the end of execution to avoid
memory leaks.
@ingroup API
@returns
This function returns 0 on success and -1 on error.
*/
int HID_API_EXPORT HID_API_CALL hid_exit(void);
/** @brief Enumerate the HID Devices.
This function returns a linked list of all the HID devices
attached to the system which match vendor_id and product_id.
If @p vendor_id is set to 0 then any vendor matches.
If @p product_id is set to 0 then any product matches.
If @p vendor_id and @p product_id are both set to 0, then
all HID devices will be returned.
@ingroup API
@param vendor_id The Vendor ID (VID) of the types of device
to open.
@param product_id The Product ID (PID) of the types of
device to open.
@returns
This function returns a pointer to a linked list of type
struct #hid_device, containing information about the HID devices
attached to the system, or NULL in the case of failure. Free
this linked list by calling hid_free_enumeration().
*/
struct hid_device_info HID_API_EXPORT * HID_API_CALL hid_enumerate(unsigned short vendor_id, unsigned short product_id);
/** @brief Free an enumeration Linked List
This function frees a linked list created by hid_enumerate().
@ingroup API
@param devs Pointer to a list of struct_device returned from
hid_enumerate().
*/
void HID_API_EXPORT HID_API_CALL hid_free_enumeration(struct hid_device_info *devs);
/** @brief Open a HID device using a Vendor ID (VID), Product ID
(PID) and optionally a serial number.
If @p serial_number is NULL, the first device with the
specified VID and PID is opened.
@ingroup API
@param vendor_id The Vendor ID (VID) of the device to open.
@param product_id The Product ID (PID) of the device to open.
@param serial_number The Serial Number of the device to open
(Optionally NULL).
@returns
This function returns a pointer to a #hid_device object on
success or NULL on failure.
*/
HID_API_EXPORT hid_device * HID_API_CALL hid_open(unsigned short vendor_id, unsigned short product_id, const wchar_t *serial_number);
/** @brief Open a HID device by its path name.
The path name be determined by calling hid_enumerate(), or a
platform-specific path name can be used (eg: /dev/hidraw0 on
Linux).
@ingroup API
@param path The path name of the device to open
@returns
This function returns a pointer to a #hid_device object on
success or NULL on failure.
*/
HID_API_EXPORT hid_device * HID_API_CALL hid_open_path(const char *path);
/** @brief Write an Output report to a HID device.
The first byte of @p data[] must contain the Report ID. For
devices which only support a single report, this must be set
to 0x0. The remaining bytes contain the report data. Since
the Report ID is mandatory, calls to hid_write() will always
contain one more byte than the report contains. For example,
if a hid report is 16 bytes long, 17 bytes must be passed to
hid_write(), the Report ID (or 0x0, for devices with a
single report), followed by the report data (16 bytes). In
this example, the length passed in would be 17.
hid_write() will send the data on the first OUT endpoint, if
one exists. If it does not, it will send the data through
the Control Endpoint (Endpoint 0).
@ingroup API
@param device A device handle returned from hid_open().
@param data The data to send, including the report number as
the first byte.
@param length The length in bytes of the data to send.
@returns
This function returns the actual number of bytes written and
-1 on error.
*/
int HID_API_EXPORT HID_API_CALL hid_write(hid_device *device, const unsigned char *data, size_t length);
/** @brief Read an Input report from a HID device with timeout.
Input reports are returned
to the host through the INTERRUPT IN endpoint. The first byte will
contain the Report number if the device uses numbered reports.
@ingroup API
@param device A device handle returned from hid_open().
@param data A buffer to put the read data into.
@param length The number of bytes to read. For devices with
multiple reports, make sure to read an extra byte for
the report number.
@param milliseconds timeout in milliseconds or -1 for blocking wait.
@returns
This function returns the actual number of bytes read and
-1 on error.
*/
int HID_API_EXPORT HID_API_CALL hid_read_timeout(hid_device *dev, unsigned char *data, size_t length, int milliseconds);
/** @brief Read an Input report from a HID device.
Input reports are returned
to the host through the INTERRUPT IN endpoint. The first byte will
contain the Report number if the device uses numbered reports.
@ingroup API
@param device A device handle returned from hid_open().
@param data A buffer to put the read data into.
@param length The number of bytes to read. For devices with
multiple reports, make sure to read an extra byte for
the report number.
@returns
This function returns the actual number of bytes read and
-1 on error.
*/
int HID_API_EXPORT HID_API_CALL hid_read(hid_device *device, unsigned char *data, size_t length);
/** @brief Set the device handle to be non-blocking.
In non-blocking mode calls to hid_read() will return
immediately with a value of 0 if there is no data to be
read. In blocking mode, hid_read() will wait (block) until
there is data to read before returning.
Nonblocking can be turned on and off at any time.
@ingroup API
@param device A device handle returned from hid_open().
@param nonblock enable or not the nonblocking reads
- 1 to enable nonblocking
- 0 to disable nonblocking.
@returns
This function returns 0 on success and -1 on error.
*/
int HID_API_EXPORT HID_API_CALL hid_set_nonblocking(hid_device *device, int nonblock);
/** @brief Send a Feature report to the device.
Feature reports are sent over the Control endpoint as a
Set_Report transfer. The first byte of @p data[] must
contain the Report ID. For devices which only support a
single report, this must be set to 0x0. The remaining bytes
contain the report data. Since the Report ID is mandatory,
calls to hid_send_feature_report() will always contain one
more byte than the report contains. For example, if a hid
report is 16 bytes long, 17 bytes must be passed to
hid_send_feature_report(): the Report ID (or 0x0, for
devices which do not use numbered reports), followed by the
report data (16 bytes). In this example, the length passed
in would be 17.
@ingroup API
@param device A device handle returned from hid_open().
@param data The data to send, including the report number as
the first byte.
@param length The length in bytes of the data to send, including
the report number.
@returns
This function returns the actual number of bytes written and
-1 on error.
*/
int HID_API_EXPORT HID_API_CALL hid_send_feature_report(hid_device *device, const unsigned char *data, size_t length);
/** @brief Get a feature report from a HID device.
Make sure to set the first byte of @p data[] to the Report
ID of the report to be read. Make sure to allow space for
this extra byte in @p data[].
@ingroup API
@param device A device handle returned from hid_open().
@param data A buffer to put the read data into, including
the Report ID. Set the first byte of @p data[] to the
Report ID of the report to be read.
@param length The number of bytes to read, including an
extra byte for the report ID. The buffer can be longer
than the actual report.
@returns
This function returns the number of bytes read and
-1 on error.
*/
int HID_API_EXPORT HID_API_CALL hid_get_feature_report(hid_device *device, unsigned char *data, size_t length);
/** @brief Close a HID device.
@ingroup API
@param device A device handle returned from hid_open().
*/
void HID_API_EXPORT HID_API_CALL hid_close(hid_device *device);
/** @brief Get The Manufacturer String from a HID device.
@ingroup API
@param device A device handle returned from hid_open().
@param string A wide string buffer to put the data into.
@param maxlen The length of the buffer in multiples of wchar_t.
@returns
This function returns 0 on success and -1 on error.
*/
int HID_API_EXPORT_CALL hid_get_manufacturer_string(hid_device *device, wchar_t *string, size_t maxlen);
/** @brief Get The Product String from a HID device.
@ingroup API
@param device A device handle returned from hid_open().
@param string A wide string buffer to put the data into.
@param maxlen The length of the buffer in multiples of wchar_t.
@returns
This function returns 0 on success and -1 on error.
*/
int HID_API_EXPORT_CALL hid_get_product_string(hid_device *device, wchar_t *string, size_t maxlen);
/** @brief Get The Serial Number String from a HID device.
@ingroup API
@param device A device handle returned from hid_open().
@param string A wide string buffer to put the data into.
@param maxlen The length of the buffer in multiples of wchar_t.
@returns
This function returns 0 on success and -1 on error.
*/
int HID_API_EXPORT_CALL hid_get_serial_number_string(hid_device *device, wchar_t *string, size_t maxlen);
/** @brief Get a string from a HID device, based on its string index.
@ingroup API
@param device A device handle returned from hid_open().
@param string_index The index of the string to get.
@param string A wide string buffer to put the data into.
@param maxlen The length of the buffer in multiples of wchar_t.
@returns
This function returns 0 on success and -1 on error.
*/
int HID_API_EXPORT_CALL hid_get_indexed_string(hid_device *device, int string_index, wchar_t *string, size_t maxlen);
/** @brief Get a string describing the last error which occurred.
@ingroup API
@param device A device handle returned from hid_open().
@returns
This function returns a string containing the last error
which occurred or NULL if none has occurred.
*/
HID_API_EXPORT const wchar_t* HID_API_CALL hid_error(hid_device *device);
#ifdef __cplusplus
}
#endif
#endif

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ground/openpilotgcs/src/plugins/ophid/hidapi/libusb/hid.c Normal file
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/*******************************************************
HIDAPI - Multi-Platform library for
communication with HID devices.
Alan Ott
Signal 11 Software
8/22/2009
Linux Version - 6/2/2010
Libusb Version - 8/13/2010
FreeBSD Version - 11/1/2011
Copyright 2009, All Rights Reserved.
At the discretion of the user of this library,
this software may be licensed under the terms of the
GNU Public License v3, a BSD-Style license, or the
original HIDAPI license as outlined in the LICENSE.txt,
LICENSE-gpl3.txt, LICENSE-bsd.txt, and LICENSE-orig.txt
files located at the root of the source distribution.
These files may also be found in the public source
code repository located at:
http://github.com/signal11/hidapi .
********************************************************/
#define _GNU_SOURCE /* needed for wcsdup() before glibc 2.10 */
/* C */
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <ctype.h>
#include <locale.h>
#include <errno.h>
/* Unix */
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <sys/utsname.h>
#include <fcntl.h>
#include <pthread.h>
#include <wchar.h>
/* GNU / LibUSB */
#include "libusb.h"
#include "iconv.h"
#include "../hidapi.h"
#ifdef __cplusplus
extern "C" {
#endif
#ifdef DEBUG_PRINTF
#define LOG(...) fprintf(stderr, __VA_ARGS__)
#else
#define LOG(...) do {} while (0)
#endif
#ifndef __FreeBSD__
#define DETACH_KERNEL_DRIVER
#endif
/* Uncomment to enable the retrieval of Usage and Usage Page in
hid_enumerate(). Warning, on platforms different from FreeBSD
this is very invasive as it requires the detach
and re-attach of the kernel driver. See comments inside hid_enumerate().
libusb HIDAPI programs are encouraged to use the interface number
instead to differentiate between interfaces on a composite HID device. */
/*#define INVASIVE_GET_USAGE*/
/* Linked List of input reports received from the device. */
struct input_report {
uint8_t *data;
size_t len;
struct input_report *next;
};
struct hid_device_ {
/* Handle to the actual device. */
libusb_device_handle *device_handle;
/* Endpoint information */
int input_endpoint;
int output_endpoint;
int input_ep_max_packet_size;
/* The interface number of the HID */
int interface;
/* Indexes of Strings */
int manufacturer_index;
int product_index;
int serial_index;
/* Whether blocking reads are used */
int blocking; /* boolean */
/* Read thread objects */
pthread_t thread;
pthread_mutex_t mutex; /* Protects input_reports */
pthread_cond_t condition;
pthread_barrier_t barrier; /* Ensures correct startup sequence */
int shutdown_thread;
struct libusb_transfer *transfer;
/* List of received input reports. */
struct input_report *input_reports;
};
static libusb_context *usb_context = NULL;
uint16_t get_usb_code_for_current_locale(void);
static int return_data(hid_device *dev, unsigned char *data, size_t length);
static hid_device *new_hid_device(void)
{
hid_device *dev = calloc(1, sizeof(hid_device));
dev->blocking = 1;
pthread_mutex_init(&dev->mutex, NULL);
pthread_cond_init(&dev->condition, NULL);
pthread_barrier_init(&dev->barrier, NULL, 2);
return dev;
}
static void free_hid_device(hid_device *dev)
{
/* Clean up the thread objects */
pthread_barrier_destroy(&dev->barrier);
pthread_cond_destroy(&dev->condition);
pthread_mutex_destroy(&dev->mutex);
/* Free the device itself */
free(dev);
}
#if 0
/*TODO: Implement this funciton on hidapi/libusb.. */
static void register_error(hid_device *device, const char *op)
{
}
#endif
#ifdef INVASIVE_GET_USAGE
/* Get bytes from a HID Report Descriptor.
Only call with a num_bytes of 0, 1, 2, or 4. */
static uint32_t get_bytes(uint8_t *rpt, size_t len, size_t num_bytes, size_t cur)
{
/* Return if there aren't enough bytes. */
if (cur + num_bytes >= len)
return 0;
if (num_bytes == 0)
return 0;
else if (num_bytes == 1) {
return rpt[cur+1];
}
else if (num_bytes == 2) {
return (rpt[cur+2] * 256 + rpt[cur+1]);
}
else if (num_bytes == 4) {
return (rpt[cur+4] * 0x01000000 +
rpt[cur+3] * 0x00010000 +
rpt[cur+2] * 0x00000100 +
rpt[cur+1] * 0x00000001);
}
else
return 0;
}
/* Retrieves the device's Usage Page and Usage from the report
descriptor. The algorithm is simple, as it just returns the first
Usage and Usage Page that it finds in the descriptor.
The return value is 0 on success and -1 on failure. */
static int get_usage(uint8_t *report_descriptor, size_t size,
unsigned short *usage_page, unsigned short *usage)
{
unsigned int i = 0;
int size_code;
int data_len, key_size;
int usage_found = 0, usage_page_found = 0;
while (i < size) {
int key = report_descriptor[i];
int key_cmd = key & 0xfc;
//printf("key: %02hhx\n", key);
if ((key & 0xf0) == 0xf0) {
/* This is a Long Item. The next byte contains the
length of the data section (value) for this key.
See the HID specification, version 1.11, section
6.2.2.3, titled "Long Items." */
if (i+1 < size)
data_len = report_descriptor[i+1];
else
data_len = 0; /* malformed report */
key_size = 3;
}
else {
/* This is a Short Item. The bottom two bits of the
key contain the size code for the data section
(value) for this key. Refer to the HID
specification, version 1.11, section 6.2.2.2,
titled "Short Items." */
size_code = key & 0x3;
switch (size_code) {
case 0:
case 1:
case 2:
data_len = size_code;
break;
case 3:
data_len = 4;
break;
default:
/* Can't ever happen since size_code is & 0x3 */
data_len = 0;
break;
};
key_size = 1;
}
if (key_cmd == 0x4) {
*usage_page = get_bytes(report_descriptor, size, data_len, i);
usage_page_found = 1;
//printf("Usage Page: %x\n", (uint32_t)*usage_page);
}
if (key_cmd == 0x8) {
*usage = get_bytes(report_descriptor, size, data_len, i);
usage_found = 1;
//printf("Usage: %x\n", (uint32_t)*usage);
}
if (usage_page_found && usage_found)
return 0; /* success */
/* Skip over this key and it's associated data */
i += data_len + key_size;
}
return -1; /* failure */
}
#endif /* INVASIVE_GET_USAGE */
#ifdef __FreeBSD__
/* The FreeBSD version of libusb doesn't have this funciton. In mainline
libusb, it's inlined in libusb.h. This function will bear a striking
resemblence to that one, because there's about one way to code it.
Note that the data parameter is Unicode in UTF-16LE encoding.
Return value is the number of bytes in data, or LIBUSB_ERROR_*.
*/
static inline int libusb_get_string_descriptor(libusb_device_handle *dev,
uint8_t descriptor_index, uint16_t lang_id,
unsigned char *data, int length)
{
return libusb_control_transfer(dev,
LIBUSB_ENDPOINT_IN | 0x0, /* Endpoint 0 IN */
LIBUSB_REQUEST_GET_DESCRIPTOR,
(LIBUSB_DT_STRING << 8) | descriptor_index,
lang_id, data, (uint16_t) length, 1000);
}
#endif
/* Get the first language the device says it reports. This comes from
USB string #0. */
static uint16_t get_first_language(libusb_device_handle *dev)
{
uint16_t buf[32];
int len;
/* Get the string from libusb. */
len = libusb_get_string_descriptor(dev,
0x0, /* String ID */
0x0, /* Language */
(unsigned char*)buf,
sizeof(buf));
if (len < 4)
return 0x0;
return buf[1]; /* First two bytes are len and descriptor type. */
}
static int is_language_supported(libusb_device_handle *dev, uint16_t lang)
{
uint16_t buf[32];
int len;
int i;
/* Get the string from libusb. */
len = libusb_get_string_descriptor(dev,
0x0, /* String ID */
0x0, /* Language */
(unsigned char*)buf,
sizeof(buf));
if (len < 4)
return 0x0;
len /= 2; /* language IDs are two-bytes each. */
/* Start at index 1 because there are two bytes of protocol data. */
for (i = 1; i < len; i++) {
if (buf[i] == lang)
return 1;
}
return 0;
}
/* This function returns a newly allocated wide string containing the USB
device string numbered by the index. The returned string must be freed
by using free(). */
static wchar_t *get_usb_string(libusb_device_handle *dev, uint8_t idx)
{
char buf[512];
int len;
wchar_t *str = NULL;
wchar_t wbuf[256];
/* iconv variables */
iconv_t ic;
size_t inbytes;
size_t outbytes;
size_t res;
#ifdef __FreeBSD__
const char *inptr;
#else
char *inptr;
#endif
char *outptr;
/* Determine which language to use. */
uint16_t lang;
lang = get_usb_code_for_current_locale();
if (!is_language_supported(dev, lang))
lang = get_first_language(dev);
/* Get the string from libusb. */
len = libusb_get_string_descriptor(dev,
idx,
lang,
(unsigned char*)buf,
sizeof(buf));
if (len < 0)
return NULL;
/* buf does not need to be explicitly NULL-terminated because
it is only passed into iconv() which does not need it. */
/* Initialize iconv. */
ic = iconv_open("WCHAR_T", "UTF-16LE");
if (ic == (iconv_t)-1) {
LOG("iconv_open() failed\n");
return NULL;
}
/* Convert to native wchar_t (UTF-32 on glibc/BSD systems).
Skip the first character (2-bytes). */
inptr = buf+2;
inbytes = len-2;
outptr = (char*) wbuf;
outbytes = sizeof(wbuf);
res = iconv(ic, &inptr, &inbytes, &outptr, &outbytes);
if (res == (size_t)-1) {
LOG("iconv() failed\n");
goto err;
}
/* Write the terminating NULL. */
wbuf[sizeof(wbuf)/sizeof(wbuf[0])-1] = 0x00000000;
if (outbytes >= sizeof(wbuf[0]))
*((wchar_t*)outptr) = 0x00000000;
/* Allocate and copy the string. */
str = wcsdup(wbuf);
err:
iconv_close(ic);
return str;
}
static char *make_path(libusb_device *dev, int interface_number)
{
char str[64];
snprintf(str, sizeof(str), "%04x:%04x:%02x",
libusb_get_bus_number(dev),
libusb_get_device_address(dev),
interface_number);
str[sizeof(str)-1] = '\0';
return strdup(str);
}
int HID_API_EXPORT hid_init(void)
{
if (!usb_context) {
const char *locale;
/* Init Libusb */
if (libusb_init(&usb_context))
return -1;
/* Set the locale if it's not set. */
locale = setlocale(LC_CTYPE, NULL);
if (!locale)
setlocale(LC_CTYPE, "");
}
return 0;
}
int HID_API_EXPORT hid_exit(void)
{
if (usb_context) {
libusb_exit(usb_context);
usb_context = NULL;
}
return 0;
}
struct hid_device_info HID_API_EXPORT *hid_enumerate(unsigned short vendor_id, unsigned short product_id)
{
libusb_device **devs;
libusb_device *dev;
libusb_device_handle *handle;
ssize_t num_devs;
int i = 0;
struct hid_device_info *root = NULL; /* return object */
struct hid_device_info *cur_dev = NULL;
if(hid_init() < 0)
return NULL;
num_devs = libusb_get_device_list(usb_context, &devs);
if (num_devs < 0)
return NULL;
while ((dev = devs[i++]) != NULL) {
struct libusb_device_descriptor desc;
struct libusb_config_descriptor *conf_desc = NULL;
int j, k;
int interface_num = 0;
int res = libusb_get_device_descriptor(dev, &desc);
unsigned short dev_vid = desc.idVendor;
unsigned short dev_pid = desc.idProduct;
res = libusb_get_active_config_descriptor(dev, &conf_desc);
if (res < 0)
libusb_get_config_descriptor(dev, 0, &conf_desc);
if (conf_desc) {
for (j = 0; j < conf_desc->bNumInterfaces; j++) {
const struct libusb_interface *intf = &conf_desc->interface[j];
for (k = 0; k < intf->num_altsetting; k++) {
const struct libusb_interface_descriptor *intf_desc;
intf_desc = &intf->altsetting[k];
if (intf_desc->bInterfaceClass == LIBUSB_CLASS_HID) {
interface_num = intf_desc->bInterfaceNumber;
/* Check the VID/PID against the arguments */
if ((vendor_id == 0x0 || vendor_id == dev_vid) &&
(product_id == 0x0 || product_id == dev_pid)) {
struct hid_device_info *tmp;
/* VID/PID match. Create the record. */
tmp = calloc(1, sizeof(struct hid_device_info));
if (cur_dev) {
cur_dev->next = tmp;
}
else {
root = tmp;
}
cur_dev = tmp;
/* Fill out the record */
cur_dev->next = NULL;
cur_dev->path = make_path(dev, interface_num);
res = libusb_open(dev, &handle);
if (res >= 0) {
/* Serial Number */
if (desc.iSerialNumber > 0)
cur_dev->serial_number =
get_usb_string(handle, desc.iSerialNumber);
/* Manufacturer and Product strings */
if (desc.iManufacturer > 0)
cur_dev->manufacturer_string =
get_usb_string(handle, desc.iManufacturer);
if (desc.iProduct > 0)
cur_dev->product_string =
get_usb_string(handle, desc.iProduct);
#ifdef INVASIVE_GET_USAGE
{
/*
This section is removed because it is too
invasive on the system. Getting a Usage Page
and Usage requires parsing the HID Report
descriptor. Getting a HID Report descriptor
involves claiming the interface. Claiming the
interface involves detaching the kernel driver.
Detaching the kernel driver is hard on the system
because it will unclaim interfaces (if another
app has them claimed) and the re-attachment of
the driver will sometimes change /dev entry names.
It is for these reasons that this section is
#if 0. For composite devices, use the interface
field in the hid_device_info struct to distinguish
between interfaces. */
unsigned char data[256];
#ifdef DETACH_KERNEL_DRIVER
int detached = 0;
/* Usage Page and Usage */
res = libusb_kernel_driver_active(handle, interface_num);
if (res == 1) {
res = libusb_detach_kernel_driver(handle, interface_num);
if (res < 0)
LOG("Couldn't detach kernel driver, even though a kernel driver was attached.");
else
detached = 1;
}
#endif
res = libusb_claim_interface(handle, interface_num);
if (res >= 0) {
/* Get the HID Report Descriptor. */
res = libusb_control_transfer(handle, LIBUSB_ENDPOINT_IN|LIBUSB_RECIPIENT_INTERFACE, LIBUSB_REQUEST_GET_DESCRIPTOR, (LIBUSB_DT_REPORT << 8)|interface_num, 0, data, sizeof(data), 5000);
if (res >= 0) {
unsigned short page=0, usage=0;
/* Parse the usage and usage page
out of the report descriptor. */
get_usage(data, res, &page, &usage);
cur_dev->usage_page = page;
cur_dev->usage = usage;
}
else
LOG("libusb_control_transfer() for getting the HID report failed with %d\n", res);
/* Release the interface */
res = libusb_release_interface(handle, interface_num);
if (res < 0)
LOG("Can't release the interface.\n");
}
else
LOG("Can't claim interface %d\n", res);
#ifdef DETACH_KERNEL_DRIVER
/* Re-attach kernel driver if necessary. */
if (detached) {
res = libusb_attach_kernel_driver(handle, interface_num);
if (res < 0)
LOG("Couldn't re-attach kernel driver.\n");
}
#endif
}
#endif /* INVASIVE_GET_USAGE */
libusb_close(handle);
}
/* VID/PID */
cur_dev->vendor_id = dev_vid;
cur_dev->product_id = dev_pid;
/* Release Number */
cur_dev->release_number = desc.bcdDevice;
/* Interface Number */
cur_dev->interface_number = interface_num;
}
}
} /* altsettings */
} /* interfaces */
libusb_free_config_descriptor(conf_desc);
}
}
libusb_free_device_list(devs, 1);
return root;
}
void HID_API_EXPORT hid_free_enumeration(struct hid_device_info *devs)
{
struct hid_device_info *d = devs;
while (d) {
struct hid_device_info *next = d->next;
free(d->path);
free(d->serial_number);
free(d->manufacturer_string);
free(d->product_string);
free(d);
d = next;
}
}
hid_device * hid_open(unsigned short vendor_id, unsigned short product_id, const wchar_t *serial_number)
{
struct hid_device_info *devs, *cur_dev;
const char *path_to_open = NULL;
hid_device *handle = NULL;
devs = hid_enumerate(vendor_id, product_id);
cur_dev = devs;
while (cur_dev) {
if (cur_dev->vendor_id == vendor_id &&
cur_dev->product_id == product_id) {
if (serial_number) {
if (wcscmp(serial_number, cur_dev->serial_number) == 0) {
path_to_open = cur_dev->path;
break;
}
}
else {
path_to_open = cur_dev->path;
break;
}
}
cur_dev = cur_dev->next;
}
if (path_to_open) {
/* Open the device */
handle = hid_open_path(path_to_open);
}
hid_free_enumeration(devs);
return handle;
}
static void read_callback(struct libusb_transfer *transfer)
{
hid_device *dev = transfer->user_data;
int res;
if (transfer->status == LIBUSB_TRANSFER_COMPLETED) {
struct input_report *rpt = malloc(sizeof(*rpt));
rpt->data = malloc(transfer->actual_length);
memcpy(rpt->data, transfer->buffer, transfer->actual_length);
rpt->len = transfer->actual_length;
rpt->next = NULL;
pthread_mutex_lock(&dev->mutex);
/* Attach the new report object to the end of the list. */
if (dev->input_reports == NULL) {
/* The list is empty. Put it at the root. */
dev->input_reports = rpt;
pthread_cond_signal(&dev->condition);
}
else {
/* Find the end of the list and attach. */
struct input_report *cur = dev->input_reports;
int num_queued = 0;
while (cur->next != NULL) {
cur = cur->next;
num_queued++;
}
cur->next = rpt;
/* Pop one off if we've reached 30 in the queue. This
way we don't grow forever if the user never reads
anything from the device. */
if (num_queued > 30) {
return_data(dev, NULL, 0);
}
}
pthread_mutex_unlock(&dev->mutex);
}
else if (transfer->status == LIBUSB_TRANSFER_CANCELLED) {
dev->shutdown_thread = 1;
return;
}
else if (transfer->status == LIBUSB_TRANSFER_NO_DEVICE) {
dev->shutdown_thread = 1;
return;
}
else if (transfer->status == LIBUSB_TRANSFER_TIMED_OUT) {
//LOG("Timeout (normal)\n");
}
else {
LOG("Unknown transfer code: %d\n", transfer->status);
}
/* Re-submit the transfer object. */
res = libusb_submit_transfer(transfer);
if (res != 0) {
LOG("Unable to submit URB. libusb error code: %d\n", res);
dev->shutdown_thread = 1;
}
}
static void *read_thread(void *param)
{
hid_device *dev = param;
unsigned char *buf;
const size_t length = dev->input_ep_max_packet_size;
/* Set up the transfer object. */
buf = malloc(length);
dev->transfer = libusb_alloc_transfer(0);
libusb_fill_interrupt_transfer(dev->transfer,
dev->device_handle,
dev->input_endpoint,
buf,
length,
read_callback,
dev,
5000/*timeout*/);
/* Make the first submission. Further submissions are made
from inside read_callback() */
libusb_submit_transfer(dev->transfer);
/* Notify the main thread that the read thread is up and running. */
pthread_barrier_wait(&dev->barrier);
/* Handle all the events. */
while (!dev->shutdown_thread) {
int res;
res = libusb_handle_events(usb_context);
if (res < 0) {
/* There was an error. */
LOG("read_thread(): libusb reports error # %d\n", res);
/* Break out of this loop only on fatal error.*/
if (res != LIBUSB_ERROR_BUSY &&
res != LIBUSB_ERROR_TIMEOUT &&
res != LIBUSB_ERROR_OVERFLOW &&
res != LIBUSB_ERROR_INTERRUPTED) {
break;
}
}
}
/* Cancel any transfer that may be pending. This call will fail
if no transfers are pending, but that's OK. */
if (libusb_cancel_transfer(dev->transfer) == 0) {
/* The transfer was cancelled, so wait for its completion. */
libusb_handle_events(usb_context);
}
/* Now that the read thread is stopping, Wake any threads which are
waiting on data (in hid_read_timeout()). Do this under a mutex to
make sure that a thread which is about to go to sleep waiting on
the condition acutally will go to sleep before the condition is
signaled. */
pthread_mutex_lock(&dev->mutex);
pthread_cond_broadcast(&dev->condition);
pthread_mutex_unlock(&dev->mutex);
/* The dev->transfer->buffer and dev->transfer objects are cleaned up
in hid_close(). They are not cleaned up here because this thread
could end either due to a disconnect or due to a user
call to hid_close(). In both cases the objects can be safely
cleaned up after the call to pthread_join() (in hid_close()), but
since hid_close() calls libusb_cancel_transfer(), on these objects,
they can not be cleaned up here. */
return NULL;
}
hid_device * HID_API_EXPORT hid_open_path(const char *path)
{
hid_device *dev = NULL;
libusb_device **devs;
libusb_device *usb_dev;
int res;
int d = 0;
int good_open = 0;
dev = new_hid_device();
if(hid_init() < 0)
return NULL;
libusb_get_device_list(usb_context, &devs);
while ((usb_dev = devs[d++]) != NULL) {
struct libusb_device_descriptor desc;
struct libusb_config_descriptor *conf_desc = NULL;
int i,j,k;
libusb_get_device_descriptor(usb_dev, &desc);
if (libusb_get_active_config_descriptor(usb_dev, &conf_desc) < 0)
continue;
for (j = 0; j < conf_desc->bNumInterfaces; j++) {
const struct libusb_interface *intf = &conf_desc->interface[j];
for (k = 0; k < intf->num_altsetting; k++) {
const struct libusb_interface_descriptor *intf_desc;
intf_desc = &intf->altsetting[k];
if (intf_desc->bInterfaceClass == LIBUSB_CLASS_HID) {
char *dev_path = make_path(usb_dev, intf_desc->bInterfaceNumber);
if (!strcmp(dev_path, path)) {
/* Matched Paths. Open this device */
/* OPEN HERE */
res = libusb_open(usb_dev, &dev->device_handle);
if (res < 0) {
LOG("can't open device\n");
free(dev_path);
break;
}
good_open = 1;
#ifdef DETACH_KERNEL_DRIVER
/* Detach the kernel driver, but only if the
device is managed by the kernel */
if (libusb_kernel_driver_active(dev->device_handle, intf_desc->bInterfaceNumber) == 1) {
res = libusb_detach_kernel_driver(dev->device_handle, intf_desc->bInterfaceNumber);
if (res < 0) {
libusb_close(dev->device_handle);
LOG("Unable to detach Kernel Driver\n");
free(dev_path);
good_open = 0;
break;
}
}
#endif
res = libusb_claim_interface(dev->device_handle, intf_desc->bInterfaceNumber);
if (res < 0) {
LOG("can't claim interface %d: %d\n", intf_desc->bInterfaceNumber, res);
free(dev_path);
libusb_close(dev->device_handle);
good_open = 0;
break;
}
/* Store off the string descriptor indexes */
dev->manufacturer_index = desc.iManufacturer;
dev->product_index = desc.iProduct;
dev->serial_index = desc.iSerialNumber;
/* Store off the interface number */
dev->interface = intf_desc->bInterfaceNumber;
/* Find the INPUT and OUTPUT endpoints. An
OUTPUT endpoint is not required. */
for (i = 0; i < intf_desc->bNumEndpoints; i++) {
const struct libusb_endpoint_descriptor *ep
= &intf_desc->endpoint[i];
/* Determine the type and direction of this
endpoint. */
int is_interrupt =
(ep->bmAttributes & LIBUSB_TRANSFER_TYPE_MASK)
== LIBUSB_TRANSFER_TYPE_INTERRUPT;
int is_output =
(ep->bEndpointAddress & LIBUSB_ENDPOINT_DIR_MASK)
== LIBUSB_ENDPOINT_OUT;
int is_input =
(ep->bEndpointAddress & LIBUSB_ENDPOINT_DIR_MASK)
== LIBUSB_ENDPOINT_IN;
/* Decide whether to use it for intput or output. */
if (dev->input_endpoint == 0 &&
is_interrupt && is_input) {
/* Use this endpoint for INPUT */
dev->input_endpoint = ep->bEndpointAddress;
dev->input_ep_max_packet_size = ep->wMaxPacketSize;
}
if (dev->output_endpoint == 0 &&
is_interrupt && is_output) {
/* Use this endpoint for OUTPUT */
dev->output_endpoint = ep->bEndpointAddress;
}
}
pthread_create(&dev->thread, NULL, read_thread, dev);
/* Wait here for the read thread to be initialized. */
pthread_barrier_wait(&dev->barrier);
}
free(dev_path);
}
}
}
libusb_free_config_descriptor(conf_desc);
}
libusb_free_device_list(devs, 1);
/* If we have a good handle, return it. */
if (good_open) {
return dev;
}
else {
/* Unable to open any devices. */
free_hid_device(dev);
return NULL;
}
}
int HID_API_EXPORT hid_write(hid_device *dev, const unsigned char *data, size_t length)
{
int res;
int report_number = data[0];
int skipped_report_id = 0;
if (report_number == 0x0) {
data++;
length--;
skipped_report_id = 1;
}
if (dev->output_endpoint <= 0) {
/* No interrput out endpoint. Use the Control Endpoint */
res = libusb_control_transfer(dev->device_handle,
LIBUSB_REQUEST_TYPE_CLASS|LIBUSB_RECIPIENT_INTERFACE|LIBUSB_ENDPOINT_OUT,
0x09/*HID Set_Report*/,
(2/*HID output*/ << 8) | report_number,
dev->interface,
(unsigned char *)data, length,
1000/*timeout millis*/);
if (res < 0)
return -1;
if (skipped_report_id)
length++;
return length;
}
else {
/* Use the interrupt out endpoint */
int actual_length;
res = libusb_interrupt_transfer(dev->device_handle,
dev->output_endpoint,
(unsigned char*)data,
length,
&actual_length, 1000);
if (res < 0)
return -1;
if (skipped_report_id)
actual_length++;
return actual_length;
}
}
/* Helper function, to simplify hid_read().
This should be called with dev->mutex locked. */
static int return_data(hid_device *dev, unsigned char *data, size_t length)
{
/* Copy the data out of the linked list item (rpt) into the
return buffer (data), and delete the liked list item. */
struct input_report *rpt = dev->input_reports;
size_t len = (length < rpt->len)? length: rpt->len;
if (len > 0)
memcpy(data, rpt->data, len);
dev->input_reports = rpt->next;
free(rpt->data);
free(rpt);
return len;
}
static void cleanup_mutex(void *param)
{
hid_device *dev = param;
pthread_mutex_unlock(&dev->mutex);
}
int HID_API_EXPORT hid_read_timeout(hid_device *dev, unsigned char *data, size_t length, int milliseconds)
{
int bytes_read = -1;
#if 0
int transferred;
int res = libusb_interrupt_transfer(dev->device_handle, dev->input_endpoint, data, length, &transferred, 5000);
LOG("transferred: %d\n", transferred);
return transferred;
#endif
pthread_mutex_lock(&dev->mutex);
pthread_cleanup_push(&cleanup_mutex, dev);
/* There's an input report queued up. Return it. */
if (dev->input_reports) {
/* Return the first one */
bytes_read = return_data(dev, data, length);
goto ret;
}
if (dev->shutdown_thread) {
/* This means the device has been disconnected.
An error code of -1 should be returned. */
bytes_read = -1;
goto ret;
}
if (milliseconds == -1) {
/* Blocking */
while (!dev->input_reports && !dev->shutdown_thread) {
pthread_cond_wait(&dev->condition, &dev->mutex);
}
if (dev->input_reports) {
bytes_read = return_data(dev, data, length);
}
}
else if (milliseconds > 0) {
/* Non-blocking, but called with timeout. */
int res;
struct timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
ts.tv_sec += milliseconds / 1000;
ts.tv_nsec += (milliseconds % 1000) * 1000000;
if (ts.tv_nsec >= 1000000000L) {
ts.tv_sec++;
ts.tv_nsec -= 1000000000L;
}
while (!dev->input_reports && !dev->shutdown_thread) {
res = pthread_cond_timedwait(&dev->condition, &dev->mutex, &ts);
if (res == 0) {
if (dev->input_reports) {
bytes_read = return_data(dev, data, length);
break;
}
/* If we're here, there was a spurious wake up
or the read thread was shutdown. Run the
loop again (ie: don't break). */
}
else if (res == ETIMEDOUT) {
/* Timed out. */
bytes_read = 0;
break;
}
else {
/* Error. */
bytes_read = -1;
break;
}
}
}
else {
/* Purely non-blocking */
bytes_read = 0;
}
ret:
pthread_mutex_unlock(&dev->mutex);
pthread_cleanup_pop(0);
return bytes_read;
}
int HID_API_EXPORT hid_read(hid_device *dev, unsigned char *data, size_t length)
{
return hid_read_timeout(dev, data, length, dev->blocking ? -1 : 0);
}
int HID_API_EXPORT hid_set_nonblocking(hid_device *dev, int nonblock)
{
dev->blocking = !nonblock;
return 0;
}
int HID_API_EXPORT hid_send_feature_report(hid_device *dev, const unsigned char *data, size_t length)
{
int res = -1;
int skipped_report_id = 0;
int report_number = data[0];
if (report_number == 0x0) {
data++;
length--;
skipped_report_id = 1;
}
res = libusb_control_transfer(dev->device_handle,
LIBUSB_REQUEST_TYPE_CLASS|LIBUSB_RECIPIENT_INTERFACE|LIBUSB_ENDPOINT_OUT,
0x09/*HID set_report*/,
(3/*HID feature*/ << 8) | report_number,
dev->interface,
(unsigned char *)data, length,
1000/*timeout millis*/);
if (res < 0)
return -1;
/* Account for the report ID */
if (skipped_report_id)
length++;
return length;
}
int HID_API_EXPORT hid_get_feature_report(hid_device *dev, unsigned char *data, size_t length)
{
int res = -1;
int skipped_report_id = 0;
int report_number = data[0];
if (report_number == 0x0) {
/* Offset the return buffer by 1, so that the report ID
will remain in byte 0. */
data++;
length--;
skipped_report_id = 1;
}
res = libusb_control_transfer(dev->device_handle,
LIBUSB_REQUEST_TYPE_CLASS|LIBUSB_RECIPIENT_INTERFACE|LIBUSB_ENDPOINT_IN,
0x01/*HID get_report*/,
(3/*HID feature*/ << 8) | report_number,
dev->interface,
(unsigned char *)data, length,
1000/*timeout millis*/);
if (res < 0)
return -1;
if (skipped_report_id)
res++;
return res;
}
void HID_API_EXPORT hid_close(hid_device *dev)
{
if (!dev)
return;
/* Cause read_thread() to stop. */
dev->shutdown_thread = 1;
libusb_cancel_transfer(dev->transfer);
/* Wait for read_thread() to end. */
pthread_join(dev->thread, NULL);
/* Clean up the Transfer objects allocated in read_thread(). */
free(dev->transfer->buffer);
libusb_free_transfer(dev->transfer);
/* release the interface */
libusb_release_interface(dev->device_handle, dev->interface);
/* Close the handle */
libusb_close(dev->device_handle);
/* Clear out the queue of received reports. */
pthread_mutex_lock(&dev->mutex);
while (dev->input_reports) {
return_data(dev, NULL, 0);
}
pthread_mutex_unlock(&dev->mutex);
free_hid_device(dev);
}
int HID_API_EXPORT_CALL hid_get_manufacturer_string(hid_device *dev, wchar_t *string, size_t maxlen)
{
return hid_get_indexed_string(dev, dev->manufacturer_index, string, maxlen);
}
int HID_API_EXPORT_CALL hid_get_product_string(hid_device *dev, wchar_t *string, size_t maxlen)
{
return hid_get_indexed_string(dev, dev->product_index, string, maxlen);
}
int HID_API_EXPORT_CALL hid_get_serial_number_string(hid_device *dev, wchar_t *string, size_t maxlen)
{
return hid_get_indexed_string(dev, dev->serial_index, string, maxlen);
}
int HID_API_EXPORT_CALL hid_get_indexed_string(hid_device *dev, int string_index, wchar_t *string, size_t maxlen)
{
wchar_t *str;
str = get_usb_string(dev->device_handle, string_index);
if (str) {
wcsncpy(string, str, maxlen);
string[maxlen-1] = L'\0';
free(str);
return 0;
}
else
return -1;
}
HID_API_EXPORT const wchar_t * HID_API_CALL hid_error(hid_device *dev)
{
return NULL;
}
struct lang_map_entry {
const char *name;
const char *string_code;
uint16_t usb_code;
};
#define LANG(name,code,usb_code) { name, code, usb_code }
static struct lang_map_entry lang_map[] = {
LANG("Afrikaans", "af", 0x0436),
LANG("Albanian", "sq", 0x041C),
LANG("Arabic - United Arab Emirates", "ar_ae", 0x3801),
LANG("Arabic - Bahrain", "ar_bh", 0x3C01),
LANG("Arabic - Algeria", "ar_dz", 0x1401),
LANG("Arabic - Egypt", "ar_eg", 0x0C01),
LANG("Arabic - Iraq", "ar_iq", 0x0801),
LANG("Arabic - Jordan", "ar_jo", 0x2C01),
LANG("Arabic - Kuwait", "ar_kw", 0x3401),
LANG("Arabic - Lebanon", "ar_lb", 0x3001),
LANG("Arabic - Libya", "ar_ly", 0x1001),
LANG("Arabic - Morocco", "ar_ma", 0x1801),
LANG("Arabic - Oman", "ar_om", 0x2001),
LANG("Arabic - Qatar", "ar_qa", 0x4001),
LANG("Arabic - Saudi Arabia", "ar_sa", 0x0401),
LANG("Arabic - Syria", "ar_sy", 0x2801),
LANG("Arabic - Tunisia", "ar_tn", 0x1C01),
LANG("Arabic - Yemen", "ar_ye", 0x2401),
LANG("Armenian", "hy", 0x042B),
LANG("Azeri - Latin", "az_az", 0x042C),
LANG("Azeri - Cyrillic", "az_az", 0x082C),
LANG("Basque", "eu", 0x042D),
LANG("Belarusian", "be", 0x0423),
LANG("Bulgarian", "bg", 0x0402),
LANG("Catalan", "ca", 0x0403),
LANG("Chinese - China", "zh_cn", 0x0804),
LANG("Chinese - Hong Kong SAR", "zh_hk", 0x0C04),
LANG("Chinese - Macau SAR", "zh_mo", 0x1404),
LANG("Chinese - Singapore", "zh_sg", 0x1004),
LANG("Chinese - Taiwan", "zh_tw", 0x0404),
LANG("Croatian", "hr", 0x041A),
LANG("Czech", "cs", 0x0405),
LANG("Danish", "da", 0x0406),
LANG("Dutch - Netherlands", "nl_nl", 0x0413),
LANG("Dutch - Belgium", "nl_be", 0x0813),
LANG("English - Australia", "en_au", 0x0C09),
LANG("English - Belize", "en_bz", 0x2809),
LANG("English - Canada", "en_ca", 0x1009),
LANG("English - Caribbean", "en_cb", 0x2409),
LANG("English - Ireland", "en_ie", 0x1809),
LANG("English - Jamaica", "en_jm", 0x2009),
LANG("English - New Zealand", "en_nz", 0x1409),
LANG("English - Phillippines", "en_ph", 0x3409),
LANG("English - Southern Africa", "en_za", 0x1C09),
LANG("English - Trinidad", "en_tt", 0x2C09),
LANG("English - Great Britain", "en_gb", 0x0809),
LANG("English - United States", "en_us", 0x0409),
LANG("Estonian", "et", 0x0425),
LANG("Farsi", "fa", 0x0429),
LANG("Finnish", "fi", 0x040B),
LANG("Faroese", "fo", 0x0438),
LANG("French - France", "fr_fr", 0x040C),
LANG("French - Belgium", "fr_be", 0x080C),
LANG("French - Canada", "fr_ca", 0x0C0C),
LANG("French - Luxembourg", "fr_lu", 0x140C),
LANG("French - Switzerland", "fr_ch", 0x100C),
LANG("Gaelic - Ireland", "gd_ie", 0x083C),
LANG("Gaelic - Scotland", "gd", 0x043C),
LANG("German - Germany", "de_de", 0x0407),
LANG("German - Austria", "de_at", 0x0C07),
LANG("German - Liechtenstein", "de_li", 0x1407),
LANG("German - Luxembourg", "de_lu", 0x1007),
LANG("German - Switzerland", "de_ch", 0x0807),
LANG("Greek", "el", 0x0408),
LANG("Hebrew", "he", 0x040D),
LANG("Hindi", "hi", 0x0439),
LANG("Hungarian", "hu", 0x040E),
LANG("Icelandic", "is", 0x040F),
LANG("Indonesian", "id", 0x0421),
LANG("Italian - Italy", "it_it", 0x0410),
LANG("Italian - Switzerland", "it_ch", 0x0810),
LANG("Japanese", "ja", 0x0411),
LANG("Korean", "ko", 0x0412),
LANG("Latvian", "lv", 0x0426),
LANG("Lithuanian", "lt", 0x0427),
LANG("F.Y.R.O. Macedonia", "mk", 0x042F),
LANG("Malay - Malaysia", "ms_my", 0x043E),
LANG("Malay – Brunei", "ms_bn", 0x083E),
LANG("Maltese", "mt", 0x043A),
LANG("Marathi", "mr", 0x044E),
LANG("Norwegian - Bokml", "no_no", 0x0414),
LANG("Norwegian - Nynorsk", "no_no", 0x0814),
LANG("Polish", "pl", 0x0415),
LANG("Portuguese - Portugal", "pt_pt", 0x0816),
LANG("Portuguese - Brazil", "pt_br", 0x0416),
LANG("Raeto-Romance", "rm", 0x0417),
LANG("Romanian - Romania", "ro", 0x0418),
LANG("Romanian - Republic of Moldova", "ro_mo", 0x0818),
LANG("Russian", "ru", 0x0419),
LANG("Russian - Republic of Moldova", "ru_mo", 0x0819),
LANG("Sanskrit", "sa", 0x044F),
LANG("Serbian - Cyrillic", "sr_sp", 0x0C1A),
LANG("Serbian - Latin", "sr_sp", 0x081A),
LANG("Setsuana", "tn", 0x0432),
LANG("Slovenian", "sl", 0x0424),
LANG("Slovak", "sk", 0x041B),
LANG("Sorbian", "sb", 0x042E),
LANG("Spanish - Spain (Traditional)", "es_es", 0x040A),
LANG("Spanish - Argentina", "es_ar", 0x2C0A),
LANG("Spanish - Bolivia", "es_bo", 0x400A),
LANG("Spanish - Chile", "es_cl", 0x340A),
LANG("Spanish - Colombia", "es_co", 0x240A),
LANG("Spanish - Costa Rica", "es_cr", 0x140A),
LANG("Spanish - Dominican Republic", "es_do", 0x1C0A),
LANG("Spanish - Ecuador", "es_ec", 0x300A),
LANG("Spanish - Guatemala", "es_gt", 0x100A),
LANG("Spanish - Honduras", "es_hn", 0x480A),
LANG("Spanish - Mexico", "es_mx", 0x080A),
LANG("Spanish - Nicaragua", "es_ni", 0x4C0A),
LANG("Spanish - Panama", "es_pa", 0x180A),
LANG("Spanish - Peru", "es_pe", 0x280A),
LANG("Spanish - Puerto Rico", "es_pr", 0x500A),
LANG("Spanish - Paraguay", "es_py", 0x3C0A),
LANG("Spanish - El Salvador", "es_sv", 0x440A),
LANG("Spanish - Uruguay", "es_uy", 0x380A),
LANG("Spanish - Venezuela", "es_ve", 0x200A),
LANG("Southern Sotho", "st", 0x0430),
LANG("Swahili", "sw", 0x0441),
LANG("Swedish - Sweden", "sv_se", 0x041D),
LANG("Swedish - Finland", "sv_fi", 0x081D),
LANG("Tamil", "ta", 0x0449),
LANG("Tatar", "tt", 0X0444),
LANG("Thai", "th", 0x041E),
LANG("Turkish", "tr", 0x041F),
LANG("Tsonga", "ts", 0x0431),
LANG("Ukrainian", "uk", 0x0422),
LANG("Urdu", "ur", 0x0420),
LANG("Uzbek - Cyrillic", "uz_uz", 0x0843),
LANG("Uzbek – Latin", "uz_uz", 0x0443),
LANG("Vietnamese", "vi", 0x042A),
LANG("Xhosa", "xh", 0x0434),
LANG("Yiddish", "yi", 0x043D),
LANG("Zulu", "zu", 0x0435),
LANG(NULL, NULL, 0x0),
};
uint16_t get_usb_code_for_current_locale(void)
{
char *locale;
char search_string[64];
char *ptr;
struct lang_map_entry *lang;
/* Get the current locale. */
locale = setlocale(0, NULL);
if (!locale)
return 0x0;
/* Make a copy of the current locale string. */
strncpy(search_string, locale, sizeof(search_string));
search_string[sizeof(search_string)-1] = '\0';
/* Chop off the encoding part, and make it lower case. */
ptr = search_string;
while (*ptr) {
*ptr = tolower(*ptr);
if (*ptr == '.') {
*ptr = '\0';
break;
}
ptr++;
}
/* Find the entry which matches the string code of our locale. */
lang = lang_map;
while (lang->string_code) {
if (!strcmp(lang->string_code, search_string)) {
return lang->usb_code;
}
lang++;
}
/* There was no match. Find with just the language only. */
/* Chop off the variant. Chop it off at the '_'. */
ptr = search_string;
while (*ptr) {
*ptr = tolower(*ptr);
if (*ptr == '_') {
*ptr = '\0';
break;
}
ptr++;
}
#if 0 /* TODO: Do we need this? */
/* Find the entry which matches the string code of our language. */
lang = lang_map;
while (lang->string_code) {
if (!strcmp(lang->string_code, search_string)) {
return lang->usb_code;
}
lang++;
}
#endif
/* Found nothing. */
return 0x0;
}
#ifdef __cplusplus
}
#endif

786
ground/openpilotgcs/src/plugins/ophid/hidapi/linux/hid.c Normal file
View File

@ -0,0 +1,786 @@
/*******************************************************
HIDAPI - Multi-Platform library for
communication with HID devices.
Alan Ott
Signal 11 Software
8/22/2009
Linux Version - 6/2/2009
Copyright 2009, All Rights Reserved.
At the discretion of the user of this library,
this software may be licensed under the terms of the
GNU Public License v3, a BSD-Style license, or the
original HIDAPI license as outlined in the LICENSE.txt,
LICENSE-gpl3.txt, LICENSE-bsd.txt, and LICENSE-orig.txt
files located at the root of the source distribution.
These files may also be found in the public source
code repository located at:
http://github.com/signal11/hidapi .
********************************************************/
/* C */
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <locale.h>
#include <errno.h>
/* Unix */
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <sys/utsname.h>
#include <fcntl.h>
#include <poll.h>
/* Linux */
#include <linux/hidraw.h>
#include <linux/version.h>
#include <linux/input.h>
#include <libudev.h>
#include "../hidapi.h"
/* Definitions from linux/hidraw.h. Since these are new, some distros
may not have header files which contain them. */
#ifndef HIDIOCSFEATURE
#define HIDIOCSFEATURE(len) _IOC(_IOC_WRITE|_IOC_READ, 'H', 0x06, len)
#endif
#ifndef HIDIOCGFEATURE
#define HIDIOCGFEATURE(len) _IOC(_IOC_WRITE|_IOC_READ, 'H', 0x07, len)
#endif
/* USB HID device property names */
const char *device_string_names[] = {
"manufacturer",
"product",
"serial",
};
/* Symbolic names for the properties above */
enum device_string_id {
DEVICE_STRING_MANUFACTURER,
DEVICE_STRING_PRODUCT,
DEVICE_STRING_SERIAL,
DEVICE_STRING_COUNT,
};
struct hid_device_ {
int device_handle;
int blocking;
int uses_numbered_reports;
};
static __u32 kernel_version = 0;
static hid_device *new_hid_device(void)
{
hid_device *dev = calloc(1, sizeof(hid_device));
dev->device_handle = -1;
dev->blocking = 1;
dev->uses_numbered_reports = 0;
return dev;
}
/* The caller must free the returned string with free(). */
static wchar_t *utf8_to_wchar_t(const char *utf8)
{
wchar_t *ret = NULL;
if (utf8) {
size_t wlen = mbstowcs(NULL, utf8, 0);
if ((size_t) -1 == wlen) {
return wcsdup(L"");
}
ret = calloc(wlen+1, sizeof(wchar_t));
mbstowcs(ret, utf8, wlen+1);
ret[wlen] = 0x0000;
}
return ret;
}
/* Get an attribute value from a udev_device and return it as a whar_t
string. The returned string must be freed with free() when done.*/
static wchar_t *copy_udev_string(struct udev_device *dev, const char *udev_name)
{
return utf8_to_wchar_t(udev_device_get_sysattr_value(dev, udev_name));
}
/* uses_numbered_reports() returns 1 if report_descriptor describes a device
which contains numbered reports. */
static int uses_numbered_reports(__u8 *report_descriptor, __u32 size) {
unsigned int i = 0;
int size_code;
int data_len, key_size;
while (i < size) {
int key = report_descriptor[i];
/* Check for the Report ID key */
if (key == 0x85/*Report ID*/) {
/* This device has a Report ID, which means it uses
numbered reports. */
return 1;
}
//printf("key: %02hhx\n", key);
if ((key & 0xf0) == 0xf0) {
/* This is a Long Item. The next byte contains the
length of the data section (value) for this key.
See the HID specification, version 1.11, section
6.2.2.3, titled "Long Items." */
if (i+1 < size)
data_len = report_descriptor[i+1];
else
data_len = 0; /* malformed report */
key_size = 3;
}
else {
/* This is a Short Item. The bottom two bits of the
key contain the size code for the data section
(value) for this key. Refer to the HID
specification, version 1.11, section 6.2.2.2,
titled "Short Items." */
size_code = key & 0x3;
switch (size_code) {
case 0:
case 1:
case 2:
data_len = size_code;
break;
case 3:
data_len = 4;
break;
default:
/* Can't ever happen since size_code is & 0x3 */
data_len = 0;
break;
};
key_size = 1;
}
/* Skip over this key and it's associated data */
i += data_len + key_size;
}
/* Didn't find a Report ID key. Device doesn't use numbered reports. */
return 0;
}
/*
* The caller is responsible for free()ing the (newly-allocated) character
* strings pointed to by serial_number_utf8 and product_name_utf8 after use.
*/
static int
parse_uevent_info(const char *uevent, int *bus_type,
unsigned short *vendor_id, unsigned short *product_id,
char **serial_number_utf8, char **product_name_utf8)
{
char *tmp = strdup(uevent);
char *saveptr = NULL;
char *line;
char *key;
char *value;
int found_id = 0;
int found_serial = 0;
int found_name = 0;
line = strtok_r(tmp, "\n", &saveptr);
while (line != NULL) {
/* line: "KEY=value" */
key = line;
value = strchr(line, '=');
if (!value) {
goto next_line;
}
*value = '\0';
value++;
if (strcmp(key, "HID_ID") == 0) {
/**
* type vendor product
* HID_ID=0003:000005AC:00008242
**/
int ret = sscanf(value, "%x:%hx:%hx", bus_type, vendor_id, product_id);
if (ret == 3) {
found_id = 1;
}
} else if (strcmp(key, "HID_NAME") == 0) {
/* The caller has to free the product name */
*product_name_utf8 = strdup(value);
found_name = 1;
} else if (strcmp(key, "HID_UNIQ") == 0) {
/* The caller has to free the serial number */
*serial_number_utf8 = strdup(value);
found_serial = 1;
}
next_line:
line = strtok_r(NULL, "\n", &saveptr);
}
free(tmp);
return (found_id && found_name && found_serial);
}
static int get_device_string(hid_device *dev, enum device_string_id key, wchar_t *string, size_t maxlen)
{
struct udev *udev;
struct udev_device *udev_dev, *parent, *hid_dev;
struct stat s;
int ret = -1;
char *serial_number_utf8 = NULL;
char *product_name_utf8 = NULL;
/* Create the udev object */
udev = udev_new();
if (!udev) {
printf("Can't create udev\n");
return -1;
}
/* Get the dev_t (major/minor numbers) from the file handle. */
fstat(dev->device_handle, &s);
/* Open a udev device from the dev_t. 'c' means character device. */
udev_dev = udev_device_new_from_devnum(udev, 'c', s.st_rdev);
if (udev_dev) {
hid_dev = udev_device_get_parent_with_subsystem_devtype(
udev_dev,
"hid",
NULL);
if (hid_dev) {
unsigned short dev_vid;
unsigned short dev_pid;
int bus_type;
size_t retm;
ret = parse_uevent_info(
udev_device_get_sysattr_value(hid_dev, "uevent"),
&bus_type,
&dev_vid,
&dev_pid,
&serial_number_utf8,
&product_name_utf8);
if (bus_type == BUS_BLUETOOTH) {
switch (key) {
case DEVICE_STRING_MANUFACTURER:
wcsncpy(string, L"", maxlen);
ret = 0;
break;
case DEVICE_STRING_PRODUCT:
retm = mbstowcs(string, product_name_utf8, maxlen);
ret = (retm == (size_t)-1)? -1: 0;
break;
case DEVICE_STRING_SERIAL:
retm = mbstowcs(string, serial_number_utf8, maxlen);
ret = (retm == (size_t)-1)? -1: 0;
break;
case DEVICE_STRING_COUNT:
default:
ret = -1;
break;
}
}
else {
/* This is a USB device. Find its parent USB Device node. */
parent = udev_device_get_parent_with_subsystem_devtype(
udev_dev,
"usb",
"usb_device");
if (parent) {
const char *str;
const char *key_str = NULL;
if (key >= 0 && key < DEVICE_STRING_COUNT) {
key_str = device_string_names[key];
} else {
ret = -1;
goto end;
}
str = udev_device_get_sysattr_value(parent, key_str);
if (str) {
/* Convert the string from UTF-8 to wchar_t */
retm = mbstowcs(string, str, maxlen);
ret = (retm == (size_t)-1)? -1: 0;
goto end;
}
}
}
}
}
end:
free(serial_number_utf8);
free(product_name_utf8);
udev_device_unref(udev_dev);
/* parent and hid_dev don't need to be (and can't be) unref'd.
I'm not sure why, but they'll throw double-free() errors. */
udev_unref(udev);
return ret;
}
int HID_API_EXPORT hid_init(void)
{
const char *locale;
/* Set the locale if it's not set. */
locale = setlocale(LC_CTYPE, NULL);
if (!locale)
setlocale(LC_CTYPE, "");
return 0;
}
int HID_API_EXPORT hid_exit(void)
{
/* Nothing to do for this in the Linux/hidraw implementation. */
return 0;
}
struct hid_device_info HID_API_EXPORT *hid_enumerate(unsigned short vendor_id, unsigned short product_id)
{
struct udev *udev;
struct udev_enumerate *enumerate;
struct udev_list_entry *devices, *dev_list_entry;
struct hid_device_info *root = NULL; /* return object */
struct hid_device_info *cur_dev = NULL;
struct hid_device_info *prev_dev = NULL; /* previous device */
hid_init();
/* Create the udev object */
udev = udev_new();
if (!udev) {
printf("Can't create udev\n");
return NULL;
}
/* Create a list of the devices in the 'hidraw' subsystem. */
enumerate = udev_enumerate_new(udev);
udev_enumerate_add_match_subsystem(enumerate, "hidraw");
udev_enumerate_scan_devices(enumerate);
devices = udev_enumerate_get_list_entry(enumerate);
/* For each item, see if it matches the vid/pid, and if so
create a udev_device record for it */
udev_list_entry_foreach(dev_list_entry, devices) {
const char *sysfs_path;
const char *dev_path;
const char *str;
struct udev_device *raw_dev; /* The device's hidraw udev node. */
struct udev_device *hid_dev; /* The device's HID udev node. */
struct udev_device *usb_dev; /* The device's USB udev node. */
struct udev_device *intf_dev; /* The device's interface (in the USB sense). */
unsigned short dev_vid;
unsigned short dev_pid;
char *serial_number_utf8 = NULL;
char *product_name_utf8 = NULL;
int bus_type;
int result;
/* Get the filename of the /sys entry for the device
and create a udev_device object (dev) representing it */
sysfs_path = udev_list_entry_get_name(dev_list_entry);
raw_dev = udev_device_new_from_syspath(udev, sysfs_path);
dev_path = udev_device_get_devnode(raw_dev);
hid_dev = udev_device_get_parent_with_subsystem_devtype(
raw_dev,
"hid",
NULL);
if (!hid_dev) {
/* Unable to find parent hid device. */
goto next;
}
result = parse_uevent_info(
udev_device_get_sysattr_value(hid_dev, "uevent"),
&bus_type,
&dev_vid,
&dev_pid,
&serial_number_utf8,
&product_name_utf8);
if (!result) {
/* parse_uevent_info() failed for at least one field. */
goto next;
}
if (bus_type != BUS_USB && bus_type != BUS_BLUETOOTH) {
/* We only know how to handle USB and BT devices. */
goto next;
}
/* Check the VID/PID against the arguments */
if ((vendor_id == 0x0 || vendor_id == dev_vid) &&
(product_id == 0x0 || product_id == dev_pid)) {
struct hid_device_info *tmp;
/* VID/PID match. Create the record. */
tmp = malloc(sizeof(struct hid_device_info));
if (cur_dev) {
cur_dev->next = tmp;
}
else {
root = tmp;
}
prev_dev = cur_dev;
cur_dev = tmp;
/* Fill out the record */
cur_dev->next = NULL;
cur_dev->path = dev_path? strdup(dev_path): NULL;
/* VID/PID */
cur_dev->vendor_id = dev_vid;
cur_dev->product_id = dev_pid;
/* Serial Number */
cur_dev->serial_number = utf8_to_wchar_t(serial_number_utf8);
/* Release Number */
cur_dev->release_number = 0x0;
/* Interface Number */
cur_dev->interface_number = -1;
switch (bus_type) {
case BUS_USB:
/* The device pointed to by raw_dev contains information about
the hidraw device. In order to get information about the
USB device, get the parent device with the
subsystem/devtype pair of "usb"/"usb_device". This will
be several levels up the tree, but the function will find
it. */
usb_dev = udev_device_get_parent_with_subsystem_devtype(
raw_dev,
"usb",
"usb_device");
if (!usb_dev) {
/* Free this device */
free(cur_dev->serial_number);
free(cur_dev->path);
free(cur_dev);
/* Take it off the device list. */
if (prev_dev) {
prev_dev->next = NULL;
cur_dev = prev_dev;
}
else {
cur_dev = root = NULL;
}
goto next;
}
/* Manufacturer and Product strings */
cur_dev->manufacturer_string = copy_udev_string(usb_dev, device_string_names[DEVICE_STRING_MANUFACTURER]);
cur_dev->product_string = copy_udev_string(usb_dev, device_string_names[DEVICE_STRING_PRODUCT]);
/* Release Number */
str = udev_device_get_sysattr_value(usb_dev, "bcdDevice");
cur_dev->release_number = (str)? strtol(str, NULL, 16): 0x0;
/* Get a handle to the interface's udev node. */
intf_dev = udev_device_get_parent_with_subsystem_devtype(
raw_dev,
"usb",
"usb_interface");
if (intf_dev) {
str = udev_device_get_sysattr_value(intf_dev, "bInterfaceNumber");
cur_dev->interface_number = (str)? strtol(str, NULL, 16): -1;
}
break;
case BUS_BLUETOOTH:
/* Manufacturer and Product strings */
cur_dev->manufacturer_string = wcsdup(L"");
cur_dev->product_string = utf8_to_wchar_t(product_name_utf8);
break;
default:
/* Unknown device type - this should never happen, as we
* check for USB and Bluetooth devices above */
break;
}
}
next:
free(serial_number_utf8);
free(product_name_utf8);
udev_device_unref(raw_dev);
/* hid_dev, usb_dev and intf_dev don't need to be (and can't be)
unref()d. It will cause a double-free() error. I'm not
sure why. */
}
/* Free the enumerator and udev objects. */
udev_enumerate_unref(enumerate);
udev_unref(udev);
return root;
}
void HID_API_EXPORT hid_free_enumeration(struct hid_device_info *devs)
{
struct hid_device_info *d = devs;
while (d) {
struct hid_device_info *next = d->next;
free(d->path);
free(d->serial_number);
free(d->manufacturer_string);
free(d->product_string);
free(d);
d = next;
}
}
hid_device * hid_open(unsigned short vendor_id, unsigned short product_id, const wchar_t *serial_number)
{
struct hid_device_info *devs, *cur_dev;
const char *path_to_open = NULL;
hid_device *handle = NULL;
devs = hid_enumerate(vendor_id, product_id);
cur_dev = devs;
while (cur_dev) {
if (cur_dev->vendor_id == vendor_id &&
cur_dev->product_id == product_id) {
if (serial_number) {
if (wcscmp(serial_number, cur_dev->serial_number) == 0) {
path_to_open = cur_dev->path;
break;
}
}
else {
path_to_open = cur_dev->path;
break;
}
}
cur_dev = cur_dev->next;
}
if (path_to_open) {
/* Open the device */
handle = hid_open_path(path_to_open);
}
hid_free_enumeration(devs);
return handle;
}
hid_device * HID_API_EXPORT hid_open_path(const char *path)
{
hid_device *dev = NULL;
hid_init();
dev = new_hid_device();
if (kernel_version == 0) {
struct utsname name;
int major, minor, release;
int ret;
uname(&name);
ret = sscanf(name.release, "%d.%d.%d", &major, &minor, &release);
if (ret == 3) {
kernel_version = major << 16 | minor << 8 | release;
//printf("Kernel Version: %d\n", kernel_version);
}
else {
printf("Couldn't sscanf() version string %s\n", name.release);
}
}
/* OPEN HERE */
dev->device_handle = open(path, O_RDWR);
/* If we have a good handle, return it. */
if (dev->device_handle > 0) {
/* Get the report descriptor */
int res, desc_size = 0;
struct hidraw_report_descriptor rpt_desc;
memset(&rpt_desc, 0x0, sizeof(rpt_desc));
/* Get Report Descriptor Size */
res = ioctl(dev->device_handle, HIDIOCGRDESCSIZE, &desc_size);
if (res < 0)
perror("HIDIOCGRDESCSIZE");
/* Get Report Descriptor */
rpt_desc.size = desc_size;
res = ioctl(dev->device_handle, HIDIOCGRDESC, &rpt_desc);
if (res < 0) {
perror("HIDIOCGRDESC");
} else {
/* Determine if this device uses numbered reports. */
dev->uses_numbered_reports =
uses_numbered_reports(rpt_desc.value,
rpt_desc.size);
}
return dev;
}
else {
/* Unable to open any devices. */
free(dev);
return NULL;
}
}
int HID_API_EXPORT hid_write(hid_device *dev, const unsigned char *data, size_t length)
{
int bytes_written;
bytes_written = write(dev->device_handle, data, length);
return bytes_written;
}
int HID_API_EXPORT hid_read_timeout(hid_device *dev, unsigned char *data, size_t length, int milliseconds)
{
int bytes_read;
if (milliseconds >= 0) {
/* Milliseconds is either 0 (non-blocking) or > 0 (contains
a valid timeout). In both cases we want to call poll()
and wait for data to arrive. Don't rely on non-blocking
operation (O_NONBLOCK) since some kernels don't seem to
properly report device disconnection through read() when
in non-blocking mode. */
int ret;
struct pollfd fds;
fds.fd = dev->device_handle;
fds.events = POLLIN;
fds.revents = 0;
ret = poll(&fds, 1, milliseconds);
if (ret == -1 || ret == 0) {
/* Error or timeout */
return ret;
}
else {
/* Check for errors on the file descriptor. This will
indicate a device disconnection. */
if (fds.revents & (POLLERR | POLLHUP | POLLNVAL))
return -1;
}
}
bytes_read = read(dev->device_handle, data, length);
if (bytes_read < 0 && (errno == EAGAIN || errno == EINPROGRESS))
bytes_read = 0;
if (bytes_read >= 0 &&
kernel_version < KERNEL_VERSION(2,6,34) &&
dev->uses_numbered_reports) {
/* Work around a kernel bug. Chop off the first byte. */
memmove(data, data+1, bytes_read);
bytes_read--;
}
return bytes_read;
}
int HID_API_EXPORT hid_read(hid_device *dev, unsigned char *data, size_t length)
{
return hid_read_timeout(dev, data, length, (dev->blocking)? -1: 0);
}
int HID_API_EXPORT hid_set_nonblocking(hid_device *dev, int nonblock)
{
/* Do all non-blocking in userspace using poll(), since it looks
like there's a bug in the kernel in some versions where
read() will not return -1 on disconnection of the USB device */
dev->blocking = !nonblock;
return 0; /* Success */
}
int HID_API_EXPORT hid_send_feature_report(hid_device *dev, const unsigned char *data, size_t length)
{
int res;
res = ioctl(dev->device_handle, HIDIOCSFEATURE(length), data);
if (res < 0)
perror("ioctl (SFEATURE)");
return res;
}
int HID_API_EXPORT hid_get_feature_report(hid_device *dev, unsigned char *data, size_t length)
{
int res;
res = ioctl(dev->device_handle, HIDIOCGFEATURE(length), data);
if (res < 0)
perror("ioctl (GFEATURE)");
return res;
}
void HID_API_EXPORT hid_close(hid_device *dev)
{
if (!dev)
return;
close(dev->device_handle);
free(dev);
}
int HID_API_EXPORT_CALL hid_get_manufacturer_string(hid_device *dev, wchar_t *string, size_t maxlen)
{
return get_device_string(dev, DEVICE_STRING_MANUFACTURER, string, maxlen);
}
int HID_API_EXPORT_CALL hid_get_product_string(hid_device *dev, wchar_t *string, size_t maxlen)
{
return get_device_string(dev, DEVICE_STRING_PRODUCT, string, maxlen);
}
int HID_API_EXPORT_CALL hid_get_serial_number_string(hid_device *dev, wchar_t *string, size_t maxlen)
{
return get_device_string(dev, DEVICE_STRING_SERIAL, string, maxlen);
}
int HID_API_EXPORT_CALL hid_get_indexed_string(hid_device *dev, int string_index, wchar_t *string, size_t maxlen)
{
return -1;
}
HID_API_EXPORT const wchar_t * HID_API_CALL hid_error(hid_device *dev)
{
return NULL;
}

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@ -0,0 +1,1101 @@
/*******************************************************
HIDAPI - Multi-Platform library for
communication with HID devices.
Alan Ott
Signal 11 Software
2010-07-03
Copyright 2010, All Rights Reserved.
At the discretion of the user of this library,
this software may be licensed under the terms of the
GNU Public License v3, a BSD-Style license, or the
original HIDAPI license as outlined in the LICENSE.txt,
LICENSE-gpl3.txt, LICENSE-bsd.txt, and LICENSE-orig.txt
files located at the root of the source distribution.
These files may also be found in the public source
code repository located at:
http://github.com/signal11/hidapi .
********************************************************/
/* See Apple Technical Note TN2187 for details on IOHidManager. */
#include <IOKit/hid/IOHIDManager.h>
#include <IOKit/hid/IOHIDKeys.h>
#include <IOKit/IOKitLib.h>
#include <CoreFoundation/CoreFoundation.h>
#include <wchar.h>
#include <locale.h>
#include <pthread.h>
#include <sys/time.h>
#include <unistd.h>
#include "../hidapi.h"
/* Barrier implementation because Mac OSX doesn't have pthread_barrier.
It also doesn't have clock_gettime(). So much for POSIX and SUSv2.
This implementation came from Brent Priddy and was posted on
StackOverflow. It is used with his permission. */
typedef int pthread_barrierattr_t;
typedef struct pthread_barrier {
pthread_mutex_t mutex;
pthread_cond_t cond;
int count;
int trip_count;
} pthread_barrier_t;
static int pthread_barrier_init(pthread_barrier_t *barrier, const pthread_barrierattr_t *attr, unsigned int count)
{
if(count == 0) {
errno = EINVAL;
return -1;
}
if(pthread_mutex_init(&barrier->mutex, 0) < 0) {
return -1;
}
if(pthread_cond_init(&barrier->cond, 0) < 0) {
pthread_mutex_destroy(&barrier->mutex);
return -1;
}
barrier->trip_count = count;
barrier->count = 0;
return 0;
}
static int pthread_barrier_destroy(pthread_barrier_t *barrier)
{
pthread_cond_destroy(&barrier->cond);
pthread_mutex_destroy(&barrier->mutex);
return 0;
}
static int pthread_barrier_wait(pthread_barrier_t *barrier)
{
pthread_mutex_lock(&barrier->mutex);
++(barrier->count);
if(barrier->count >= barrier->trip_count)
{
barrier->count = 0;
pthread_cond_broadcast(&barrier->cond);
pthread_mutex_unlock(&barrier->mutex);
return 1;
}
else
{
pthread_cond_wait(&barrier->cond, &(barrier->mutex));
pthread_mutex_unlock(&barrier->mutex);
return 0;
}
}
static int return_data(hid_device *dev, unsigned char *data, size_t length);
/* Linked List of input reports received from the device. */
struct input_report {
uint8_t *data;
size_t len;
struct input_report *next;
};
struct hid_device_ {
IOHIDDeviceRef device_handle;
int blocking;
int uses_numbered_reports;
int disconnected;
CFStringRef run_loop_mode;
CFRunLoopRef run_loop;
CFRunLoopSourceRef source;
uint8_t *input_report_buf;
CFIndex max_input_report_len;
struct input_report *input_reports;
pthread_t thread;
pthread_mutex_t mutex; /* Protects input_reports */
pthread_cond_t condition;
pthread_barrier_t barrier; /* Ensures correct startup sequence */
pthread_barrier_t shutdown_barrier; /* Ensures correct shutdown sequence */
int shutdown_thread;
};
static hid_device *new_hid_device(void)
{
hid_device *dev = calloc(1, sizeof(hid_device));
dev->device_handle = NULL;
dev->blocking = 1;
dev->uses_numbered_reports = 0;
dev->disconnected = 0;
dev->run_loop_mode = NULL;
dev->run_loop = NULL;
dev->source = NULL;
dev->input_report_buf = NULL;
dev->input_reports = NULL;
dev->shutdown_thread = 0;
/* Thread objects */
pthread_mutex_init(&dev->mutex, NULL);
pthread_cond_init(&dev->condition, NULL);
pthread_barrier_init(&dev->barrier, NULL, 2);
pthread_barrier_init(&dev->shutdown_barrier, NULL, 2);
return dev;
}
static void free_hid_device(hid_device *dev)
{
if (!dev)
return;
/* Delete any input reports still left over. */
struct input_report *rpt = dev->input_reports;
while (rpt) {
struct input_report *next = rpt->next;
free(rpt->data);
free(rpt);
rpt = next;
}
/* Free the string and the report buffer. The check for NULL
is necessary here as CFRelease() doesn't handle NULL like
free() and others do. */
if (dev->run_loop_mode)
CFRelease(dev->run_loop_mode);
if (dev->source)
CFRelease(dev->source);
free(dev->input_report_buf);
/* Clean up the thread objects */
pthread_barrier_destroy(&dev->shutdown_barrier);
pthread_barrier_destroy(&dev->barrier);
pthread_cond_destroy(&dev->condition);
pthread_mutex_destroy(&dev->mutex);
/* Free the structure itself. */
free(dev);
}
static IOHIDManagerRef hid_mgr = 0x0;
#if 0
static void register_error(hid_device *device, const char *op)
{
}
#endif
static int32_t get_int_property(IOHIDDeviceRef device, CFStringRef key)
{
CFTypeRef ref;
int32_t value;
ref = IOHIDDeviceGetProperty(device, key);
if (ref) {
if (CFGetTypeID(ref) == CFNumberGetTypeID()) {
CFNumberGetValue((CFNumberRef) ref, kCFNumberSInt32Type, &value);
return value;
}
}
return 0;
}
static unsigned short get_vendor_id(IOHIDDeviceRef device)
{
return get_int_property(device, CFSTR(kIOHIDVendorIDKey));
}
static unsigned short get_product_id(IOHIDDeviceRef device)
{
return get_int_property(device, CFSTR(kIOHIDProductIDKey));
}
static int32_t get_location_id(IOHIDDeviceRef device)
{
return get_int_property(device, CFSTR(kIOHIDLocationIDKey));
}
static int32_t get_max_report_length(IOHIDDeviceRef device)
{
return get_int_property(device, CFSTR(kIOHIDMaxInputReportSizeKey));
}
static int get_string_property(IOHIDDeviceRef device, CFStringRef prop, wchar_t *buf, size_t len)
{
CFStringRef str;
if (!len)
return 0;
str = IOHIDDeviceGetProperty(device, prop);
buf[0] = 0;
if (str) {
CFIndex str_len = CFStringGetLength(str);
CFRange range;
CFIndex used_buf_len;
CFIndex chars_copied;
len --;
range.location = 0;
range.length = ((size_t)str_len > len)? len: (size_t)str_len;
chars_copied = CFStringGetBytes(str,
range,
kCFStringEncodingUTF32LE,
(char)'?',
FALSE,
(UInt8*)buf,
len * sizeof(wchar_t),
&used_buf_len);
if (chars_copied == len)
buf[len] = 0; /* len is decremented above */
else
buf[chars_copied] = 0;
return 0;
}
else
return -1;
}
static int get_serial_number(IOHIDDeviceRef device, wchar_t *buf, size_t len)
{
return get_string_property(device, CFSTR(kIOHIDSerialNumberKey), buf, len);
}
static int get_manufacturer_string(IOHIDDeviceRef device, wchar_t *buf, size_t len)
{
return get_string_property(device, CFSTR(kIOHIDManufacturerKey), buf, len);
}
static int get_product_string(IOHIDDeviceRef device, wchar_t *buf, size_t len)
{
return get_string_property(device, CFSTR(kIOHIDProductKey), buf, len);
}
/* Implementation of wcsdup() for Mac. */
static wchar_t *dup_wcs(const wchar_t *s)
{
size_t len = wcslen(s);
wchar_t *ret = malloc((len+1)*sizeof(wchar_t));
wcscpy(ret, s);
return ret;
}
#if MAC_OS_X_VERSION_MIN_REQUIRED != MAC_OS_X_VERSION_10_5
#warning "hidapi must be compiled/linked with -mmacosx-version-min=10.5 if you want OS X 10.5 compatibility"
#endif
/* hidapi_IOHIDDeviceGetService()
*
* Return the io_service_t corresponding to a given IOHIDDeviceRef, either by:
* - on OS X 10.6 and above, calling IOHIDDeviceGetService()
* - on OS X 10.5, extract it from the IOHIDDevice struct
*/
static io_service_t hidapi_IOHIDDeviceGetService(IOHIDDeviceRef device)
{
/* When compiled with '-mmacosx-version-min=10.5', IOHIDDeviceGetService()
* is weakly linked in so we can decide to use it (or not) at runtime.
*/
#if MAC_OS_X_VERSION_MAX_ALLOWED >= 1060
if (IOHIDDeviceGetService != NULL) {
/* OS X 10.6 and above: IOHIDDeviceGetService() exists */
return IOHIDDeviceGetService(device);
}
else
#endif
{
/* OS X 10.5: IOHIDDeviceGetService() doesn't exist.
* Be naughty and pull the service out of the IOHIDDevice.
* Tested and working on OS X 10.5.8 i386, x86_64, and ppc
*/
struct IOHIDDevice_internal {
/* The first field of the IOHIDDevice struct is a
* CFRuntimeBase (which is a private CF struct).
*
* a, b, and c are the 3 fields that make up a CFRuntimeBase.
* See http://opensource.apple.com/source/CF/CF-476.18/CFRuntime.h
*
* The second field of the IOHIDDevice is the io_service_t we're looking for.
*/
//CFRuntimeBase base;
uintptr_t a;
uint8_t b[4];
#if __LP64__
uint32_t c;
#endif
io_service_t service;
};
struct IOHIDDevice_internal *tmp = (struct IOHIDDevice_internal *)device;
return tmp->service;
}
}
/* Initialize the IOHIDManager. Return 0 for success and -1 for failure. */
static int init_hid_manager(void)
{
/* Initialize all the HID Manager Objects */
hid_mgr = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
if (hid_mgr) {
IOHIDManagerSetDeviceMatching(hid_mgr, NULL);
IOHIDManagerScheduleWithRunLoop(hid_mgr, CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
return 0;
}
return -1;
}
/* Initialize the IOHIDManager if necessary. This is the public function, and
it is safe to call this function repeatedly. Return 0 for success and -1
for failure. */
int HID_API_EXPORT hid_init(void)
{
if (!hid_mgr) {
return init_hid_manager();
}
/* Already initialized. */
return 0;
}
int HID_API_EXPORT hid_exit(void)
{
if (hid_mgr) {
/* Close the HID manager. */
IOHIDManagerClose(hid_mgr, kIOHIDOptionsTypeNone);
CFRelease(hid_mgr);
hid_mgr = NULL;
}
return 0;
}
static void process_pending_events(void) {
SInt32 res;
do {
res = CFRunLoopRunInMode(kCFRunLoopDefaultMode, 0.001, FALSE);
} while(res != kCFRunLoopRunFinished && res != kCFRunLoopRunTimedOut);
}
struct hid_device_info HID_API_EXPORT *hid_enumerate(unsigned short vendor_id, unsigned short product_id)
{
struct hid_device_info *root = NULL; /* return object */
struct hid_device_info *cur_dev = NULL;
CFIndex num_devices;
int i;
/* Set up the HID Manager if it hasn't been done */
if (hid_init() < 0)
return NULL;
/* give the IOHIDManager a chance to update itself */
process_pending_events();
/* Get a list of the Devices */
CFSetRef device_set = IOHIDManagerCopyDevices(hid_mgr);
/* Convert the list into a C array so we can iterate easily. */
num_devices = CFSetGetCount(device_set);
IOHIDDeviceRef *device_array = calloc(num_devices, sizeof(IOHIDDeviceRef));
CFSetGetValues(device_set, (const void **) device_array);
/* Iterate over each device, making an entry for it. */
for (i = 0; i < num_devices; i++) {
unsigned short dev_vid;
unsigned short dev_pid;
#define BUF_LEN 256
wchar_t buf[BUF_LEN];
IOHIDDeviceRef dev = device_array[i];
if (!dev) {
continue;
}
dev_vid = get_vendor_id(dev);
dev_pid = get_product_id(dev);
/* Check the VID/PID against the arguments */
if ((vendor_id == 0x0 || vendor_id == dev_vid) &&
(product_id == 0x0 || product_id == dev_pid)) {
struct hid_device_info *tmp;
io_object_t iokit_dev;
kern_return_t res;
io_string_t path;
/* VID/PID match. Create the record. */
tmp = malloc(sizeof(struct hid_device_info));
if (cur_dev) {
cur_dev->next = tmp;
}
else {
root = tmp;
}
cur_dev = tmp;
/* Get the Usage Page and Usage for this device. */
cur_dev->usage_page = get_int_property(dev, CFSTR(kIOHIDPrimaryUsagePageKey));
cur_dev->usage = get_int_property(dev, CFSTR(kIOHIDPrimaryUsageKey));
/* Fill out the record */
cur_dev->next = NULL;
/* Fill in the path (IOService plane) */
iokit_dev = hidapi_IOHIDDeviceGetService(dev);
res = IORegistryEntryGetPath(iokit_dev, kIOServicePlane, path);
if (res == KERN_SUCCESS)
cur_dev->path = strdup(path);
else
cur_dev->path = strdup("");
/* Serial Number */
get_serial_number(dev, buf, BUF_LEN);
cur_dev->serial_number = dup_wcs(buf);
/* Manufacturer and Product strings */
get_manufacturer_string(dev, buf, BUF_LEN);
cur_dev->manufacturer_string = dup_wcs(buf);
get_product_string(dev, buf, BUF_LEN);
cur_dev->product_string = dup_wcs(buf);
/* VID/PID */
cur_dev->vendor_id = dev_vid;
cur_dev->product_id = dev_pid;
/* Release Number */
cur_dev->release_number = get_int_property(dev, CFSTR(kIOHIDVersionNumberKey));
/* Interface Number (Unsupported on Mac)*/
cur_dev->interface_number = -1;
}
}
free(device_array);
CFRelease(device_set);
return root;
}
void HID_API_EXPORT hid_free_enumeration(struct hid_device_info *devs)
{
/* This function is identical to the Linux version. Platform independent. */
struct hid_device_info *d = devs;
while (d) {
struct hid_device_info *next = d->next;
free(d->path);
free(d->serial_number);
free(d->manufacturer_string);
free(d->product_string);
free(d);
d = next;
}
}
hid_device * HID_API_EXPORT hid_open(unsigned short vendor_id, unsigned short product_id, const wchar_t *serial_number)
{
/* This function is identical to the Linux version. Platform independent. */
struct hid_device_info *devs, *cur_dev;
const char *path_to_open = NULL;
hid_device * handle = NULL;
devs = hid_enumerate(vendor_id, product_id);
cur_dev = devs;
while (cur_dev) {
if (cur_dev->vendor_id == vendor_id &&
cur_dev->product_id == product_id) {
if (serial_number) {
if (wcscmp(serial_number, cur_dev->serial_number) == 0) {
path_to_open = cur_dev->path;
break;
}
}
else {
path_to_open = cur_dev->path;
break;
}
}
cur_dev = cur_dev->next;
}
if (path_to_open) {
/* Open the device */
handle = hid_open_path(path_to_open);
}
hid_free_enumeration(devs);
return handle;
}
static void hid_device_removal_callback(void *context, IOReturn result,
void *sender)
{
/* Stop the Run Loop for this device. */
hid_device *d = context;
d->disconnected = 1;
CFRunLoopStop(d->run_loop);
}
/* The Run Loop calls this function for each input report received.
This function puts the data into a linked list to be picked up by
hid_read(). */
static void hid_report_callback(void *context, IOReturn result, void *sender,
IOHIDReportType report_type, uint32_t report_id,
uint8_t *report, CFIndex report_length)
{
struct input_report *rpt;
hid_device *dev = context;
/* Make a new Input Report object */
rpt = calloc(1, sizeof(struct input_report));
rpt->data = calloc(1, report_length);
memcpy(rpt->data, report, report_length);
rpt->len = report_length;
rpt->next = NULL;
/* Lock this section */
pthread_mutex_lock(&dev->mutex);
/* Attach the new report object to the end of the list. */
if (dev->input_reports == NULL) {
/* The list is empty. Put it at the root. */
dev->input_reports = rpt;
}
else {
/* Find the end of the list and attach. */
struct input_report *cur = dev->input_reports;
int num_queued = 0;
while (cur->next != NULL) {
cur = cur->next;
num_queued++;
}
cur->next = rpt;
/* Pop one off if we've reached 30 in the queue. This
way we don't grow forever if the user never reads
anything from the device. */
if (num_queued > 30) {
return_data(dev, NULL, 0);
}
}
/* Signal a waiting thread that there is data. */
pthread_cond_signal(&dev->condition);
/* Unlock */
pthread_mutex_unlock(&dev->mutex);
}
/* This gets called when the read_thred's run loop gets signaled by
hid_close(), and serves to stop the read_thread's run loop. */
static void perform_signal_callback(void *context)
{
hid_device *dev = context;
CFRunLoopStop(dev->run_loop); /*TODO: CFRunLoopGetCurrent()*/
}
static void *read_thread(void *param)
{
hid_device *dev = param;
SInt32 code;
/* Move the device's run loop to this thread. */
IOHIDDeviceScheduleWithRunLoop(dev->device_handle, CFRunLoopGetCurrent(), dev->run_loop_mode);
/* Create the RunLoopSource which is used to signal the
event loop to stop when hid_close() is called. */
CFRunLoopSourceContext ctx;
memset(&ctx, 0, sizeof(ctx));
ctx.version = 0;
ctx.info = dev;
ctx.perform = &perform_signal_callback;
dev->source = CFRunLoopSourceCreate(kCFAllocatorDefault, 0/*order*/, &ctx);
CFRunLoopAddSource(CFRunLoopGetCurrent(), dev->source, dev->run_loop_mode);
/* Store off the Run Loop so it can be stopped from hid_close()
and on device disconnection. */
dev->run_loop = CFRunLoopGetCurrent();
/* Notify the main thread that the read thread is up and running. */
pthread_barrier_wait(&dev->barrier);
/* Run the Event Loop. CFRunLoopRunInMode() will dispatch HID input
reports into the hid_report_callback(). */
while (!dev->shutdown_thread && !dev->disconnected) {
code = CFRunLoopRunInMode(dev->run_loop_mode, 1000/*sec*/, FALSE);
/* Return if the device has been disconnected */
if (code == kCFRunLoopRunFinished) {
dev->disconnected = 1;
break;
}
/* Break if The Run Loop returns Finished or Stopped. */
if (code != kCFRunLoopRunTimedOut &&
code != kCFRunLoopRunHandledSource) {
/* There was some kind of error. Setting
shutdown seems to make sense, but
there may be something else more appropriate */
dev->shutdown_thread = 1;
break;
}
}
/* Now that the read thread is stopping, Wake any threads which are
waiting on data (in hid_read_timeout()). Do this under a mutex to
make sure that a thread which is about to go to sleep waiting on
the condition acutally will go to sleep before the condition is
signaled. */
pthread_mutex_lock(&dev->mutex);
pthread_cond_broadcast(&dev->condition);
pthread_mutex_unlock(&dev->mutex);
/* Wait here until hid_close() is called and makes it past
the call to CFRunLoopWakeUp(). This thread still needs to
be valid when that function is called on the other thread. */
pthread_barrier_wait(&dev->shutdown_barrier);
return NULL;
}
/* hid_open_path()
*
* path must be a valid path to an IOHIDDevice in the IOService plane
* Example: "IOService:/AppleACPIPlatformExpert/PCI0@0/AppleACPIPCI/EHC1@1D,7/AppleUSBEHCI/PLAYSTATION(R)3 Controller@fd120000/IOUSBInterface@0/IOUSBHIDDriver"
*/
hid_device * HID_API_EXPORT hid_open_path(const char *path)
{
hid_device *dev = NULL;
io_registry_entry_t entry = MACH_PORT_NULL;
dev = new_hid_device();
/* Set up the HID Manager if it hasn't been done */
if (hid_init() < 0)
return NULL;
/* Get the IORegistry entry for the given path */
entry = IORegistryEntryFromPath(kIOMasterPortDefault, path);
if (entry == MACH_PORT_NULL) {
/* Path wasn't valid (maybe device was removed?) */
goto return_error;
}
/* Create an IOHIDDevice for the entry */
dev->device_handle = IOHIDDeviceCreate(kCFAllocatorDefault, entry);
if (dev->device_handle == NULL) {
/* Error creating the HID device */
goto return_error;
}
/* Open the IOHIDDevice */
IOReturn ret = IOHIDDeviceOpen(dev->device_handle, kIOHIDOptionsTypeSeizeDevice);
if (ret == kIOReturnSuccess) {
char str[32];
/* Create the buffers for receiving data */
dev->max_input_report_len = (CFIndex) get_max_report_length(dev->device_handle);
dev->input_report_buf = calloc(dev->max_input_report_len, sizeof(uint8_t));
/* Create the Run Loop Mode for this device.
printing the reference seems to work. */
sprintf(str, "HIDAPI_%p", dev->device_handle);
dev->run_loop_mode =
CFStringCreateWithCString(NULL, str, kCFStringEncodingASCII);
/* Attach the device to a Run Loop */
IOHIDDeviceRegisterInputReportCallback(
dev->device_handle, dev->input_report_buf, dev->max_input_report_len,
&hid_report_callback, dev);
IOHIDDeviceRegisterRemovalCallback(dev->device_handle, hid_device_removal_callback, dev);
/* Start the read thread */
pthread_create(&dev->thread, NULL, read_thread, dev);
/* Wait here for the read thread to be initialized. */
pthread_barrier_wait(&dev->barrier);
IOObjectRelease(entry);
return dev;
}
else {
goto return_error;
}
return_error:
if (dev->device_handle != NULL)
CFRelease(dev->device_handle);
if (entry != MACH_PORT_NULL)
IOObjectRelease(entry);
free_hid_device(dev);
return NULL;
}
static int set_report(hid_device *dev, IOHIDReportType type, const unsigned char *data, size_t length)
{
const unsigned char *data_to_send;
size_t length_to_send;
IOReturn res;
/* Return if the device has been disconnected. */
if (dev->disconnected)
return -1;
if (data[0] == 0x0) {
/* Not using numbered Reports.
Don't send the report number. */
data_to_send = data+1;
length_to_send = length-1;
}
else {
/* Using numbered Reports.
Send the Report Number */
data_to_send = data;
length_to_send = length;
}
if (!dev->disconnected) {
res = IOHIDDeviceSetReport(dev->device_handle,
type,
data[0], /* Report ID*/
data_to_send, length_to_send);
if (res == kIOReturnSuccess) {
return length;
}
else
return -1;
}
return -1;
}
int HID_API_EXPORT hid_write(hid_device *dev, const unsigned char *data, size_t length)
{
return set_report(dev, kIOHIDReportTypeOutput, data, length);
}
/* Helper function, so that this isn't duplicated in hid_read(). */
static int return_data(hid_device *dev, unsigned char *data, size_t length)
{
/* Copy the data out of the linked list item (rpt) into the
return buffer (data), and delete the liked list item. */
struct input_report *rpt = dev->input_reports;
size_t len = (length < rpt->len)? length: rpt->len;
memcpy(data, rpt->data, len);
dev->input_reports = rpt->next;
free(rpt->data);
free(rpt);
return len;
}
static int cond_wait(const hid_device *dev, pthread_cond_t *cond, pthread_mutex_t *mutex)
{
while (!dev->input_reports) {
int res = pthread_cond_wait(cond, mutex);
if (res != 0)
return res;
/* A res of 0 means we may have been signaled or it may
be a spurious wakeup. Check to see that there's acutally
data in the queue before returning, and if not, go back
to sleep. See the pthread_cond_timedwait() man page for
details. */
if (dev->shutdown_thread || dev->disconnected)
return -1;
}
return 0;
}
static int cond_timedwait(const hid_device *dev, pthread_cond_t *cond, pthread_mutex_t *mutex, const struct timespec *abstime)
{
while (!dev->input_reports) {
int res = pthread_cond_timedwait(cond, mutex, abstime);
if (res != 0)
return res;
/* A res of 0 means we may have been signaled or it may
be a spurious wakeup. Check to see that there's acutally
data in the queue before returning, and if not, go back
to sleep. See the pthread_cond_timedwait() man page for
details. */
if (dev->shutdown_thread || dev->disconnected)
return -1;
}
return 0;
}
int HID_API_EXPORT hid_read_timeout(hid_device *dev, unsigned char *data, size_t length, int milliseconds)
{
int bytes_read = -1;
/* Lock the access to the report list. */
pthread_mutex_lock(&dev->mutex);
/* There's an input report queued up. Return it. */
if (dev->input_reports) {
/* Return the first one */
bytes_read = return_data(dev, data, length);
goto ret;
}
/* Return if the device has been disconnected. */
if (dev->disconnected) {
bytes_read = -1;
goto ret;
}
if (dev->shutdown_thread) {
/* This means the device has been closed (or there
has been an error. An error code of -1 should
be returned. */
bytes_read = -1;
goto ret;
}
/* There is no data. Go to sleep and wait for data. */
if (milliseconds == -1) {
/* Blocking */
int res;
res = cond_wait(dev, &dev->condition, &dev->mutex);
if (res == 0)
bytes_read = return_data(dev, data, length);
else {
/* There was an error, or a device disconnection. */
bytes_read = -1;
}
}
else if (milliseconds > 0) {
/* Non-blocking, but called with timeout. */
int res;
struct timespec ts;
struct timeval tv;
gettimeofday(&tv, NULL);
TIMEVAL_TO_TIMESPEC(&tv, &ts);
ts.tv_sec += milliseconds / 1000;
ts.tv_nsec += (milliseconds % 1000) * 1000000;
if (ts.tv_nsec >= 1000000000L) {
ts.tv_sec++;
ts.tv_nsec -= 1000000000L;
}
res = cond_timedwait(dev, &dev->condition, &dev->mutex, &ts);
if (res == 0)
bytes_read = return_data(dev, data, length);
else if (res == ETIMEDOUT)
bytes_read = 0;
else
bytes_read = -1;
}
else {
/* Purely non-blocking */
bytes_read = 0;
}
ret:
/* Unlock */
pthread_mutex_unlock(&dev->mutex);
return bytes_read;
}
int HID_API_EXPORT hid_read(hid_device *dev, unsigned char *data, size_t length)
{
return hid_read_timeout(dev, data, length, (dev->blocking)? -1: 0);
}
int HID_API_EXPORT hid_set_nonblocking(hid_device *dev, int nonblock)
{
/* All Nonblocking operation is handled by the library. */
dev->blocking = !nonblock;
return 0;
}
int HID_API_EXPORT hid_send_feature_report(hid_device *dev, const unsigned char *data, size_t length)
{
return set_report(dev, kIOHIDReportTypeFeature, data, length);
}
int HID_API_EXPORT hid_get_feature_report(hid_device *dev, unsigned char *data, size_t length)
{
CFIndex len = length;
IOReturn res;
/* Return if the device has been unplugged. */
if (dev->disconnected)
return -1;
res = IOHIDDeviceGetReport(dev->device_handle,
kIOHIDReportTypeFeature,
data[0], /* Report ID */
data, &len);
if (res == kIOReturnSuccess)
return len;
else
return -1;
}
void HID_API_EXPORT hid_close(hid_device *dev)
{
if (!dev)
return;
/* Disconnect the report callback before close. */
if (!dev->disconnected) {
IOHIDDeviceRegisterInputReportCallback(
dev->device_handle, dev->input_report_buf, dev->max_input_report_len,
NULL, dev);
IOHIDDeviceRegisterRemovalCallback(dev->device_handle, NULL, dev);
IOHIDDeviceUnscheduleFromRunLoop(dev->device_handle, dev->run_loop, dev->run_loop_mode);
IOHIDDeviceScheduleWithRunLoop(dev->device_handle, CFRunLoopGetMain(), kCFRunLoopDefaultMode);
}
/* Cause read_thread() to stop. */
dev->shutdown_thread = 1;
/* Wake up the run thread's event loop so that the thread can exit. */
CFRunLoopSourceSignal(dev->source);
CFRunLoopWakeUp(dev->run_loop);
/* Notify the read thread that it can shut down now. */
pthread_barrier_wait(&dev->shutdown_barrier);
/* Wait for read_thread() to end. */
pthread_join(dev->thread, NULL);
/* Close the OS handle to the device, but only if it's not
been unplugged. If it's been unplugged, then calling
IOHIDDeviceClose() will crash. */
if (!dev->disconnected) {
IOHIDDeviceClose(dev->device_handle, kIOHIDOptionsTypeSeizeDevice);
}
/* Clear out the queue of received reports. */
pthread_mutex_lock(&dev->mutex);
while (dev->input_reports) {
return_data(dev, NULL, 0);
}
pthread_mutex_unlock(&dev->mutex);
CFRelease(dev->device_handle);
free_hid_device(dev);
}
int HID_API_EXPORT_CALL hid_get_manufacturer_string(hid_device *dev, wchar_t *string, size_t maxlen)
{
return get_manufacturer_string(dev->device_handle, string, maxlen);
}
int HID_API_EXPORT_CALL hid_get_product_string(hid_device *dev, wchar_t *string, size_t maxlen)
{
return get_product_string(dev->device_handle, string, maxlen);
}
int HID_API_EXPORT_CALL hid_get_serial_number_string(hid_device *dev, wchar_t *string, size_t maxlen)
{
return get_serial_number(dev->device_handle, string, maxlen);
}
int HID_API_EXPORT_CALL hid_get_indexed_string(hid_device *dev, int string_index, wchar_t *string, size_t maxlen)
{
/* TODO: */
return 0;
}
HID_API_EXPORT const wchar_t * HID_API_CALL hid_error(hid_device *dev)
{
/* TODO: */
return NULL;
}
#if 0
static int32_t get_usage(IOHIDDeviceRef device)
{
int32_t res;
res = get_int_property(device, CFSTR(kIOHIDDeviceUsageKey));
if (!res)
res = get_int_property(device, CFSTR(kIOHIDPrimaryUsageKey));
return res;
}
static int32_t get_usage_page(IOHIDDeviceRef device)
{
int32_t res;
res = get_int_property(device, CFSTR(kIOHIDDeviceUsagePageKey));
if (!res)
res = get_int_property(device, CFSTR(kIOHIDPrimaryUsagePageKey));
return res;
}
static int get_transport(IOHIDDeviceRef device, wchar_t *buf, size_t len)
{
return get_string_property(device, CFSTR(kIOHIDTransportKey), buf, len);
}
int main(void)
{
IOHIDManagerRef mgr;
int i;
mgr = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
IOHIDManagerSetDeviceMatching(mgr, NULL);
IOHIDManagerOpen(mgr, kIOHIDOptionsTypeNone);
CFSetRef device_set = IOHIDManagerCopyDevices(mgr);
CFIndex num_devices = CFSetGetCount(device_set);
IOHIDDeviceRef *device_array = calloc(num_devices, sizeof(IOHIDDeviceRef));
CFSetGetValues(device_set, (const void **) device_array);
for (i = 0; i < num_devices; i++) {
IOHIDDeviceRef dev = device_array[i];
printf("Device: %p\n", dev);
printf(" %04hx %04hx\n", get_vendor_id(dev), get_product_id(dev));
wchar_t serial[256], buf[256];
char cbuf[256];
get_serial_number(dev, serial, 256);
printf(" Serial: %ls\n", serial);
printf(" Loc: %ld\n", get_location_id(dev));
get_transport(dev, buf, 256);
printf(" Trans: %ls\n", buf);
make_path(dev, cbuf, 256);
printf(" Path: %s\n", cbuf);
}
return 0;
}
#endif

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@ -0,0 +1,923 @@
/*******************************************************
HIDAPI - Multi-Platform library for
communication with HID devices.
Alan Ott
Signal 11 Software
8/22/2009
Copyright 2009, All Rights Reserved.
At the discretion of the user of this library,
this software may be licensed under the terms of the
GNU Public License v3, a BSD-Style license, or the
original HIDAPI license as outlined in the LICENSE.txt,
LICENSE-gpl3.txt, LICENSE-bsd.txt, and LICENSE-orig.txt
files located at the root of the source distribution.
These files may also be found in the public source
code repository located at:
http://github.com/signal11/hidapi .
********************************************************/
#include <windows.h>
#ifndef _NTDEF_
typedef LONG NTSTATUS;
#endif
#ifdef __MINGW32__
#include <ntdef.h>
#include <winbase.h>
#endif
#ifdef __CYGWIN__
#include <ntdef.h>
#define _wcsdup wcsdup
#endif
/*#define HIDAPI_USE_DDK*/
#ifdef __cplusplus
extern "C" {
#endif
#include <setupapi.h>
#include <winioctl.h>
#ifdef HIDAPI_USE_DDK
#include <hidsdi.h>
#endif
/* Copied from inc/ddk/hidclass.h, part of the Windows DDK. */
#define HID_OUT_CTL_CODE(id) \
CTL_CODE(FILE_DEVICE_KEYBOARD, (id), METHOD_OUT_DIRECT, FILE_ANY_ACCESS)
#define IOCTL_HID_GET_FEATURE HID_OUT_CTL_CODE(100)
#ifdef __cplusplus
} /* extern "C" */
#endif
#include <stdio.h>
#include <stdlib.h>
#include "../hidapi.h"
#ifdef _MSC_VER
/* Thanks Microsoft, but I know how to use strncpy(). */
#pragma warning(disable:4996)
#endif
#ifdef __cplusplus
extern "C" {
#endif
#ifndef HIDAPI_USE_DDK
/* Since we're not building with the DDK, and the HID header
files aren't part of the SDK, we have to define all this
stuff here. In lookup_functions(), the function pointers
defined below are set. */
typedef struct _HIDD_ATTRIBUTES{
ULONG Size;
USHORT VendorID;
USHORT ProductID;
USHORT VersionNumber;
} HIDD_ATTRIBUTES, *PHIDD_ATTRIBUTES;
typedef USHORT USAGE;
typedef struct _HIDP_CAPS {
USAGE Usage;
USAGE UsagePage;
USHORT InputReportByteLength;
USHORT OutputReportByteLength;
USHORT FeatureReportByteLength;
USHORT Reserved[17];
USHORT fields_not_used_by_hidapi[10];
} HIDP_CAPS, *PHIDP_CAPS;
typedef void* PHIDP_PREPARSED_DATA;
#define HIDP_STATUS_SUCCESS 0x110000
typedef BOOLEAN (__stdcall *HidD_GetAttributes_)(HANDLE device, PHIDD_ATTRIBUTES attrib);
typedef BOOLEAN (__stdcall *HidD_GetSerialNumberString_)(HANDLE device, PVOID buffer, ULONG buffer_len);
typedef BOOLEAN (__stdcall *HidD_GetManufacturerString_)(HANDLE handle, PVOID buffer, ULONG buffer_len);
typedef BOOLEAN (__stdcall *HidD_GetProductString_)(HANDLE handle, PVOID buffer, ULONG buffer_len);
typedef BOOLEAN (__stdcall *HidD_SetFeature_)(HANDLE handle, PVOID data, ULONG length);
typedef BOOLEAN (__stdcall *HidD_GetFeature_)(HANDLE handle, PVOID data, ULONG length);
typedef BOOLEAN (__stdcall *HidD_GetIndexedString_)(HANDLE handle, ULONG string_index, PVOID buffer, ULONG buffer_len);
typedef BOOLEAN (__stdcall *HidD_GetPreparsedData_)(HANDLE handle, PHIDP_PREPARSED_DATA *preparsed_data);
typedef BOOLEAN (__stdcall *HidD_FreePreparsedData_)(PHIDP_PREPARSED_DATA preparsed_data);
typedef NTSTATUS (__stdcall *HidP_GetCaps_)(PHIDP_PREPARSED_DATA preparsed_data, HIDP_CAPS *caps);
static HidD_GetAttributes_ HidD_GetAttributes;
static HidD_GetSerialNumberString_ HidD_GetSerialNumberString;
static HidD_GetManufacturerString_ HidD_GetManufacturerString;
static HidD_GetProductString_ HidD_GetProductString;
static HidD_SetFeature_ HidD_SetFeature;
static HidD_GetFeature_ HidD_GetFeature;
static HidD_GetIndexedString_ HidD_GetIndexedString;
static HidD_GetPreparsedData_ HidD_GetPreparsedData;
static HidD_FreePreparsedData_ HidD_FreePreparsedData;
static HidP_GetCaps_ HidP_GetCaps;
static HMODULE lib_handle = NULL;
static BOOLEAN initialized = FALSE;
#endif /* HIDAPI_USE_DDK */
struct hid_device_ {
HANDLE device_handle;
BOOL blocking;
USHORT output_report_length;
size_t input_report_length;
void *last_error_str;
DWORD last_error_num;
BOOL read_pending;
char *read_buf;
OVERLAPPED ol;
};
static hid_device *new_hid_device()
{
hid_device *dev = (hid_device*) calloc(1, sizeof(hid_device));
dev->device_handle = INVALID_HANDLE_VALUE;
dev->blocking = TRUE;
dev->output_report_length = 0;
dev->input_report_length = 0;
dev->last_error_str = NULL;
dev->last_error_num = 0;
dev->read_pending = FALSE;
dev->read_buf = NULL;
memset(&dev->ol, 0, sizeof(dev->ol));
dev->ol.hEvent = CreateEvent(NULL, FALSE, FALSE /*inital state f=nonsignaled*/, NULL);
return dev;
}
static void free_hid_device(hid_device *dev)
{
CloseHandle(dev->ol.hEvent);
CloseHandle(dev->device_handle);
LocalFree(dev->last_error_str);
free(dev->read_buf);
free(dev);
}
static void register_error(hid_device *device, const char *op)
{
WCHAR *ptr, *msg;
FormatMessageW(FORMAT_MESSAGE_ALLOCATE_BUFFER |
FORMAT_MESSAGE_FROM_SYSTEM |
FORMAT_MESSAGE_IGNORE_INSERTS,
NULL,
GetLastError(),
MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
(LPVOID)&msg, 0/*sz*/,
NULL);
/* Get rid of the CR and LF that FormatMessage() sticks at the
end of the message. Thanks Microsoft! */
ptr = msg;
while (*ptr) {
if (*ptr == '\r') {
*ptr = 0x0000;
break;
}
ptr++;
}
/* Store the message off in the Device entry so that
the hid_error() function can pick it up. */
LocalFree(device->last_error_str);
device->last_error_str = msg;
}
#ifndef HIDAPI_USE_DDK
static int lookup_functions()
{
lib_handle = LoadLibraryA("hid.dll");
if (lib_handle) {
#define RESOLVE(x) x = (x##_)GetProcAddress(lib_handle, #x); if (!x) return -1;
RESOLVE(HidD_GetAttributes);
RESOLVE(HidD_GetSerialNumberString);
RESOLVE(HidD_GetManufacturerString);
RESOLVE(HidD_GetProductString);
RESOLVE(HidD_SetFeature);
RESOLVE(HidD_GetFeature);
RESOLVE(HidD_GetIndexedString);
RESOLVE(HidD_GetPreparsedData);
RESOLVE(HidD_FreePreparsedData);
RESOLVE(HidP_GetCaps);
#undef RESOLVE
}
else
return -1;
return 0;
}
#endif
static HANDLE open_device(const char *path, BOOL enumerate)
{
HANDLE handle;
DWORD desired_access = (enumerate)? 0: (GENERIC_WRITE | GENERIC_READ);
DWORD share_mode = (enumerate)?
FILE_SHARE_READ|FILE_SHARE_WRITE:
FILE_SHARE_READ;
handle = CreateFileA(path,
desired_access,
share_mode,
NULL,
OPEN_EXISTING,
FILE_FLAG_OVERLAPPED,/*FILE_ATTRIBUTE_NORMAL,*/
0);
return handle;
}
int HID_API_EXPORT hid_init(void)
{
#ifndef HIDAPI_USE_DDK
if (!initialized) {
if (lookup_functions() < 0) {
hid_exit();
return -1;
}
initialized = TRUE;
}
#endif
return 0;
}
int HID_API_EXPORT hid_exit(void)
{
#ifndef HIDAPI_USE_DDK
if (lib_handle)
FreeLibrary(lib_handle);
lib_handle = NULL;
initialized = FALSE;
#endif
return 0;
}
struct hid_device_info HID_API_EXPORT * HID_API_CALL hid_enumerate(unsigned short vendor_id, unsigned short product_id)
{
BOOL res;
struct hid_device_info *root = NULL; /* return object */
struct hid_device_info *cur_dev = NULL;
/* Windows objects for interacting with the driver. */
GUID InterfaceClassGuid = {0x4d1e55b2, 0xf16f, 0x11cf, {0x88, 0xcb, 0x00, 0x11, 0x11, 0x00, 0x00, 0x30} };
SP_DEVINFO_DATA devinfo_data;
SP_DEVICE_INTERFACE_DATA device_interface_data;
SP_DEVICE_INTERFACE_DETAIL_DATA_A *device_interface_detail_data = NULL;
HDEVINFO device_info_set = INVALID_HANDLE_VALUE;
int device_index = 0;
int i;
if (hid_init() < 0)
return NULL;
/* Initialize the Windows objects. */
memset(&devinfo_data, 0x0, sizeof(devinfo_data));
devinfo_data.cbSize = sizeof(SP_DEVINFO_DATA);
device_interface_data.cbSize = sizeof(SP_DEVICE_INTERFACE_DATA);
/* Get information for all the devices belonging to the HID class. */
device_info_set = SetupDiGetClassDevsA(&InterfaceClassGuid, NULL, NULL, DIGCF_PRESENT | DIGCF_DEVICEINTERFACE);
/* Iterate over each device in the HID class, looking for the right one. */
for (;;) {
HANDLE write_handle = INVALID_HANDLE_VALUE;
DWORD required_size = 0;
HIDD_ATTRIBUTES attrib;
res = SetupDiEnumDeviceInterfaces(device_info_set,
NULL,
&InterfaceClassGuid,
device_index,
&device_interface_data);
if (!res) {
/* A return of FALSE from this function means that
there are no more devices. */
break;
}
/* Call with 0-sized detail size, and let the function
tell us how long the detail struct needs to be. The
size is put in &required_size. */
res = SetupDiGetDeviceInterfaceDetailA(device_info_set,
&device_interface_data,
NULL,
0,
&required_size,
NULL);
/* Allocate a long enough structure for device_interface_detail_data. */
device_interface_detail_data = (SP_DEVICE_INTERFACE_DETAIL_DATA_A*) malloc(required_size);
device_interface_detail_data->cbSize = sizeof(SP_DEVICE_INTERFACE_DETAIL_DATA_A);
/* Get the detailed data for this device. The detail data gives us
the device path for this device, which is then passed into
CreateFile() to get a handle to the device. */
res = SetupDiGetDeviceInterfaceDetailA(device_info_set,
&device_interface_data,
device_interface_detail_data,
required_size,
NULL,
NULL);
if (!res) {
/* register_error(dev, "Unable to call SetupDiGetDeviceInterfaceDetail");
Continue to the next device. */
goto cont;
}
/* Make sure this device is of Setup Class "HIDClass" and has a
driver bound to it. */
for (i = 0; ; i++) {
char driver_name[256];
/* Populate devinfo_data. This function will return failure
when there are no more interfaces left. */
res = SetupDiEnumDeviceInfo(device_info_set, i, &devinfo_data);
if (!res)
goto cont;
res = SetupDiGetDeviceRegistryPropertyA(device_info_set, &devinfo_data,
SPDRP_CLASS, NULL, (PBYTE)driver_name, sizeof(driver_name), NULL);
if (!res)
goto cont;
if (strcmp(driver_name, "HIDClass") == 0) {
/* See if there's a driver bound. */
res = SetupDiGetDeviceRegistryPropertyA(device_info_set, &devinfo_data,
SPDRP_DRIVER, NULL, (PBYTE)driver_name, sizeof(driver_name), NULL);
if (res)
break;
}
}
//wprintf(L"HandleName: %s\n", device_interface_detail_data->DevicePath);
/* Open a handle to the device */
write_handle = open_device(device_interface_detail_data->DevicePath, TRUE);
/* Check validity of write_handle. */
if (write_handle == INVALID_HANDLE_VALUE) {
/* Unable to open the device. */
//register_error(dev, "CreateFile");
goto cont_close;
}
/* Get the Vendor ID and Product ID for this device. */
attrib.Size = sizeof(HIDD_ATTRIBUTES);
HidD_GetAttributes(write_handle, &attrib);
//wprintf(L"Product/Vendor: %x %x\n", attrib.ProductID, attrib.VendorID);
/* Check the VID/PID to see if we should add this
device to the enumeration list. */
if ((vendor_id == 0x0 || attrib.VendorID == vendor_id) &&
(product_id == 0x0 || attrib.ProductID == product_id)) {
#define WSTR_LEN 512
const char *str;
struct hid_device_info *tmp;
PHIDP_PREPARSED_DATA pp_data = NULL;
HIDP_CAPS caps;
BOOLEAN res;
NTSTATUS nt_res;
wchar_t wstr[WSTR_LEN]; /* TODO: Determine Size */
size_t len;
/* VID/PID match. Create the record. */
tmp = (struct hid_device_info*) calloc(1, sizeof(struct hid_device_info));
if (cur_dev) {
cur_dev->next = tmp;
}
else {
root = tmp;
}
cur_dev = tmp;
/* Get the Usage Page and Usage for this device. */
res = HidD_GetPreparsedData(write_handle, &pp_data);
if (res) {
nt_res = HidP_GetCaps(pp_data, &caps);
if (nt_res == HIDP_STATUS_SUCCESS) {
cur_dev->usage_page = caps.UsagePage;
cur_dev->usage = caps.Usage;
}
HidD_FreePreparsedData(pp_data);
}
/* Fill out the record */
cur_dev->next = NULL;
str = device_interface_detail_data->DevicePath;
if (str) {
len = strlen(str);
cur_dev->path = (char*) calloc(len+1, sizeof(char));
strncpy(cur_dev->path, str, len+1);
cur_dev->path[len] = '\0';
}
else
cur_dev->path = NULL;
/* Serial Number */
res = HidD_GetSerialNumberString(write_handle, wstr, sizeof(wstr));
wstr[WSTR_LEN-1] = 0x0000;
if (res) {
cur_dev->serial_number = _wcsdup(wstr);
}
/* Manufacturer String */
res = HidD_GetManufacturerString(write_handle, wstr, sizeof(wstr));
wstr[WSTR_LEN-1] = 0x0000;
if (res) {
cur_dev->manufacturer_string = _wcsdup(wstr);
}
/* Product String */
res = HidD_GetProductString(write_handle, wstr, sizeof(wstr));
wstr[WSTR_LEN-1] = 0x0000;
if (res) {
cur_dev->product_string = _wcsdup(wstr);
}
/* VID/PID */
cur_dev->vendor_id = attrib.VendorID;
cur_dev->product_id = attrib.ProductID;
/* Release Number */
cur_dev->release_number = attrib.VersionNumber;
/* Interface Number. It can sometimes be parsed out of the path
on Windows if a device has multiple interfaces. See
http://msdn.microsoft.com/en-us/windows/hardware/gg487473 or
search for "Hardware IDs for HID Devices" at MSDN. If it's not
in the path, it's set to -1. */
cur_dev->interface_number = -1;
if (cur_dev->path) {
char *interface_component = strstr(cur_dev->path, "&mi_");
if (interface_component) {
char *hex_str = interface_component + 4;
char *endptr = NULL;
cur_dev->interface_number = strtol(hex_str, &endptr, 16);
if (endptr == hex_str) {
/* The parsing failed. Set interface_number to -1. */
cur_dev->interface_number = -1;
}
}
}
}
cont_close:
CloseHandle(write_handle);
cont:
/* We no longer need the detail data. It can be freed */
free(device_interface_detail_data);
device_index++;
}
/* Close the device information handle. */
SetupDiDestroyDeviceInfoList(device_info_set);
return root;
}
void HID_API_EXPORT HID_API_CALL hid_free_enumeration(struct hid_device_info *devs)
{
/* TODO: Merge this with the Linux version. This function is platform-independent. */
struct hid_device_info *d = devs;
while (d) {
struct hid_device_info *next = d->next;
free(d->path);
free(d->serial_number);
free(d->manufacturer_string);
free(d->product_string);
free(d);
d = next;
}
}
HID_API_EXPORT hid_device * HID_API_CALL hid_open(unsigned short vendor_id, unsigned short product_id, const wchar_t *serial_number)
{
/* TODO: Merge this functions with the Linux version. This function should be platform independent. */
struct hid_device_info *devs, *cur_dev;
const char *path_to_open = NULL;
hid_device *handle = NULL;
devs = hid_enumerate(vendor_id, product_id);
cur_dev = devs;
while (cur_dev) {
if (cur_dev->vendor_id == vendor_id &&
cur_dev->product_id == product_id) {
if (serial_number) {
if (wcscmp(serial_number, cur_dev->serial_number) == 0) {
path_to_open = cur_dev->path;
break;
}
}
else {
path_to_open = cur_dev->path;
break;
}
}
cur_dev = cur_dev->next;
}
if (path_to_open) {
/* Open the device */
handle = hid_open_path(path_to_open);
}
hid_free_enumeration(devs);
return handle;
}
HID_API_EXPORT hid_device * HID_API_CALL hid_open_path(const char *path)
{
hid_device *dev;
HIDP_CAPS caps;
PHIDP_PREPARSED_DATA pp_data = NULL;
BOOLEAN res;
NTSTATUS nt_res;
if (hid_init() < 0) {
return NULL;
}
dev = new_hid_device();
/* Open a handle to the device */
dev->device_handle = open_device(path, FALSE);
/* Check validity of write_handle. */
if (dev->device_handle == INVALID_HANDLE_VALUE) {
/* Unable to open the device. */
register_error(dev, "CreateFile");
goto err;
}
/* Get the Input Report length for the device. */
res = HidD_GetPreparsedData(dev->device_handle, &pp_data);
if (!res) {
register_error(dev, "HidD_GetPreparsedData");
goto err;
}
nt_res = HidP_GetCaps(pp_data, &caps);
if (nt_res != HIDP_STATUS_SUCCESS) {
register_error(dev, "HidP_GetCaps");
goto err_pp_data;
}
dev->output_report_length = caps.OutputReportByteLength;
dev->input_report_length = caps.InputReportByteLength;
HidD_FreePreparsedData(pp_data);
dev->read_buf = (char*) malloc(dev->input_report_length);
return dev;
err_pp_data:
HidD_FreePreparsedData(pp_data);
err:
free_hid_device(dev);
return NULL;
}
int HID_API_EXPORT HID_API_CALL hid_write(hid_device *dev, const unsigned char *data, size_t length)
{
DWORD bytes_written;
BOOL res;
OVERLAPPED ol;
unsigned char *buf;
memset(&ol, 0, sizeof(ol));
/* Make sure the right number of bytes are passed to WriteFile. Windows
expects the number of bytes which are in the _longest_ report (plus
one for the report number) bytes even if the data is a report
which is shorter than that. Windows gives us this value in
caps.OutputReportByteLength. If a user passes in fewer bytes than this,
create a temporary buffer which is the proper size. */
if (length >= dev->output_report_length) {
/* The user passed the right number of bytes. Use the buffer as-is. */
buf = (unsigned char *) data;
} else {
/* Create a temporary buffer and copy the user's data
into it, padding the rest with zeros. */
buf = (unsigned char *) malloc(dev->output_report_length);
memcpy(buf, data, length);
memset(buf + length, 0, dev->output_report_length - length);
length = dev->output_report_length;
}
res = WriteFile(dev->device_handle, buf, length, NULL, &ol);
if (!res) {
if (GetLastError() != ERROR_IO_PENDING) {
/* WriteFile() failed. Return error. */
register_error(dev, "WriteFile");
bytes_written = -1;
goto end_of_function;
}
}
/* Wait here until the write is done. This makes
hid_write() synchronous. */
res = GetOverlappedResult(dev->device_handle, &ol, &bytes_written, TRUE/*wait*/);
if (!res) {
/* The Write operation failed. */
register_error(dev, "WriteFile");
bytes_written = -1;
goto end_of_function;
}
end_of_function:
if (buf != data)
free(buf);
return bytes_written;
}
int HID_API_EXPORT HID_API_CALL hid_read_timeout(hid_device *dev, unsigned char *data, size_t length, int milliseconds)
{
DWORD bytes_read = 0;
BOOL res;
/* Copy the handle for convenience. */
HANDLE ev = dev->ol.hEvent;
if (!dev->read_pending) {
/* Start an Overlapped I/O read. */
dev->read_pending = TRUE;
memset(dev->read_buf, 0, dev->input_report_length);
ResetEvent(ev);
res = ReadFile(dev->device_handle, dev->read_buf, dev->input_report_length, &bytes_read, &dev->ol);
if (!res) {
if (GetLastError() != ERROR_IO_PENDING) {
/* ReadFile() has failed.
Clean up and return error. */
CancelIo(dev->device_handle);
dev->read_pending = FALSE;
goto end_of_function;
}
}
}
if (milliseconds >= 0) {
/* See if there is any data yet. */
res = WaitForSingleObject(ev, milliseconds);
if (res != WAIT_OBJECT_0) {
/* There was no data this time. Return zero bytes available,
but leave the Overlapped I/O running. */
return 0;
}
}
/* Either WaitForSingleObject() told us that ReadFile has completed, or
we are in non-blocking mode. Get the number of bytes read. The actual
data has been copied to the data[] array which was passed to ReadFile(). */
res = GetOverlappedResult(dev->device_handle, &dev->ol, &bytes_read, TRUE/*wait*/);
/* Set pending back to false, even if GetOverlappedResult() returned error. */
dev->read_pending = FALSE;
if (res && bytes_read > 0) {
if (dev->read_buf[0] == 0x0) {
/* If report numbers aren't being used, but Windows sticks a report
number (0x0) on the beginning of the report anyway. To make this
work like the other platforms, and to make it work more like the
HID spec, we'll skip over this byte. */
size_t copy_len;
bytes_read--;
copy_len = length > bytes_read ? bytes_read : length;
memcpy(data, dev->read_buf+1, copy_len);
}
else {
/* Copy the whole buffer, report number and all. */
size_t copy_len = length > bytes_read ? bytes_read : length;
memcpy(data, dev->read_buf, copy_len);
}
}
end_of_function:
if (!res) {
register_error(dev, "GetOverlappedResult");
return -1;
}
return bytes_read;
}
int HID_API_EXPORT HID_API_CALL hid_read(hid_device *dev, unsigned char *data, size_t length)
{
return hid_read_timeout(dev, data, length, (dev->blocking)? -1: 0);
}
int HID_API_EXPORT HID_API_CALL hid_set_nonblocking(hid_device *dev, int nonblock)
{
dev->blocking = !nonblock;
return 0; /* Success */
}
int HID_API_EXPORT HID_API_CALL hid_send_feature_report(hid_device *dev, const unsigned char *data, size_t length)
{
BOOL res = HidD_SetFeature(dev->device_handle, (PVOID)data, length);
if (!res) {
register_error(dev, "HidD_SetFeature");
return -1;
}
return length;
}
int HID_API_EXPORT HID_API_CALL hid_get_feature_report(hid_device *dev, unsigned char *data, size_t length)
{
BOOL res;
#if 0
res = HidD_GetFeature(dev->device_handle, data, length);
if (!res) {
register_error(dev, "HidD_GetFeature");
return -1;
}
return 0; /* HidD_GetFeature() doesn't give us an actual length, unfortunately */
#else
DWORD bytes_returned;
OVERLAPPED ol;
memset(&ol, 0, sizeof(ol));
res = DeviceIoControl(dev->device_handle,
IOCTL_HID_GET_FEATURE,
data, length,
data, length,
&bytes_returned, &ol);
if (!res) {
if (GetLastError() != ERROR_IO_PENDING) {
/* DeviceIoControl() failed. Return error. */
register_error(dev, "Send Feature Report DeviceIoControl");
return -1;
}
}
/* Wait here until the write is done. This makes
hid_get_feature_report() synchronous. */
res = GetOverlappedResult(dev->device_handle, &ol, &bytes_returned, TRUE/*wait*/);
if (!res) {
/* The operation failed. */
register_error(dev, "Send Feature Report GetOverLappedResult");
return -1;
}
return bytes_returned;
#endif
}
void HID_API_EXPORT HID_API_CALL hid_close(hid_device *dev)
{
if (!dev)
return;
CancelIo(dev->device_handle);
free_hid_device(dev);
}
int HID_API_EXPORT_CALL HID_API_CALL hid_get_manufacturer_string(hid_device *dev, wchar_t *string, size_t maxlen)
{
BOOL res;
res = HidD_GetManufacturerString(dev->device_handle, string, sizeof(wchar_t) * maxlen);
if (!res) {
register_error(dev, "HidD_GetManufacturerString");
return -1;
}
return 0;
}
int HID_API_EXPORT_CALL HID_API_CALL hid_get_product_string(hid_device *dev, wchar_t *string, size_t maxlen)
{
BOOL res;
res = HidD_GetProductString(dev->device_handle, string, sizeof(wchar_t) * maxlen);
if (!res) {
register_error(dev, "HidD_GetProductString");
return -1;
}
return 0;
}
int HID_API_EXPORT_CALL HID_API_CALL hid_get_serial_number_string(hid_device *dev, wchar_t *string, size_t maxlen)
{
BOOL res;
res = HidD_GetSerialNumberString(dev->device_handle, string, sizeof(wchar_t) * maxlen);
if (!res) {
register_error(dev, "HidD_GetSerialNumberString");
return -1;
}
return 0;
}
int HID_API_EXPORT_CALL HID_API_CALL hid_get_indexed_string(hid_device *dev, int string_index, wchar_t *string, size_t maxlen)
{
BOOL res;
res = HidD_GetIndexedString(dev->device_handle, string_index, string, sizeof(wchar_t) * maxlen);
if (!res) {
register_error(dev, "HidD_GetIndexedString");
return -1;
}
return 0;
}
HID_API_EXPORT const wchar_t * HID_API_CALL hid_error(hid_device *dev)
{
return (wchar_t*)dev->last_error_str;
}
/*#define PICPGM*/
/*#define S11*/
#define P32
#ifdef S11
unsigned short VendorID = 0xa0a0;
unsigned short ProductID = 0x0001;
#endif
#ifdef P32
unsigned short VendorID = 0x04d8;
unsigned short ProductID = 0x3f;
#endif
#ifdef PICPGM
unsigned short VendorID = 0x04d8;
unsigned short ProductID = 0x0033;
#endif
#if 0
int __cdecl main(int argc, char* argv[])
{
int res;
unsigned char buf[65];
UNREFERENCED_PARAMETER(argc);
UNREFERENCED_PARAMETER(argv);
/* Set up the command buffer. */
memset(buf,0x00,sizeof(buf));
buf[0] = 0;
buf[1] = 0x81;
/* Open the device. */
int handle = open(VendorID, ProductID, L"12345");
if (handle < 0)
printf("unable to open device\n");
/* Toggle LED (cmd 0x80) */
buf[1] = 0x80;
res = write(handle, buf, 65);
if (res < 0)
printf("Unable to write()\n");
/* Request state (cmd 0x81) */
buf[1] = 0x81;
write(handle, buf, 65);
if (res < 0)
printf("Unable to write() (2)\n");
/* Read requested state */
read(handle, buf, 65);
if (res < 0)
printf("Unable to read()\n");
/* Print out the returned buffer. */
for (int i = 0; i < 4; i++)
printf("buf[%d]: %d\n", i, buf[i]);
return 0;
}
#endif
#ifdef __cplusplus
} /* extern "C" */
#endif

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/**
******************************************************************************
*
* @file ophid.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup opHIDPlugin Raw HID Plugin
* @{
* @brief Impliments a HID USB connection to the flight hardware as a QIODevice
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef OPHID_H
#define OPHID_H
#include "ophid_global.h"
#include <QThread>
#include <QIODevice>
#include <QMutex>
#include <QByteArray>
#include "ophid_hidapi.h"
#include "ophid_usbmon.h"
class RawHIDReadThread;
class RawHIDWriteThread;
/**
* The actual IO device that will be used to communicate
* with the board.
*/
class OPHID_EXPORT RawHID : public QIODevice {
Q_OBJECT
friend class RawHIDReadThread;
friend class RawHIDWriteThread;
public:
RawHID();
RawHID(const QString &deviceName);
virtual ~RawHID();
virtual bool open(OpenMode mode);
virtual void close();
virtual bool isSequential() const;
signals:
void closed();
public slots:
void onDeviceUnplugged(int num);
protected:
virtual qint64 readData(char *data, qint64 maxSize);
virtual qint64 writeData(const char *data, qint64 maxSize);
virtual qint64 bytesAvailable() const;
virtual qint64 bytesToWrite() const;
// Callback from the read thread to open the device
bool openDevice();
// Callback from teh read thread to close the device
bool closeDevice();
QString serialNumber;
int m_deviceNo;
opHID_hidapi dev;
bool device_open;
RawHIDReadThread *m_readThread;
RawHIDWriteThread *m_writeThread;
QMutex *m_mutex;
QMutex *m_startedMutex;
};
#endif // OPHID_H

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/**
******************************************************************************
*
* @file ophid_const.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup RawHIDPlugin Raw HID Plugin
* @{
* @brief Impliments a HID USB connection to the flight hardware as a QIODevice
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef OPHID_CONST_H
#define OPHID_CONST_H
#define printf qDebug
#define OPHID_DEBUG_ON 1
#ifdef OPHID_DEBUG_ON
#define OPHID_DEBUG(fmt, args ...) qDebug("[DEBUG] "fmt,##args)
#define OPHID_TRACE(fmt, args ...) qDebug("[TRACE] %s:%s:%d: "fmt, __FILE__, __func__, __LINE__,##args)
#define OPHID_ERROR(fmt, args ...) qDebug("[ERROR] %s:%s:%d: "fmt, __FILE__, __func__, __LINE__,##args)
#define OPHID_WARNING(fmt, args ...) qDebug("[WARNING] "fmt,##args)
#else
#define OPHID_DEBUG(fmt, args ...)
#define OPHID_TRACE(fmt, args ...)
#define OPHID_ERROR(fmt, args ...)
#define OPHID_WARNING(fmt, args ...)
#endif
// USB
#define USB_MAX_DEVICES 10
#define USB_VID 0x20A0
#define USB_PID 0x4117
#define USB_USAGE_PAGE 0xFF9C
#define USB_USAGE 0x0001
#define USB_DEV_SERIAL_LEN 24
#define USB_PID_ANY -1
#define USB_MAX_STRING_SIZE 255
// ERROR
#define OPHID_NO_ERROR 0
#define OPHID_ERROR_RET -1
#define OPHID_ERROR_POINTER -2
#define OPHID_ERROR_PARAMETER -3
#define OPHID_ERROR_HANDLE -4
#define OPHID_ERROR_INIT -5
#endif // OPHID_CONST_H

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/**
******************************************************************************
*
* @file ophid_global.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup opHIDPlugin Raw HID Plugin
* @{
* @brief Impliments a HID USB connection to the flight hardware as a QIODevice
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef OPHID_GLOBAL_H
#define OPHID_GLOBAL_H
#include <QtCore/qglobal.h>
#if defined(OPHID_LIBRARY)
# define OPHID_EXPORT Q_DECL_EXPORT
#else
# define OPHID_EXPORT Q_DECL_IMPORT
#endif
#endif // OPHID_GLOBAL_H

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/**
******************************************************************************
*
* @file ophid_hidapi.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup opHIDPlugin HID Plugin
* @{
* @brief Impliments a HID USB connection to the flight hardware as a QIODevice
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef OPHID_HIDAPI_H
#define OPHID_HIDAPI_H
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <QDebug>
#include <QString>
#include <QMutex>
#if defined(Q_OS_LINUX)
#include <usb.h>
#endif
#include "../hidapi/hidapi.h"
#include "ophid_const.h"
#include "ophid_global.h"
class OPHID_EXPORT opHID_hidapi : public QObject {
Q_OBJECT
public:
opHID_hidapi();
~opHID_hidapi();
int open(int max, int vid, int pid, int usage_page, int usage);
int receive(int, void *buf, int len, int timeout);
void close(int num);
int send(int num, void *buf, int len, int timeout);
QString getserial(int num);
private:
int enumerate(struct hid_device_info * *current_device_pptr, int *devices_found);
hid_device *handle;
/** A mutex to protect hid write */
QMutex hid_write_Mtx;
/** A mutex to protect hid read */
QMutex hid_read_Mtx;
signals:
void deviceUnplugged(int);
};
#endif // ifndef OPHID_HIDAPI_H

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/**
******************************************************************************
*
* @file ophid_plugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup opHIDPlugin Raw HID Plugin
* @{
* @brief Impliments a HID USB connection to the flight hardware as a QIODevice
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef OPHID_PLUGIN_H
#define OPHID_PLUGIN_H
#include <QtCore/QMutex>
#include <QtCore/QThread>
#include <extensionsystem/iplugin.h>
#include "coreplugin/iconnection.h"
#include "ophid.h"
#include "ophid_global.h"
#include "ophid_usbmon.h"
class IConnection;
class RawHIDConnection;
/**
* Define a connection via the IConnection interface
* Plugin will add a instance of this class to the pool,
* so the connection manager can use it.
*/
class OPHID_EXPORT RawHIDConnection : public Core::IConnection {
Q_OBJECT
public:
RawHIDConnection();
virtual ~RawHIDConnection();
virtual QList < Core::IConnection::device> availableDevices();
virtual QIODevice *openDevice(const QString &deviceName);
virtual void closeDevice(const QString &deviceName);
virtual QString connectionName();
virtual QString shortName();
virtual void suspendPolling();
virtual void resumePolling();
bool deviceOpened()
{
return RawHidHandle != NULL;
} // Pip
protected slots:
void onDeviceConnected();
void onDeviceDisconnected();
private:
RawHID *RawHidHandle;
bool enablePolling;
protected:
QMutex m_enumMutex;
USBMonitor *m_usbMonitor;
bool m_deviceOpened;
};
class OPHID_EXPORT RawHIDPlugin
: public ExtensionSystem::IPlugin {
Q_OBJECT
public:
RawHIDPlugin();
~RawHIDPlugin();
virtual bool initialize(const QStringList &arguments, QString *error_message);
virtual void extensionsInitialized();
private:
RawHIDConnection *hidConnection;
USBMonitor *m_usbMonitor;
};
#endif // OPHID_PLUGIN_H

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/**
******************************************************************************
*
* @file ophid_usbmon.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup RawHIDPlugin Raw HID Plugin
* @{
* @brief Monitors the USB bus for devince insertion/removal
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef OPHID_USBMON_H
#define OPHID_USBMON_H
#include "ophid_global.h"
#include <QThread>
#include <QMutex>
#include <QSemaphore>
// Arch dependent
#if defined(Q_OS_MAC)
#include <IOKit/IOKitLib.h>
#include <IOKit/hid/IOHIDLib.h>
#elif defined(Q_OS_UNIX)
#include <libudev.h>
#include <QSocketNotifier>
#elif defined(Q_OS_WIN32)
#ifndef _WIN32_WINNT
#define _WIN32_WINNT 0x0500
#endif
#ifndef _WIN32_WINDOWS
#define _WIN32_WINDOWS 0x0500
#endif
#ifndef WINVER
#define WINVER 0x0500
#endif
#include <windows.h>
#include <dbt.h>
#include <setupapi.h>
#include <ddk/hidsdi.h>
#include <ddk/hidclass.h>
#endif // if defined(Q_OS_MAC)
#ifdef Q_OS_WIN
#ifdef QT_GUI_LIB
#include <QWidget>
class USBMonitor;
class USBRegistrationWidget : public QWidget {
Q_OBJECT
public:
USBRegistrationWidget(USBMonitor *qese)
{
this->qese = qese;
}
~USBRegistrationWidget() {}
protected:
USBMonitor *qese;
bool winEvent(MSG *message, long *result);
};
#endif
#endif
struct USBPortInfo {
// QString friendName; ///< Friendly name.
// QString physName;
// QString enumName; ///< It seems its the only one with meaning
QString serialNumber; // As a string as it can be anything, really...
QString manufacturer;
QString product;
#if defined(Q_OS_WIN32)
QString devicePath; // only has meaning on windows
#elif defined(Q_OS_MAC)
IOHIDDeviceRef dev_handle;
#endif
int UsagePage;
int Usage;
int vendorID; ///< Vendor ID.
int productID; ///< Product ID
int bcdDevice;
};
/**
* A monitoring thread which will wait for device events.
*/
class OPHID_EXPORT USBMonitor : public QThread {
Q_OBJECT
public:
enum RunState {
Bootloader = 0x01,
Running = 0x02
};
enum USBConstants {
idVendor_OpenPilot = 0x20a0,
idProduct_OpenPilot = 0x415a,
idProduct_CopterControl = 0x415b,
idProduct_PipXtreme = 0x415c
};
static USBMonitor *instance();
USBMonitor(QObject *parent = 0);
~USBMonitor();
QList<USBPortInfo> availableDevices();
QList<USBPortInfo> availableDevices(int vid, int pid, int boardModel, int runState);
#if defined(Q_OS_WIN32)
LRESULT onDeviceChangeWin(WPARAM wParam, LPARAM lParam);
#endif
signals:
/*!
A new device has been connected to the system.
setUpNotifications() must be called first to enable event-driven device notifications.
Currently only implemented on Windows and OS X.
\param info The device that has been discovered.
*/
void deviceDiscovered(const USBPortInfo & info);
void deviceDiscovered();
/*!
A device has been disconnected from the system.
setUpNotifications() must be called first to enable event-driven device notifications.
Currently only implemented on Windows and OS X.
\param info The device that was disconnected.
*/
void deviceRemoved(const USBPortInfo & info);
void deviceRemoved();
private slots:
/**
Callback available for whenever the system that is put in place gets
an event
*/
void deviceEventReceived();
private:
// ! Mutex for modifying the list of available devices
QMutex *listMutex;
// ! List of known devices maintained by callbacks
QList<USBPortInfo> knowndevices;
Q_DISABLE_COPY(USBMonitor)
static USBMonitor * m_instance;
// Depending on the OS, we'll need different things:
#if defined(Q_OS_MAC)
static void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev);
static void detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev);
void addDevice(USBPortInfo info);
void removeDevice(IOHIDDeviceRef dev);
IOHIDManagerRef hid_manager;
#elif defined(Q_OS_UNIX)
struct udev *context;
struct udev_monitor *monitor;
QSocketNotifier *monitorNotifier;
USBPortInfo makePortInfo(struct udev_device *dev);
#elif defined(Q_OS_WIN32)
GUID guid_hid;
void setUpNotifications();
/*!
* Get specific property from registry.
* \param devInfo pointer to the device information set that contains the interface
* and its underlying device. Returned by SetupDiGetClassDevs() function.
* \param devData pointer to an SP_DEVINFO_DATA structure that defines the device instance.
* this is returned by SetupDiGetDeviceInterfaceDetail() function.
* \param property registry property. One of defined SPDRP_* constants.
* \return property string.
*/
static QString getDeviceProperty(HDEVINFO devInfo, PSP_DEVINFO_DATA devData, DWORD property);
static int infoFromHandle(const GUID & guid, USBPortInfo & info, HDEVINFO & devInfo, DWORD & index);
static void enumerateDevicesWin(const GUID & guidDev, QList<USBPortInfo> *infoList);
bool matchAndDispatchChangedDevice(const QString & deviceID, const GUID & guid, WPARAM wParam);
#ifdef QT_GUI_LIB
USBRegistrationWidget *notificationWidget;
#endif
#endif // if defined(Q_OS_MAC)
#ifdef __APPLE__
protected:
QSemaphore m_terminate;
void run();
#endif // __APPLE__
};
#endif // OPHID_USBMON_H

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/**
******************************************************************************
*
* @file ophid_usbsignal.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup opHIDPlugin Raw HID Plugin
* @{
* @brief Monitors the USB bus for devince insertion/removal
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef OPHID_USBSIGNAL_H
#define OPHID_USBSIGNAL_H
#include <QObject>
#include "ophid_usbmon.h"
class OPHID_EXPORT USBSignalFilter : public QObject {
Q_OBJECT
private:
int m_vid;
int m_pid;
int m_boardModel;
int m_runState;
signals:
void deviceDiscovered();
private slots:
void m_deviceDiscovered(USBPortInfo port);
public:
USBSignalFilter(int vid, int pid, int boardModel, int runState);
};
#endif // OPHID_USBSIGNAL_H

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<plugin name="opHID" version="1.0.0" compatVersion="1.0.0">
<vendor>The OpenPilot Project</vendor>
<copyright>(C) 2013 OpenPilot Project</copyright>
<license>GNU Public License (GPL) Version 3</license>
<description>Connection to OpenPilot board using HID USB interface</description>
<url>http://www.openpilot.org</url>
<dependencyList>
<dependency name="Core" version="1.0.0"/>
</dependencyList>
</plugin>

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ground/openpilotgcs/src/plugins/ophid/ophid.pri Normal file
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include(ophid_dependencies.pri)
LIBS *= -l$$qtLibraryName(opHID)

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TEMPLATE = lib
TARGET = opHID
include(../../openpilotgcsplugin.pri)
include(ophid_dependencies.pri)
HEADERS += inc/ophid_global.h \
inc/ophid_plugin.h \
inc/ophid.h \
inc/ophid_hidapi.h \
inc/ophid_const.h \
inc/ophid_usbmon.h \
inc/ophid_usbsignal.h \
hidapi/hidapi.h
SOURCES += src/ophid_plugin.cpp \
src/ophid.cpp \
src/ophid_usbsignal.cpp \
src/ophid_hidapi.cpp
FORMS +=
RESOURCES +=
DEFINES += OPHID_LIBRARY
OTHER_FILES += opHID.pluginspec
INCLUDEPATH += ./inc
# Platform Specific
win32 {
SOURCES += src/ophid_usbmon_win.cpp \
hidapi/windows/hid.c
LIBS += -lhid -lsetupapi
}
macx {
SOURCES += src/ophid_usbmon_mac.cpp \
hidapi/mac/hid.c
SDK = /Developer/SDKs/MacOSX10.5.sdk
ARCH = -mmacosx-version-min=10.5 \
-arch ppc \
-arch i386
LIBS += $(ARCH) \
-Wl,-syslibroot,$(SDK) \
-framework IOKit \
-framework CoreFoundation
}
linux-g++ {
SOURCES += src/ophid_usbmon_linux.cpp
LIBS += -lusb -ludev
# hidapi library
## rawhid
# SOURCES += hidapi/linux/hid.c
## libusb
SOURCES += hidapi/libusb/hid.c
LIBS += `pkg-config libusb-1.0 --libs` -lrt -lpthread
INCLUDEPATH += /usr/include/libusb-1.0
# INCLUDEPATH += `pkg-config libusb-1.0 --cflags`
!exists(/usr/include/libusb-1.0) {
error(Install libusb-1.0.0-dev using your package manager.)
}
}
linux-g++-64 {
SOURCES += src/ophid_usbmon_linux.cpp
LIBS += -lusb -ludev
# hidapi library
## rawhid
# SOURCES += hidapi/linux/hid.c
## libusb
SOURCES += hidapi/libusb/hid.c
LIBS += `pkg-config libusb-1.0 --libs` -lrt -lpthread
INCLUDEPATH += /usr/include/libusb-1.0
# INCLUDEPATH += `pkg-config libusb-1.0 --cflags`
!exists(/usr/include/libusb-1.0) {
error(Install libusb-1.0.0-dev using your package manager.)
}
}

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include(../../plugins/coreplugin/coreplugin.pri)

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/**
******************************************************************************
*
* @file rawhid.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup opHIDPlugin HID Plugin
* @{
* @brief Impliments a HID USB connection to the flight hardware as a QIODevice
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "ophid.h"
#include "ophid_const.h"
#include "coreplugin/connectionmanager.h"
#include <extensionsystem/pluginmanager.h>
#include <QtGlobal>
#include <QList>
#include <QMutexLocker>
#include <QWaitCondition>
class IConnection;
// timeout value used when we want to return directly without waiting
static const int READ_TIMEOUT = 200;
static const int READ_SIZE = 64;
static const int WRITE_TIMEOUT = 1000;
static const int WRITE_SIZE = 64;
// *********************************************************************************
/**
* Thread to desynchronize reading from the device
*/
class RawHIDReadThread : public QThread {
public:
RawHIDReadThread(RawHID *hid);
virtual ~RawHIDReadThread();
/** Return the data read so far without waiting */
int getReadData(char *data, int size);
/** return the bytes buffered */
qint64 getBytesAvailable();
public slots:
void terminate()
{
m_running = false;
}
protected:
void run();
/** QByteArray might not be the most efficient way to implement
a circular buffer but it's good enough and very simple */
QByteArray m_readBuffer;
/** A mutex to protect read buffer */
QMutex m_readBufMtx;
RawHID *m_hid;
opHID_hidapi *hiddev;
int hidno;
bool m_running;
};
// *********************************************************************************
/**
* This class is nearly the same than RawHIDReadThread but for writing
*/
class RawHIDWriteThread : public QThread {
public:
RawHIDWriteThread(RawHID *hid);
virtual ~RawHIDWriteThread();
/** Add some data to be written without waiting */
int pushDataToWrite(const char *data, int size);
/** Return the number of bytes buffered */
qint64 getBytesToWrite();
public slots:
void terminate()
{
m_running = false;
}
protected:
void run();
/** QByteArray might not be the most efficient way to implement
a circular buffer but it's good enough and very simple */
QByteArray m_writeBuffer;
/** A mutex to protect read buffer */
QMutex m_writeBufMtx;
/** Synchronize task with data arival */
QWaitCondition m_newDataToWrite;
RawHID *m_hid;
opHID_hidapi *hiddev;
int hidno;
bool m_running;
};
// *********************************************************************************
RawHIDReadThread::RawHIDReadThread(RawHID *hid)
: m_hid(hid),
hiddev(&hid->dev),
hidno(hid->m_deviceNo),
m_running(true)
{
OPHID_TRACE("IN");
hid->m_startedMutex->lock();
OPHID_TRACE("OUT");
}
RawHIDReadThread::~RawHIDReadThread()
{
m_running = false;
// wait for the thread to terminate
if (wait(10000) == false) {
qDebug() << "Cannot terminate RawHIDReadThread";
}
}
void RawHIDReadThread::run()
{
OPHID_TRACE("IN");
m_running = m_hid->openDevice();
while (m_running) {
// here we use a temporary buffer so we don't need to lock
// the mutex while we are reading from the device
// Want to read in regular chunks that match the packet size the device
// is using. In this case it is 64 bytes (the interrupt packet limit)
// although it would be nice if the device had a different report to
// configure this
char buffer[READ_SIZE] = { 0 };
int ret = hiddev->receive(hidno, buffer, READ_SIZE, READ_TIMEOUT);
if (ret > 0) { // read some data
QMutexLocker lock(&m_readBufMtx);
// Note: Preprocess the USB packets in this OS independent code
// First byte is report ID, second byte is the number of valid bytes
m_readBuffer.append(&buffer[2], buffer[1]);
emit m_hid->readyRead();
} else if (ret == 0) { // nothing read
} else { // < 0 => error
// TODO! make proper error handling, this only quick hack for unplug freeze
m_running = false;
}
}
m_hid->closeDevice();
OPHID_TRACE("OUT");
}
int RawHIDReadThread::getReadData(char *data, int size)
{
QMutexLocker lock(&m_readBufMtx);
size = qMin(size, m_readBuffer.size());
memcpy(data, m_readBuffer.constData(), size);
m_readBuffer.remove(0, size);
return size;
}
qint64 RawHIDReadThread::getBytesAvailable()
{
QMutexLocker lock(&m_readBufMtx);
return m_readBuffer.size();
}
RawHIDWriteThread::RawHIDWriteThread(RawHID *hid)
: m_hid(hid),
hiddev(&hid->dev),
hidno(hid->m_deviceNo),
m_running(true)
{}
// *********************************************************************************
RawHIDWriteThread::~RawHIDWriteThread()
{
m_running = false;
// wait for the thread to terminate
if (wait(10000) == false) {
qDebug() << "Cannot terminate RawHIDReadThread";
}
}
void RawHIDWriteThread::run()
{
while (m_running) {
char buffer[WRITE_SIZE] = { 0 };
m_writeBufMtx.lock();
int size = qMin(WRITE_SIZE - 2, m_writeBuffer.size());
while (size <= 0) {
// wait on new data to write condition, the timeout
// enable the thread to shutdown properly
m_newDataToWrite.wait(&m_writeBufMtx, 200);
if (!m_running) {
return;
}
size = m_writeBuffer.size();
}
// NOTE: data size is limited to 2 bytes less than the
// usb packet size (64 bytes for interrupt) to make room
// for the reportID and valid data length
size = qMin(WRITE_SIZE - 2, m_writeBuffer.size());
memcpy(&buffer[2], m_writeBuffer.constData(), size);
buffer[1] = size; // valid data length
buffer[0] = 2; // reportID
m_writeBufMtx.unlock();
// must hold lock through the send to know how much was sent
int ret = hiddev->send(hidno, buffer, WRITE_SIZE, WRITE_TIMEOUT);
if (ret > 0) {
// only remove the size actually written to the device
QMutexLocker lock(&m_writeBufMtx);
m_writeBuffer.remove(0, size);
emit m_hid->bytesWritten(ret - 2);
} else if (ret < 0) { // < 0 => error
// TODO! make proper error handling, this only quick hack for unplug freeze
m_running = false;
qDebug() << "Error writing to device (" << ret << ")";
} else {
qDebug() << "No data written to device ??";
}
}
}
int RawHIDWriteThread::pushDataToWrite(const char *data, int size)
{
QMutexLocker lock(&m_writeBufMtx);
m_writeBuffer.append(data, size);
m_newDataToWrite.wakeOne(); // signal that new data arrived
return size;
}
qint64 RawHIDWriteThread::getBytesToWrite()
{
// QMutexLocker lock(&m_writeBufMtx);
return m_writeBuffer.size();
}
// *********************************************************************************
RawHID::RawHID(const QString &deviceName)
: QIODevice(),
serialNumber(deviceName),
m_deviceNo(-1),
m_readThread(NULL),
m_writeThread(NULL),
m_mutex(NULL)
{
OPHID_TRACE("IN");
m_mutex = new QMutex(QMutex::Recursive);
m_startedMutex = new QMutex();
// detect if the USB device is unplugged
QObject::connect(&dev, SIGNAL(deviceUnplugged(int)), this, SLOT(onDeviceUnplugged(int)));
m_writeThread = new RawHIDWriteThread(this);
// Starting the read thread will lock the m_startexMutex until the
// device is opened (which happens in that thread).
m_readThread = new RawHIDReadThread(this);
m_readThread->start();
m_startedMutex->lock();
OPHID_TRACE("OUT");
}
/**
* @brief RawHID::openDevice This method opens the USB connection
* It is uses as a callback from the read thread so that the USB
* system code is registered in that thread instead of the calling
* thread (usually UI)
*/
bool RawHID::openDevice()
{
OPHID_TRACE("IN");
uint32_t opened = dev.open(USB_MAX_DEVICES, USB_VID, USB_PID_ANY, USB_USAGE_PAGE, USB_USAGE);
OPHID_DEBUG("opened %d devices", opened);
for (uint32_t i = 0; i < opened; i++) {
if (serialNumber == dev.getserial(i)) {
m_deviceNo = i;
} else {
dev.close(i);
}
}
// Now things are opened or not (from read thread) allow the constructor to complete
m_startedMutex->unlock();
// Leave if we have not found one device
// It should be the one we are looking for
if (!opened) {
OPHID_TRACE("OUT");
return false;
}
m_writeThread->start();
OPHID_TRACE("OUT");
return true;
}
/**
* @brief RawHID::closeDevice This method closes the USB connection
* It is uses as a callback from the read thread so that the USB
* system code is unregistered from that thread\
*/
bool RawHID::closeDevice()
{
OPHID_TRACE("IN");
dev.close(m_deviceNo);
OPHID_TRACE("OUT");
return 0;
}
RawHID::~RawHID()
{
// OPHID_TRACE("IN");
// If the read thread exists then the device is open
if (m_readThread) {
close();
}
// OPHID_TRACE("OUT");
}
void RawHID::onDeviceUnplugged(int num)
{
if (num != m_deviceNo) {
return;
}
// The USB device has been unplugged
close();
}
bool RawHID::open(OpenMode mode)
{
QMutexLocker locker(m_mutex);
if (m_deviceNo < 0) {
return false;
}
QIODevice::open(mode);
Q_ASSERT(m_readThread);
Q_ASSERT(m_writeThread);
if (m_readThread) {
m_readThread->start();
}
if (m_writeThread) {
m_writeThread->start();
}
return true;
}
void RawHID::close()
{
OPHID_TRACE("IN");
emit aboutToClose();
if (m_writeThread) {
OPHID_DEBUG("Terminating write thread");
m_writeThread->terminate();
delete m_writeThread;
m_writeThread = NULL;
OPHID_DEBUG("Write thread terminated");
}
if (m_readThread) {
OPHID_DEBUG("Terminating read thread");
m_readThread->terminate();
delete m_readThread;
m_readThread = NULL;
OPHID_DEBUG("Read thread terminated");
}
emit closed();
QIODevice::close();
OPHID_TRACE("OUT");
}
bool RawHID::isSequential() const
{
return true;
}
qint64 RawHID::bytesAvailable() const
{
QMutexLocker locker(m_mutex);
if (!m_readThread) {
return -1;
}
return m_readThread->getBytesAvailable() + QIODevice::bytesAvailable();
}
qint64 RawHID::bytesToWrite() const
{
QMutexLocker locker(m_mutex);
if (!m_writeThread) {
return -1;
}
return m_writeThread->getBytesToWrite() + QIODevice::bytesToWrite();
}
qint64 RawHID::readData(char *data, qint64 maxSize)
{
QMutexLocker locker(m_mutex);
if (!m_readThread || !data) {
return -1;
}
return m_readThread->getReadData(data, maxSize);
}
qint64 RawHID::writeData(const char *data, qint64 maxSize)
{
QMutexLocker locker(m_mutex);
if (!m_writeThread || !data) {
return -1;
}
return m_writeThread->pushDataToWrite(data, maxSize);
}

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/**
******************************************************************************
*
* @file rawhid.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup opHIDPlugin OpenPilot HID Plugin
* @{
* @brief Impliments a HID USB connection to the flight hardware as a QIODevice
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <stdio.h>
#include <wchar.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include "ophid_const.h"
#include "ophid_hidapi.h"
/**
* \brief Constructor
*
* \note
*
*/
opHID_hidapi::opHID_hidapi()
{
OPHID_TRACE("IN");
handle = NULL;
// Make sure hidapi lib is ready
if (hid_init()) {
OPHID_ERROR("Lib initialization (hidpai).");
}
OPHID_TRACE("OUT");
}
/**
* \brief Destructor
*
* \note This does not handle the cleanup of hidapi lib
*
*/
opHID_hidapi::~opHID_hidapi()
{
OPHID_TRACE("IN");
OPHID_TRACE("OUT");
}
/**
* \brief Enumerate the list of HID device with our vendor id
*
* \note Why don't we use the one from within the hidapi directly
* in caller? because later we will do more parsing herer.
* WARNING: our vendor id is harcoded here (not good idea).
*
* \param[out] current_device_pptr Pointer to the list of device
* \param[out] devices_found Number of devices found.
* \return error.
* \retval 0 on success.
*/
int opHID_hidapi::enumerate(struct hid_device_info * *current_device_pptr, int *devices_found)
{
int retry = 5;
*devices_found = 0;
struct hid_device_info *current_device_ptr = NULL;
OPHID_TRACE("IN");
while (retry--) {
// Enumerate
*current_device_pptr = hid_enumerate(USB_VID, 0x0);
// Display the list of devices found (for debug)
current_device_ptr = *current_device_pptr;
while (current_device_ptr) {
OPHID_DEBUG("HID Device Found");
OPHID_DEBUG(" type:............VID(%04hx).PID(%04hx)", current_device_ptr->vendor_id, current_device_ptr->product_id);
OPHID_DEBUG(" path:............%s", current_device_ptr->path);
OPHID_DEBUG(" Release:.........%hx", current_device_ptr->release_number);
OPHID_DEBUG(" Interface:.......%d", current_device_ptr->interface_number);
current_device_ptr = current_device_ptr->next;
(*devices_found)++;
}
if (*devices_found) {
break;
}
}
OPHID_TRACE("OUT");
return OPHID_NO_ERROR;
}
/**
* \brief Open HID device using hidapi library
*
* \note This function does \b not support opening multiple devices at once.
*
* \param[in] vid USB vendor id of the device to open (-1 for any).
* \param[in] pid USB product id of the device to open (-1 for any).
* \return Number of opened device.
* \retval 0 or 1.
*/
int opHID_hidapi::open(int max, int vid, int pid, int usage_page, int usage)
{
int devices_found = false;
struct hid_device_info *current_device_ptr = NULL;
struct hid_device_info *last_device_ptr = NULL;
struct hid_device_info * *current_device_pptr = &current_device_ptr;
OPHID_TRACE("IN");
OPHID_DEBUG("max: %d, vid: 0x%X, pid: 0x%X, usage_page: %d, usage: %d.", max, vid, pid, usage_page, usage);
if (handle) {
OPHID_WARNING("HID device seems already open.");
}
// This is a hack to prevent changing all the callers (for now)
if (vid == -1) {
vid = 0;
}
if (pid == -1) {
pid = 0;
}
// If caller knows which one to look for open it right away
if (vid != 0 && pid != 0) {
handle = hid_open(vid, pid, NULL);
if (!handle) {
OPHID_ERROR("Unable to open device.");
devices_found = false;
} else {
OPHID_DEBUG("HID Device Found");
OPHID_DEBUG(" type:............VID(%04hx).PID(%04hx)", vid, pid);
devices_found = true;
}
} else {
// Get the list of available hid devices
if (enumerate(current_device_pptr, &devices_found) != OPHID_NO_ERROR) {
OPHID_ERROR("Error during enumeration");
return 0;
}
if (devices_found) {
// Look for the last one in the list
// WARNING: for now this prevent to have devices chained
last_device_ptr = current_device_ptr;
while (last_device_ptr->next) {
last_device_ptr = last_device_ptr->next;
}
OPHID_DEBUG("Opening device VID(%04hx).PID(%04hx)",
last_device_ptr->vendor_id,
last_device_ptr->product_id);
handle = hid_open(last_device_ptr->vendor_id,
last_device_ptr->product_id,
NULL);
hid_free_enumeration(current_device_ptr);
if (!handle) {
OPHID_ERROR("Unable to open device.");
devices_found = false;
}
} else {
OPHID_WARNING("Unable to find any HID device.");
}
}
OPHID_DEBUG("Found %d devices", devices_found);
OPHID_TRACE("OUT");
return devices_found;
}
/**
* \brief Read an Input report from a HID device.
*
* \note This function does \b not block for now.
* Tests show that it does not need to.
*
* \param[in] num Id of the device to receive packet (NOT supported).
* \param[in] buf Pointer to the bufer to write the received packet to.
* \param[in] len Size of the buffer.
* \param[in] timeout Not supported.
* \return Number of bytes received, or -1 on error.
* \retval -1 for error or bytes received.
*/
int opHID_hidapi::receive(int num, void *buf, int len, int timeout)
{
Q_UNUSED(num);
Q_UNUSED(timeout);
int bytes_read = 0;
if (!buf) {
OPHID_ERROR("Unexpected parameter value (ptr).");
return OPHID_ERROR_POINTER;
}
if (!len) {
OPHID_ERROR("Unexpected parameter value (incorrect lenght).");
return OPHID_ERROR_PARAMETER;
}
if (handle == NULL) {
OPHID_ERROR("Handle invalid.");
return OPHID_ERROR_HANDLE;
}
hid_read_Mtx.lock();
bytes_read = hid_read(handle, (unsigned char *)buf, len);
hid_read_Mtx.unlock();
// hidapi lib does not expose the libusb errors.
if (bytes_read == -1) {
OPHID_ERROR("hidapi: %d", bytes_read);
}
return bytes_read;
}
/**
* \brief Write an Output report to a HID device.
*
* \note timeout is 1000ms for control transfer and
* 1000 ms for interrupt transfer.
*
* \param[in] num Id of the device to receive packet (NOT supported).
* \param[in] buf Pointer to the bufer to send.
* \param[in] len Size of the buffer.
* \param[in] timeout (not supported).
* \return Number of bytes received, or -1 on error.
* \retval -1 for error or bytes received.
*/
int opHID_hidapi::send(int num, void *buf, int len, int timeout)
{
Q_UNUSED(num);
Q_UNUSED(timeout);
int bytes_written = 0;
int retry = 5;
if (!buf) {
OPHID_ERROR("Unexpected parameter value (ptr).");
return OPHID_ERROR_POINTER;
}
if (!len) {
OPHID_ERROR("Unexpected parameter value (incorrect lenght).");
return OPHID_ERROR_PARAMETER;
}
if (handle == NULL) {
OPHID_ERROR("Handle invalid.");
return OPHID_ERROR_HANDLE;
}
// hidapi has a timeout hardcoded to 1000ms, retry 5 times
while (retry--) {
hid_write_Mtx.lock();
bytes_written = hid_write(handle, (const unsigned char *)buf, len);
hid_write_Mtx.unlock();
if (bytes_written >= 0) {
break;
}
}
// hidapi lib does not expose the libusb errors.
if (bytes_written < 0) {
OPHID_ERROR("hidapi: %d", bytes_written);
}
return bytes_written;
}
/**
* \brief Return the serial number of a device.
*
* \note This function does \b not handle multiple
* HID devices. Only the serial number of the
* current HID device will supported.
*
* \param[in] num Id of the device to request SN (NOT supported).
* \return Serial number
* \retval string
*/
QString opHID_hidapi::getserial(int num)
{
Q_UNUSED(num);
OPHID_TRACE("IN");
wchar_t buf[USB_MAX_STRING_SIZE];
if (handle == NULL) {
OPHID_ERROR("Handle invalid.");
return QString("");
}
if (hid_get_serial_number_string(handle, buf, USB_MAX_STRING_SIZE) < 0) {
OPHID_ERROR("Unable to read serial number string.");
return QString("");
}
OPHID_TRACE("OUT");
return QString().fromWCharArray(buf);
}
/**
* \brief Close a HID device
*
* \note This function does \b not handle multiple
* HID devices currently.
*
* \param[in] num Id of the device to close (NOT supported).
*/
void opHID_hidapi::close(int num)
{
Q_UNUSED(num);
OPHID_TRACE("IN");
if (handle) {
hid_close(handle);
}
handle = NULL;
OPHID_TRACE("OUT");
}

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/**
******************************************************************************
*
* @file opHID_plugin.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup opHIDPlugin HID Plugin
* @{
* @brief Impliments a HID USB connection to the flight hardware as a QIODevice
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "ophid_global.h"
#include "ophid_plugin.h"
#include <extensionsystem/pluginmanager.h>
#include <QtCore/QtPlugin>
#include <QtCore/QMutexLocker>
#include "ophid_hidapi.h"
#include "ophid_const.h"
/**
* \brief Constructor
*
* \note
*
*/
RawHIDConnection::RawHIDConnection()
{
RawHidHandle = NULL;
enablePolling = true;
m_usbMonitor = USBMonitor::instance();
#ifndef __APPLE__
connect(m_usbMonitor, SIGNAL(deviceDiscovered(USBPortInfo)), this, SLOT(onDeviceConnected()));
connect(m_usbMonitor, SIGNAL(deviceRemoved(USBPortInfo)), this, SLOT(onDeviceDisconnected()));
#else
connect(m_usbMonitor, SIGNAL(deviceDiscovered()), this, SLOT(onDeviceConnected()));
connect(m_usbMonitor, SIGNAL(deviceRemoved()), this, SLOT(onDeviceDisconnected()));
#endif
}
/**
* \brief Destructor
*
* \note
*
*/
RawHIDConnection::~RawHIDConnection()
{
if (RawHidHandle) {
if (RawHidHandle->isOpen()) {
RawHidHandle->close();
}
}
}
/**
* \brief New device plugged
*
* \note The USB monitor tells us a new device appeared
*
*/
void RawHIDConnection::onDeviceConnected()
{
emit availableDevChanged(this);
}
/**
* \brief Device unplugged
*
* \note The USB monitor tells us a new device disappeared
*
*/
void RawHIDConnection::onDeviceDisconnected()
{
qDebug() << "onDeviceDisconnected()";
if (enablePolling) {
emit availableDevChanged(this);
}
}
/**
* \brief Available devices
*
* \return List of all currently available devices
*/
QList < Core::IConnection::device> RawHIDConnection::availableDevices()
{
QList < Core::IConnection::device> devices;
QList<USBPortInfo> portsList = m_usbMonitor->availableDevices(USBMonitor::idVendor_OpenPilot, -1, -1, USBMonitor::Running);
// We currently list devices by their serial number
device dev;
foreach(USBPortInfo prt, portsList) {
dev.name = prt.serialNumber;
dev.displayName = prt.product;
devices.append(dev);
}
return devices;
}
/**
* \brief Open device
*
* \param[in] deviceName String name of the device to open
* \return initialized handle
*/
QIODevice *RawHIDConnection::openDevice(const QString &deviceName)
{
OPHID_TRACE("IN");
if (RawHidHandle) {
closeDevice(deviceName);
}
RawHidHandle = new RawHID(deviceName);
if (!RawHidHandle) {
OPHID_ERROR("Could not instentiate HID device");
}
OPHID_TRACE("OUT");
return RawHidHandle;
}
/**
* \brief Close device
*
* \param[in] deviceName String name of the device to close
*/
void RawHIDConnection::closeDevice(const QString &deviceName)
{
OPHID_TRACE("IN");
Q_UNUSED(deviceName);
if (RawHidHandle) {
OPHID_DEBUG("Closing device");
RawHidHandle->close();
delete RawHidHandle;
RawHidHandle = NULL;
}
OPHID_TRACE("OUT");
}
/**
* \brief Get connection name
*
* \return name of the connection
*/
QString RawHIDConnection::connectionName()
{
return QString("Raw HID USB");
}
/**
* \brief Get shorter connection name
*
* \return shorter name of the connection
*/
QString RawHIDConnection::shortName()
{
return QString("USB");
}
/**
* \brief Suspend polling
*
* \note Tells the Raw HID plugin to stop polling for USB devices
*/
void RawHIDConnection::suspendPolling()
{
enablePolling = false;
}
/**
* \brief Resume polling
*
* \note Tells the Raw HID plugin to resume polling for USB devices
*/
void RawHIDConnection::resumePolling()
{
enablePolling = true;
}
/**
* \brief Plugin Constructor
*
* \note
*
*/
RawHIDPlugin::RawHIDPlugin()
{
hidConnection = NULL; // Pip
}
/**
* \brief Plugin Destructor
*
* \note
*
*/
RawHIDPlugin::~RawHIDPlugin()
{
m_usbMonitor->quit();
m_usbMonitor->wait(500);
}
/**
* \brief Instantiate a connection
*
* \note
*
*/
void RawHIDPlugin::extensionsInitialized()
{
hidConnection = new RawHIDConnection();
addAutoReleasedObject(hidConnection);
// temp for test
// addAutoReleasedObject(new RawHIDTestThread);
}
/**
* \brief instantiate the udev monotor engine
*
* \note
*
*/
bool RawHIDPlugin::initialize(const QStringList & arguments, QString *errorString)
{
Q_UNUSED(arguments);
Q_UNUSED(errorString);
// We have to create the USB Monitor here:
m_usbMonitor = new USBMonitor(this);
return true;
}
Q_EXPORT_PLUGIN(RawHIDPlugin)

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/**
******************************************************************************
*
* @file usbmonitor_linux.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup opHIDPlugin HID Plugin
* @{
* @brief Implements the USB monitor on Linux using libudev
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "ophid_usbmon.h"
#include <QDebug>
#include "ophid_const.h"
/**
* \brief Display device info
*
* \note USB strings are Unicode, UCS2
* encoded, but the strings returned from
* udev_device_get_sysattr_value() are UTF-8 encoded.
*
* \param[in] dev To display the information of.
*/
void printPortInfo(struct udev_device *dev)
{
OPHID_DEBUG(" Node: %s", udev_device_get_devnode(dev));
OPHID_DEBUG(" Subsystem: %s", udev_device_get_subsystem(dev));
OPHID_DEBUG(" Devtype: %s", udev_device_get_devtype(dev));
OPHID_DEBUG(" Action: %s", udev_device_get_action(dev));
OPHID_DEBUG(" VID/PID/bcdDevice : %s %s %s",
udev_device_get_sysattr_value(dev, "idVendor"),
udev_device_get_sysattr_value(dev, "idProduct"),
udev_device_get_sysattr_value(dev, "bcdDevice"));
OPHID_DEBUG(" %s - %s",
udev_device_get_sysattr_value(dev, "manufacturer"),
udev_device_get_sysattr_value(dev, "product"));
OPHID_DEBUG(" serial: %s",
udev_device_get_sysattr_value(dev, "serial"));
}
/**
* \brief Handle event
*
* \note
*
*/
void USBMonitor::deviceEventReceived()
{
qDebug() << "Device event";
struct udev_device *dev;
dev = udev_monitor_receive_device(this->monitor);
if (dev) {
printf("------- Got Device Event");
QString action = QString(udev_device_get_action(dev));
QString devtype = QString(udev_device_get_devtype(dev));
if (action == "add" && devtype == "usb_device") {
printPortInfo(dev);
emit deviceDiscovered(makePortInfo(dev));
} else if (action == "remove" && devtype == "usb_device") {
printPortInfo(dev);
emit deviceRemoved(makePortInfo(dev));
}
udev_device_unref(dev);
} else {
printf("No Device from receive_device(). An error occured.");
}
}
/**
* \brief Return USB monitor instance
*
* \note .
*
* \return instance.
* \retval USBMonitor pointer.
*/
USBMonitor *USBMonitor::instance()
{
return m_instance;
}
USBMonitor *USBMonitor::m_instance = 0;
/**
* \brief Initialize udev monitor (contructor).
*
* \note
*
*/
USBMonitor::USBMonitor(QObject *parent) : QThread(parent)
{
m_instance = this;
this->context = udev_new();
this->monitor = udev_monitor_new_from_netlink(this->context, "udev");
udev_monitor_filter_add_match_subsystem_devtype(
this->monitor, "usb", NULL);
udev_monitor_enable_receiving(this->monitor);
this->monitorNotifier = new QSocketNotifier(
udev_monitor_get_fd(this->monitor), QSocketNotifier::Read, this);
connect(this->monitorNotifier, SIGNAL(activated(int)),
this, SLOT(deviceEventReceived()));
qDebug() << "Starting the Udev client";
start(); // Start the thread event loop so that the socketnotifier works
}
/**
* \brief Destructor
*
* \note
*
*/
USBMonitor::~USBMonitor()
{
quit();
}
/**
* \brief Returns a list of all currently available devices
*
* \note
*
* \return List of all currently available devices
* \retval Qlist
*/
QList<USBPortInfo> USBMonitor::availableDevices()
{
QList<USBPortInfo> devicesList;
struct udev_list_entry *devices, *dev_list_entry;
struct udev_enumerate *enumerate;
struct udev_device *dev;
enumerate = udev_enumerate_new(this->context);
udev_enumerate_add_match_subsystem(enumerate, "usb");
// udev_enumerate_add_match_sysattr(enumerate, "idVendor", "20a0");
udev_enumerate_scan_devices(enumerate);
devices = udev_enumerate_get_list_entry(enumerate);
// Will use the 'native' udev functions to loop:
udev_list_entry_foreach(dev_list_entry, devices) {
const char *path;
/* Get the filename of the /sys entry for the device
and create a udev_device object (dev) representing it */
path = udev_list_entry_get_name(dev_list_entry);
dev = udev_device_new_from_syspath(this->context, path);
if (QString(udev_device_get_devtype(dev)) == "usb_device") {
devicesList.append(makePortInfo(dev));
}
udev_device_unref(dev);
}
// free the enumerator object
udev_enumerate_unref(enumerate);
return devicesList;
}
/**
* \brief Search for particular devices
*
* \note Be a bit more picky and ask only for a specific type of device:
* On OpenPilot, the bcdDeviceLSB indicates the run state: bootloader or running.
* bcdDeviceMSB indicates the board model.
*
* \param[in] vid USB vendor id of the device.
* \param[in] pid USB product id of the device.
* \param[in] bcdDeviceMSB MSB of the device in bcd format.
* \param[in] bcdDeviceLSB LSB of the device in bcd format.
* \return List of available devices
* \retval QList.
*/
QList<USBPortInfo> USBMonitor::availableDevices(int vid, int pid, int bcdDeviceMSB, int bcdDeviceLSB)
{
QList<USBPortInfo> allPorts = availableDevices();
QList<USBPortInfo> thePortsWeWant;
foreach(USBPortInfo port, allPorts) {
if ((port.vendorID == vid || vid == -1) && (port.productID == pid || pid == -1) && ((port.bcdDevice >> 8) == bcdDeviceMSB || bcdDeviceMSB == -1) &&
((port.bcdDevice & 0x00ff) == bcdDeviceLSB || bcdDeviceLSB == -1)) {
thePortsWeWant.append(port);
}
}
return thePortsWeWant;
}
/**
* \brief Initialize port information of a specific device.
*
* \note
*
* \param[in] dev Udev device.
* \return Port info
* \retval USBPortInfo structure filled
*/
USBPortInfo USBMonitor::makePortInfo(struct udev_device *dev)
{
USBPortInfo prtInfo;
bool ok;
#ifdef OPHID_DEBUG_INFO
printPortInfo(dev);
#endif
prtInfo.vendorID = QString(udev_device_get_sysattr_value(dev, "idVendor")).toInt(&ok, 16);
prtInfo.productID = QString(udev_device_get_sysattr_value(dev, "idProduct")).toInt(&ok, 16);
prtInfo.serialNumber = QString(udev_device_get_sysattr_value(dev, "serial"));
prtInfo.manufacturer = QString(udev_device_get_sysattr_value(dev, "manufacturer"));
prtInfo.product = QString(udev_device_get_sysattr_value(dev, "product"));
// prtInfo.UsagePage = QString(udev_device_get_sysattr_value(dev,""));
// prtInfo.Usage = QString(udev_device_get_sysattr_value(dev,""));
prtInfo.bcdDevice = QString(udev_device_get_sysattr_value(dev, "bcdDevice")).toInt(&ok, 16);
return prtInfo;
}

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/**
******************************************************************************
*
* @file usbmonitor_mac.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup opHIDPlugin HID Plugin
* @{
* @brief Implements the USB monitor on Mac using IOHID
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "ophid_usbmon.h"
#include <IOKit/IOKitLib.h>
#include <IOKit/hid/IOHIDLib.h>
#include <CoreFoundation/CFString.h>
#include <CoreFoundation/CFArray.h>
#include <QMutexLocker>
#include <QDebug>
#include "ophid_const.h"
// Local helper functions
static bool HID_GetIntProperty(IOHIDDeviceRef dev, CFStringRef property, int *value);
static bool HID_GetStrProperty(IOHIDDeviceRef dev, CFStringRef property, QString & value);
/**
* \brief Initialize the USB monitor
*
* \note
*/
USBMonitor::USBMonitor(QObject *parent) : QThread(parent), m_terminate(1)
{
m_instance = this;
hid_manager = NULL;
listMutex = new QMutex();
knowndevices.clear();
qRegisterMetaType<USBPortInfo>("USBPortInfo");
start();
}
/**
* \brief Free the USB monitor
*
* \note
*/
USBMonitor::~USBMonitor()
{
m_terminate.tryAcquire();
wait();
}
/**
* \brief Event received callback
*
* \note
*/
void USBMonitor::deviceEventReceived()
{
qDebug() << "Device event";
}
/**
* \brief instace of USB monitor
*
* \note
*/
USBMonitor *USBMonitor::instance()
{
return m_instance;
}
USBMonitor *USBMonitor::m_instance = 0;
/**
* \brief Remove device
*
* \note
*/
void USBMonitor::removeDevice(IOHIDDeviceRef dev)
{
for (int i = 0; i < knowndevices.length(); i++) {
USBPortInfo port = knowndevices.at(i);
if (port.dev_handle == dev) {
QMutexLocker locker(listMutex);
knowndevices.removeAt(i);
emit deviceRemoved(port);
emit deviceRemoved();
return;
}
}
}
/**
* \brief Static callback for the USB driver to indicate device removed
*
* \note
*/
void USBMonitor::detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
{
Q_UNUSED(context);
Q_UNUSED(r);
Q_UNUSED(hid_mgr);
qDebug() << "USBMonitor: Device detached event";
instance()->removeDevice(dev);
}
/**
* \brief Add device
*
* \note
*/
void USBMonitor::addDevice(USBPortInfo info)
{
QMutexLocker locker(listMutex);
knowndevices.append(info);
emit deviceDiscovered(info);
emit deviceDiscovered();
}
/**
* \brief Attach device
*
* \note
*/
void USBMonitor::attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
{
Q_UNUSED(context);
Q_UNUSED(r);
Q_UNUSED(hid_mgr);
bool got_properties = true;
USBPortInfo deviceInfo;
deviceInfo.dev_handle = dev;
qDebug() << "USBMonitor: Device attached event";
// Populate the device info structure
got_properties &= HID_GetIntProperty(dev, CFSTR(kIOHIDVendorIDKey), &deviceInfo.vendorID);
got_properties &= HID_GetIntProperty(dev, CFSTR(kIOHIDProductIDKey), &deviceInfo.productID);
got_properties &= HID_GetIntProperty(dev, CFSTR(kIOHIDVersionNumberKey), &deviceInfo.bcdDevice);
got_properties &= HID_GetStrProperty(dev, CFSTR(kIOHIDSerialNumberKey), deviceInfo.serialNumber);
got_properties &= HID_GetStrProperty(dev, CFSTR(kIOHIDProductKey), deviceInfo.product);
got_properties &= HID_GetStrProperty(dev, CFSTR(kIOHIDManufacturerKey), deviceInfo.manufacturer);
// TOOD: Eventually want to take array of usages if devices start needing that
got_properties &= HID_GetIntProperty(dev, CFSTR(kIOHIDPrimaryUsageKey), &deviceInfo.Usage);
got_properties &= HID_GetIntProperty(dev, CFSTR(kIOHIDPrimaryUsagePageKey), &deviceInfo.UsagePage);
// Currently only enumerating objects that have the complete list of properties
if (got_properties) {
qDebug() << "USBMonitor: Adding device";
instance()->addDevice(deviceInfo);
}
}
/**
* \brief Returns a list of all currently available devices
*
* \note
*/
QList<USBPortInfo> USBMonitor::availableDevices()
{
// QMutexLocker locker(listMutex);
return knowndevices;
}
/**
* @brief Be a bit more picky and ask only for a specific type of device:
* @param[in] vid VID to screen or -1 to ignore
* @param[in] pid PID to screen or -1 to ignore
* @param[in] bcdDeviceMSB MSB of bcdDevice to screen or -1 to ignore
* @param[in] bcdDeviceLSB LSB of bcdDevice to screen or -1 to ignore
* @return List of USBPortInfo that meet this criterion
* @note
* On OpenPilot, the bcdDeviceLSB indicates the run state: bootloader or running.
* bcdDeviceMSB indicates the board model.
*/
QList<USBPortInfo> USBMonitor::availableDevices(int vid, int pid, int bcdDeviceMSB, int bcdDeviceLSB)
{
QList<USBPortInfo> allPorts = availableDevices();
QList<USBPortInfo> thePortsWeWant;
foreach(USBPortInfo port, allPorts) {
if ((port.vendorID == vid || vid == -1) && (port.productID == pid || pid == -1) && ((port.bcdDevice >> 8) == bcdDeviceMSB || bcdDeviceMSB == -1) &&
((port.bcdDevice & 0x00ff) == bcdDeviceLSB || bcdDeviceLSB == -1)) {
thePortsWeWant.append(port);
}
}
return thePortsWeWant;
}
/**
* \brief USBMonitor thread
*
* \note
*/
void USBMonitor::run()
{
IOReturn ret;
hid_manager = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
if (hid_manager == NULL || CFGetTypeID(hid_manager) != IOHIDManagerGetTypeID()) {
if (hid_manager) {
CFRelease(hid_manager);
}
assert(0);
}
// No matching filter
IOHIDManagerSetDeviceMatching(hid_manager, NULL);
CFRunLoopRef loop = CFRunLoopGetCurrent();
// set up a callbacks for device attach & detach
IOHIDManagerScheduleWithRunLoop(hid_manager, loop, kCFRunLoopDefaultMode);
IOHIDManagerRegisterDeviceMatchingCallback(hid_manager, attach_callback, this);
IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, detach_callback, this);
ret = IOHIDManagerOpen(hid_manager, kIOHIDOptionsTypeNone);
if (ret != kIOReturnSuccess) {
IOHIDManagerUnscheduleFromRunLoop(hid_manager, loop, kCFRunLoopDefaultMode);
CFRelease(hid_manager);
return;
}
while (m_terminate.available()) {
CFRunLoopRunInMode(kCFRunLoopDefaultMode, 1, false);
}
IOHIDManagerUnscheduleFromRunLoop(hid_manager, loop, kCFRunLoopDefaultMode);
CFRelease(hid_manager);
hid_manager = NULL;
}
/**
* @brief Helper function get get a HID integer property
* @param[in] dev Device reference
* @param[in] property The property to get (constants defined in IOKIT)
* @param[out] value Pointer to integer to set
* @return True if successful, false otherwise
*/
static bool HID_GetIntProperty(IOHIDDeviceRef dev, CFStringRef property, int *value)
{
CFTypeRef prop = IOHIDDeviceGetProperty(dev, property);
if (prop) {
if (CFNumberGetTypeID() == CFGetTypeID(prop)) { // if a number
CFNumberGetValue((CFNumberRef)prop, kCFNumberSInt32Type, value);
return true;
}
}
return false;
}
/**
* @brief Helper function get get a HID string property
* @param[in] dev Device reference
* @param[in] property The property to get (constants defined in IOKIT)
* @param[out] value The QString to set
* @return True if successful, false otherwise
*/
static bool HID_GetStrProperty(IOHIDDeviceRef dev, CFStringRef property, QString & value)
{
CFStringRef prop = static_cast<CFStringRef>(IOHIDDeviceGetProperty(dev, property));
if (prop) {
if (CFStringGetTypeID() == CFGetTypeID(prop)) { // if a string
char buffer[2550];
bool success = CFStringGetCString(prop, buffer, sizeof(buffer), kCFStringEncodingMacRoman);
value = QString(buffer);
return success;
}
}
return false;
}

378
ground/openpilotgcs/src/plugins/ophid/src/ophid_usbmon_win.cpp Normal file
View File

@ -0,0 +1,378 @@
/**
******************************************************************************
*
* @file usbmonitor_win.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup opHIDPlugin HID Plugin
* @{
* @brief Implements the USB monitor on Windows using system API
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <QMetaType>
#include <QString>
#include <initguid.h>
#include <QEventLoop>
#include <QTimer>
#include "ophid_usbmon.h"
#include <QDebug>
#include "ophid_const.h"
#define printf qDebug
void USBMonitor::deviceEventReceived()
{
qDebug() << "Device event";
// Dispatch and emit the signals here...
}
USBMonitor *USBMonitor::instance()
{
return m_instance;
}
USBMonitor *USBMonitor::m_instance = 0;
USBMonitor::USBMonitor(QObject *parent) : QThread(parent)
{
HidD_GetHidGuid(&guid_hid);
if (!QMetaType::isRegistered(QMetaType::type("USBPortInfo"))) {
qRegisterMetaType<USBPortInfo>("USBPortInfo");
}
#if (defined QT_GUI_LIB)
notificationWidget = 0;
#endif // Q_OS_WIN
setUpNotifications();
m_instance = this;
}
USBMonitor::~USBMonitor()
{
#if (defined QT_GUI_LIB)
if (notificationWidget) {
delete notificationWidget;
}
#endif
quit();
}
/**
Be a bit more picky and ask only for a specific type of device:
On OpenPilot, the bcdDeviceLSB indicates the run state: bootloader or running.
bcdDeviceMSB indicates the board model.
*/
QList<USBPortInfo> USBMonitor::availableDevices(int vid, int pid, int bcdDeviceMSB, int bcdDeviceLSB)
{
QList<USBPortInfo> allPorts = availableDevices();
qDebug() << "USBMonitor::availableDevices list off all ports:";
qDebug() << "USBMonitor::availableDevices total ports:" << allPorts.length();
foreach(USBPortInfo info, allPorts) {
qDebug() << "----------";
qDebug() << "bcdDevice:" << info.bcdDevice;
qDebug() << "devicePath:" << info.devicePath;
qDebug() << "product:" << info.product;
}
qDebug() << "END OF LIST";
QList<USBPortInfo> thePortsWeWant;
qDebug() << "USBMonitor::availableDevices bcdLSB=" << bcdDeviceLSB;
foreach(USBPortInfo port, allPorts) {
qDebug() << "USBMonitorWin:Port VID=" << port.vendorID << "PID=" << port.productID << "bcddevice=" << port.bcdDevice;
if ((port.vendorID == vid || vid == -1) && (port.productID == pid || pid == -1) && ((port.bcdDevice >> 8) == bcdDeviceMSB || bcdDeviceMSB == -1) &&
((port.bcdDevice & 0x00ff) == bcdDeviceLSB || bcdDeviceLSB == -1)) {
thePortsWeWant.append(port);
}
}
qDebug() << "USBMonitor::availableDevices list off matching ports vid pid bcdMSD bcdLSD:" << vid << pid << bcdDeviceMSB << bcdDeviceLSB;
qDebug() << "USBMonitor::availableDevices total matching ports:" << thePortsWeWant.length();
foreach(USBPortInfo info, thePortsWeWant) {
qDebug() << "----------";
qDebug() << "bcdDevice:" << info.bcdDevice;
qDebug() << "devicePath:" << info.devicePath;
qDebug() << "product:" << info.product;
}
qDebug() << "END OF LIST";
return thePortsWeWant;
}
// see http://msdn.microsoft.com/en-us/library/ms791134.aspx for list of GUID classes
/*#ifndef GUID_DEVCLASS_PORTS
DEFINE_GUID(GUID_DEVCLASS_PORTS, //0x4d1e55b2, 0xf16f, 0x11cf, 0x88, 0xcb, 0x00, 0x11, 0x11, 0x00, 0x00, 0x30);
//0x745a17a0, 0x74d3, 0x11d0, 0xb6, 0xfe, 0x00, 0xa0, 0xc9, 0x0f, 0x57, 0xda);
0xA5DCBF10, 0x6530, 0x11D2, 0x90, 0x1F, 0x00, 0xC0, 0x4F, 0xB9, 0x51, 0xED);
#endif
*/
/* Gordon Schumacher's macros for TCHAR -> QString conversions and vice versa */
#ifdef UNICODE
#define QStringToTCHAR(x) (wchar_t *)x.utf16()
#define PQStringToTCHAR(x) (wchar_t *)x->utf16()
#define TCHARToQString(x) QString::fromUtf16((ushort *)(x))
#define TCHARToQStringN(x, y) QString::fromUtf16((ushort *)(x), (y))
#else
#define QStringToTCHAR(x) x.local8Bit().constData()
#define PQStringToTCHAR(x) x->local8Bit().constData()
#define TCHARToQString(x) QString::fromLocal8Bit((x))
#define TCHARToQStringN(x, y) QString::fromLocal8Bit((x), (y))
#endif /*UNICODE*/
void USBMonitor::setUpNotifications()
{
#ifdef QT_GUI_LIB
if (notificationWidget) {
return;
}
notificationWidget = new USBRegistrationWidget(this);
DEV_BROADCAST_DEVICEINTERFACE dbh;
ZeroMemory(&dbh, sizeof(dbh));
dbh.dbcc_size = sizeof(dbh);
dbh.dbcc_devicetype = DBT_DEVTYP_DEVICEINTERFACE;
CopyMemory(&dbh.dbcc_classguid, &guid_hid, sizeof(GUID));
if (RegisterDeviceNotification(notificationWidget->winId(), &dbh, DEVICE_NOTIFY_WINDOW_HANDLE) == NULL) {
qWarning() << "RegisterDeviceNotification failed:" << GetLastError();
}
// setting up notifications doesn't tell us about devices already connected
// so get those manually
foreach(USBPortInfo port, availableDevices())
emit deviceDiscovered(port);
#else
qWarning("GUI not enabled - can't register for device notifications.");
#endif // QT_GUI_LIB
}
LRESULT USBMonitor::onDeviceChangeWin(WPARAM wParam, LPARAM lParam)
{
if (DBT_DEVICEARRIVAL == wParam || DBT_DEVICEREMOVECOMPLETE == wParam) {
PDEV_BROADCAST_HDR pHdr = (PDEV_BROADCAST_HDR)lParam;
if (pHdr->dbch_devicetype == DBT_DEVTYP_DEVICEINTERFACE) {
PDEV_BROADCAST_DEVICEINTERFACE pDevInf = (PDEV_BROADCAST_DEVICEINTERFACE)pHdr;
// delimiters are different across APIs...change to backslash. ugh.
QString deviceID = TCHARToQString(pDevInf->dbcc_name).toUpper().replace("#", "\\");
matchAndDispatchChangedDevice(deviceID, guid_hid, wParam);
}
}
return 0;
}
#ifdef QT_GUI_LIB
bool USBRegistrationWidget::winEvent(MSG *message, long *result)
{
if (message->message == WM_DEVICECHANGE) {
qese->onDeviceChangeWin(message->wParam, message->lParam);
*result = 1;
return true;
}
return false;
}
#endif
bool USBMonitor::matchAndDispatchChangedDevice(const QString & deviceID, const GUID & guid, WPARAM wParam)
{
qDebug() << "USB_MONITOR matchAndDispatchChangedDevice deviceID=" << deviceID;
bool rv = false;
DWORD dwFlag = (DBT_DEVICEARRIVAL == wParam) ? DIGCF_PRESENT : DIGCF_ALLCLASSES;
HDEVINFO devInfo;
if ((devInfo = SetupDiGetClassDevs(&guid, NULL, NULL, dwFlag | DIGCF_DEVICEINTERFACE)) != INVALID_HANDLE_VALUE) {
SP_DEVINFO_DATA spDevInfoData;
spDevInfoData.cbSize = sizeof(SP_DEVINFO_DATA);
for (DWORD i = 0; SetupDiEnumDeviceInfo(devInfo, i, &spDevInfoData); i++) {
DWORD nSize = 0;
TCHAR buf[MAX_PATH];
if (SetupDiGetDeviceInstanceId(devInfo, &spDevInfoData, buf, MAX_PATH, &nSize) &&
deviceID.contains(TCHARToQString(buf))) { // we found a match
USBPortInfo info;
info.devicePath = deviceID;
if (wParam == DBT_DEVICEARRIVAL) {
qDebug() << "USB_MONITOR INSERTION";
if (infoFromHandle(guid, info, devInfo, i) != 1) {
qDebug() << "USB_MONITOR infoFromHandle failed on matchAndDispatchChangedDevice";
break;
}
bool m_break = false;
foreach(USBPortInfo m_info, knowndevices) {
if (m_info.serialNumber == info.serialNumber && m_info.productID == info.productID && m_info.bcdDevice == info.bcdDevice && m_info.devicePath == info.devicePath) {
qDebug() << "USB_MONITOR device already present don't emit signal";
m_break = true;
}
}
if (m_break) {
break;
}
if (info.bcdDevice == 0 || info.product.isEmpty()) {
qDebug() << "USB_MONITOR empty information on device not emiting signal";
break;
}
knowndevices.append(info);
qDebug() << "USB_MONITOR emit device discovered on device:" << info.product << info.bcdDevice;
emit deviceDiscovered(info);
break;
} else if (wParam == DBT_DEVICEREMOVECOMPLETE) {
bool found = false;
for (int x = 0; x < knowndevices.count(); ++x) {
if (knowndevices[x].devicePath == deviceID) {
USBPortInfo temp = knowndevices.at(x);
knowndevices.removeAt(x);
qDebug() << "USB_MONITOR emit device removed on device:" << temp.product << temp.bcdDevice;
emit deviceRemoved(temp);
found = true;
break;
}
}
if (!found) {
qDebug() << "USB_MONITOR emit device removed on unknown device";
emit deviceRemoved(info);
}
}
break;
}
}
SetupDiDestroyDeviceInfoList(devInfo);
}
return rv;
}
QString USBMonitor::getDeviceProperty(HDEVINFO devInfo, PSP_DEVINFO_DATA devData, DWORD property)
{
DWORD buffSize = 0;
SetupDiGetDeviceRegistryProperty(devInfo, devData, property, NULL, NULL, 0, &buffSize);
BYTE *buff = new BYTE[buffSize];
SetupDiGetDeviceRegistryProperty(devInfo, devData, property, NULL, buff, buffSize, NULL);
QString result = TCHARToQString(buff);
delete[] buff;
return result;
}
/**
Returns a list of all currently available devices
*/
QList<USBPortInfo> USBMonitor::availableDevices()
{
QList<USBPortInfo> ports;
enumerateDevicesWin(guid_hid, &ports);
// qDebug()<<"USBMonitorWin availabledevices="<<ports.count();
return ports;
}
void USBMonitor::enumerateDevicesWin(const GUID & guid, QList<USBPortInfo> *infoList)
{
HDEVINFO devInfo;
USBPortInfo info;
// qDebug()<<"enumerateDevicesWin1";
if ((devInfo = SetupDiGetClassDevs(&guid, NULL, NULL, DIGCF_PRESENT | DIGCF_DEVICEINTERFACE)) != INVALID_HANDLE_VALUE) {
// qDebug()<<"enumerateDevicesWin2";
SP_DEVINFO_DATA devInfoData;
devInfoData.cbSize = sizeof(SP_DEVINFO_DATA);
for (DWORD i = 0; SetupDiEnumDeviceInfo(devInfo, i, &devInfoData); i++) {
int r = infoFromHandle(guid, info, devInfo, i);
if (r == 1) {
infoList->append(info);
} else if (r == 0) {
break;
}
}
SetupDiDestroyDeviceInfoList(devInfo);
}
}
int USBMonitor::infoFromHandle(const GUID & guid, USBPortInfo & info, HDEVINFO & devInfo, DWORD & index)
{
// qDebug()<<"index0="<<index;
bool ret;
HANDLE h;
SP_DEVICE_INTERFACE_DATA iface;
SP_DEVICE_INTERFACE_DETAIL_DATA *details;
DWORD reqd_size;
HIDD_ATTRIBUTES attrib;
PHIDP_PREPARSED_DATA hid_data;
HIDP_CAPS capabilities;
iface.cbSize = sizeof(SP_DEVICE_INTERFACE_DATA);
ret = SetupDiEnumDeviceInterfaces(devInfo, NULL, &guid, index, &iface);
if (!ret) {
return 0;
}
// qDebug()<<"index1="<<index;
SetupDiGetInterfaceDeviceDetail(devInfo, &iface, NULL, 0, &reqd_size, NULL);
details = (SP_DEVICE_INTERFACE_DETAIL_DATA *)malloc(reqd_size);
if (details == NULL) {
return 2;
}
// qDebug()<<"index2="<<index;
memset(details, 0, reqd_size);
details->cbSize = sizeof(SP_DEVICE_INTERFACE_DETAIL_DATA);
ret = SetupDiGetDeviceInterfaceDetail(devInfo, &iface, details, reqd_size, NULL, NULL);
if (!ret) {
free(details);
return 2;
}
// qDebug()<<"index3="<<index;
h = CreateFile(details->DevicePath, GENERIC_READ | GENERIC_WRITE, FILE_SHARE_READ | FILE_SHARE_WRITE, NULL, OPEN_EXISTING, FILE_FLAG_OVERLAPPED, NULL);
if (h == INVALID_HANDLE_VALUE) {
DWORD err = GetLastError();
// I get ERROR_ACCESS_DENIED with most/all my input devices (mice/trackballs/tablet).
// Let's not log it :)
if (err == ERROR_ACCESS_DENIED) {
free(details);
return 2;
}
qDebug() << "Problem opening handle, path: " << QString().fromWCharArray(details->DevicePath);
free(details);
return 2;
}
// qDebug()<<"index4="<<index;
free(details);
// qDebug()<<"DETAILS???"<<QString().fromWCharArray(details->DevicePath).toUpper().replace("#", "\\");
attrib.Size = sizeof(HIDD_ATTRIBUTES);
ret = HidD_GetAttributes(h, &attrib);
info.vendorID = attrib.VendorID;
info.productID = attrib.ProductID;
info.bcdDevice = attrib.VersionNumber;
if (!ret || !HidD_GetPreparsedData(h, &hid_data)) {
CloseHandle(h);
return 2;
}
// qDebug()<<"index5="<<index;
if (!HidP_GetCaps(hid_data, &capabilities)) {
HidD_FreePreparsedData(hid_data);
CloseHandle(h);
return 2;
}
// qDebug()<<"index6="<<index;
info.UsagePage = capabilities.UsagePage;
info.Usage = capabilities.Usage;
HidD_FreePreparsedData(hid_data);
char temp[126];
HidD_GetSerialNumberString(h, temp, sizeof(temp));
info.serialNumber = QString().fromUtf16((ushort *)temp, -1);
HidD_GetManufacturerString(h, temp, sizeof(temp));
info.manufacturer = QString().fromUtf16((ushort *)temp, -1);
HidD_GetProductString(h, temp, sizeof(temp));
info.product = QString().fromUtf16((ushort *)temp, -1);
// qDebug()<<"index="<<index<<"ProductID="<<info.product;
CloseHandle(h);
h = NULL;
return 1;
}

72
ground/openpilotgcs/src/plugins/ophid/src/ophid_usbsignal.cpp Normal file
View File

@ -0,0 +1,72 @@
/**
******************************************************************************
*
* @file opHID_usbsignal.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup opHIDPlugin OpenPilot HID Plugin
* @{
* @brief Impliments a HID USB connection to the flight hardware as a QIODevice
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "ophid_usbsignal.h"
#include <QDebug>
/**
* \brief trigger device discovered signal
*
* \note
*
* \param[in] port.
*/
void USBSignalFilter::m_deviceDiscovered(USBPortInfo port)
{
if ((port.vendorID == m_vid || m_vid == -1) &&
(port.productID == m_pid || m_pid == -1) &&
((port.bcdDevice >> 8) == m_boardModel || m_boardModel == -1) &&
((port.bcdDevice & 0x00ff) == m_runState || m_runState == -1)) {
qDebug() << "USBSignalFilter emit device discovered";
emit deviceDiscovered();
}
}
/**
* \brief Constructor
*
* \note
*
* \param[in] vid USB vendor id of the device to open (-1 for any).
* \param[in] pid USB product id of the device to open (-1 for any).
* \param[in] boardModel.
* \param[in] runState.
*/
USBSignalFilter::USBSignalFilter(int vid, int pid, int boardModel, int runState) :
m_vid(vid),
m_pid(pid),
m_boardModel(boardModel),
m_runState(runState)
{
connect(USBMonitor::instance(),
SIGNAL(deviceDiscovered(USBPortInfo)),
this,
SLOT(m_deviceDiscovered(USBPortInfo)),
Qt::QueuedConnection);
}

10
ground/openpilotgcs/src/plugins/plugins.pro
View File

@ -28,10 +28,10 @@ plugin_welcome.subdir = welcome
plugin_welcome.depends = plugin_coreplugin
SUBDIRS += plugin_welcome
# RawHID connection plugin
SUBDIRS += plugin_rawhid
plugin_rawhid.subdir = rawhid
plugin_rawhid.depends = plugin_coreplugin
# opHID connection plugin
SUBDIRS += plugin_opHID
plugin_opHID.subdir = ophid
plugin_opHID.depends = plugin_coreplugin
# Serial port connection plugin
SUBDIRS += plugin_serial
@ -93,7 +93,7 @@ plugin_uploader.subdir = uploader
plugin_uploader.depends = plugin_coreplugin
plugin_uploader.depends += plugin_uavobjects
plugin_uploader.depends += plugin_uavtalk
plugin_uploader.depends += plugin_rawhid
plugin_uploader.depends += plugin_opHID
plugin_uploader.depends += plugin_uavobjectutil
SUBDIRS += plugin_uploader

2
ground/openpilotgcs/src/plugins/powerlog/PowerLog.pluginspec
View File

@ -6,6 +6,6 @@
<url>http://www.openpilot.org</url>
<dependencyList>
<dependency name="Core" version="1.0.0"/>
<dependency name="RawHID" version="1.0.0"/>
<dependency name="opHID" version="1.0.0"/>
</dependencyList>
</plugin>

2
ground/openpilotgcs/src/plugins/powerlog/powerlog_dependencies.pri
View File

@ -1,2 +1,2 @@
include(../../plugins/coreplugin/coreplugin.pri)
include(../../plugins/rawhid/rawhid.pri)
include(../../plugins/rawhid/opHID.pri)

2
ground/openpilotgcs/src/plugins/powerlog/powerlogplugin.cpp
View File

@ -69,7 +69,7 @@ void PowerlogThread::run()
// TODO: pop up a dialog here!
qDebug() << "Connect a Junsi PowerLog 6S and watch the logging output";
pjrc_rawhid hidHandle;
opHID_hidapi hidHandle;
int numDevices = hidHandle.open(1, 0x0483, 0x5750, 0, 0); // 0xff9c,0x0001);
if (numDevices == 0) {
numDevices = hidHandle.open(1, 0x0483, 0, 0, 0);

4
ground/openpilotgcs/src/plugins/powerlog/powerlogplugin.h
View File

@ -32,8 +32,8 @@
#include <coreplugin/actionmanager/actionmanager.h>
#include <coreplugin/iconnection.h>
#include <extensionsystem/iplugin.h>
#include "rawhid/usbmonitor.h"
#include "rawhid/pjrc_rawhid.h"
#include "opHID/inc/opHID_usbmon.h"
#include "opHID/inc/opHID_hidapi.h"
#include <QThread>
#include <QReadWriteLock>

2
ground/openpilotgcs/src/plugins/uploader/Uploader.pluginspec
View File

@ -8,7 +8,7 @@
<dependency name="Core" version="1.0.0"/>
<dependency name="UAVObjects" version="1.0.0"/>
<dependency name="UAVTalk" version="1.0.0"/>
<dependency name="RAWHid" version="1.0.0"/>
<dependency name="opHID" version="1.0.0"/>
<dependency name="UAVObjectUtil" version="1.0.0"/>
</dependencyList>
</plugin>

8
ground/openpilotgcs/src/plugins/uploader/op_dfu.h
View File

@ -2,9 +2,9 @@
#define OP_DFU_H
#include <QByteArray>
#include <rawhid/pjrc_rawhid.h>
#include <rawhid/usbmonitor.h>
#include <rawhid/usbsignalfilter.h>
#include <ophid/inc/ophid_hidapi.h>
#include <ophid/inc/ophid_usbmon.h>
#include <ophid/inc/ophid_usbsignal.h>
#include <QDebug>
#include <QFile>
#include <QThread>
@ -181,7 +181,7 @@ private:
// USB Bootloader:
pjrc_rawhid hidHandle;
opHID_hidapi hidHandle;
int setStartBit(int command)
{
return command | 0x20;

2
ground/openpilotgcs/src/plugins/uploader/uploader_dependencies.pri
View File

@ -2,5 +2,5 @@ include(../../openpilotgcsplugin.pri)
include(../../plugins/coreplugin/coreplugin.pri)
include(../../plugins/uavobjects/uavobjects.pri)
include(../../plugins/uavtalk/uavtalk.pri)
include(../../plugins/rawhid/rawhid.pri)
include(../../plugins/ophid/ophid.pri)
include(../../plugins/uavobjectutil/uavobjectutil.pri)

2
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h
View File

@ -45,7 +45,7 @@
#include "coreplugin/icore.h"
#include "coreplugin/connectionmanager.h"
#include "rawhid/rawhidplugin.h"
#include "ophid/inc/ophid_plugin.h"
#include <QtGui/QWidget>
#include <QLabel>
#include <QLineEdit>

8
package/winx86/openpilotgcs.nsi
View File

@ -262,9 +262,15 @@ Section ; create uninstall info
; Write the installation path into the registry
WriteRegStr HKCU "Software\OpenPilot" "Install Location" $INSTDIR
; Write the uninstall keys for Windows
; Write the uninstall keys for Windows
WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "DisplayName" "OpenPilot GCS"
WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "UninstallString" '"$INSTDIR\Uninstall.exe"'
WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "DisplayIcon" '"$INSTDIR\bin\openpilotgcs.exe"'
WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "Publisher" "OpenPilot Team"
WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "DisplayVersion" "Stumpy"
WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "URLInfoAbout" "http://openpilot.org"
WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "HelpLink" "http://wiki.openpilot.org"
WriteRegDWORD HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "EstimatedSize" 100600
WriteRegDWORD HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "NoModify" 1
WriteRegDWORD HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "NoRepair" 1