diff --git a/ground/openpilotgcs/src/plugins/ophid/hidapi/.no-auto-format b/ground/openpilotgcs/src/plugins/ophid/hidapi/.no-auto-format new file mode 100644 index 000000000..e69de29bb diff --git a/ground/openpilotgcs/src/plugins/ophid/hidapi/hidapi.h b/ground/openpilotgcs/src/plugins/ophid/hidapi/hidapi.h new file mode 100644 index 000000000..e58e8a484 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/hidapi/hidapi.h @@ -0,0 +1,385 @@ +/******************************************************* + 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 + +#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 + diff --git a/ground/openpilotgcs/src/plugins/ophid/hidapi/libusb/hid.c b/ground/openpilotgcs/src/plugins/ophid/hidapi/libusb/hid.c new file mode 100644 index 000000000..a25eaa6f3 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/hidapi/libusb/hid.c @@ -0,0 +1,1423 @@ +/******************************************************* + 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 +#include +#include +#include +#include +#include + +/* Unix */ +#include +#include +#include +#include +#include +#include +#include +#include + +/* 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 diff --git a/ground/openpilotgcs/src/plugins/ophid/hidapi/linux/hid.c b/ground/openpilotgcs/src/plugins/ophid/hidapi/linux/hid.c new file mode 100644 index 000000000..a54543047 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/hidapi/linux/hid.c @@ -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 +#include +#include +#include +#include + +/* Unix */ +#include +#include +#include +#include +#include +#include +#include + +/* Linux */ +#include +#include +#include +#include + +#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; +} diff --git a/ground/openpilotgcs/src/plugins/ophid/hidapi/mac/hid.c b/ground/openpilotgcs/src/plugins/ophid/hidapi/mac/hid.c new file mode 100644 index 000000000..2d473253f --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/hidapi/mac/hid.c @@ -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 +#include +#include +#include +#include +#include +#include +#include +#include + +#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 diff --git a/ground/openpilotgcs/src/plugins/ophid/hidapi/windows/hid.c b/ground/openpilotgcs/src/plugins/ophid/hidapi/windows/hid.c new file mode 100644 index 000000000..9b85b19bb --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/hidapi/windows/hid.c @@ -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 + +#ifndef _NTDEF_ +typedef LONG NTSTATUS; +#endif + +#ifdef __MINGW32__ +#include +#include +#endif + +#ifdef __CYGWIN__ +#include +#define _wcsdup wcsdup +#endif + +/*#define HIDAPI_USE_DDK*/ + +#ifdef __cplusplus +extern "C" { +#endif + #include + #include + #ifdef HIDAPI_USE_DDK + #include + #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 +#include + + +#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 diff --git a/ground/openpilotgcs/src/plugins/ophid/inc/ophid.h b/ground/openpilotgcs/src/plugins/ophid/inc/ophid.h new file mode 100644 index 000000000..6f29227d8 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/inc/ophid.h @@ -0,0 +1,93 @@ +/** + ****************************************************************************** + * + * @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 +#include +#include +#include +#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 diff --git a/ground/openpilotgcs/src/plugins/ophid/inc/ophid_const.h b/ground/openpilotgcs/src/plugins/ophid/inc/ophid_const.h new file mode 100644 index 000000000..f0928891e --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/inc/ophid_const.h @@ -0,0 +1,64 @@ +/** + ****************************************************************************** + * + * @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 diff --git a/ground/openpilotgcs/src/plugins/ophid/inc/ophid_global.h b/ground/openpilotgcs/src/plugins/ophid/inc/ophid_global.h new file mode 100644 index 000000000..d5f2217b8 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/inc/ophid_global.h @@ -0,0 +1,39 @@ +/** + ****************************************************************************** + * + * @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 + +#if defined(OPHID_LIBRARY) +# define OPHID_EXPORT Q_DECL_EXPORT +#else +# define OPHID_EXPORT Q_DECL_IMPORT +#endif + +#endif // OPHID_GLOBAL_H diff --git a/ground/openpilotgcs/src/plugins/ophid/inc/ophid_hidapi.h b/ground/openpilotgcs/src/plugins/ophid/inc/ophid_hidapi.h new file mode 100644 index 000000000..30366338a --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/inc/ophid_hidapi.h @@ -0,0 +1,79 @@ +/** + ****************************************************************************** + * + * @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 +#include +#include +#include +#include +#include +#if defined(Q_OS_LINUX) +#include +#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 diff --git a/ground/openpilotgcs/src/plugins/ophid/inc/ophid_plugin.h b/ground/openpilotgcs/src/plugins/ophid/inc/ophid_plugin.h new file mode 100644 index 000000000..73f84dadc --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/inc/ophid_plugin.h @@ -0,0 +1,100 @@ +/** + ****************************************************************************** + * + * @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 +#include +#include +#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 diff --git a/ground/openpilotgcs/src/plugins/ophid/inc/ophid_usbmon.h b/ground/openpilotgcs/src/plugins/ophid/inc/ophid_usbmon.h new file mode 100644 index 000000000..20ef05031 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/inc/ophid_usbmon.h @@ -0,0 +1,211 @@ +/** + ****************************************************************************** + * + * @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 +#include +#include + +// Arch dependent +#if defined(Q_OS_MAC) +#include +#include +#elif defined(Q_OS_UNIX) +#include +#include +#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 +#include +#include +#include +#include +#endif // if defined(Q_OS_MAC) + + +#ifdef Q_OS_WIN +#ifdef QT_GUI_LIB +#include +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 availableDevices(); + QList 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 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 *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 diff --git a/ground/openpilotgcs/src/plugins/ophid/inc/ophid_usbsignal.h b/ground/openpilotgcs/src/plugins/ophid/inc/ophid_usbsignal.h new file mode 100644 index 000000000..ad461d9fb --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/inc/ophid_usbsignal.h @@ -0,0 +1,53 @@ +/** + ****************************************************************************** + * + * @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 +#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 diff --git a/ground/openpilotgcs/src/plugins/ophid/opHID.pluginspec b/ground/openpilotgcs/src/plugins/ophid/opHID.pluginspec new file mode 100644 index 000000000..cbbe8982c --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/opHID.pluginspec @@ -0,0 +1,10 @@ + +The OpenPilot Project + (C) 2013 OpenPilot Project + GNU Public License (GPL) Version 3 + Connection to OpenPilot board using HID USB interface + http://www.openpilot.org + + + + diff --git a/ground/openpilotgcs/src/plugins/ophid/ophid.pri b/ground/openpilotgcs/src/plugins/ophid/ophid.pri new file mode 100644 index 000000000..8ddbc3c4f --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/ophid.pri @@ -0,0 +1,3 @@ +include(ophid_dependencies.pri) + +LIBS *= -l$$qtLibraryName(opHID) diff --git a/ground/openpilotgcs/src/plugins/ophid/ophid.pro b/ground/openpilotgcs/src/plugins/ophid/ophid.pro new file mode 100644 index 000000000..d5f2d04cb --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/ophid.pro @@ -0,0 +1,81 @@ +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.) + } +} + diff --git a/ground/openpilotgcs/src/plugins/ophid/ophid_dependencies.pri b/ground/openpilotgcs/src/plugins/ophid/ophid_dependencies.pri new file mode 100644 index 000000000..a64caedc1 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/ophid_dependencies.pri @@ -0,0 +1 @@ +include(../../plugins/coreplugin/coreplugin.pri) diff --git a/ground/openpilotgcs/src/plugins/ophid/src/ophid.cpp b/ground/openpilotgcs/src/plugins/ophid/src/ophid.cpp new file mode 100644 index 000000000..afcc28446 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/src/ophid.cpp @@ -0,0 +1,494 @@ +/** + ****************************************************************************** + * + * @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 +#include +#include +#include +#include + +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); +} diff --git a/ground/openpilotgcs/src/plugins/ophid/src/ophid_hidapi.cpp b/ground/openpilotgcs/src/plugins/ophid/src/ophid_hidapi.cpp new file mode 100644 index 000000000..baacd5502 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/src/ophid_hidapi.cpp @@ -0,0 +1,364 @@ +/** + ****************************************************************************** + * + * @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 +#include +#include +#include +#include +#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 = ¤t_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"); +} diff --git a/ground/openpilotgcs/src/plugins/ophid/src/ophid_plugin.cpp b/ground/openpilotgcs/src/plugins/ophid/src/ophid_plugin.cpp new file mode 100644 index 000000000..34b2bf790 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/src/ophid_plugin.cpp @@ -0,0 +1,277 @@ +/** + ****************************************************************************** + * + * @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 + +#include +#include + +#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 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) diff --git a/ground/openpilotgcs/src/plugins/ophid/src/ophid_usbmon_linux.cpp b/ground/openpilotgcs/src/plugins/ophid/src/ophid_usbmon_linux.cpp new file mode 100644 index 000000000..9e6f3ef70 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/src/ophid_usbmon_linux.cpp @@ -0,0 +1,243 @@ +/** + ****************************************************************************** + * + * @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 +#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 USBMonitor::availableDevices() +{ + QList 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 USBMonitor::availableDevices(int vid, int pid, int bcdDeviceMSB, int bcdDeviceLSB) +{ + QList allPorts = availableDevices(); + QList 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; +} diff --git a/ground/openpilotgcs/src/plugins/ophid/src/ophid_usbmon_mac.cpp b/ground/openpilotgcs/src/plugins/ophid/src/ophid_usbmon_mac.cpp new file mode 100644 index 000000000..8524c4b57 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/src/ophid_usbmon_mac.cpp @@ -0,0 +1,300 @@ +/** + ****************************************************************************** + * + * @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 +#include +#include +#include +#include +#include +#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"); + 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 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 USBMonitor::availableDevices(int vid, int pid, int bcdDeviceMSB, int bcdDeviceLSB) +{ + QList allPorts = availableDevices(); + QList 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(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; +} + diff --git a/ground/openpilotgcs/src/plugins/ophid/src/ophid_usbmon_win.cpp b/ground/openpilotgcs/src/plugins/ophid/src/ophid_usbmon_win.cpp new file mode 100644 index 000000000..5c3d90251 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/ophid/src/ophid_usbmon_win.cpp @@ -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 +#include +#include +#include +#include +#include "ophid_usbmon.h" +#include +#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"); + } +#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 USBMonitor::availableDevices(int vid, int pid, int bcdDeviceMSB, int bcdDeviceLSB) +{ + QList 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 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 USBMonitor::availableDevices() +{ + QList ports; + enumerateDevicesWin(guid_hid, &ports); + // qDebug()<<"USBMonitorWin availabledevices="< *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="<DevicePath); + + free(details); + return 2; + } + // qDebug()<<"index4="<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="< + + +/** + * \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); +} diff --git a/ground/openpilotgcs/src/plugins/plugins.pro b/ground/openpilotgcs/src/plugins/plugins.pro index c8591071f..20b402704 100644 --- a/ground/openpilotgcs/src/plugins/plugins.pro +++ b/ground/openpilotgcs/src/plugins/plugins.pro @@ -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 diff --git a/ground/openpilotgcs/src/plugins/powerlog/PowerLog.pluginspec b/ground/openpilotgcs/src/plugins/powerlog/PowerLog.pluginspec index fab57c77a..24ac39811 100644 --- a/ground/openpilotgcs/src/plugins/powerlog/PowerLog.pluginspec +++ b/ground/openpilotgcs/src/plugins/powerlog/PowerLog.pluginspec @@ -6,6 +6,6 @@ http://www.openpilot.org - + diff --git a/ground/openpilotgcs/src/plugins/powerlog/powerlog_dependencies.pri b/ground/openpilotgcs/src/plugins/powerlog/powerlog_dependencies.pri index 7418c99b1..f77ee6b96 100644 --- a/ground/openpilotgcs/src/plugins/powerlog/powerlog_dependencies.pri +++ b/ground/openpilotgcs/src/plugins/powerlog/powerlog_dependencies.pri @@ -1,2 +1,2 @@ include(../../plugins/coreplugin/coreplugin.pri) -include(../../plugins/rawhid/rawhid.pri) +include(../../plugins/rawhid/opHID.pri) diff --git a/ground/openpilotgcs/src/plugins/powerlog/powerlogplugin.cpp b/ground/openpilotgcs/src/plugins/powerlog/powerlogplugin.cpp index da2080638..5f0b9c820 100644 --- a/ground/openpilotgcs/src/plugins/powerlog/powerlogplugin.cpp +++ b/ground/openpilotgcs/src/plugins/powerlog/powerlogplugin.cpp @@ -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); diff --git a/ground/openpilotgcs/src/plugins/powerlog/powerlogplugin.h b/ground/openpilotgcs/src/plugins/powerlog/powerlogplugin.h index 517f950de..70054cfab 100644 --- a/ground/openpilotgcs/src/plugins/powerlog/powerlogplugin.h +++ b/ground/openpilotgcs/src/plugins/powerlog/powerlogplugin.h @@ -32,8 +32,8 @@ #include #include #include -#include "rawhid/usbmonitor.h" -#include "rawhid/pjrc_rawhid.h" +#include "opHID/inc/opHID_usbmon.h" +#include "opHID/inc/opHID_hidapi.h" #include #include diff --git a/ground/openpilotgcs/src/plugins/uploader/Uploader.pluginspec b/ground/openpilotgcs/src/plugins/uploader/Uploader.pluginspec index 76bbf550e..fd42037a5 100644 --- a/ground/openpilotgcs/src/plugins/uploader/Uploader.pluginspec +++ b/ground/openpilotgcs/src/plugins/uploader/Uploader.pluginspec @@ -8,7 +8,7 @@ - + diff --git a/ground/openpilotgcs/src/plugins/uploader/op_dfu.h b/ground/openpilotgcs/src/plugins/uploader/op_dfu.h index 8805fe477..ea3629587 100644 --- a/ground/openpilotgcs/src/plugins/uploader/op_dfu.h +++ b/ground/openpilotgcs/src/plugins/uploader/op_dfu.h @@ -2,9 +2,9 @@ #define OP_DFU_H #include -#include -#include -#include +#include +#include +#include #include #include #include @@ -181,7 +181,7 @@ private: // USB Bootloader: - pjrc_rawhid hidHandle; + opHID_hidapi hidHandle; int setStartBit(int command) { return command | 0x20; diff --git a/ground/openpilotgcs/src/plugins/uploader/uploader_dependencies.pri b/ground/openpilotgcs/src/plugins/uploader/uploader_dependencies.pri index b85fc46a1..8d6238f60 100644 --- a/ground/openpilotgcs/src/plugins/uploader/uploader_dependencies.pri +++ b/ground/openpilotgcs/src/plugins/uploader/uploader_dependencies.pri @@ -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) diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h index 5a3032230..461b82daa 100644 --- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h +++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h @@ -45,7 +45,7 @@ #include "coreplugin/icore.h" #include "coreplugin/connectionmanager.h" -#include "rawhid/rawhidplugin.h" +#include "ophid/inc/ophid_plugin.h" #include #include #include diff --git a/package/winx86/openpilotgcs.nsi b/package/winx86/openpilotgcs.nsi index ea682d6a9..071b27ba5 100644 --- a/package/winx86/openpilotgcs.nsi +++ b/package/winx86/openpilotgcs.nsi @@ -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