Changeset 231 for branches/behrens/mfiles/COM_OpenNXTEx.m

Timestamp:

08/12/08 21:56:00 (5 years ago)

Author:

behrens

Message:

add libusb_win_proto.m, modified COM_OpenNXTEx.m

Files:

• branches/behrens/mfiles/COM_OpenNXTEx.m (modified) (11 diffs)

branches/behrens/mfiles/COM_OpenNXTEx.m

@@ -182 +182 @@
     if ispc
         h.OSName    = 'Windows';
-        h.OSValue   = 1;
+        h.OSValue   = 2;
     else % no support for Mac yet...
         h.OSName    = 'Linux';
@@ -621 +621 @@
     
 %% Load libusb library (only if necessary)
-    if ~libisloaded('libusb')
-        textOut(sprintf('  - Loading library "libusb"... '));
+    if ~libisloaded('libusb0')
+        textOut(sprintf('  - Loading library "libusb0"... '));
         try
             % use "our" wrapper file...
-            loadlibrary('libusb', @libusb_proto)
+            loadlibrary('libusb0', @libusb_win_proto)
             textOut(sprintf('done.\n'));
         catch 
@@ -636 +636 @@
         end%try
     else
-        textOut(sprintf('  - Library "libusb" already loaded.\n'));
+        textOut(sprintf('  - Library "libusb0" already loaded.\n'));
     end%if
 
@@ -643 +643 @@
 
 %% Init libusb
-    textOut(sprintf('    . initializing libusb.\n'))
-    calllib('libusb', 'usb_init');
+    textOut(sprintf('    . initializing libusb0.\n'))
+    calllib('libusb0', 'usb_init');
     
     % > - insert usb_set_debug(255) in pyusb.c right behind usb_init()
@@ -657 +657 @@
     % devices since last call, don't neet it...
     textOut(sprintf('    . finding busses... '))
-    ret = calllib('libusb', 'usb_find_busses');
+    ret = calllib('libusb0', 'usb_find_busses');
     displayLibusbStatus(ret);
     
     textOut(sprintf('    . finding devices... '))
-    ret = calllib('libusb', 'usb_find_devices');
+    ret = calllib('libusb0', 'usb_find_devices');
     displayLibusbStatus(ret);
 
@@ -667 +667 @@
     
     textOut(sprintf('    . getting root bus object... '))
-    p = calllib('libusb', 'usb_get_busses');
+    p = calllib('libusb0', 'usb_get_busses');
     bus = libstruct('usb_bus', p);
     displayLibusbStatus(p);
@@ -697 +697 @@
             % care what USB devices the user has. remove comment for advanced debug
             % mode
-            %textOut(sprintf('    . current device: %s\n', strtrim(char(dev.filename))))
+            textOut(sprintf('    . current device: %s\n', strtrim(char(dev.filename))))
 
 
@@ -710 +710 @@
             % It's debug-info only anyway
 
-    %        % open device to get a handle
-    %         DevHandle = calllib('libusb', 'usb_open', dev);
-    %  
-    %         % now the string stuff
-    %         buffer = blanks(255);
-    %         % we don't need a real buffer or pointer, matlab seems to do this
-    %         % for us, so we pass that buffer variable, without really needing
-    %         % it. it seems like matlab "knows" how strings get written by
-    %         % reference and returns the new value from the function. if you
-    %         % compare the matlab-returnvalues of usb_get_string_simple using
-    %         % libfunctionsview libusb, you'll find that they don't match whats
-    %         % written inside usb.h. very nice and handy, thank you matlab :-)
-    %         %pBuffer = libpointer('cstring', buffer); not needed, see above
-    %         
-    %         % now the actual call:
-    %         [bytesRead newHandleOrWhat ManufacturerName] = calllib('libusb', 'usb_get_string_simple', ...
-    %                    DevHandle, dev.descriptor.iManufacturer,  buffer, length(buffer));
-    %         % again:
-    %         [bytesRead newHandleOrWhat ProductName] = calllib('libusb', 'usb_get_string_simple', ...
-    %                    DevHandle, dev.descriptor.iProduct,  buffer, length(buffer));
-    %                
-    %         disp(sprintf('        Manufacturer: %s', ManufacturerName))
-    %         disp(sprintf('        Product: %s', ProductName))
-    %         
-    %         % close device again
-    %         ret = calllib('libusb', 'usb_close', DevHandle);
-    %         clear DevHandle %better doing it now than forgetting it later
+           % open device to get a handle
+            DevHandle = calllib('libusb0', 'usb_open', dev);
+     
+            % now the string stuff
+            buffer = blanks(255);
+            % we don't need a real buffer or pointer, matlab seems to do this
+            % for us, so we pass that buffer variable, without really needing
+            % it. it seems like matlab "knows" how strings get written by
+            % reference and returns the new value from the function. if you
+            % compare the matlab-returnvalues of usb_get_string_simple using
+            % libfunctionsview libusb, you'll find that they don't match whats
+            % written inside usb.h. very nice and handy, thank you matlab :-)
+            %pBuffer = libpointer('cstring', buffer); not needed, see above
+            
+            % now the actual call:
+            [bytesRead newHandleOrWhat ManufacturerName] = calllib('libusb0', 'usb_get_string_simple', ...
+                       DevHandle, dev.descriptor.iManufacturer,  buffer, length(buffer));
+            % again:
+            [bytesRead newHandleOrWhat ProductName] = calllib('libusb0', 'usb_get_string_simple', ...
+                       DevHandle, dev.descriptor.iProduct,  buffer, length(buffer));
+                   
+            disp(sprintf('        Manufacturer: %s', ManufacturerName))
+            disp(sprintf('        Product: %s', ProductName))
+            
+            % close device again
+            ret = calllib('libusb0', 'usb_close', DevHandle);
+            clear DevHandle %better doing it now than forgetting it later
 
 
@@ -746 +746 @@
                 textOut(sprintf('    . found NXT device\n'));
 
-                textOut(sprintf('    . opening device... '));
-                DevHandle = calllib('libusb', 'usb_open', dev);
-                displayLibusbStatus(DevHandle);
-
-                textOut(sprintf('    . reading serial number... '));
-                % c-syntax from documentation so we know whats going on:
-                % int usb_get_string_simple(usb_dev_handle *dev, int index, char *buf, size_t buflen);
-                buffer = blanks(255);
-                [bytesRead newHandleOrWhat SerialNo] = calllib('libusb', 'usb_get_string_simple', DevHandle, dev.descriptor.iSerialNumber,  buffer, length(buffer));
-                displayLibusbStatus(bytesRead);
-                                
-                SerialNo = strtrim(SerialNo); % just to be safe
-                textOut(sprintf('    . MAC = %s ', SerialNo))
-                
-                % is it the right one?
-                if isempty(hIn.NXTMAC) || strcmpi(hIn.NXTMAC, SerialNo)
-                    foundNXT = true;
-                    textOut(sprintf('(MAC matches, this is our desired NXT)\n'));
-                    break % search came to an end
-                else
-                    foundNXT = false;
-                    textOut(sprintf('(no match, not using this NXT)\n'));
-                    % don't forget to close the opened NXT that didnt match...
-                    textOut(sprintf('    . closing device... '));
-                    status = calllib('libusb', 'usb_close', DevHandle);
-                    displayLibusbStatus(status);
-                end%if
+%                 textOut(sprintf('    . opening device... '));
+%                 DevHandle = calllib('libusb', 'usb_open', dev);
+%                 displayLibusbStatus(DevHandle);
+% 
+%                 textOut(sprintf('    . reading serial number... '));
+%                 % c-syntax from documentation so we know whats going on:
+%                 % int usb_get_string_simple(usb_dev_handle *dev, int index, char *buf, size_t buflen);
+%                 buffer = blanks(255);
+%                 [bytesRead newHandleOrWhat SerialNo] = calllib('libusb', 'usb_get_string_simple', DevHandle, dev.descriptor.iSerialNumber,  buffer, length(buffer));
+%                 displayLibusbStatus(bytesRead);
+%                                 
+%                 SerialNo = strtrim(SerialNo); % just to be safe
+%                 textOut(sprintf('    . MAC = %s ', SerialNo))
+%                 
+%                 % is it the right one?
+%                 if isempty(hIn.NXTMAC) || strcmpi(hIn.NXTMAC, SerialNo)
+%                     foundNXT = true;
+%                     textOut(sprintf('(MAC matches, this is our desired NXT)\n'));
+%                     break % search came to an end
+%                 else
+%                     foundNXT = false;
+%                     textOut(sprintf('(no match, not using this NXT)\n'));
+%                     % don't forget to close the opened NXT that didnt match...
+%                     textOut(sprintf('    . closing device... '));
+%                     status = calllib('libusb', 'usb_close', DevHandle);
+%                     displayLibusbStatus(status);
+%                 end%if
                 
             end%if
@@ -822 +822 @@
 
 
+% %% NXT found, open connection
+% 
+%     % DevHandle is now the NXT we want
+%     
+%     % the following commands are standard procedure for USB devices, similar usage
+%     % can be found in the open source packages Python_NXT and LEGO::NXT (Perl)
+% 
+%     % flag to remember
+%     ErrorWhileOpening = false;
+%     
+%     % if the following fails with error -16, the NXT is probably already in
+%     % use (opened in another handle!)
+%     textOut(sprintf('    . setting active configuration... '));
+%     % somehow this doesn't work, so we use the hardcoded configuration 1!
+%     %calllib('libusb', 'usb_set_configuration', DevHandle, dev.config.bConfigurationValue);
+%     ret = calllib('libusb', 'usb_set_configuration', DevHandle, LIBUSB_Configuration);
+%     displayLibusbStatus(ret);
+%     if (ret < 0)
+%         ErrorWhileOpening = true;
+%     end%if
+% 
+%     textOut(sprintf('    . claiming interface... '));
+%     % again, interface is hardcoded (compare implementations in python and
+%     % perl, they do it the same way)
+%     %calllib('libusb', 'usb_claim_interface', DevHandle, dev.config.interface.altsetting.bInterfaceNumber);
+%     ret = calllib('libusb', 'usb_claim_interface', DevHandle, LIBUSB_Interface);
+%     displayLibusbStatus(ret);
+%     if (ret < 0)
+%         ErrorWhileOpening = true;
+%     end%if
+%     
+%     
+%     % we don't need an alternative interface, whatever that is.
+%     % but from debugging experience (also with Windows), you never know
+%     % when you might need this, so we keep it in here!
+%     
+%     % disp('    . set altinterface')
+%     % %  %[int32, usb_dev_handlePtr] usb_set_altinterface(usb_dev_handlePtr, int32)
+%     % ret = calllib('libusb', 'usb_set_altinterface', DevHandle, dev.config.interface.altsetting.bInterfaceNumber);
+%     % disp(sprintf('usb_strerror: %s', calllib('libusb', 'usb_strerror')))
+% 
+%     % is this necessary? but found it in perl and python versions...
+%     % the main point: never touch a running system
+%     textOut(sprintf('    . resetting device... '));
+%     ret = calllib('libusb', 'usb_reset', DevHandle);
+%     displayLibusbStatus(ret);
+%     if (ret < 0)
+%         ErrorWhileOpening = true;
+%     end%if
+%     
+%     % now it's time to decide:
+%     if ErrorWhileOpening || isnumeric(DevHandle)
+%         if ~SuppressErrors
+%             errordlg('Something went wrong while opening the NXT device via USB (is it already open in another handle?). Please try to reboot the NXT or call COM_CloseNXT(''all'')!')
+%             error('MATLAB:RWTHMindstormsNXT:USB:Linux:couldNotOpenNXT', 'Something went wrong while opening the NXT device via USB (is it already open in another handle?). Please try to reboot the NXT or call COM_CloseNXT(''all'')!')
+%         else
+%             % again, exit silently when no success
+%             return
+%         end%if
+%     end%if
+%     
+%     % finally, we're good to go!
+%     hOut.Handle = DevHandle;
+%     hOut.NXTMAC = SerialNo;
+% 
+%     % and, important:
+%     hOut.Connected(true);
+%     
+%     
+% %% clean up
+% 
+%     % is this needed? or will matlab destroy this private vars anyway after
+%     % finishing this function? just to be sure with pointers...
+%     clear p v bus dev newHandleOrWhat DevHandle
 %% NXT found, open connection
 
-    % DevHandle is now the NXT we want
-    
-    % the following commands are standard procedure for USB devices, similar usage
-    % can be found in the open source packages Python_NXT and LEGO::NXT (Perl)
-
-    % flag to remember
-    ErrorWhileOpening = false;
-    
-    % if the following fails with error -16, the NXT is probably already in
-    % use (opened in another handle!)
-    textOut(sprintf('    . setting active configuration... '));
-    % somehow this doesn't work, so we use the hardcoded configuration 1!
-    %calllib('libusb', 'usb_set_configuration', DevHandle, dev.config.bConfigurationValue);
-    ret = calllib('libusb', 'usb_set_configuration', DevHandle, LIBUSB_Configuration);
-    displayLibusbStatus(ret);
-    if (ret < 0)
-        ErrorWhileOpening = true;
-    end%if
-
-    textOut(sprintf('    . claiming interface... '));
-    % again, interface is hardcoded (compare implementations in python and
-    % perl, they do it the same way)
-    %calllib('libusb', 'usb_claim_interface', DevHandle, dev.config.interface.altsetting.bInterfaceNumber);
-    ret = calllib('libusb', 'usb_claim_interface', DevHandle, LIBUSB_Interface);
-    displayLibusbStatus(ret);
-    if (ret < 0)
-        ErrorWhileOpening = true;
-    end%if
-    
-    
-    % we don't need an alternative interface, whatever that is.
-    % but from debugging experience (also with Windows), you never know
-    % when you might need this, so we keep it in here!
-    
-    % disp('    . set altinterface')
-    % %  %[int32, usb_dev_handlePtr] usb_set_altinterface(usb_dev_handlePtr, int32)
-    % ret = calllib('libusb', 'usb_set_altinterface', DevHandle, dev.config.interface.altsetting.bInterfaceNumber);
-    % disp(sprintf('usb_strerror: %s', calllib('libusb', 'usb_strerror')))
-
-    % is this necessary? but found it in perl and python versions...
-    % the main point: never touch a running system
-    textOut(sprintf('    . resetting device... '));
-    ret = calllib('libusb', 'usb_reset', DevHandle);
-    displayLibusbStatus(ret);
-    if (ret < 0)
-        ErrorWhileOpening = true;
-    end%if
-    
-    % now it's time to decide:
-    if ErrorWhileOpening || isnumeric(DevHandle)
-        if ~SuppressErrors
-            errordlg('Something went wrong while opening the NXT device via USB (is it already open in another handle?). Please try to reboot the NXT or call COM_CloseNXT(''all'')!')
-            error('MATLAB:RWTHMindstormsNXT:USB:Linux:couldNotOpenNXT', 'Something went wrong while opening the NXT device via USB (is it already open in another handle?). Please try to reboot the NXT or call COM_CloseNXT(''all'')!')
-        else
-            % again, exit silently when no success
-            return
-        end%if
-    end%if
-    
-    % finally, we're good to go!
+% dev should now be our NXT
+
+disp('*** Opening USB connection')
+
+disp('    . getting device handle')
+DevHandle = calllib('libusb0', 'usb_open', dev);
+if isnumeric(DevHandle)
+    ret = DevHandle;
+    if ret < 0
+        disp(getLibusbErrorString(ret))
+    end%if
+end%if
+
+disp('    . reading serial number:')
+% int usb_get_string_simple(usb_dev_handle *dev, int index, char *buf, size_t buflen);
+buffer = blanks(255);
+[bytesRead newHandleOrWhat SerialNo] = calllib('libusb0', 'usb_get_string_simple', DevHandle, dev.descriptor.iSerialNumber,  buffer, length(buffer));
+disp(sprintf('      %s', SerialNo))
+
+disp('    . setting active configuration')
+%calllib(USBLIB, 'usb_set_configuration', DevHandle, dev.config.bConfigurationValue);
+ret = calllib('libusb0', 'usb_set_configuration', DevHandle, 1);
+if ret < 0
+    disp(getLibusbErrorString(ret))
+end%if
+
+disp('    . claiming interface')
+%calllib(USBLIB, 'usb_claim_interface', DevHandle, dev.config.interface.altsetting.bInterfaceNumber);
+ret = calllib('libusb0', 'usb_claim_interface', DevHandle, 0);
+if ret < 0
+    disp(getLibusbErrorString(ret))
+end%if
+
+
+% disp('    . set altinterface')
+% %  %[int32, usb_dev_handlePtr] usb_set_altinterface(usb_dev_handlePtr, int32)
+% ret = calllib('libusb0', 'usb_set_altinterface', DevHandle, dev.config.interface.altsetting.bInterfaceNumber);
+% disp(sprintf('usb_strerror: %s', calllib('libusb0', 'usb_strerror')))
+% 
+
+% disp('    . resetting device')
+% ret = calllib(USBLIB, 'usb_reset', DevHandle);
+% if ret < 0
+%     disp(getLibusbErrorString(ret))
+% end%if
+
+%   // Discard any data that is left in the buffer
+%   while (usb_bulk_read(nxt->hdl, 0x82, buf, sizeof(buf), 1) > 0)
+%     ;
+disp('    . discarding any data')
+buffer = char(uint8(blanks(64)));
+buffer = uint8(zeros(64,1));
+ret = 1;
+while ret > 0
+   ret = calllib('libusb0', 'usb_bulk_read', DevHandle, uint8(130), buffer, 5, 1);
+end
+
+%   // try to set the stream I/O feature
+%   ret = usb_control_msg(nxt->hdl, 0x41, 0x3, 0, 0, NULL, 0, 1000);
+%   if (ret >= 0)
+%   {
+%     nxt->stream_mode = 1;
+%   }
+disp('    . open stream modus')
+buffer = char(uint8(blanks(64)));
+ret = calllib('libusb0', 'usb_control_msg', DevHandle, 65, 3, 0, 0, buffer, 0, 1000);
+if ret < 0
+  msg = ['Libusb error ' num2str(ret) ' while open stream mode: ' getLibusbErrorString(ret)];
+  warning('MATLAB:RWTHMindstormsNXT:USB:Linux:libusbErrorWhileOpenStreamMode', msg);
+end%if
+
+hNXT = DevHandle;
+
+% finally, we're good to go!
     hOut.Handle = DevHandle;
     hOut.NXTMAC = SerialNo;
@@ -889 +977 @@
     % and, important:
     hOut.Connected(true);
-    
-    
+
+
 %% clean up
 
-    % is this needed? or will matlab destroy this private vars anyway after
-    % finishing this function? just to be sure with pointers...
-    clear p v bus dev newHandleOrWhat DevHandle
-
+% needed? or will matlab destroy this private vars anyway after finishing
+% this function? probably...
+clear p v bus dev newHandleOrWhat 
+
+if ~isnumeric(hNXT)
+    disp('Successfully established USB connection to NXT')
+else
+    disp('Something went wrong, handle doesn''t seem valid')
+end%if
 
 end%function