Changeset 234

Timestamp:

08/16/08 00:05:29 (5 years ago)

Author:

behrens

Message:

add libusb windows modifications (only one libusb subfunction win and linux), Version seems to be stable!

Location:

branches/behrens/mfiles

Files:

• COM_CloseNXT.m (modified) (9 diffs)
• COM_CollectPacket.m (modified) (3 diffs)
• COM_OpenNXTEx.m (modified) (24 diffs)
• COM_SendPacket.m (modified) (4 diffs)
• private/getLibusbErrorString.m (modified) (2 diffs)
• private/libusb_win_proto.m (modified) (1 diff)

branches/behrens/mfiles/COM_CloseNXT.m

@@ -63 +63 @@
 %
 % Signature
-%   Author: Linus Atorf (see AUTHORS)
-%   Date: 2008/07/09
+%   Author: Linus Atorf, Alexander Behrens (see AUTHORS)
+%   Date: 2008/08/15
 %   Copyright: 2007-2008, RWTH Aachen University
 %
@@ -142 +142 @@
                         USB_CloseHandle_Windows(h);
                     case 2 % libusb library
-                        USB_CloseHandle_Windows_libusb(h);
+                        USB_CloseHandle_libusb(h);
                     otherwise
                 end
             else % linux
-                USB_CloseHandle_Linux(h);
+                USB_CloseHandle_libusb(h);
             end%if
         else % BT
@@ -367 +367 @@
 
 
+%% --- FUNCTION USB_CloseHandle_libusb
+function USB_CloseHandle_libusb(h)
+
+    LIBUSB_Interface = 0;
+
+    
+    if h.ConnectionLibraryValue == 1  % fantom library
+        %   // Send EOF marker, a zero length packet
+        %   usb_bulk_write(nxt->hdl, 0x1, buf, 0, 1000);
+        buffer = uint8(zeros(64,1));
+        textOut(sprintf('  - Sending a zero length packet... '));    
+        ret = calllib(h.ConnectionLibraryName, 'usb_bulk_read', h.Handle, 1, buffer, LIBUSB_Interface, 1000);
+        displayLibusbStatus(ret, h);
+
+        %   // Turn off stream mode
+        %   usb_control_msg(nxt->hdl, 0x41, 0x1, 0, 0, NULL, 0, 5000);
+        buffer = blanks(64);
+        textOut(sprintf('  - Turn off the stream mode... '));        
+        ret = calllib(h.ConnectionLibraryName, 'usb_control_msg', h.Handle, 65, 1, 0, 0, buffer, LIBUSB_Interface, 5000);
+        displayLibusbStatus(ret, h);
+
+        %   // Discard any data that is left in the buffer
+        %   while (usb_bulk_read(nxt->hdl, 0x82, buf, sizeof(buf), 1) > 0)
+        %     ;
+        textOut(sprintf('  - Discard any data that is left in the buffer... '));        
+        ret = 1;
+        while ret > 0
+          buffer = uint8(zeros(64,1));       
+          ret = calllib(h.ConnectionLibraryName, 'usb_bulk_read', h.Handle, 130, buffer, 64, 1);
+        end
+    end % end if fantom
+    
+    
+    % interface number is hardcoded, should it be that way?
+    textOut(sprintf('  - Releasing interface... '));
+    ret = calllib(h.ConnectionLibraryName, 'usb_release_interface', h.Handle, LIBUSB_Interface);
+    displayLibusbStatus(ret, h);
+
+
+    textOut(sprintf('  - Closing device... '));
+    ret = calllib(h.ConnectionLibraryName, 'usb_close', h.Handle);
+    displayLibusbStatus(ret, h);
+
+end%function
+
+
 %% --- FUNCTION USB_CloseHandle_Windows_libusb
 function USB_CloseHandle_Windows_libusb(h)
@@ -378 +424 @@
     textOut(sprintf('  - Sending a zero length packet... '));    
     ret = calllib('libusb0', 'usb_bulk_read', h.Handle, 1, buffer, LIBUSB_Interface, 1000);
-    displayLibusbStatus(ret);
+    displayLibusbStatus(ret, h);
     
     %   // Turn off stream mode
@@ -385 +431 @@
     textOut(sprintf('  - Turn off the stream mode... '));        
     ret = calllib('libusb0', 'usb_control_msg', h.Handle, 65, 1, 0, 0, buffer, LIBUSB_Interface, 5000);
-    displayLibusbStatus(ret);
+    displayLibusbStatus(ret, h);
     
     %   // Discard any data that is left in the buffer
@@ -400 +446 @@
     textOut(sprintf('  - Releasing interface... '));
     ret = calllib('libusb0', 'usb_release_interface', h.Handle, LIBUSB_Interface);
-    displayLibusbStatus(ret);
+    displayLibusbStatus(ret, h);
 
 
     textOut(sprintf('  - Closing device... '));
     ret = calllib('libusb0', 'usb_close', h.Handle);
-    displayLibusbStatus(ret);
+    displayLibusbStatus(ret, h);
 
 end%function
@@ -418 +464 @@
     textOut(sprintf('  - Releasing interface... '));
     ret = calllib('libusb', 'usb_release_interface', h.Handle, LIBUSB_Interface);
-    displayLibusbStatus(ret);
+    displayLibusbStatus(ret, h);
 
 
     textOut(sprintf('  - Closing device... '));
     ret = calllib('libusb', 'usb_close', h.Handle);
-    displayLibusbStatus(ret);
+    displayLibusbStatus(ret, h);
 
     % we don't unload libusb now, but if we did:
@@ -435 +481 @@
 
 
-%% --- FUNCTION displayUSBWinStatus(status)
+%% --- FUNCTION displayUSBWinStatus
 function displayUSBWinStatus(status)
     if status
@@ -446 +492 @@
 
 
-%% --- FUNCTION displayLibusbStatus(status)
-function displayLibusbStatus(status)
+%% --- FUNCTION displayLibusbStatus
+function displayLibusbStatus(status, h)
     if isnumeric(status) && (status < 0)
         textOut(sprintf('failed.\n'));
-        textOut(sprintf(['Libusb error ' num2str(status) ': ' getLibusbErrorString(status) '\n']))
+        textOut(sprintf(['Libusb error ' num2str(status) ': ' getLibusbErrorString(status, h) '\n']))
     else
         textOut(sprintf('done.\n'));

branches/behrens/mfiles/COM_CollectPacket.m

@@ -101 +101 @@
             end
         else % Linux
-            [type cmd statusbyte content] = USB_CollectPacket_Linux(handle);
+            [type cmd statusbyte content] = USB_CollectPacket_libusb(handle);
         end%if
     else % BT
@@ -436 +436 @@
     [status something reply] = calllib(h.ConnectionLibraryName, 'usb_bulk_read', h.Handle, receivingEndpoint, buffer, length(buffer), timeout);    
     if status < 0
-        msg = ['Libusb error ' num2str(status) ' while receiving data: ' getLibusbErrorString(status)];
+        msg = ['Libusb error ' num2str(status) ' while receiving data: ' getLibusbErrorString(status, h)];
         warning('MATLAB:RWTHMindstormsNXT:USB:libusbErrorWhileReceivingData', msg);
     end%if
@@ -514 +514 @@
     [status something reply] = calllib('libusb', 'usb_bulk_read', h.Handle, receivingEndpoint, buffer, length(buffer), timeout);    
     if status < 0
-        msg = ['Libusb error ' num2str(status) ' while receiving data: ' getLibusbErrorString(status)];
+        msg = ['Libusb error ' num2str(status) ' while receiving data: ' getLibusbErrorString(status, h)];
         warning('MATLAB:RWTHMindstormsNXT:USB:Windows:libusbErrorWhileReceivingData', msg);
     end%if

branches/behrens/mfiles/COM_OpenNXTEx.m

@@ -245 +245 @@
 %     handle.IniFilename           = h.IniFilename;
 %     handle.ComPort               = h.ComPort;
-%     handle.BaudRate                    = h.BaudRate;
-%     handle.DataBits                    = h.DataBits;
-%     handle.Timeout                     = h.Timeout;
+%     handle.BaudRate              = h.BaudRate;
+%     handle.DataBits              = h.DataBits;
+%     handle.Timeout               = h.Timeout;
 % 
-%     handle.SendSendPause               = h.SendSendPause;
+%     handle.SendSendPause         = h.SendSendPause;
 %     handle.SendReceivePause      = h.SendReceivePause;
 % 
 %     handle.NXTMAC                = h.NXTMAC;
-%     handle.CreationTime                = h.CreationTime;  
+%     handle.CreationTime          = h.CreationTime;  
 %     handle.Index                 = h.Index;
     
@@ -391 +391 @@
     
     if hIn.OSValue == 1
-%         switch (hIn.ConnectionLibraryValue)
-%             case 1 % fantom library
-%                 USB_CloseHandle_Windows(h);
-%             case 2 % libusb library
-%                 USB_CloseHandle_Windows_libusb(h);
-%             otherwise
-%           end
+        switch (hIn.ConnectionLibraryValue)
+            case 1 % fantom library
+                hOut = USB_OpenHandle_Windows(hIn, SuppressErrors);
+            case 2 % libusb library
+                hOut = USB_OpenHandle_libusb(hIn, SuppressErrors);
+            otherwise
+                % use libusb0 as default
+                unknownLibrary = hIn.ConnectionLibraryValue;
+                if isnan(unknownLibrary)
+                    unknownLibrary = num2str(unknownLibrary);
+                end
+                hIn.ConnectionLibraryName  = 'libusb0';
+                hIn.ConnectionLibraryValue = 2;
+                msg = ['Unkown library ' unknownLibrary '. Use as default: ' hIn.ConnectionLibraryName];
+                warning('MATLAB:RWTHMindstormsNXT:USB:UnknownNXTDriverLibrary', msg);
+                hOut = USB_OpenHandle_libusb(hIn, SuppressErrors);
+        end
 %         hOut = USB_OpenHandle_Windows(hIn, SuppressErrors);
-        hOut = USB_OpenHandle_Windows_libusb(hIn, false);        
+%         hOut = USB_OpenHandle_libusb(hIn, false);        
     elseif hIn.OSValue == 2
-        hOut = USB_OpenHandle_Linux(hIn, SuppressErrors);
+        hOut = USB_OpenHandle_libusb(hIn, SuppressErrors);
     end%if
     
@@ -579 +589 @@
 
 
-%% --- FUNCTION displayLibusbStatus(status)
+%% --- FUNCTION displayLibusbStatus
 % little convenient helper to save some lines of code with textOut
-function displayLibusbStatus(status)
+function displayLibusbStatus(status, h)
 % little convenient helper to save some lines of code with textOut
     if isnumeric(status) && (status < 0)
         textOut(sprintf('failed.\n'));
-        textOut(sprintf(['Libusb error ' num2str(status) ': ' getLibusbErrorString(status) '\n']))
+        textOut(sprintf(['Libusb error ' num2str(status) ': ' getLibusbErrorString(status, h) '\n']))
     else
         textOut(sprintf('done.\n'));
@@ -669 +679 @@
     textOut(sprintf('    . finding busses... '))
     ret = calllib('libusb', 'usb_find_busses');
-    displayLibusbStatus(ret);
+    displayLibusbStatus(ret, hIn);
     
     textOut(sprintf('    . finding devices... '))
     ret = calllib('libusb', 'usb_find_devices');
-    displayLibusbStatus(ret);
+    displayLibusbStatus(ret, hIn);
 
 %% Get main root bus
@@ -680 +690 @@
     p = calllib('libusb', 'usb_get_busses');
     bus = libstruct('usb_bus', p);
-    displayLibusbStatus(p);
+    displayLibusbStatus(p, hIn);
     
 
@@ -759 +769 @@
                 textOut(sprintf('    . opening device... '));
                 DevHandle = calllib('libusb', 'usb_open', dev);
-                displayLibusbStatus(DevHandle);
+                displayLibusbStatus(DevHandle, hIn);
 
                 textOut(sprintf('    . reading serial number... '));
@@ -766 +776 @@
                 buffer = blanks(255);
                 [bytesRead newHandleOrWhat SerialNo] = calllib('libusb', 'usb_get_string_simple', DevHandle, dev.descriptor.iSerialNumber,  buffer, length(buffer));
-                displayLibusbStatus(bytesRead);
+                displayLibusbStatus(bytesRead, hIn);
                                 
                 SerialNo = strtrim(SerialNo); % just to be safe
@@ -782 +792 @@
                     textOut(sprintf('    . closing device... '));
                     status = calllib('libusb', 'usb_close', DevHandle);
-                    displayLibusbStatus(status);
+                    displayLibusbStatus(status, hIn);
                 end%if
                 
@@ -849 +859 @@
     %calllib('libusb', 'usb_set_configuration', DevHandle, dev.config.bConfigurationValue);
     ret = calllib('libusb', 'usb_set_configuration', DevHandle, LIBUSB_Configuration);
-    displayLibusbStatus(ret);
+    displayLibusbStatus(ret, hIn);
     if (ret < 0)
         ErrorWhileOpening = true;
@@ -859 +869 @@
     %calllib('libusb', 'usb_claim_interface', DevHandle, dev.config.interface.altsetting.bInterfaceNumber);
     ret = calllib('libusb', 'usb_claim_interface', DevHandle, LIBUSB_Interface);
-    displayLibusbStatus(ret);
+    displayLibusbStatus(ret, hIn);
     if (ret < 0)
         ErrorWhileOpening = true;
@@ -878 +888 @@
     textOut(sprintf('    . resetting device... '));
     ret = calllib('libusb', 'usb_reset', DevHandle);
-    displayLibusbStatus(ret);
+    displayLibusbStatus(ret, hIn);
     if (ret < 0)
         ErrorWhileOpening = true;
@@ -912 +922 @@
 
 
-%% --- FUNCTION USB_OpenHandle_Linux
-function hOut = USB_OpenHandle_Windows_libusb(hIn, SuppressErrors)
+%% --- FUNCTION USB_OpenHandle_libusb
+function hOut = USB_OpenHandle_libusb(hIn, SuppressErrors)
 % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % %
 % Temporary USB construction site for the RWTH - Mindstorms NXT Toolbox
 %           http://www.mindstorms.rwth-aachen.de
 %
-% Alexander Behrens, 15.08.2008
+% Linus Atorf, Alexander Behrens, 15.08.2008
 % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % %
 
@@ -953 +963 @@
     
 %% Load libusb library (only if necessary)
-    if ~libisloaded('libusb0')
-        textOut(sprintf('  - Loading library "libusb0"... '));
+    if ~libisloaded(hIn.ConnectionLibraryName)
+        textOut(sprintf('  - Loading library "%s"... ', hIn.ConnectionLibraryName));
         try
             % use "our" wrapper file...
-            loadlibrary('libusb0', @libusb_win_proto)
+            loadlibrary(hIn.ConnectionLibraryName, @libusb_win_proto)
             textOut(sprintf('done.\n'));
         catch 
             textOut(sprintf('failed.\n'));
             if ~SuppressErrors
-                error('MATLAB:RWTHMindstormsNXT:USB:Linux:couldNotLoadLibraryLibusb', 'The "libusb" library could not be loaded (file "libusb0.sys"). Make sure it is installed and paths are set correctly!')
+                error('MATLAB:RWTHMindstormsNXT:USB:couldNotLoadLibraryLibusb', 'The "libusb" library could not be loaded. Make sure it is installed and paths are set correctly!')
             else
                 return
@@ -968 +978 @@
         end%try
     else
-        textOut(sprintf('  - Library "libusb0" already loaded.\n'));
-    end%if
-
-    hOut.ConnectionLibraryName = 'libusb0';  % String, 'fantom' or 'libusb' / 'libusb0'
-    hOut.ConnectionLibraryValue = 2; % fantom = 1, libusb = 2
+        textOut(sprintf('  - Library "%s" already loaded.\n',hIn.ConnectionLibraryName));
+    end%if
 
     textOut(sprintf('  - Initializing and browsing USB busses\n'));
 
 %% Init libusb
-    textOut(sprintf('    . initializing libusb0.\n'))
-    calllib('libusb0', 'usb_init');
+    textOut(sprintf('    . initializing %s.\n',hIn.ConnectionLibraryName))
+    calllib(hIn.ConnectionLibraryName, 'usb_init');
     
     % > - insert usb_set_debug(255) in pyusb.c right behind usb_init()
@@ -991 +998 @@
     % devices since last call, don't neet it...
     textOut(sprintf('    . finding busses... '))
-    ret = calllib('libusb0', 'usb_find_busses');
-    displayLibusbStatus(ret);
+    ret = calllib(hIn.ConnectionLibraryName, 'usb_find_busses');
+    displayLibusbStatus(ret, hIn);
     
     textOut(sprintf('    . finding devices... '))
-    ret = calllib('libusb0', 'usb_find_devices');
-    displayLibusbStatus(ret);
+    ret = calllib(hIn.ConnectionLibraryName, 'usb_find_devices');
+    displayLibusbStatus(ret, hIn);
 
 %% Get main root bus
     
     textOut(sprintf('    . getting root bus object... '))
-    p = calllib('libusb0', 'usb_get_busses');
+    p = calllib(hIn.ConnectionLibraryName, 'usb_get_busses');
     bus = libstruct('usb_bus', p);
-    displayLibusbStatus(p);
+    displayLibusbStatus(p, hIn);
     
 
@@ -1044 +1051 @@
             % It's debug-info only anyway
 
-           % 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
+            if hIn.OSValue == 1 % windows
+                % open device to get a handle
+                DevHandle = calllib(hIn.ConnectionLibraryName, '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(hIn.ConnectionLibraryName, 'usb_get_string_simple', ...
+                           DevHandle, dev.descriptor.iManufacturer,  buffer, length(buffer));
+                % again:
+                [bytesRead newHandleOrWhat ProductName] = calllib(hIn.ConnectionLibraryName, '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(hIn.ConnectionLibraryName, 'usb_close', DevHandle);
+                displayLibusbStatus(ret, hIn);
+                clear DevHandle %better doing it now than forgetting it later
+            end % end if windows
 
 
@@ -1081 +1092 @@
 
                 textOut(sprintf('    . opening device... '));
-                DevHandle = calllib('libusb0', 'usb_open', dev);
-                displayLibusbStatus(DevHandle);
+                DevHandle = calllib(hIn.ConnectionLibraryName, 'usb_open', dev);
+                displayLibusbStatus(DevHandle, hIn);
 
                 textOut(sprintf('    . reading serial number... '));
@@ -1088 +1099 @@
                 % 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));
-                displayLibusbStatus(bytesRead);
+                [bytesRead newHandleOrWhat SerialNo] = calllib(hIn.ConnectionLibraryName, 'usb_get_string_simple', DevHandle, dev.descriptor.iSerialNumber,  buffer, length(buffer));
+                displayLibusbStatus(bytesRead, hIn);
                                 
                 SerialNo = strtrim(SerialNo); % just to be safe
@@ -1104 +1115 @@
                     % don't forget to close the opened NXT that didnt match...
                     textOut(sprintf('    . closing device... '));
-                    status = calllib('libusb0', 'usb_close', DevHandle);
-                    displayLibusbStatus(status);
+                    status = calllib(hIn.ConnectionLibraryName, 'usb_close', DevHandle);
+                    displayLibusbStatus(status, hIn);
                 end%if
                 
@@ -1148 +1159 @@
         if ~SuppressErrors
             errordlg('No NXT found on USB bus! Make sure the NXT is turned on and access rights in /dev/ are properly set. Rebooting your NXT might help!')
-            error('MATLAB:RWTHMindstormsNXT:USB:Linux:noNXTfound', 'No NXT found on USB bus! Make sure the NXT is turned on and access rights in /dev/ are properly set. Rebooting your NXT might help!')
+            error('MATLAB:RWTHMindstormsNXT:USB:noNXTfound', 'No NXT found on USB bus! Make sure the NXT is turned on and access rights in /dev/ are properly set. Rebooting your NXT might help!')
         else
             % well, no NXT, exit silently
@@ -1171 +1182 @@
     % somehow this doesn't work, so we use the hardcoded configuration 1!
     %calllib('libusb', 'usb_set_configuration', DevHandle, dev.config.bConfigurationValue);
-    ret = calllib('libusb0', 'usb_set_configuration', DevHandle, LIBUSB_Configuration);
-    displayLibusbStatus(ret);
+    ret = calllib(hIn.ConnectionLibraryName, 'usb_set_configuration', DevHandle, LIBUSB_Configuration);
+    displayLibusbStatus(ret, hIn);
     if (ret < 0)
         ErrorWhileOpening = true;
@@ -1181 +1192 @@
     % perl, they do it the same way)
     %calllib('libusb', 'usb_claim_interface', DevHandle, dev.config.interface.altsetting.bInterfaceNumber);
-    ret = calllib('libusb0', 'usb_claim_interface', DevHandle, LIBUSB_Interface);
-    displayLibusbStatus(ret);
+    ret = calllib(hIn.ConnectionLibraryName, 'usb_claim_interface', DevHandle, LIBUSB_Interface);
+    displayLibusbStatus(ret, hIn);
     if (ret < 0)
         ErrorWhileOpening = true;
@@ -1197 +1208 @@
     % 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('libusb0', 'usb_reset', DevHandle);
-%     displayLibusbStatus(ret);
-%     if (ret < 0)
-%         ErrorWhileOpening = true;
-%     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
-    
+    if hIn.OSValue == 2 % linux
+        % 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(hIn.ConnectionLibraryName, 'usb_reset', DevHandle);
+        displayLibusbStatus(ret, hIn);
+        if (ret < 0)
+            ErrorWhileOpening = true;
+        end%if
+    end % end if linux
+    
+
+    if hIn.OSValue == 1 % windows
+%         NOTE: really necessary?
+%         %   // Discard any data that is left in the buffer
+%         %   while (usb_bulk_read(nxt->hdl, 0x82, buf, sizeof(buf), 1) > 0);
+%         textOut(sprintf('    . discarding any data... '));
+%         buffer = uint8(zeros(64,1));
+%         ret = 1;
+%         while ret > 0
+%            ret = calllib(hIn.ConnectionLibraryName, 'usb_bulk_read', DevHandle, uint8(130), buffer, 5, 1);
+%            displayLibusbStatus(ret, hIn);
+%         end
+% %         displayLibusbStatus(ret, hIn);
+
+        %   // 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;
+        %   }
+        textOut(sprintf('    . open stream modus... '));
+        buffer = char(uint8(blanks(64)));
+        ret = calllib(hIn.ConnectionLibraryName, 'usb_control_msg', DevHandle, 65, 3, 0, 0, buffer, 0, 1000);
+        displayLibusbStatus(ret, hIn);
+        if (ret < 0)
+            ErrorWhileOpening = true;
+        end%if
+%         if ret < 0
+%           msg = ['Libusb error ' num2str(ret) ' while open stream mode: ' getLibusbErrorString(ret, hIn)];
+%           warning('MATLAB:RWTHMindstormsNXT:USB:libusbErrorWhileOpenStreamMode', msg);
+%         end%if
+    end % end if windows
     
     
@@ -1238 +1257 @@
         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'')!')
+            error('MATLAB:RWTHMindstormsNXT:USB: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

branches/behrens/mfiles/COM_SendPacket.m

@@ -32 +32 @@
 %
 % Signature
-%   Author: Linus Atorf (see AUTHORS)
-%   Date: 2008/07/09
+%   Author: Linus Atorf, Alexander Behrens (see AUTHORS)
+%   Date: 2008/08/15
 %   Copyright: 2007-2008, RWTH Aachen University
 %
@@ -82 +82 @@
             end
         else % Linux
-            USB_SendPacket_Linux(Packet(3:end), handle);
+            USB_SendPacket_libusb(Packet(3:end), handle);
         end%if
         
@@ -217 +217 @@
     
     if ret < 0
-        msg = ['Libusb error ' num2str(ret) ' while sending data: ' getLibusbErrorString(ret)];
-        warning('MATLAB:RWTHMindstormsNXT:USB:Linux:libusbErrorWhileSendingData', msg);
+        msg = ['Libusb error ' num2str(ret) ' while sending data: ' getLibusbErrorString(ret, h)];
+        warning('MATLAB:RWTHMindstormsNXT:USB:libusbErrorWhileSendingData', msg);
     else % success
         h.PacketsSent(1);
@@ -242 +242 @@
     
     if ret < 0
-        msg = ['Libusb error ' num2str(ret) ' while sending data: ' getLibusbErrorString(ret)];
+        msg = ['Libusb error ' num2str(ret) ' while sending data: ' getLibusbErrorString(ret, h)];
         warning('MATLAB:RWTHMindstormsNXT:USB:Linux:libusbErrorWhileSendingData', msg);
     else % success

branches/behrens/mfiles/private/getLibusbErrorString.m

@@ -1 @@
-function msg = getLibusbErrorString(errNo)
+function msg = getLibusbErrorString(errNo, h)
 % Returns description to the last error from libusb
 %
 % Syntax
-%   |msg = getLibusbErrorString(errNo)|
+%   |msg = getLibusbErrorString(errNo, h)|
 %
 % Description
@@ -37 +37 @@
     if  errNo < 0
         %msg = sprintf('Error %d in libusb: %s', errNo, calllib('libusb', 'usb_strerror'));
-        msg =  calllib('libusb0', 'usb_strerror');
+        msg =  calllib(h.ConnectionLibraryName, 'usb_strerror');
 
     % basically taht was it, leave the other strings below just in case...

branches/behrens/mfiles/private/libusb_win_proto.m

@@ -1 @@
-function [methodinfo,structs,enuminfo]=libusb_win_proto;
+function [methodinfo,structs,enuminfo]=libusb_win_proto
+% Prototype file for library "libusb0" (used in Indows USB communication)
+%
+% Syntax
+%   [methodinfo,structs,enuminfo]=libusb_win_proto
+%
+% Description
+%   This function was generated by loadlibrary.m
+%
+%   It is based on the libusb0 header-file usb.h, whose method
+%   usb_bulk_read ans usb_bulk_write were modified in order to avoid returning zero-terminated
+%   strings (which get truncated by MATLAB with binary data).
+%
+% Signature
+%   Author: Linus Atorf, Alexander Behrens (see AUTHORS)
+%   Date: 2008/08/15
+%   Copyright: 2007-2008, RWTH Aachen University
+;
+%
+% ***********************************************************************************************
+% *  This file is part of the RWTH - Mindstorms NXT Toolbox.                                    *
+% *                                                                                             *
+% *  The RWTH - Mindstorms NXT Toolbox 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.        *
+% *                                                                                             *
+% *  The RWTH - Mindstorms NXT Toolbox 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 the           *
+% *  RWTH - Mindstorms NXT Toolbox. If not, see <http://www.gnu.org/licenses/>.                 *
+% *********************************************************************************************
+% **
+
 %LIBUSB_WIN_PROTO Create structures to define interfaces found in 'usb'.