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CInterfaceFTDI.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                   http://mrpt.sourceforge.net/                            |
   |                                                                           |
   |   Copyright (C) 2005-2010  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */

#ifndef CInterfaceFTDI_H
#define CInterfaceFTDI_H

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

#include <mrpt/hwdrivers/link_pragmas.h>

namespace mrpt
{
        namespace hwdrivers
        {

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

                        uint16_t                usb_idVendor;
                        uint16_t                usb_idProduct;
                        uint8_t                 usb_serialNumber;

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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


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

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

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

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

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

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

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

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

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


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

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

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

                        void                            *m_hmodule;
                        unsigned long           m_ftHandle;

                        void            loadDriver();

                        enum FT_STATUS
                        {
                                dummy
                        };

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

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

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

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

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

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

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

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

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

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

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

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

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


        #endif


                }; // end of class

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

#endif

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