diff options
Diffstat (limited to 'pybot/com_usb.py')
| -rw-r--r--[-rwxr-xr-x] | pybot/com_usb.py | 76 |
1 files changed, 34 insertions, 42 deletions
diff --git a/pybot/com_usb.py b/pybot/com_usb.py index 54305ba..ad8891f 100755..100644 --- a/pybot/com_usb.py +++ b/pybot/com_usb.py @@ -3,6 +3,7 @@ # # USB comunication with USB4butia (USB4all) board # +# Copyright (c) 2012-2013 Alan Aguiar alanjas@hotmail.com # Copyright (c) 2012-2013 Butiá Team butia@fing.edu.uy # Butia is a free and open robotic platform # www.fing.edu.uy/inco/proyectos/butia @@ -21,7 +22,6 @@ # along with this program; if not, write to the Free Software # Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - import usb USB4ALL_VENDOR = 0x04d8 @@ -41,48 +41,39 @@ ERROR = -1 class usb_device(): def __init__(self, dev): - self.device = dev - self.handle = None - self.debug = True + self.dev = dev + self.debug = False + + def _debug(self, message, err=''): + if self.debug: + print message, err def open_device(self): """ Open the baseboard, configure the interface """ try: - self.handle = self.device.open() - self.handle.setConfiguration(USB4ALL_CONFIGURATION) - self.handle.claimInterface(USB4ALL_INTERFACE) + if self.dev.is_kernel_driver_active(USB4ALL_INTERFACE): + self.dev.detach_kernel_driver(USB4ALL_INTERFACE) + self.dev.set_configuration(USB4ALL_CONFIGURATION) except usb.USBError, err: - if self.debug: - print err - self.handle = None + self._debug('ERROR:com_usb:open_device', err) raise - return self.handle def close_device(self): """ Close the comunication with the baseboard """ - try: - if self.handle: - self.handle.releaseInterface() - except Exception, err: - if self.debug: - print err - raise - self.handle = None - self.device = None + self.dev = None - def read(self, length): + def read(self, size): """ Read from the device length bytes """ try: - return self.handle.bulkRead(ADMIN_MODULE_OUT_ENDPOINT, length, TIMEOUT) - except: - if self.debug: - print 'Exception in read usb' + return self.dev.read(ADMIN_MODULE_OUT_ENDPOINT, size, USB4ALL_INTERFACE, TIMEOUT) + except Exception, err: + self._debug('ERROR:com_usb:read', err) raise def write(self, data): @@ -90,24 +81,31 @@ class usb_device(): Write in the device: data """ try: - return self.handle.bulkWrite(ADMIN_MODULE_IN_ENDPOINT, data, TIMEOUT) - except: - if self.debug: - print 'Exception in write usb' + return self.dev.write(ADMIN_MODULE_IN_ENDPOINT, data, USB4ALL_INTERFACE, TIMEOUT) + except Exception, err: + self._debug('ERROR:com_usb:write', err) raise + def get_address(self): + """ + Get unique address for the usb + """ + if self.dev is not None: + return self.dev.address + else: + return None + def get_info(self): """ Get the device info such as manufacturer, etc """ try: - names = self.handle.getString(1, 255) - copy = self.handle.getString(2, 255) - sn = self.handle.getString(3, 255) + names = usb.util.get_string(self.dev, 255, 1, None).encode('ascii') + copy = usb.util.get_string(self.dev, 255, 2, None).encode('ascii') + sn = usb.util.get_string(self.dev, 255, 3, None).encode('ascii') return [names, copy, sn] except Exception, err: - if self.debug: - print 'Exception in get_info', err + self._debug('ERROR:com_usb:get_info', err) raise def find(): @@ -115,13 +113,7 @@ def find(): List all busses and returns a list of baseboards detected """ l = [] - try: - for bus in usb.busses(): - for dev in bus.devices: - if dev.idVendor == USB4ALL_VENDOR and dev.idProduct == USB4ALL_PRODUCT: - l.append(usb_device(dev)) - except Exception, err: - if self.debug: - print 'find gives the error:', err + for b in usb.core.find(find_all=True, idVendor=USB4ALL_VENDOR, idProduct=USB4ALL_PRODUCT): + l.append(usb_device(b)) return l |