1 files changed, 127 insertions, 0 deletions
diff --git a/pybot/com_usb.py b/pybot/com_usb.py
new file mode 100755
index 0000000..54305ba
--- /dev/null
+++ b/pybot/com_usb.py
@@ -0,0 +1,127 @@
+#! /usr/bin/env python
+# -*- coding: utf-8 -*-
+#
+# USB comunication with USB4butia (USB4all) board
+#
+# 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
+# Facultad de Ingeniería - Universidad de la República - Uruguay
+#
+# 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 2 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
+# 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., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+
+import usb
+
+USB4ALL_VENDOR        = 0x04d8
+USB4ALL_PRODUCT       = 0x000c
+USB4ALL_CONFIGURATION = 1
+USB4ALL_INTERFACE     = 0
+
+ADMIN_MODULE_IN_ENDPOINT = 0x01
+ADMIN_MODULE_OUT_ENDPOINT = 0x81
+
+READ_HEADER_SIZE      = 3
+
+TIMEOUT = 250
+
+ERROR = -1
+
+class usb_device():
+
+    def __init__(self, dev):
+        self.device = dev
+        self.handle = None
+        self.debug = True
+
+    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)
+        except usb.USBError, err:
+            if self.debug:
+                print err
+            self.handle = None
+            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
+
+    def read(self, length):
+        """
+        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'
+            raise
+ 
+    def write(self, data):
+        """
+        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'
+            raise
+
+    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)
+            return [names, copy, sn]
+        except Exception, err:
+            if self.debug:
+                print 'Exception in get_info', err
+            raise
+
+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
+    return l
+