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--module(..., package.seeall);
local bobot_baseboard = require("bobot_baseboard")
local bobot = require("bobot")
local my_path = debug.getinfo(1, "S").source:match[[^@?(.*[\/])[^\/]-$]]
assert(package.loadlib(my_path .. "libluausb.so","luaopen_libusb"))()
local libusb=_G.libusb; _G.libusb=nil
local usb_bulk_write = libusb.bulk_write
local usb_bulk_read = libusb.bulk_read
local USB4ALL_VENDOR = 0x04d8
local USB4ALL_PRODUCT = 0x000c
local USB4ALL_CONFIGURATION = 1
local USB4ALL_INTERFACE = 0
local READ_HEADER_SIZE = 3
local libusb_handler
local comms_usb = {}
function comms_usb.send(endpoint, data, timeout)
--parameters sanity check
assert(type(libusb_handler)=="userdata")
assert(type(endpoint)=="number")
assert(type(data)=="string")
assert(type(timeout)=="number")
return usb_bulk_write(libusb_handler, endpoint, data, timeout)
end
function comms_usb.read(endpoint, len, timeout)
--parameters sanity check
assert(type(libusb_handler)=="userdata")
assert(type(endpoint)=="number")
assert(type(len)=="number")
assert(type(timeout)=="number")
return usb_bulk_read(libusb_handler, endpoint, len+READ_HEADER_SIZE, timeout)
end
function comms_usb.init(baseboards)
--parameters sanity check
assert(type(baseboards)=="table")
--refresh devices and buses
libusb.find_busses()
libusb.find_devices()
local n_boards = 0
local buses=libusb.get_busses()
for dirname, bus in pairs(buses) do --iterate buses
local devices=libusb.get_devices(bus)
for filename, device in pairs(devices) do --iterate devices
local descriptor = libusb.device_descriptor(device)
--if device is baseboard...
if ((descriptor.idVendor == USB4ALL_VENDOR) and (descriptor.idProduct == USB4ALL_PRODUCT)) then
--try to intialize baseboard
bobot.debugprint("Initializing Baseboard:", descriptor.idVendor, descriptor.idProduct)
libusb_handler = libusb.open(device)
if not libusb_handler then
bobot.debugprint("Error opening device")
break
end
if not libusb.set_configuration(libusb_handler, USB4ALL_CONFIGURATION) then
bobot.debugprint("Error configuring device, retrying after a reset")
libusb.reset(libusb_handler)
if not libusb.set_configuration(libusb_handler, USB4ALL_CONFIGURATION) then
bobot.debugprint("Error configuring device.")
break
end
end
if not libusb.claim_interface(libusb_handler, USB4ALL_INTERFACE) then
bobot.debugprint("Error seting device interface")
break
end
--success initializing, instantiate BaseBoard object and register
local iSerial=descriptor.iSerialNumber
local bb = bobot_baseboard:new({idBoard=iSerial, comms=comms_usb})
--bb:force_close_all()
--bobot.debugprint("Baseboard:", iSerial)
baseboards[#baseboards+1]=bb
n_boards = n_boards + 1
end
end
end
return n_boards
end
return comms_usb
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