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#! /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
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