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00029 #ifndef CInterfaceFTDI_H
00030 #define CInterfaceFTDI_H
00031
00032 #include <mrpt/config.h>
00033 #include <mrpt/utils/CStream.h>
00034 #include <mrpt/utils/stl_extensions.h>
00035
00036 #include <mrpt/hwdrivers/link_pragmas.h>
00037
00038 namespace mrpt
00039 {
00040 namespace hwdrivers
00041 {
00042
00043
00044
00045
00046 struct HWDRIVERS_IMPEXP TFTDIDevice
00047 {
00048 std::string ftdi_manufacturer;
00049 std::string ftdi_description;
00050 std::string ftdi_serial;
00051
00052 uint16_t usb_idVendor;
00053 uint16_t usb_idProduct;
00054 uint8_t usb_serialNumber;
00055
00056 #if defined(MRPT_OS_LINUX) || defined(MRPT_OS_APPLE)
00057
00058 void *usb_device_struct;
00059 #endif
00060 };
00061
00062
00063 std::ostream HWDRIVERS_IMPEXP &operator << ( std::ostream &o, const TFTDIDevice &d);
00064
00065
00066 typedef std::deque<TFTDIDevice> TFTDIDeviceList;
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00089
00090 class HWDRIVERS_IMPEXP CInterfaceFTDI : public utils::CStream
00091 {
00092 public:
00093
00094
00095 CInterfaceFTDI();
00096
00097
00098
00099 virtual ~CInterfaceFTDI();
00100
00101
00102 CInterfaceFTDI(const CInterfaceFTDI &o);
00103
00104
00105 CInterfaceFTDI& operator =(const CInterfaceFTDI &o);
00106
00107
00108
00109
00110 bool isOpen();
00111
00112
00113
00114 void OpenBySerialNumber( const std::string &serialNumber );
00115
00116
00117
00118 void OpenByDescription( const std::string &description );
00119
00120
00121 void Close();
00122
00123
00124 void ResetDevice();
00125
00126
00127 void Purge();
00128
00129
00130 void SetLatencyTimer (unsigned char latency_ms);
00131
00132
00133 void SetTimeouts(unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms);
00134
00135
00136
00137
00138 void ListAllDevices( TFTDIDeviceList &outList );
00139
00140
00141
00142 size_t ReadSync(void *Buffer, size_t Count)
00143 {
00144 return Read(Buffer,Count);
00145 }
00146
00147
00148
00149 size_t WriteSync(const void *Buffer, size_t Count)
00150 {
00151 return Write(Buffer,Count);
00152 }
00153
00154
00155
00156
00157
00158 virtual size_t ReadBufferImmediate(void *Buffer, size_t Count);
00159
00160 protected:
00161
00162
00163
00164 size_t Read(void *Buffer, size_t Count);
00165
00166 mrpt::utils::circular_buffer<uint8_t> m_readBuffer;
00167
00168
00169
00170
00171 size_t Write(const void *Buffer, size_t Count);
00172
00173
00174
00175 uint64_t Seek(long Offset, CStream::TSeekOrigin Origin = sFromBeginning);
00176
00177
00178
00179 uint64_t getTotalBytesCount();
00180
00181
00182
00183 uint64_t getPosition();
00184
00185
00186 void ftdi_read(void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytesRead);
00187 void ftdi_write(const void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytes);
00188
00189 #if defined(MRPT_OS_WINDOWS)
00190 private:
00191 void checkErrorAndRaise(int errorCode);
00192
00193 void ftdi_open(void* pvDevice);
00194 void ftdi_openEx(void* pArg1, unsigned long dwFlags);
00195 void ftdi_listDevices(void *pArg1, void *pArg2, unsigned long dwFlags);
00196 void ftdi_getQueueStatus(unsigned long *lpdwAmountInRxQueue);
00197
00198 void *m_hmodule;
00199 unsigned long m_ftHandle;
00200
00201 void loadDriver();
00202
00203 enum FT_STATUS
00204 {
00205 dummy
00206 };
00207
00208 typedef FT_STATUS (__stdcall *PtrToOpen)(void*, unsigned long *);
00209 PtrToOpen m_pOpen;
00210
00211 typedef FT_STATUS (__stdcall *PtrToOpenEx)(void*, unsigned long, unsigned long *);
00212 PtrToOpenEx m_pOpenEx;
00213
00214 typedef FT_STATUS (__stdcall *PtrToListDevices)(void*, void*, unsigned long);
00215 PtrToListDevices m_pListDevices;
00216
00217 typedef FT_STATUS (__stdcall *PtrToClose)(unsigned long );
00218 PtrToClose m_pClose;
00219
00220 typedef FT_STATUS (__stdcall *PtrToRead)(unsigned long , void *, unsigned long, unsigned long *);
00221 PtrToRead m_pRead;
00222
00223 typedef FT_STATUS (__stdcall *PtrToWrite)(unsigned long , const void *, unsigned long, unsigned long *);
00224 PtrToWrite m_pWrite;
00225
00226 typedef FT_STATUS (__stdcall *PtrToResetDevice)(unsigned long );
00227 PtrToResetDevice m_pResetDevice;
00228
00229 typedef FT_STATUS (__stdcall *PtrToPurge)(unsigned long , unsigned long);
00230 PtrToPurge m_pPurge;
00231
00232 typedef FT_STATUS (__stdcall *PtrToSetTimeouts)(unsigned long , unsigned long, unsigned long);
00233 PtrToSetTimeouts m_pSetTimeouts;
00234
00235 typedef FT_STATUS (__stdcall *PtrToGetQueueStatus)(unsigned long , unsigned long *);
00236 PtrToGetQueueStatus m_pGetQueueStatus;
00237
00238 typedef FT_STATUS (__stdcall *PtrToSetLatencyTimer )(unsigned long , unsigned char);
00239 PtrToSetLatencyTimer m_pSetLatencyTimer;
00240
00241 #else
00242
00243 void *m_ftdi_context;
00244
00245
00246 void recursive_fill_list_devices( void *usb_device_structure , TFTDIDeviceList &outList );
00247
00248
00249 #endif
00250
00251
00252 };
00253
00254 }
00255 }
00256
00257 #endif