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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
00035 #include <mrpt/hwdrivers/link_pragmas.h>
00036
00037 namespace mrpt
00038 {
00039 namespace hwdrivers
00040 {
00041
00042
00043
00044
00045 struct HWDLLIMPEXP TFTDIDevice
00046 {
00047 std::string ftdi_manufacturer;
00048 std::string ftdi_description;
00049 std::string ftdi_serial;
00050
00051 uint16_t usb_idVendor;
00052 uint16_t usb_idProduct;
00053 uint8_t usb_serialNumber;
00054
00055 #ifdef MRPT_OS_LINUX
00056
00057 void *usb_device_struct;
00058 #endif
00059 };
00060
00061
00062 std::ostream HWDLLIMPEXP &operator << ( std::ostream &o, const TFTDIDevice &d);
00063
00064
00065 typedef std::deque<TFTDIDevice> TFTDIDeviceList;
00066
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00088
00089 class HWDLLIMPEXP CInterfaceFTDI : public utils::CStream
00090 {
00091 public:
00092
00093
00094 CInterfaceFTDI();
00095
00096
00097
00098 virtual ~CInterfaceFTDI();
00099
00100
00101 CInterfaceFTDI(const CInterfaceFTDI &o);
00102
00103
00104 CInterfaceFTDI& operator =(const CInterfaceFTDI &o);
00105
00106
00107
00108
00109 bool isOpen();
00110
00111
00112
00113 void OpenBySerialNumber( const std::string &serialNumber );
00114
00115
00116
00117 void OpenByDescription( const std::string &description );
00118
00119
00120 void Close();
00121
00122
00123 void ResetDevice();
00124
00125
00126 void Purge();
00127
00128
00129 void SetLatencyTimer (unsigned char latency_ms);
00130
00131
00132 void SetTimeouts(unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms);
00133
00134
00135
00136
00137 void ListAllDevices( TFTDIDeviceList &outList );
00138
00139
00140
00141 size_t ReadSync(void *Buffer, size_t Count)
00142 {
00143 return Read(Buffer,Count);
00144 }
00145
00146
00147
00148 size_t WriteSync(const void *Buffer, size_t Count)
00149 {
00150 return Write(Buffer,Count);
00151 }
00152
00153 protected:
00154
00155
00156 size_t Read(void *Buffer, size_t Count);
00157
00158
00159
00160
00161 size_t Write(const void *Buffer, size_t Count);
00162
00163
00164
00165 size_t Seek(long Offset, CStream::TSeekOrigin Origin = sFromBeginning);
00166
00167
00168
00169 size_t getTotalBytesCount();
00170
00171
00172
00173 size_t getPosition();
00174
00175
00176 void ftdi_read(void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytesRead);
00177 void ftdi_write(const void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytes);
00178
00179 #if defined(MRPT_OS_WINDOWS)
00180 private:
00181 void checkErrorAndRaise(int errorCode);
00182
00183 void ftdi_open(void* pvDevice);
00184 void ftdi_openEx(void* pArg1, unsigned long dwFlags);
00185 void ftdi_listDevices(void *pArg1, void *pArg2, unsigned long dwFlags);
00186 void ftdi_getQueueStatus(unsigned long *lpdwAmountInRxQueue);
00187
00188 void *m_hmodule;
00189 unsigned long m_ftHandle;
00190
00191 void loadDriver();
00192
00193 enum FT_STATUS
00194 {
00195 dummy
00196 };
00197
00198 typedef FT_STATUS (__stdcall *PtrToOpen)(void*, unsigned long *);
00199 PtrToOpen m_pOpen;
00200
00201 typedef FT_STATUS (__stdcall *PtrToOpenEx)(void*, unsigned long, unsigned long *);
00202 PtrToOpenEx m_pOpenEx;
00203
00204 typedef FT_STATUS (__stdcall *PtrToListDevices)(void*, void*, unsigned long);
00205 PtrToListDevices m_pListDevices;
00206
00207 typedef FT_STATUS (__stdcall *PtrToClose)(unsigned long );
00208 PtrToClose m_pClose;
00209
00210 typedef FT_STATUS (__stdcall *PtrToRead)(unsigned long , void *, unsigned long, unsigned long *);
00211 PtrToRead m_pRead;
00212
00213 typedef FT_STATUS (__stdcall *PtrToWrite)(unsigned long , const void *, unsigned long, unsigned long *);
00214 PtrToWrite m_pWrite;
00215
00216 typedef FT_STATUS (__stdcall *PtrToResetDevice)(unsigned long );
00217 PtrToResetDevice m_pResetDevice;
00218
00219 typedef FT_STATUS (__stdcall *PtrToPurge)(unsigned long , unsigned long);
00220 PtrToPurge m_pPurge;
00221
00222 typedef FT_STATUS (__stdcall *PtrToSetTimeouts)(unsigned long , unsigned long, unsigned long);
00223 PtrToSetTimeouts m_pSetTimeouts;
00224
00225 typedef FT_STATUS (__stdcall *PtrToGetQueueStatus)(unsigned long , unsigned long *);
00226 PtrToGetQueueStatus m_pGetQueueStatus;
00227
00228 typedef FT_STATUS (__stdcall *PtrToSetLatencyTimer )(unsigned long , unsigned char);
00229 PtrToSetLatencyTimer m_pSetLatencyTimer;
00230
00231 #else
00232
00233 void *m_ftdi_context;
00234
00235
00236 void recursive_fill_list_devices( void *usb_device_structure , TFTDIDeviceList &outList );
00237
00238
00239 #endif
00240
00241
00242 };
00243
00244 }
00245 }
00246
00247 #endif