Integrated pixy into emulator. Pixy is no longer in the common/libs folder but in emulator/libs and discovery/libs

2015-04-03 21:42:46 +02:00
parent c570bda350
commit cab86098c5
68 changed files with 6968 additions and 19 deletions
--- a/emulator/libs/Pixy/src/usblink.cpp
+++ b/emulator/libs/Pixy/src/usblink.cpp
@@ -0,0 +1,175 @@
+//
+// begin license header
+//
+// This file is part of Pixy CMUcam5 or "Pixy" for short
+//
+// All Pixy source code is provided under the terms of the
+// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
+// Those wishing to use Pixy source code, software and/or
+// technologies under different licensing terms should contact us at
+// cmucam@cs.cmu.edu. Such licensing terms are available for
+// all portions of the Pixy codebase presented here.
+//
+// end license header
+//
+
+#include <unistd.h>
+#include <stdio.h>
+#include "usblink.h"
+#include "pixy.h"
+#include "timer.hpp"
+#include "debuglog.h"
+
+
+#define PIXY_VID       0xB1AC
+#define PIXY_DID       0xF000
+#define PIXY_DFU_VID   0x1FC9
+#define PIXY_DFU_DID   0x000C
+
+#define PIXY_ERROR_USB_IO                    LIBUSB_ERROR_IO
+#define PIXY_ERROR_USB_NOT_FOUND             LIBUSB_ERROR_NOT_FOUND
+#define PIXY_ERROR_USB_BUSY                  LIBUSB_ERROR_BUSY
+#define PIXY_ERROR_USB_NO_DEVICE             LIBUSB_ERROR_NO_DEVICE
+
+
+
+USBLink::USBLink()
+{
+  m_handle = 0;
+  m_context = 0;
+  m_blockSize = 64;
+  m_flags = LINK_FLAG_ERROR_CORRECTED;
+}
+
+USBLink::~USBLink()
+{
+  if (m_handle)
+    libusb_close(m_handle);
+  if (m_context)
+    libusb_exit(m_context);
+}
+
+int USBLink::open()
+{
+  int return_value;
+#ifdef __MACOS__
+  const unsigned int MILLISECONDS_TO_SLEEP = 100;
+#endif
+
+  log("pixydebug: USBLink::open()\n");
+
+  return_value = libusb_init(&m_context);
+  log("pixydebug:  libusb_init() = %d\n", return_value);
+
+  if (return_value) {
+    goto usblink_open__exit;
+  }
+
+  m_handle = libusb_open_device_with_vid_pid(m_context, PIXY_VID, PIXY_DID);
+  log("pixydebug:  libusb_open_device_with_vid_pid() = %d\n", m_handle);
+
+  if (m_handle == NULL) {
+    return_value = PIXY_ERROR_USB_NOT_FOUND;
+
+    goto usblink_open__exit;
+  }
+
+#ifdef __MACOS__
+  return_value = libusb_reset_device(m_handle);
+  log("pixydebug:  libusb_reset_device() = %d\n", return_value);
+  usleep(MILLISECONDS_TO_SLEEP * 1000);
+#endif
+
+  return_value = libusb_set_configuration(m_handle, 1);
+  log("pixydebug:  libusb_set_configuration() = %d\n", return_value);
+
+  if (return_value < 0) {
+    goto usblink_open__close_and_exit;
+  }
+
+  return_value = libusb_claim_interface(m_handle, 1);
+  log("pixydebug:  libusb_claim_interface() = %d\n", return_value);
+
+  if (return_value < 0) {
+    goto usblink_open__close_and_exit;
+  }
+
+#ifdef __LINUX__
+  return_value = libusb_reset_device(m_handle);
+  log("pixydebug:  libusb_reset_device() = %d\n", return_value);
+#endif
+
+  /* Success */
+  return_value = 0;
+  goto usblink_open__exit;
+
+usblink_open__close_and_exit:
+  /* Cleanup after error */
+
+  libusb_close(m_handle);
+  m_handle = 0;
+
+usblink_open__exit:
+  log("pixydebug: USBLink::open() returned %d\n", return_value);
+
+  return return_value;
+}
+
+
+
+int USBLink::send(const uint8_t *data, uint32_t len, uint16_t timeoutMs)
+{
+    int res, transferred;
+    
+    log("pixydebug: USBLink::send()\n");
+
+    if (timeoutMs==0) // 0 equals infinity
+        timeoutMs = 10;
+
+    if ((res=libusb_bulk_transfer(m_handle, 0x02, (unsigned char *)data, len, &transferred, timeoutMs))<0)
+    {
+        log("pixydebug:  libusb_bulk_transfer() = %d\n", res);
+#ifdef __MACOS__
+        libusb_clear_halt(m_handle, 0x02);
+#endif
+        log("pixydebug: USBLink::send() returned %d\n", res);
+        return res;
+    }
+    
+    log("pixydebug: USBLink::send() returned %d\n", transferred);
+    return transferred;
+}
+
+int USBLink::receive(uint8_t *data, uint32_t len, uint16_t timeoutMs)
+{
+    int res, transferred;
+
+    log("pixydebug: USBLink::receive()\n");
+
+    if (timeoutMs==0) // 0 equals infinity
+        timeoutMs = 50;
+
+    if ((res=libusb_bulk_transfer(m_handle, 0x82, (unsigned char *)data, len, &transferred, timeoutMs))<0)
+    {
+        log("pixydebug:  libusb_bulk_transfer() = %d\n", res);
+#ifdef __MACOS__
+        libusb_clear_halt(m_handle, 0x82);
+#endif
+        return res;
+    }
+    
+    log("pixydebug:  libusb_bulk_transfer(%d bytes) = %d\n", len, res);
+    log("pixydebug: USBLink::receive() returned %d (bytes transferred)\n", transferred);
+    return transferred;
+}
+
+void USBLink::setTimer()
+{
+  timer_.reset();
+}
+
+uint32_t USBLink::getTimer()
+{
+  return timer_.elapsed();
+}
+