44 lines
1.5 KiB
C++
44 lines
1.5 KiB
C++
#pragma once
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#include <atomic>
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#include <mutex>
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#include <vector>
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#include <libusb-1.0/libusb.h>
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#include "panda/board/panda.h"
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#define TIMEOUT 0
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class USBDevice {
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public:
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USBDevice() = default;
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~USBDevice();
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bool open(const std::string &serial);
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static std::vector<std::string> list();
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inline int write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout = TIMEOUT) {
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return control_transfer(LIBUSB_ENDPOINT_OUT, bRequest, wValue, wIndex, timeout);
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}
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inline int read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, uint8_t *data, uint16_t wLength, unsigned int timeout = TIMEOUT) {
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return control_transfer(LIBUSB_ENDPOINT_IN, bRequest, wValue, wIndex, timeout);
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}
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inline int bulk_write(uint8_t endpoint, uint8_t *data, int length, unsigned int timeout = TIMEOUT) {
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return bulk_transfer(LIBUSB_ENDPOINT_OUT | endpoint, data, length, timeout);
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}
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inline int bulk_read(uint8_t endpoint, uint8_t *data, int length, unsigned int timeout = TIMEOUT) {
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return bulk_transfer(LIBUSB_ENDPOINT_IN | endpoint, data, length, timeout);
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}
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std::atomic<bool> comms_healthy = true;
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std::atomic<bool> connected = true;
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std::string usb_serial;
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private:
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int control_transfer(libusb_endpoint_direction dir, uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout = TIMEOUT);
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int bulk_transfer(uint8_t endpoint, uint8_t *data, int length, unsigned int timeout = TIMEOUT);
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std::mutex usb_lock;
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libusb_context *ctx = nullptr;
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libusb_device_handle *dev_handle = nullptr;
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};
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