CInterfaceFTDI_WIN.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "comms-precomp.h"  // Precompiled headers

#ifdef MRPT_OS_WINDOWS

/*===========================================================================
        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                                                                START OF FTD2XX.H
        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  ===========================================================================*/
namespace comms
{
// The following ifdef block is the standard way of creating macros which make
// exporting
// from a DLL simpler. All files within this DLL are compiled with the
// FTD2XX_EXPORTS
// symbol defined on the command line. this symbol should not be defined on any
// project
// that uses this DLL. This way any other project whose source files include
// this file see
// FTD2XX_API functions as being imported from a DLL, wheras this DLL sees
// symbols
// defined with this macro as being exported.
#ifdef FTD2XX_EXPORTS
#define FTD2XX_API __declspec(dllexport)
#else
#define FTD2XX_API __declspec(dllimport)
#endif

typedef unsigned long FT_HANDLE;

//
// FT_OpenEx Flags
//

#define FT_OPEN_BY_SERIAL_NUMBER 1
#define FT_OPEN_BY_DESCRIPTION 2

//
// FT_ListDevices Flags (used in conjunction with FT_OpenEx Flags
//

#define FT_LIST_NUMBER_ONLY 0x80000000
#define FT_LIST_BY_INDEX 0x40000000
#define FT_LIST_ALL 0x20000000

#define FT_LIST_MASK (FT_LIST_NUMBER_ONLY | FT_LIST_BY_INDEX | FT_LIST_ALL)

//
// Baud Rates
//

#define FT_BAUD_300 300
#define FT_BAUD_600 600
#define FT_BAUD_1200 1200
#define FT_BAUD_2400 2400
#define FT_BAUD_4800 4800
#define FT_BAUD_9600 9600
#define FT_BAUD_14400 14400
#define FT_BAUD_19200 19200
#define FT_BAUD_38400 38400
#define FT_BAUD_57600 57600
#define FT_BAUD_115200 115200
#define FT_BAUD_230400 230400
#define FT_BAUD_460800 460800
#define FT_BAUD_921600 921600

//
// Word Lengths
//

#define FT_BITS_8 (unsigned char)8
#define FT_BITS_7 (unsigned char)7
#define FT_BITS_6 (unsigned char)6
#define FT_BITS_5 (unsigned char)5

//
// Stop Bits
//

#define FT_STOP_BITS_1 (unsigned char)0
#define FT_STOP_BITS_1_5 (unsigned char)1
#define FT_STOP_BITS_2 (unsigned char)2

//
// Parity
//

#define FT_PARITY_NONE (unsigned char)0
#define FT_PARITY_ODD (unsigned char)1
#define FT_PARITY_EVEN (unsigned char)2
#define FT_PARITY_MARK (unsigned char)3
#define FT_PARITY_SPACE (unsigned char)4

//
// Flow Control
//

#define FT_FLOW_NONE 0x0000
#define FT_FLOW_RTS_CTS 0x0100
#define FT_FLOW_DTR_DSR 0x0200
#define FT_FLOW_XON_XOFF 0x0400

//
// Purge rx and tx buffers
//
#define FT_PURGE_RX 1
#define FT_PURGE_TX 2

//
// Events
//

typedef void (*PFT_EVENT_HANDLER)(unsigned long, unsigned long);

#define FT_EVENT_RXCHAR 1
#define FT_EVENT_MODEM_STATUS 2

//
// Timeouts
//

#define FT_DEFAULT_RX_TIMEOUT 300
#define FT_DEFAULT_TX_TIMEOUT 300

}  // end namespace comms
/*===========================================================================
        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                                                                END OF FTD2XX.H
        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  ===========================================================================*/

#include <windows.h>

#include <mrpt/comms/CInterfaceFTDI.h>

using namespace mrpt;
using namespace mrpt::utils;
using namespace mrpt::comms;
using namespace std;

/*-------------------------------------------------------------
                                        CInterfaceFTDI
-------------------------------------------------------------*/
CInterfaceFTDI::CInterfaceFTDI() : m_readBuffer(4096)
{
        MRPT_START

        m_ftHandle = 0;
        loadDriver();

        MRPT_END
}

/*-------------------------------------------------------------
                                        ~CInterfaceFTDI
-------------------------------------------------------------*/
CInterfaceFTDI::~CInterfaceFTDI()
{
        if (m_hmodule != nullptr)
        {
                // Close USB connection:
                this->Close();

                // Unload FT2XX DLL:
                FreeLibrary((HMODULE)m_hmodule);
                m_hmodule = nullptr;
        }
}

/** This object cannot be copied */
CInterfaceFTDI::CInterfaceFTDI(const CInterfaceFTDI& o) : m_readBuffer(4096)
{
        MRPT_START
        THROW_EXCEPTION("This object cannot be copied");
        MRPT_END
}
CInterfaceFTDI& CInterfaceFTDI::operator=(const CInterfaceFTDI& o)
{
        MRPT_START
        THROW_EXCEPTION("This object cannot be copied");
        MRPT_END
}

/*-------------------------------------------------------------
                                        isOpen
-------------------------------------------------------------*/
bool CInterfaceFTDI::isOpen() { return m_ftHandle != 0; }
/*-------------------------------------------------------------
                                        loadDriver
-------------------------------------------------------------*/
void CInterfaceFTDI::loadDriver()
{
        MRPT_START
        // ------------------------------------------------------
        //                              Windoze version
        // ------------------------------------------------------
        m_hmodule = ::LoadLibraryA("Ftd2xx.dll");
        if (m_hmodule == nullptr) THROW_EXCEPTION("Error: Cannot load Ftd2xx.dll");

        m_pWrite = (PtrToWrite)GetProcAddress((HMODULE)m_hmodule, "FT_Write");
        m_pRead = (PtrToRead)GetProcAddress((HMODULE)m_hmodule, "FT_Read");
        m_pOpen = (PtrToOpen)GetProcAddress((HMODULE)m_hmodule, "FT_Open");
        m_pOpenEx = (PtrToOpenEx)GetProcAddress((HMODULE)m_hmodule, "FT_OpenEx");
        m_pListDevices =
                (PtrToListDevices)GetProcAddress((HMODULE)m_hmodule, "FT_ListDevices");
        m_pClose = (PtrToClose)GetProcAddress((HMODULE)m_hmodule, "FT_Close");
        m_pResetDevice =
                (PtrToResetDevice)GetProcAddress((HMODULE)m_hmodule, "FT_ResetDevice");
        m_pPurge = (PtrToPurge)GetProcAddress((HMODULE)m_hmodule, "FT_Purge");
        m_pSetTimeouts =
                (PtrToSetTimeouts)GetProcAddress((HMODULE)m_hmodule, "FT_SetTimeouts");
        m_pGetQueueStatus = (PtrToGetQueueStatus)GetProcAddress(
                (HMODULE)m_hmodule, "FT_GetQueueStatus");
        m_pSetLatencyTimer = (PtrToSetLatencyTimer)GetProcAddress(
                (HMODULE)m_hmodule, "FT_SetLatencyTimer");

        if (!m_pWrite || !m_pRead || !m_pOpen || !m_pOpenEx || !m_pListDevices ||
                !m_pClose || !m_pResetDevice || !m_pPurge || !m_pSetTimeouts ||
                !m_pGetQueueStatus || !m_pSetLatencyTimer)
                THROW_EXCEPTION("Error loading FTD2XX.DLL");

        MRPT_END
}

/*-------------------------------------------------------------
                                FTD2XX.DLL INTERFACE FUNCTIONS
-------------------------------------------------------------*/
void CInterfaceFTDI::ftdi_open(void* pvDevice)
{
        MRPT_START
        if (isOpen()) Close();

        ASSERT_(m_pOpen);
        checkErrorAndRaise((*m_pOpen)(pvDevice, &m_ftHandle));

        MRPT_END
}

void CInterfaceFTDI::ftdi_openEx(void* pArg1, unsigned long dwFlags)
{
        MRPT_START
        if (isOpen()) Close();

        ASSERT_(m_pOpenEx);
        checkErrorAndRaise((*m_pOpenEx)(pArg1, dwFlags, &m_ftHandle));

        MRPT_END
}

/*-------------------------------------------------------------
                                        ListAllDevices
-------------------------------------------------------------*/
void CInterfaceFTDI::ListAllDevices(TFTDIDeviceList& outList)
{
        MRPT_START

        outList.clear();

        unsigned long nConectedDevices;
        char str[100];

        // Get the number of devices:
        ftdi_listDevices(&nConectedDevices, nullptr, 0x80000000);

        for (size_t i = 0; i < nConectedDevices; i++)
        {
                TFTDIDevice newEntry;

                // Serial number:
                ftdi_listDevices(
                        (void*)(i), (void*)str, (unsigned long)(0x40000000 | 1));
                newEntry.ftdi_serial = str;

                // Description:
                ftdi_listDevices(
                        (void*)(i), (void*)str, (unsigned long)(0x40000000 | 2));
                newEntry.ftdi_description = str;

                outList.push_back(newEntry);
        }

        MRPT_END
}

void CInterfaceFTDI::ftdi_listDevices(
        void* pArg1, void* pArg2, unsigned long dwFlags)
{
        MRPT_START

        ASSERT_(m_pListDevices);
        checkErrorAndRaise((*m_pListDevices)(pArg1, pArg2, dwFlags));

        MRPT_END
}

void CInterfaceFTDI::Close()
{
        MRPT_START

        if (m_ftHandle)
        {
                ASSERT_(m_pClose);
                (*m_pClose)(m_ftHandle);
                m_ftHandle = 0;
        }

        m_readBuffer.clear();

        MRPT_END
}

void CInterfaceFTDI::ftdi_read(
        void* lpvBuffer, unsigned long dwBuffSize, unsigned long* lpdwBytesRead)
{
        MRPT_START

        ASSERT_(m_pRead);
        checkErrorAndRaise(
                (*m_pRead)(m_ftHandle, lpvBuffer, dwBuffSize, lpdwBytesRead));

        MRPT_END
}

void CInterfaceFTDI::ftdi_write(
        const void* lpvBuffer, unsigned long dwBuffSize, unsigned long* lpdwBytes)
{
        MRPT_START

        ASSERT_(m_pWrite);
        checkErrorAndRaise(
                (*m_pWrite)(m_ftHandle, lpvBuffer, dwBuffSize, lpdwBytes));

        MRPT_END
}

void CInterfaceFTDI::ResetDevice()
{
        MRPT_START

        ASSERT_(m_pResetDevice);
        checkErrorAndRaise((*m_pResetDevice)(m_ftHandle));

        m_readBuffer.clear();

        MRPT_END
}

void CInterfaceFTDI::Purge()
{
        MRPT_START

        ASSERT_(m_pPurge);
        unsigned long dwMask = FT_PURGE_RX | FT_PURGE_TX;
        checkErrorAndRaise((*m_pPurge)(m_ftHandle, dwMask));

        m_readBuffer.clear();
        MRPT_END
}

void CInterfaceFTDI::SetTimeouts(
        unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms)
{
        MRPT_START

        ASSERT_(m_pSetTimeouts);
        checkErrorAndRaise(
                (*m_pSetTimeouts)(m_ftHandle, dwReadTimeout_ms, dwWriteTimeout_ms));

        MRPT_END
}

void CInterfaceFTDI::ftdi_getQueueStatus(unsigned long* lpdwAmountInRxQueue)
{
        MRPT_START

        ASSERT_(m_pGetQueueStatus);
        checkErrorAndRaise((*m_pGetQueueStatus)(m_ftHandle, lpdwAmountInRxQueue));

        MRPT_END
}

void CInterfaceFTDI::SetLatencyTimer(unsigned char latency_ms)
{
        MRPT_START

        ASSERT_(m_pSetLatencyTimer);
        checkErrorAndRaise((*m_pSetLatencyTimer)(m_ftHandle, latency_ms));

        MRPT_END
}

/*-------------------------------------------------------------
                                        checkErrorAndRaise
-------------------------------------------------------------*/
void CInterfaceFTDI::checkErrorAndRaise(int errorCode)
{
        /** Possible responses from the driver
        enum FT_STATUS
        {
                FT_OK = 0,
                FT_INVALID_HANDLE,
                FT_DEVICE_NOT_FOUND,
                FT_DEVICE_NOT_OPENED,
                FT_IO_ERROR,
                FT_INSUFFICIENT_RESOURCES,
                FT_INVALID_PARAMETER
        };  */
        switch (errorCode)
        {
                case 0:
                        return;
                case 1:
                        Close();
                        THROW_EXCEPTION("*** FTD2XX ERROR ***: FT_INVALID_HANDLE");
                case 2:
                        Close();
                        THROW_EXCEPTION("*** FTD2XX ERROR ***: FT_DEVICE_NOT_FOUND");
                case 3:
                        Close();
                        THROW_EXCEPTION("*** FTD2XX ERROR ***: FT_DEVICE_NOT_OPENED");
                case 4:
                        Close();
                        THROW_EXCEPTION("*** FTD2XX ERROR ***: FT_IO_ERROR");
                case 5:
                        THROW_EXCEPTION("*** FTD2XX ERROR ***: FT_INSUFFICIENT_RESOURCES");
                case 6:
                        THROW_EXCEPTION("*** FTD2XX ERROR ***: FT_INVALID_PARAMETER");
                default:
                        THROW_EXCEPTION("*** FTD2XX ERROR ***: Invalid error code!?!?!?");
        };
}

/*-------------------------------------------------------------
                                        OpenBySerialNumber
-------------------------------------------------------------*/
void CInterfaceFTDI::OpenBySerialNumber(const std::string& serialNumber)
{
        MRPT_START
        m_readBuffer.clear();

        ftdi_openEx((void*)serialNumber.c_str(), FT_OPEN_BY_SERIAL_NUMBER);
        MRPT_END
}

/*-------------------------------------------------------------
                                        OpenByDescription
-------------------------------------------------------------*/
void CInterfaceFTDI::OpenByDescription(const std::string& description)
{
        MRPT_START
        m_readBuffer.clear();

        ftdi_openEx((void*)description.c_str(), FT_OPEN_BY_DESCRIPTION);
        MRPT_END
}

/*-------------------------------------------------------------
                                        OpenByDescription
-------------------------------------------------------------*/
std::ostream& mrpt::comms::operator<<(std::ostream& o, const TFTDIDevice& d)
{
        o << "Manufacturer            : " << d.ftdi_manufacturer << endl
          << "Description             : " << d.ftdi_description << endl
          << "FTDI serial             : " << d.ftdi_serial << endl
          << "USB ID (Vendor/Product) : "
          << format("%04X / %04X", d.usb_idVendor, d.usb_idProduct) << endl
          << "USB serial              : " << d.usb_serialNumber << endl;

        return o;
}

#endif