usbinterface.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 <xsens/xsthread.h>
#include <xsens/xsportinfo.h>
#include "usbinterface.h"
#include <errno.h>
 
#ifdef USE_WINUSB
#include "xswinusb.h"
#else
#include "xslibusb.h"
#endif
 
#ifndef _WIN32
#include <string.h>  // strcpy
#else
#include <winbase.h>
#include <io.h>
#endif
 
#ifndef _CRT_SECURE_NO_DEPRECATE
#define _CRT_SECURE_NO_DEPRECATE
#ifdef _WIN32
#pragma warning(disable : 4996)
#endif
#endif
 
/*! \brief Private object for UsbInterface */
class UsbInterfacePrivate
{
   public:
#ifdef LOG_RX_TX
    XsFileHandle* rx_log;
    XsFileHandle* tx_log;
#endif
 
    //! The time at which an operation will end in ms, used by several
    //! functions.
    uint32_t m_endTime;
    //! The last result of an operation
    XsResultValue m_lastResult;
    /*! The default timeout value to use during blocking operations.
        A value of 0 means that all operations become non-blocking.
    */
    uint32_t m_timeout;
 
    int m_interfaceCount;
    int m_interface;
    int m_dataInEndPoint;
    int m_dataOutEndPoint;
    char m_portname[256];
 
#ifdef USE_WINUSB
    XsWinUsb m_winUsb;
    WINUSB_INTERFACE_HANDLE m_usbHandle[2];
    uint8_t m_bulkInPipe, m_bulkOutPipe, m_interruptPipe, m_deviceSpeed;
    uint16_t m_bulkInPipePacketSize;
    XsIoHandle m_deviceHandle;
 
    XsThreadId m_threadId;
    XsThread m_threadHandle;
    static const int m_oCount = MAXIMUM_WAIT_OBJECTS - 1;
    OVERLAPPED m_overlapped[m_oCount];
    XsByteArray m_varBuffer;
    static const int m_fixedBufferSize = 8192;
    static const int m_fastPolicyThreshold = 3;
    uint8_t m_fixedBuffer[m_oCount][m_fixedBufferSize];
    // int m_offset;
    CRITICAL_SECTION m_mutex;
    HANDLE m_quitEvent;
    volatile bool m_running;
    HANDLE m_waitEvents[m_oCount];
    int m_readIdx;
 
    void threadFunc();
 
#else
    libusb_device_handle* m_deviceHandle;
    /*! \brief A context manager for libusb
 
      For predictable operation with libusb, it is recommended to use at least
      one context per library.
    */
    class UsbContext
    {
       public:
        /*! \brief Create the USB context
        */
        UsbContext()
        {
            m_libUsb.init(&m_usbContext);
            // libusb_set_debug(m_usbContext, 3);
        }
 
        /*! \brief Destroy the USB context */
        ~UsbContext() { m_libUsb.exit(m_usbContext); }
        libusb_context* m_usbContext;  // needed for proper use of libusb
        XsLibUsb m_libUsb;
    };
 
    // JLBC for MRPT: Avoid crashes in apps exit, even when XSens code is not
    // called:
    // -> Converted into a singleton:
    // Was: static UsbContext m_contextManager;
    static UsbContext& getContextManager()
    {
        static UsbContext obj;
        return obj;
    }
 
    /*! \brief Map a libusb_error to XsResultValue
 
        \a param libusbError [in] the result code to convert
        \a param hint give a hint for the code to return when in doubt
    */
    XsResultValue libusbErrorToXrv(
        int libusbError, XsResultValue hint = XRV_ERROR)
    {
        switch (libusbError)
        {
            case LIBUSB_SUCCESS:
                return XRV_OK;
 
            case LIBUSB_ERROR_IO:
                return hint;
 
            case LIBUSB_ERROR_INVALID_PARAM:
                return XRV_INVALIDPARAM;
 
            case LIBUSB_ERROR_ACCESS:
                return hint;
 
            case LIBUSB_ERROR_NO_DEVICE:
                return XRV_NOPORTOPEN;
 
            case LIBUSB_ERROR_NOT_FOUND:
                return XRV_NOTFOUND;
 
            case LIBUSB_ERROR_BUSY:
                return XRV_INVALIDOPERATION;
 
            case LIBUSB_ERROR_TIMEOUT:
                return XRV_TIMEOUT;
 
            case LIBUSB_ERROR_OVERFLOW:
                return hint;
 
            case LIBUSB_ERROR_PIPE:
                return hint;
 
            case LIBUSB_ERROR_INTERRUPTED:
                return XRV_UNEXPECTEDMSG;
 
            case LIBUSB_ERROR_NO_MEM:
                return XRV_OUTOFMEMORY;
 
            case LIBUSB_ERROR_NOT_SUPPORTED:
                return XRV_NOTIMPLEMENTED;
 
            case LIBUSB_ERROR_OTHER:
                return hint;
        }
        return hint;
    }
 
    /*! \brief Convert a libusb error to a human-readable string */
    const char* libusbErrorToString(int libusbError)
    {
        switch (libusbError)
        {
            case LIBUSB_SUCCESS:
                return "LIBUSB_SUCCESS";
 
            case LIBUSB_ERROR_IO:
                return "LIBUSB_ERROR_IO";
 
            case LIBUSB_ERROR_INVALID_PARAM:
                return "LIBUSB_ERROR_INVALID_PARAM";
 
            case LIBUSB_ERROR_ACCESS:
                return "LIBUSB_ERROR_ACCESS";
 
            case LIBUSB_ERROR_NO_DEVICE:
                return "LIBUSB_ERROR_NO_DEVICE";
 
            case LIBUSB_ERROR_NOT_FOUND:
                return "LIBUSB_ERROR_NOT_FOUND";
 
            case LIBUSB_ERROR_BUSY:
                return "LIBUSB_ERROR_BUSY";
 
            case LIBUSB_ERROR_TIMEOUT:
                return "LIBUSB_ERROR_TIMEOUT";
 
            case LIBUSB_ERROR_OVERFLOW:
                return "LIBUSB_ERROR_OVERFLOW";
 
            case LIBUSB_ERROR_PIPE:
                return "LIBUSB_ERROR_PIPE";
 
            case LIBUSB_ERROR_INTERRUPTED:
                return "LIBUSB_ERROR_INTERRUPTED";
 
            case LIBUSB_ERROR_NO_MEM:
                return "LIBUSB_ERROR_NO_MEM";
 
            case LIBUSB_ERROR_NOT_SUPPORTED:
                return "LIBUSB_ERROR_NOT_SUPPORTED";
 
            case LIBUSB_ERROR_OTHER:
                return "LIBUSB_ERROR_OTHER";
        }
        return "Unknown";
    }
#endif
};
 
#ifdef USE_WINUSB
DWORD usbReadThreadFunc(void* obj)
{
    UsbInterfacePrivate* d = (UsbInterfacePrivate*)obj;
    d->m_running = true;
    xsSetThreadPriority(
        xsGetCurrentThreadHandle(), XS_THREAD_PRIORITY_HIGHEST);  // lint !e534
    xsNameThisThread("USB reader");
    try
    {
        d->threadFunc();
        d->m_running = false;
    }
    catch (...)
    {
        xsNameThisThread("Crashed USB reader");
        d->m_running = false;
        XsTime::msleep(10000);
    }
    return 0;
}
 
void UsbInterfacePrivate::threadFunc()
{
    HANDLE handles[1 + m_oCount];
    handles[0] = m_quitEvent;
    handles[m_oCount] = m_waitEvents[m_oCount - 1];
    //= { m_quitEvent, m_waitEvents[0], m_waitEvents[1] };
 
    // start first read operation
    for (m_readIdx = 0; m_readIdx < (m_oCount - 1); ++m_readIdx)
    {
        handles[m_readIdx + 1] = m_waitEvents[m_readIdx];
        // m_readIdx = 0;
        m_overlapped[m_readIdx] = OVERLAPPED();
        ::ResetEvent(m_waitEvents[m_readIdx]);  // lint !e534
        m_overlapped[m_readIdx].hEvent = m_waitEvents[m_readIdx];
        m_winUsb.ReadPipe(
            m_usbHandle[1], m_bulkInPipe, m_fixedBuffer[m_readIdx],
            (ULONG)m_fixedBufferSize, 0,
            &m_overlapped[m_readIdx]);  // lint !e534
    }
    int fastCount = 0;
    // m_readIdx = 1;
    bool policyFast = false;
    bool run = true;
    while (run)
    {
        // start follow-up read operation
        m_overlapped[m_readIdx] = OVERLAPPED();
        ::ResetEvent(m_waitEvents[m_readIdx]);  // lint !e534
        m_overlapped[m_readIdx].hEvent = m_waitEvents[m_readIdx];
        m_winUsb.ReadPipe(
            m_usbHandle[1], m_bulkInPipe, m_fixedBuffer[m_readIdx],
            (ULONG)m_fixedBufferSize, 0,
            &m_overlapped[m_readIdx]);  // lint !e534
        m_readIdx = (m_readIdx + 1) % m_oCount;
        int64_t tBegin = XsTime_timeStampNow(0);
        DWORD waitResult =
            ::WaitForMultipleObjects(1 + m_oCount, handles, FALSE, INFINITE);
#if 0  // not sure if this causes problems, but it should help in catching up
        int64_t tEnd = XsTime_timeStampNow(0);
        switch (tEnd - tBegin)
        {
        case 0:
            if (++fastCount > m_fastPolicyThreshold && !policyFast)
            {
                policyFast = true;
                // set fast policy
                UCHAR enable = TRUE;
                m_winUsb.SetPipePolicy(m_usbHandle[1], m_bulkInPipe, IGNORE_SHORT_PACKETS, sizeof(UCHAR), &enable); //lint !e534
            }
            break;
 
        case 1:
            if (fastCount)
                --fastCount;
            if (policyFast && fastCount <= m_fastPolicyThreshold)
            {
                // reset policy
                policyFast = false;
                UCHAR enable = FALSE;
                m_winUsb.SetPipePolicy(m_usbHandle[1], m_bulkInPipe, IGNORE_SHORT_PACKETS, sizeof(UCHAR), &enable); //lint !e534
            }
            break;
 
        default:
            fastCount = 0;
            if (policyFast)
            {
                // reset policy
                policyFast = false;
                UCHAR enable = FALSE;
                m_winUsb.SetPipePolicy(m_usbHandle[1], m_bulkInPipe, IGNORE_SHORT_PACKETS, sizeof(UCHAR), &enable); //lint !e534
            }
            break;
        }
#endif
 
        // handle data
        switch (waitResult)
        {
            case WAIT_TIMEOUT:
            case WAIT_FAILED:
            case WAIT_OBJECT_0:
                run = false;
                break;
 
            default:
                if (waitResult >= WAIT_ABANDONED_0)
                {
                    JLDEBUG(
                        gJournal,
                        "WFMO abandoned: " << (waitResult - WAIT_OBJECT_0));
                    break;
                }
 
#ifndef XSENS_RELEASE
                JLDEBUG(
                    gJournal, "WFMO trigger: " << (waitResult - WAIT_OBJECT_0));
#endif
                {
                    // put data into buffer
                    int idx = m_readIdx;
                    DWORD dataRead = 0;
                    if (!m_winUsb.GetOverlappedResult(
                            m_usbHandle[0], &m_overlapped[idx], &dataRead,
                            FALSE))
                    {
                        // error
                        DWORD err = ::GetLastError();
                        switch (err)
                        {
                            case ERROR_SEM_TIMEOUT:
                            case ERROR_IO_INCOMPLETE:
                                // JLDEBUG(gJournal,
                                // "m_winUsb.GetOverlappedResult resulted in
                                // acceptable windows error " << err);
                                break;
 
                            default:
                                JLALERT(
                                    gJournal,
                                    "m_winUsb.GetOverlappedResult resulted in "
                                    "windows error "
                                        << err);
                                run = false;
                                break;
                        }
                        // assert (err == ERROR_IO_INCOMPLETE);
                    }
                    else
                    {
                        // append unread data to var buffer
                        JLTRACE(
                            gJournal,
                            "m_winUsb.GetOverlappedResult resulted in "
                                << dataRead << " bytes being read");
                        XsByteArray ref(
                            &m_fixedBuffer[idx][0], dataRead, XSDF_None);
                        ::EnterCriticalSection(&m_mutex);
                        m_varBuffer.append(ref);
                        ::LeaveCriticalSection(&m_mutex);
                    }
                }
                break;
        }
    }
}
 
#else
// UsbInterfacePrivate::UsbContext UsbInterfacePrivate::m_contextManager; //
// JLBC for MRPT: Removed due to factoring as singleton
// => UsbInterfacePrivate::getContextManager()
#endif
 
/*! \class UsbInterface
    \brief An IoInterface for dealing specifically with Xsens USB devices
*/
 
/*! \brief Default constructor, initializes all members to their default values.
*/
UsbInterface::UsbInterface() : d(new UsbInterfacePrivate)
{
    d->m_lastResult = XRV_OK;
    d->m_timeout = 20;
    d->m_endTime = 0;
    d->m_dataInEndPoint = -1;
    d->m_dataOutEndPoint = -1;
    d->m_deviceHandle = 0;
    d->m_portname[0] = 0;
#ifdef LOG_RX_TX
    d->rx_log = nullptr;
    d->tx_log = nullptr;
#endif
#ifdef USE_WINUSB
    d->m_threadHandle = INVALID_HANDLE_VALUE;
    ::InitializeCriticalSection(&d->m_mutex);
    d->m_usbHandle[0] = 0;
    d->m_usbHandle[1] = 0;
    for (int i = 0; i < d->m_oCount; ++i)
    {
        d->m_waitEvents[i] = ::CreateEvent(nullptr, TRUE, FALSE, nullptr);
        ::ResetEvent(d->m_waitEvents[i]);
    }
    d->m_quitEvent = ::CreateEvent(nullptr, TRUE, FALSE, nullptr);
    ::ResetEvent(d->m_quitEvent);
    d->m_readIdx = 0;
//      d->m_offset = 0;
#endif
}
 
//! Destructor, de-initializes, frees memory allocated for buffers, etc.
UsbInterface::~UsbInterface()
{
    try
    {
        closeUsb();  // lint !e534
#ifdef USE_WINUSB
        ::CloseHandle(d->m_quitEvent);  // lint !e534
        for (int i = 0; i < d->m_oCount; ++i)
            ::CloseHandle(d->m_waitEvents[i]);  // lint !e534
        ::DeleteCriticalSection(&d->m_mutex);
#endif
        delete d;
    }
    catch (...)
    {
    }
}
 
/*! \brief Close the USB communication port.
*/
XsResultValue UsbInterface::close(void) { return closeUsb(); }
/*! \brief Close the USB communication port.
    \returns XRV_OK if the port was closed successfully
    \note Linux:\n
    If a kernel driver was detached when communication with the device started,
    attach it again. No guarantee is given that udev will pick up on it though.
*/
XsResultValue UsbInterface::closeUsb(void)
{
// lint --e{534}
#ifdef LOG_RX_TX
    if (d->rx_log != nullptr) fclose(d->rx_log);
    if (d->tx_log != nullptr) fclose(d->tx_log);
    d->rx_log = nullptr;
    d->tx_log = nullptr;
#endif
    if (!isOpen()) return d->m_lastResult = XRV_NOPORTOPEN;
 
    d->m_lastResult = XRV_OK;
#ifdef USE_WINUSB
    if (d->m_threadHandle != INVALID_HANDLE_VALUE)
    {
        while (d->m_running)
        {
            ::SetEvent(d->m_quitEvent);
            XsTime::msleep(10);
        }
        ::CloseHandle(d->m_threadHandle);
    }
 
    flushData();
    if (d->m_usbHandle[0])
    {
        d->m_winUsb.Free(d->m_usbHandle[0]);
        d->m_usbHandle[0] = nullptr;
    }
    if (d->m_usbHandle[1])
    {
        d->m_winUsb.Free(d->m_usbHandle[1]);
        d->m_usbHandle[1] = nullptr;
    }
    if (d->m_deviceHandle)
    {
        CloseHandle(d->m_deviceHandle);
        d->m_deviceHandle = nullptr;
    }
#else
    flushData();
    libusb_device* dev =
        UsbInterfacePrivate::getContextManager().m_libUsb.get_device(
            d->m_deviceHandle);
    for (int i = 0; i < d->m_interfaceCount; i++)
    {
        int result = LIBUSB_ERROR_OTHER;
        while (result != LIBUSB_SUCCESS)
        {
            result = UsbInterfacePrivate::getContextManager()
                         .m_libUsb.release_interface(d->m_deviceHandle, i);
            if (result == LIBUSB_SUCCESS)
            {
                UsbInterfacePrivate::getContextManager()
                    .m_libUsb.attach_kernel_driver(d->m_deviceHandle, i);
            }
        }
    }
 
    UsbInterfacePrivate::getContextManager().m_libUsb.close(d->m_deviceHandle);
    d->m_deviceHandle = nullptr;
 
    UsbInterfacePrivate::getContextManager().m_libUsb.unref_device(dev);
    d->m_interface = -1;
    d->m_dataInEndPoint = -1;
    d->m_dataOutEndPoint = -1;
#endif
    d->m_endTime = 0;
 
    return d->m_lastResult;
}
 
//////////////////////////////////////////////////////////////////////////////////////////
// Flush all data to be transmitted / received.
XsResultValue UsbInterface::flushData(void)
{
    // lint --e{534}
    d->m_lastResult = XRV_OK;
#ifdef USE_WINUSB
    if (d->m_usbHandle[0])
    {
        d->m_winUsb.AbortPipe(d->m_usbHandle[0], d->m_bulkInPipe);
        d->m_winUsb.FlushPipe(d->m_usbHandle[0], d->m_bulkInPipe);
        d->m_winUsb.AbortPipe(d->m_usbHandle[0], d->m_bulkOutPipe);
        d->m_winUsb.FlushPipe(d->m_usbHandle[0], d->m_bulkOutPipe);
    }
    if (d->m_usbHandle[1])
    {
        d->m_winUsb.AbortPipe(d->m_usbHandle[1], d->m_bulkInPipe);
        d->m_winUsb.FlushPipe(d->m_usbHandle[1], d->m_bulkInPipe);
        d->m_winUsb.AbortPipe(d->m_usbHandle[1], d->m_bulkOutPipe);
        d->m_winUsb.FlushPipe(d->m_usbHandle[1], d->m_bulkOutPipe);
    }
#else
    unsigned char flushBuffer[256];
    int actual;
    for (int i = 0; i < 64; ++i)
    {
        if (UsbInterfacePrivate::getContextManager().m_libUsb.bulk_transfer(
                d->m_deviceHandle, d->m_dataInEndPoint | LIBUSB_ENDPOINT_IN,
                flushBuffer, sizeof(flushBuffer), &actual, 1) != LIBUSB_SUCCESS)
            break;
        if (actual == 0) break;
    }
#endif
    d->m_endTime = 0;
    return d->m_lastResult;
}
 
//! Return the error code of the last operation.
XsResultValue UsbInterface::getLastResult(void) const
{
    return d->m_lastResult;
}
 
//! Return the current timeout value
uint32_t UsbInterface::getTimeout(void) const { return d->m_timeout; }
//! Return whether the USB communication port is open or not.
bool UsbInterface::isOpen(void) const { return d->m_deviceHandle != nullptr; }
/*! \brief Open a communication channel to the given USB port name. */
XsResultValue UsbInterface::open(const XsPortInfo& portInfo, uint32_t, uint32_t)
{
    d->m_endTime = 0;
 
#ifdef USE_WINUSB
    JLDEBUG(gJournal, "Open usb port " << portInfo.portName().toStdString());
#else
    JLDEBUG(
        gJournal, "Open usb port " << portInfo.usbBus() << ":"
                                   << portInfo.usbAddress());
#endif
 
    if (isOpen())
    {
        JLALERT(
            gJournal, "Port " << portInfo.portName().toStdString()
                              << " already open");
        return (d->m_lastResult = XRV_ALREADYOPEN);
    }
 
#ifdef USE_WINUSB
    d->m_deviceHandle = CreateFileA(
        portInfo.portName().c_str(), GENERIC_WRITE | GENERIC_READ,
        FILE_SHARE_WRITE | FILE_SHARE_READ, nullptr, OPEN_EXISTING,
        FILE_ATTRIBUTE_NORMAL | FILE_FLAG_OVERLAPPED, nullptr);
 
    if (d->m_deviceHandle == INVALID_HANDLE_VALUE)
    {
        d->m_deviceHandle = nullptr;
        return (d->m_lastResult = XRV_PORTNOTFOUND);
    }
 
    BOOL result = FALSE;
    UCHAR speed = 0;
    ULONG length = 0;
    USB_INTERFACE_DESCRIPTOR interfaceDescriptor = {0, 0, 0, 0, 0, 0, 0, 0, 0};
    WINUSB_PIPE_INFORMATION pipeInfo;
 
    result = d->m_winUsb.Initialize(d->m_deviceHandle, &d->m_usbHandle[0]);
    if (result)
    {
        result = d->m_winUsb.GetAssociatedInterface(
            d->m_usbHandle[0], 0, &d->m_usbHandle[1]);
    }
    else
    {
#ifdef XSENS_DEBUG
        DWORD err = GetLastError();
        assert(result);
#endif
        return (d->m_lastResult = XRV_ERROR);
    }
 
    for (int k = 0; k < 2; k++)
    {
        if (result)
        {
            assert(d->m_usbHandle[k] != 0);
            length = sizeof(UCHAR);
            result = d->m_winUsb.QueryDeviceInformation(
                d->m_usbHandle[k], DEVICE_SPEED, &length, &speed);
        }
 
        if (result)
        {
            d->m_deviceSpeed = speed;
            result = d->m_winUsb.QueryInterfaceSettings(
                d->m_usbHandle[k], 0, &interfaceDescriptor);
        }
        if (result)
        {
            for (int i = 0; i < interfaceDescriptor.bNumEndpoints; i++)
            {
                result = d->m_winUsb.QueryPipe(
                    d->m_usbHandle[k], 0, (UCHAR)i, &pipeInfo);
 
                if (pipeInfo.PipeType == UsbdPipeTypeBulk &&
                    USB_ENDPOINT_DIRECTION_IN(pipeInfo.PipeId))
                {
                    d->m_bulkInPipe = pipeInfo.PipeId;
                    d->m_bulkInPipePacketSize = pipeInfo.MaximumPacketSize;
                }
                else if (
                    pipeInfo.PipeType == UsbdPipeTypeBulk &&
                    USB_ENDPOINT_DIRECTION_OUT(pipeInfo.PipeId))
                {
                    d->m_bulkOutPipe = pipeInfo.PipeId;
                }
                else if (pipeInfo.PipeType == UsbdPipeTypeInterrupt)
                {
                    d->m_interruptPipe = pipeInfo.PipeId;
                }
                else
                {
                    result = FALSE;
                    break;
                }
            }
        }
    }
 
    setTimeout(0);  // lint !e534
    flushData();  // lint !e534
 
    sprintf(d->m_portname, "%s", portInfo.portName().c_str());
 
    //  d->m_offset = 0;
    ::ResetEvent(&d->m_quitEvent);  // lint !e534
    d->m_threadHandle = xsStartThread(usbReadThreadFunc, d, &d->m_threadId);
    if (d->m_threadHandle == XSENS_INVALID_THREAD)
    {
#ifdef XSENS_DEBUG
        assert(0);
#endif
        return (d->m_lastResult = XRV_ERROR);
    }
 
#else  // !USE_WINUSB
    libusb_device** deviceList;
    ssize_t listLength =
        UsbInterfacePrivate::getContextManager().m_libUsb.get_device_list(
            UsbInterfacePrivate::getContextManager().m_usbContext, &deviceList);
    if (listLength < 0)
        return d->m_lastResult = d->libusbErrorToXrv((int)listLength);
 
    // "USBxxx:yyy"
    uint8_t bus = XsPortInfo_usbBus(&portInfo);
    uint8_t address = XsPortInfo_usbAddress(&portInfo);
 
    XsResultValue xrv = XRV_OK;
    int result;
    libusb_device* device = nullptr;
    for (int i = 0; i < listLength && device == nullptr; ++i)
    {
        libusb_device* dev = deviceList[i];
        if (UsbInterfacePrivate::getContextManager().m_libUsb.get_bus_number(
                dev) != bus ||
            UsbInterfacePrivate::getContextManager()
                    .m_libUsb.get_device_address(dev) != address)
            continue;
 
        libusb_device_descriptor desc;
        result = UsbInterfacePrivate::getContextManager()
                     .m_libUsb.get_device_descriptor(dev, &desc);
        if (result != LIBUSB_SUCCESS) break;
 
        libusb_config_descriptor* configDesc;
        result = UsbInterfacePrivate::getContextManager()
                     .m_libUsb.get_active_config_descriptor(dev, &configDesc);
        if (result != LIBUSB_SUCCESS) break;
 
        d->m_interface = -1;
        d->m_interfaceCount = configDesc->bNumInterfaces;
        // find the bulk transfer endpoints
        for (uint8_t ifCount = 0;
             ifCount < configDesc->bNumInterfaces && d->m_interface == -1;
             ++ifCount)
        {
            for (uint8_t altsettingCount = 0;
                 altsettingCount <
                 configDesc->interface[ifCount].num_altsetting;
                 altsettingCount++)
            {
                const libusb_endpoint_descriptor* endpoints =
                    configDesc->interface[ifCount]
                        .altsetting[altsettingCount]
                        .endpoint;
                int inEndpoint = -1, outEndpoint = -1;
                for (uint8_t i = 0; i < configDesc->interface[ifCount]
                                            .altsetting[altsettingCount]
                                            .bNumEndpoints;
                     i++)
                {
                    if ((endpoints[i].bmAttributes &
                         LIBUSB_TRANSFER_TYPE_MASK) !=
                        LIBUSB_TRANSFER_TYPE_BULK)
                        continue;
 
                    switch (endpoints[i].bEndpointAddress &
                            LIBUSB_ENDPOINT_DIR_MASK)
                    {
                        case LIBUSB_ENDPOINT_IN:
                            inEndpoint = endpoints[i].bEndpointAddress &
                                         LIBUSB_ENDPOINT_ADDRESS_MASK;
                            break;
 
                        case LIBUSB_ENDPOINT_OUT:
                            outEndpoint = endpoints[i].bEndpointAddress &
                                          LIBUSB_ENDPOINT_ADDRESS_MASK;
                            break;
                    }
                }
 
                if (outEndpoint == -1 || inEndpoint == -1) continue;
 
                d->m_interface = ifCount;
                d->m_dataOutEndPoint = outEndpoint;
                d->m_dataInEndPoint = inEndpoint;
            }
        }
        if (d->m_interface == -1)
        {
            xrv = XRV_INPUTCANNOTBEOPENED;
            break;
        }
 
        UsbInterfacePrivate::getContextManager()
            .m_libUsb.free_config_descriptor(configDesc);
        UsbInterfacePrivate::getContextManager().m_libUsb.ref_device(dev);
        device = dev;
        result = LIBUSB_SUCCESS;
    }
 
    UsbInterfacePrivate::getContextManager().m_libUsb.free_device_list(
        deviceList, 1);
    if (result != LIBUSB_SUCCESS)
    {
        UsbInterfacePrivate::getContextManager().m_libUsb.unref_device(device);
        return d->m_lastResult = d->libusbErrorToXrv(result);
    }
 
    if (xrv != XRV_OK)
    {
        UsbInterfacePrivate::getContextManager().m_libUsb.unref_device(device);
        return d->m_lastResult = xrv;
    }
 
    libusb_device_handle* handle;
    result =
        UsbInterfacePrivate::getContextManager().m_libUsb.open(device, &handle);
    if (result != LIBUSB_SUCCESS)
    {
        UsbInterfacePrivate::getContextManager().m_libUsb.unref_device(device);
        return d->m_lastResult = d->libusbErrorToXrv(result);
    }
 
    // be rude and claim all interfaces
    for (int i = 0; i < d->m_interfaceCount; i++)
    {
        result = UsbInterfacePrivate::getContextManager()
                     .m_libUsb.kernel_driver_active(handle, i);
        if (result > 0)
            result = UsbInterfacePrivate::getContextManager()
                         .m_libUsb.detach_kernel_driver(handle, i);
        if (result == LIBUSB_SUCCESS)
            result = UsbInterfacePrivate::getContextManager()
                         .m_libUsb.claim_interface(handle, i);
        if (result != LIBUSB_SUCCESS)
        {
            for (int j = 0; j < i; j++)
            {
                while (result != LIBUSB_SUCCESS)
                {
                    result = UsbInterfacePrivate::getContextManager()
                                 .m_libUsb.release_interface(handle, j);
                    UsbInterfacePrivate::getContextManager()
                        .m_libUsb.attach_kernel_driver(handle, j);
                }
            }
 
            UsbInterfacePrivate::getContextManager().m_libUsb.close(handle);
            UsbInterfacePrivate::getContextManager().m_libUsb.unref_device(
                device);
            return d->m_lastResult = d->libusbErrorToXrv(result);
        }
    }
 
    d->m_deviceHandle = handle;
    sprintf(d->m_portname, "%s", portInfo.portName().c_str());
 
    flushData();
 
#endif  // !USE_WINUSB
    JLDEBUG(gJournal, "USB Port opened");
    return (d->m_lastResult = XRV_OK);
}
 
/*! \brief Read data from the USB port and put it into the data buffer.
    \details This function reads up to \a maxLength bytes from the port
   (non-blocking) and
    puts it into the \a data buffer.
    \param maxLength The maximum amount of data read.
    \param data The buffer that will store the received data.
    \returns XRV_OK if no error occurred. It can be that no data is available
   and XRV_OK will be
            returned. Check data.size() for the number of bytes that were read.
*/
XsResultValue UsbInterface::readData(XsSize maxLength, XsByteArray& data)
{
    XsSize length = 0;
    data.setSize(maxLength);
    XsResultValue res = readData(maxLength, data.data(), &length);
    data.pop_back(maxLength - length);
    return res;
}
 
/*! \brief Read data from the serial port and put it into the data buffer.
    \details This function reads up to \a maxLength bytes from the USB port
   (non-blocking) and
    puts it into the \a data buffer.
    \param maxLength    The maximum number of bytes to read.
    \param data         Pointer to a buffer that will store the received data.
    \param length       The number of bytes placed into \c data.
    \returns XRV_OK if no error occurred. It can be that no data is available
   and XRV_OK will be
            returned. Check *length for the number of bytes that were read.
*/
XsResultValue UsbInterface::readData(
    const XsSize maxLength, void* data, XsSize* length)
{
    JLTRACE(
        gJournal, "maxLength=" << maxLength << ", data=0x" << data
                               << ", length=0x" << length);
    XsSize ln;
    if (length == nullptr) length = &ln;
 
    if (!isOpen()) return (d->m_lastResult = XRV_NOPORTOPEN);
 
#ifdef USE_WINUSB
    XsSize remaining = 0;
    ::EnterCriticalSection(&d->m_mutex);
    remaining = *length = d->m_varBuffer.size();
    if (*length > maxLength) *length = maxLength;
    if (*length)
    {
        memcpy(data, d->m_varBuffer.data(), *length);
        d->m_varBuffer.erase(0, *length);
        remaining = d->m_varBuffer.size();
    }
    ::LeaveCriticalSection(&d->m_mutex);
    JLTRACE(
        gJournal, "returned success, read "
                      << *length << " of " << maxLength
                      << " bytes, first: " << JLHEXLOG(((char*)data)[0]) << ", "
                      << remaining << " remaining in buffer");
#else
    int actual = 0;
    JLTRACE(gJournal, "starting bulk read, timeout = " << d->m_timeout);
    int res = UsbInterfacePrivate::getContextManager().m_libUsb.bulk_transfer(
        d->m_deviceHandle, (d->m_dataInEndPoint | LIBUSB_ENDPOINT_IN),
        (unsigned char*)data, maxLength, &actual, d->m_timeout);
    JLTRACE(
        gJournal, "bulk read returned: " << d->libusbErrorToString(res) << ". "
                                         << actual << " bytes received");
    if ((res != LIBUSB_SUCCESS && res != LIBUSB_ERROR_TIMEOUT) ||
        (res == LIBUSB_ERROR_TIMEOUT && actual <= 0))
        return d->m_lastResult = d->libusbErrorToXrv(res);
 
    *length = actual;
#endif
 
#ifdef LOG_RX_TX
    if (*length > 0)
    {
        if (d->rx_log == nullptr)
        {
            char fname[XS_MAX_FILENAME_LENGTH];
            sprintf(fname, "rx_USB%03u_%03u.log", usbBus(), usbAddress());
            d->rx_log = fopen(fname, "wb");
        }
        fwrite(data, 1, *length, d->rx_log);
#ifdef LOG_RX_TX_FLUSH
        fflush(d->rx_log);
#endif
    }
#endif
 
    return (d->m_lastResult = XRV_OK);
}
 
/*! \brief Set the default timeout value to use in blocking operations.
    \details This function sets the value of m_timeout. There is no infinity
   value. The value 0
    means that the default value is used.
    \param ms The desired timeout in milliseconds
    \returns XRV_OK if the timeout value was successfully updated
*/
XsResultValue UsbInterface::setTimeout(uint32_t ms)
{
#ifdef USE_WINUSB
    JLDEBUG(
        gJournal, "Request to set timeout to "
                      << ms << " ms overridden, setting to 0 ms instead");
    ms = 0;  // no timeout ever
    UCHAR enable = FALSE;
 
    d->m_winUsb.SetPipePolicy(
        d->m_usbHandle[1], d->m_bulkInPipe, IGNORE_SHORT_PACKETS, sizeof(UCHAR),
        &enable);  // lint !e534
    d->m_winUsb.SetPipePolicy(
        d->m_usbHandle[1], d->m_bulkInPipe, PIPE_TRANSFER_TIMEOUT,
        sizeof(ULONG), &ms);  // lint !e534
 
    d->m_timeout = ms;
#else
    JLDEBUG(gJournal, "Setting timeout to " << ms);
    if (ms == 0)
        d->m_timeout = 1;
    else
        d->m_timeout = ms;
#endif
    return (d->m_lastResult = XRV_OK);
}
 
/*! \brief Sets the RAWIO mode of the USB interface
    \note Only applies to WinUSB implementations
    \param enable : If true will enable RAW IO mode
*/
void UsbInterface::setRawIo(bool enable)
{
    JLDEBUG(gJournal, "Setting RAWIO mode to " << enable);
 
#ifdef USE_WINUSB
    enable = false;  // never use raw IO
    UCHAR rawIo = (UCHAR)enable;
    d->m_winUsb.SetPipePolicy(
        d->m_usbHandle[1], d->m_bulkInPipe, RAW_IO, sizeof(UCHAR),
        &rawIo);  // lint !e534
#else
    (void)enable;
#endif
    d->m_lastResult = XRV_OK;
}
 
/*! \brief Retrieves the state of the RAWIO mode of the USB interface
    \returns true if raw IO mode is enabled
    \note Only applies to WinUSB implementations
*/
bool UsbInterface::getRawIo(void)
{
#ifdef USE_WINUSB
    UCHAR rawIo = 0;
    ULONG someSize = sizeof(UCHAR);
    d->m_winUsb.GetPipePolicy(
        d->m_usbHandle[1], d->m_bulkInPipe, RAW_IO, &someSize,
        &rawIo);  // lint !e534
    return (rawIo != 0);
#else
    return false;
#endif
}
 
/*! \brief Wait for data to arrive or a timeout to occur.
    \details The function waits until \c maxLength data is available or until a
   timeout occurs.
    The function returns success if data is available or XsResultValue::TIMEOUT
   if a
    timeout occurred. A timeout value of 0 indicates that the default timeout
   stored
    in the class should be used.
    \param maxLength The maximum number of bytes to wait for
    \param data A buffer that will be filled with the read data. It must be able
   to contain at
            least \a maxLength bytes.
    \param length An optional pointer to storage for the actual number of bytes
   read.
    \returns XRV_OK if the requested data was read
*/
XsResultValue UsbInterface::waitForData(
    const XsSize maxLength, void* data, XsSize* length)
{
    JLTRACE(
        gJournal, "timeout=" << d->m_timeout << ", data=" << data
                             << ", length=" << length);
    uint32_t timeout = d->m_timeout;
 
    char* bdata = (char*)data;
 
    XsSize ln;
    if (length == nullptr) length = &ln;
    uint32_t eTime = XsTime::getTimeOfDay() + timeout;
    XsSize newLength = 0;
 
    *length = 0;
    while ((*length < maxLength) && (XsTime::getTimeOfDay() <= eTime))
    {
        if (readData(maxLength - *length, bdata + *length, &newLength))
            return d->m_lastResult;
        *length += newLength;
    }
    JLTRACE(gJournal, "read " << length[0] << " of " << maxLength << " bytes");
 
    if (length[0] < maxLength)
        return (d->m_lastResult = XRV_TIMEOUT);
    else
        return (d->m_lastResult = XRV_OK);
}
 
/*! \brief Write the data to the USB port.
    \details The function writes the given data to the connected USB port.
    The default timeout is respected in this operation.
    \param data The data to be written
    \param written An optional pointer to storage for the actual number of bytes
   that were written
    \returns XRV_OK if the data was successfully written
    \sa writeData(const XsSize, const void *, XsSize*)
*/
XsResultValue UsbInterface::writeData(const XsByteArray& data, XsSize* written)
{
    return writeData(data.size(), data.data(), written);
}
 
/*! \brief Write the data to the USB port.
    \details The function writes the given data to the connected USB port.
    The default timeout is respected in this operation.
    \param length The number of bytes to write.
    \param data A pointer to a memory buffer that contains the bytes to send
    \param written An optional pointer to storage for the actual number of bytes
   that were written
    \returns XRV_OK if the data was successfully written
    \sa writeData(const XsByteArray&, XsSize*)
*/
XsResultValue UsbInterface::writeData(
    const XsSize length, const void* data, XsSize* written)
{
    XsSize bytes;
    if (written == nullptr) written = &bytes;
 
    if (!isOpen()) return (d->m_lastResult = XRV_NOPORTOPEN);
 
    *written = 0;
 
#ifdef USE_WINUSB
    ULONG dataWritten;
    d->m_winUsb.WritePipe(
        d->m_usbHandle[1], d->m_bulkOutPipe, (uint8_t*)data, (ULONG)length,
        &dataWritten,
        nullptr);  // lint !e534
 
    *written = dataWritten;
#else
    *written = 0;
    while (*written < length)
    {
        int actual;
        int result =
            UsbInterfacePrivate::getContextManager().m_libUsb.bulk_transfer(
                d->m_deviceHandle, (d->m_dataOutEndPoint | LIBUSB_ENDPOINT_OUT),
                (unsigned char*)data, length, &actual, 0);
        *written += actual;
        if (result != LIBUSB_SUCCESS)
        {
            JLALERT(
                gJournal,
                "bulk write failed: " << d->libusbErrorToString(result) << ". "
                                      << actual << " bytes sent");
            return (d->m_lastResult = d->libusbErrorToXrv(result));
        }
    }
 
#endif
 
#ifdef LOG_RX_TX
    if (*written > 0)
    {
        if (d->tx_log == nullptr)
        {
            char fname[XS_MAX_FILENAME_LENGTH];
            sprintf(fname, "tx_USB%03u_%03u.log", usbBus(), usbAddress());
            d->tx_log = fopen(fname, "wb");
        }
        fwrite(data, 1, *written, d->tx_log);
#ifdef LOG_RX_TX_FLUSH
        fflush(d->tx_log);
#endif
    }
#endif
 
    return (d->m_lastResult = XRV_OK);
}
 
/*! \brief The USB bus number this device is on (libusb/linux only) */
uint8_t UsbInterface::usbBus() const
{
#ifdef USE_WINUSB
    return 0;
#else
    if (!d->m_deviceHandle) return 0;
 
    libusb_device* dev =
        UsbInterfacePrivate::getContextManager().m_libUsb.get_device(
            d->m_deviceHandle);
    return UsbInterfacePrivate::getContextManager().m_libUsb.get_bus_number(
        dev);
#endif
}
 
/*! \brief The address of the device (libusb/linux only) */
uint8_t UsbInterface::usbAddress() const
{
#ifdef USE_WINUSB
    return 0;
#else
    if (!d->m_deviceHandle) return 0;
 
    libusb_device* dev =
        UsbInterfacePrivate::getContextManager().m_libUsb.get_device(
            d->m_deviceHandle);
    return UsbInterfacePrivate::getContextManager().m_libUsb.get_device_address(
        dev);
#endif
}
 
//! Retrieve the port name that was last successfully opened.
void UsbInterface::getPortName(XsString& portname) const
{
    portname = d->m_portname;
}