int TankChassis::prepare_usb_device()
{
if (libusb_init(0) < 0) {
fprintf(stderr, "libusb_init\n");
return -1;
}
if (find_lvr_hidusb(vendor_id, product_id) < 0) {
fprintf(stderr, "find_lvr_hidusb\n");
return -1;
}
libusb_detach_kernel_driver(devh, 0);
if (libusb_set_configuration(devh, 1) < 0) {
fprintf(stderr, "libusb_set_configuration\n");
return -1;
}
if (libusb_claim_interface(devh, 0) < 0) {
fprintf(stderr, "libusb_claim_interface\n");
return -1;
}
return 0;
}
int main(void)
{
struct sigaction sigact;
int r = 1;
r = libusb_init(NULL);
if (r < 0) {
fprintf(stderr, "Failed to initialise libusb\n");
exit(1);
}
r = find_lvr_hidusb();
if (r < 0) {
fprintf(stderr, "Could not find/open LVR Generic HID device\n");
goto out;
}
printf("Successfully find the LVR Generic HID device\n");
#ifdef LINUX
libusb_detach_kernel_driver(devh, 0);
#endif
r = libusb_set_configuration(devh, 1);
if (r < 0) {
fprintf(stderr, "libusb_set_configuration error %d\n", r);
goto out;
}
printf("Successfully set usb configuration 1\n");
r = libusb_claim_interface(devh, 0);
if (r < 0) {
fprintf(stderr, "libusb_claim_interface error %d\n", r);
goto out;
}
printf("Successfully claimed interface\n");
// test_control_transfer();
test_interrupt_transfer();
libusb_release_interface(devh, 0);
out:
// libusb_reset_device(devh);
libusb_close(devh);
libusb_exit(NULL);
return r >= 0 ? r : -r;
}
TankChassis::TankChassis(int vendor, int product):
vendor_id(vendor), product_id(product)
{
ok = false;
if (libusb_init(0) < 0)
throw std::runtime_error("init");
libusb_set_debug(0, 0);
if (find_lvr_hidusb(vendor_id, product_id) < 0)
throw std::runtime_error("Unable to openusb device!");
libusb_detach_kernel_driver(devh, 0);
if (libusb_set_configuration(devh, 1) < 0)
throw std::runtime_error("libusb_set_configuration");
if (libusb_claim_interface(devh, 0) < 0)
throw std::runtime_error("libusb_claim_interface");
ok = true;
}