Igor Biletskyy
3 years ago
parent
4061f50da3
commit
285addeef2
10 changed files with 300 additions and 235 deletions
@ -1 +1 @@ |
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Subproject commit 8d0d148681163929260abf5742701cbf503abb22 |
Subproject commit 6f95a096e6beb254786759003a38e6e5c4f2c10e |
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@ -1,9 +1,9 @@ |
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Import('env', 'envCython', 'common', 'cereal', 'messaging') |
Import('env', 'envCython', 'common', 'cereal', 'messaging') |
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libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'] |
libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'] |
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env.Program('boardd', ['boardd.cc', 'panda.cc', 'usbdevice.cc', 'pigeon.cc'], LIBS=libs) |
env.Program('boardd', ['boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=libs) |
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env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) |
env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) |
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envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) |
envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) |
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if GetOption('test'): |
if GetOption('test'): |
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env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc', 'usbdevice.cc'], LIBS=libs) |
env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc'], LIBS=libs) |
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#include "selfdrive/boardd/usbdevice.h" |
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#include <map> |
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#include <memory> |
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#include "selfdrive/common/swaglog.h" |
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namespace { |
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libusb_context *init_usb_ctx() { |
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libusb_context *context = nullptr; |
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int err = libusb_init(&context); |
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if (err != 0) { |
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LOGE("libusb initialization error %d", err); |
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return nullptr; |
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} |
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#if LIBUSB_API_VERSION >= 0x01000106 |
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libusb_set_option(context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO); |
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#else |
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libusb_set_debug(context, 3); |
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#endif |
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return context; |
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} |
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struct DeviceIterator { |
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DeviceIterator(libusb_context *ctx) { |
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ssize_t num_devices = libusb_get_device_list(ctx, &dev_list); |
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for (ssize_t i = 0; i < num_devices; ++i) { |
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libusb_device_descriptor desc = {}; |
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int ret = libusb_get_device_descriptor(dev_list[i], &desc); |
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if (ret < 0 || desc.idVendor != USB_VID || desc.idProduct != USB_PID) continue; |
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libusb_device_handle *handle = nullptr; |
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if (libusb_open(dev_list[i], &handle) == 0) { |
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unsigned char serial[256] = {'\0'}; |
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libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, serial, std::size(serial) - 1); |
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devices[(const char *)serial] = dev_list[i]; |
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libusb_close(handle); |
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} |
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} |
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} |
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~DeviceIterator() { |
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if (dev_list) libusb_free_device_list(dev_list, 1); |
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} |
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std::map<std::string, libusb_device *>::iterator begin() { return devices.begin(); } |
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std::map<std::string, libusb_device *>::iterator end() { return devices.end(); } |
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std::map<std::string, libusb_device *> devices; |
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libusb_device **dev_list = nullptr; |
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}; |
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} // namespace
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bool USBDevice::open(const std::string &serial) { |
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ctx = init_usb_ctx(); |
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if (!ctx) return false; |
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for (const auto &[s, device] : DeviceIterator(ctx)) { |
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if (serial.empty() || serial == s) { |
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usb_serial = s; |
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libusb_open(device, &dev_handle); |
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break; |
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} |
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} |
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if (!dev_handle) return false; |
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if (libusb_kernel_driver_active(dev_handle, 0) == 1) { |
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libusb_detach_kernel_driver(dev_handle, 0); |
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} |
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if (libusb_set_configuration(dev_handle, 1) != 0 || |
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libusb_claim_interface(dev_handle, 0) != 0) { |
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return false; |
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} |
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return true; |
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} |
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USBDevice::~USBDevice() { |
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if (dev_handle) { |
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libusb_release_interface(dev_handle, 0); |
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libusb_close(dev_handle); |
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} |
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if (ctx) libusb_exit(ctx); |
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} |
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std::vector<std::string> USBDevice::list() { |
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std::vector<std::string> serials; |
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if (libusb_context *ctx = init_usb_ctx()) { |
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for (auto it : DeviceIterator(ctx)) { |
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serials.push_back(it.first); |
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} |
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libusb_exit(ctx); |
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} |
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return serials; |
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} |
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int USBDevice::control_transfer(libusb_endpoint_direction dir, uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) { |
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std::lock_guard lk(usb_lock); |
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int ret = LIBUSB_ERROR_NO_DEVICE; |
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const uint8_t bmRequestType = dir | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; |
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while (connected) { |
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ret = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout); |
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if (ret >= 0) break; |
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LOGE_100("usb control_transfer error %d, \"%s\"", ret, libusb_strerror((enum libusb_error)ret)); |
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if (ret == LIBUSB_ERROR_NO_DEVICE) { |
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LOGE("lost connection"); |
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connected = false; |
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} |
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// TODO: check other errors, is simply retrying okay?
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} |
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return ret; |
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} |
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int USBDevice::bulk_transfer(uint8_t endpoint, uint8_t *data, int length, unsigned int timeout) { |
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std::lock_guard lk(usb_lock); |
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int transferred = 0; |
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while (connected) { |
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int ret = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); |
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if (ret == 0 && length == transferred) break; |
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if (ret != 0) { |
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LOGE_100("usb control_transfer error %d, \"%s\"", ret, libusb_strerror((enum libusb_error)ret)); |
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if (ret == LIBUSB_ERROR_NO_DEVICE) { |
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connected = false; |
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} else if (ret == LIBUSB_ERROR_OVERFLOW) { |
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comms_healthy = false; |
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} else if (ret == LIBUSB_ERROR_TIMEOUT && (endpoint & LIBUSB_ENDPOINT_IN)) { |
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// timeout is okay to exit, recv still happened
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LOGW("bulk_transfer timeout"); |
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break; |
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} |
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} |
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}; |
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return transferred; |
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} |
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@ -1,43 +0,0 @@ |
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#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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