Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef USBFTDI_H
00012 #define USBFTDI_H
00013 
00014 #include <ftd2xx.h>
00015 #include <string>
00016 #include "usbftdiexceptions.h"
00017 
00018 namespace usbftdi
00019 {
00020 
00021     // Return codes
00022     const int USBFTDI_OK=0;
00023     const int USBFTDI_TIMEOUT=-1;
00024 
00025 
00026 //
00027 // @author Alex Brooks
00028 //
00029 class UsbFtdi
00030 {
00031 
00032 public: 
00033 
00034     // 
00035     // Params are:
00036     //   - Vendor ID
00037     //   - Product ID
00038     //   - Description (as the device reports itself)
00039     //
00040     UsbFtdi( DWORD iVID, DWORD iPID, const std::string &description, int debugLevel=0 );
00041     ~UsbFtdi();
00042 
00043     void write( const unsigned char *data, int numBytes );
00044 
00045     // 
00046     // Waits for one or more bytes to arrive
00047     //
00048     // Timeout is 100ms (TODO: this should be configurable)
00049     //
00050     // Returns: 
00051     //   USBFTDI_OK
00052     //   USBFTDI_TIMEOUT 
00053     int waitForData();
00054 
00055     int bytesInRxQueue();
00056 
00057     // Returns the number of bytes read.
00058     // Caller has the responsibility to ensure that there's enough space.
00059     int readNonBlocking( unsigned char *bytes, int maxBytesToRead );
00060 
00061 private: 
00062 
00063     void reset();
00064 
00065     // for debugging
00066     void printQueueStatus();
00067 
00068     // handle to the USB device
00069     FT_HANDLE ftHandle_;
00070 
00071     // event handle we'll use to block on data arrival
00072     EVENT_HANDLE eventHandle_;
00073 
00074     int debugLevel_;
00075 };
00076 
00077 }
00078 
00079 #endif
usbftdi.h
