Added initial libusb driver. This needs to be modified to build under GYP and with AOS.
diff --git a/gyro_board/src/libusb-driver/libusb_wrap.cc b/gyro_board/src/libusb-driver/libusb_wrap.cc
new file mode 100644
index 0000000..1f54998
--- /dev/null
+++ b/gyro_board/src/libusb-driver/libusb_wrap.cc
@@ -0,0 +1,101 @@
+#include <libusb.h>
+#include <google/gflags.h>
+#include <glog/logging.h>
+#include <iostream>
+
+#include "libusb_wrap.h"
+
+LibUSB::LibUSB() {
+ CHECK_GE(libusb_init(&ctx_), 0) << ": LibUSB failed to initialize.";
+ libusb_set_debug(ctx_, 3);
+}
+
+LibUSBDeviceHandle *LibUSB::FindDeviceWithVIDPID(int vid, int pid) {
+ int r;
+ libusb_device **devs;
+ libusb_device_handle *dev_handle;
+
+ ssize_t cnt;
+ cnt = libusb_get_device_list(ctx_, &devs);
+ if(cnt < 0) {
+ LOG(ERROR) << "Get Device Error";
+ return NULL;
+ }
+ LOG(INFO) << cnt << " Devices in list.";
+ bool found = false;
+ for (int i = 0; i < cnt; ++i) {
+ struct libusb_device_descriptor desc;
+ r = libusb_get_device_descriptor(devs[i], &desc);
+ CHECK_GE(r, 0) << ": Couldn't get device descriptor, error " << r;
+ if (desc.idVendor == vid && desc.idProduct == pid) {
+ LOG(INFO) << "Device " << (int)libusb_get_bus_number(devs[i]) << ":"
+ << (int)libusb_get_device_address(devs[i]) << " matches";
+ r = libusb_open(devs[i], &dev_handle);
+ if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
+ LOG(INFO) << "Device already in use, trying next one.";
+ continue;
+ }
+ if (r < 0) {
+ LOG(WARNING) << "Failed to open device.";
+ } else {
+ found = true;
+ break;
+ }
+ }
+ }
+ libusb_free_device_list(devs, 1);
+ if (!found) {
+ LOG(ERROR) << "Couldn't open device.";
+ return NULL;
+ }
+
+ if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
+ LOG(INFO) << "Kernel Driver Active";
+ if (libusb_detach_kernel_driver(dev_handle, 0) == 0) {
+ LOG(INFO) << "Kernel Driver Detached!";
+ } else {
+ LOG(ERROR) << "Couldn't detach kernel driver.";
+ return NULL;
+ }
+ }
+
+ r = libusb_claim_interface(dev_handle, 0);
+ if (r < 0) {
+ LOG(ERROR) << "Cannot Claim Interface";
+ return 0;
+ }
+ LOG(INFO) << "Claimed Interface";
+ return new LibUSBDeviceHandle(dev_handle);
+}
+
+LibUSB::~LibUSB() {
+ libusb_exit(ctx_);
+}
+
+LibUSBDeviceHandle::LibUSBDeviceHandle(
+ libusb_device_handle *dev_handle) : dev_handle_(dev_handle) { }
+
+LibUSBDeviceHandle::~LibUSBDeviceHandle() {
+ int r;
+ r = libusb_release_interface(dev_handle_, 0);
+ if (r != 0) {
+ LOG(FATAL) << "Cannot Release Interface";
+ }
+ LOG(INFO) << "Released Interface";
+
+ libusb_close(dev_handle_);
+}
+
+int LibUSBDeviceHandle::interrupt_transfer(
+ unsigned char endpoint, unsigned char *data, int length,
+ int *transferred, unsigned int timeout) {
+ return libusb_interrupt_transfer(dev_handle_, endpoint, data, length,
+ transferred, timeout);
+}
+
+int LibUSBDeviceHandle::bulk_transfer(
+ unsigned char endpoint, unsigned char *data,
+ int length, int *transferred, unsigned int timeout) {
+ return libusb_bulk_transfer(dev_handle_, endpoint, data, length,
+ transferred, timeout);
+}