Revert changes to usbsock - new implementation isn't quite there yet

nxt/usbsock.py

@@ -2,7 +2,6 @@
 # Copyright (C) 2006, 2007  Douglas P Lau
 # Copyright (C) 2009  Marcus Wanner
 # Copyright (C) 2011  Paul Hollensen, Marcus Wanner
-# Copyright (C) 2016  Alan Aguiar
 #
 # This program is free software: you can redistribute it and/or modify
 # it under the terms of the GNU General Public License as published by
@@ -20,65 +19,69 @@
 ID_VENDOR_LEGO = 0x0694
 ID_PRODUCT_NXT = 0x0002
 
-IN_ENDPOINT  = 0x82
-OUT_ENDPOINT = 0x01
-
-NXT_CONFIGURATION = 1
-NXT_INTERFACE     = 0
-
-TIMEOUT = 250
-
 class USBSock(object):
     'Object for USB connection to NXT'
 
+    bsize = 60	# USB socket block size
+
     type = 'usb'
 
     def __init__(self, device):
         self.device = device
+        self.handle = None
         self.debug = False
 
     def __str__(self):
         return 'USB (%s)' % (self.device.filename)
 
-    def _debug(self, message, err=''):
-        if self.debug:
-            print(message, err)
-
     def connect(self):
         'Use to connect to NXT.'
-        self._debug('Connecting via USB...')
-        try:
-            if os.name != 'nt' and self.device.is_kernel_driver_active(NXT_INTERFACE):
-                self.device.detach_kernel_driver(NXT_INTERFACE)
-            self.device.set_configuration(NXT_CONFIGURATION)
-        except Exception as err:
-            self._debug('ERROR:usbsock:connect', err)
-            raise
-        self._debug('Connected.')
+        if self.debug:
+            print('Connecting via USB...')
+        config = self.device.configurations[0]
+        iface = config.interfaces[0][0]
+        self.blk_out, self.blk_in = iface.endpoints
+        self.handle = self.device.open()
+        self.handle.setConfiguration(1)
+        self.handle.claimInterface(0)
+        if os.name != 'nt': # http://code.google.com/p/nxt-python/issues/detail?id=33
+            self.handle.reset()
+        if self.debug:
+            print('Connected.')
         return Brick(self)
 
     def close(self):
         'Use to close the connection.'
-        self._debug('Closing USB connection...')
+        if self.debug:
+            print('Closing USB connection...')
         self.device = None
-        self._debug('USB connection closed.')
+        self.handle = None
+        self.blk_out = None
+        self.blk_in = None
+        if self.debug:
+            print('USB connection closed.')
 
     def send(self, data):
-        'Use to send raw data over USB connection'
-        self._debug('Send:', end=' ')
-        self._debug(':'.join('%02x' % ord(c) for c in data))
-        self.device.write(OUT_ENDPOINT, data, TIMEOUT)
+        'Use to send raw data over USB connection ***ADVANCED USERS ONLY***'
+        if self.debug:
+            print('Send:', end=' ')
+            print(':'.join('%02x' % ord(c) for c in data))
+        self.handle.bulkWrite(self.blk_out.address, data)
 
     def recv(self):
-        'Use to recieve raw data over USB connection'
-        data = self.device.read(IN_ENDPOINT, 64, TIMEOUT)
-        self._debug('Recv:', end=' ')
-        self._debug(':'.join('%02x' % (c & 0xFF) for c in data))
+        'Use to recieve raw data over USB connection ***ADVANCED USERS ONLY***'
+        data = self.handle.bulkRead(self.blk_in.address, 64)
+        if self.debug:
+            print('Recv:', end=' ')
+            print(':'.join('%02x' % (c & 0xFF) for c in data))
         # NOTE: bulkRead returns a tuple of ints ... make it sane
         return bytearray(data)
 
 def find_bricks(host=None, name=None):
-    'Use to look for NXTs connected by USB only'
-    for device in usb.core.find(find_all=True, idVendor=ID_VENDOR_LEGO, idProduct=ID_PRODUCT_NXT):
-        yield USBSock(device)
-
+    'Use to look for NXTs connected by USB only. ***ADVANCED USERS ONLY***'
+    # FIXME: probably should check host (MAC)
+    # if anyone knows how to do this, please file a bug report
+    for bus in usb.busses():
+        for device in bus.devices:
+            if device.idVendor == ID_VENDOR_LEGO and device.idProduct == ID_PRODUCT_NXT:
+                yield USBSock(device)