USB-HID/UsbHidDevEx/hiddev.cpp

#include <unistd.h>
#include "hiddev.h"
#include <iostream>

HIDDev::HIDDev() : dev_handle(nullptr), ctx(nullptr), connected(false) {
    libusb_init(&ctx);
#if USB_HOT_PLUG_SUPPORT
    libusb_hotplug_callback_handle handle_attach;
    int rc = libusb_hotplug_register_callback(ctx, static_cast<libusb_hotplug_event>(
                                    LIBUSB_HOTPLUG_EVENT_DEVICE_ARRIVED | LIBUSB_HOTPLUG_EVENT_DEVICE_LEFT), 
                                    LIBUSB_HOTPLUG_NO_FLAGS, 
                                    LIBUSB_HOTPLUG_MATCH_ANY, LIBUSB_HOTPLUG_MATCH_ANY, 
                                    LIBUSB_HOTPLUG_MATCH_ANY, hotplug_callback,
                                    this, 
                                    &handle_attach);
    if (rc != LIBUSB_SUCCESS) {
        std::cout << "Error registering callback for attach event." << std::endl;
        libusb_exit(ctx);
    }
    std::cout << "[INFO] HIDDev using hot plug driver." << std::endl;
#endif 
    // 启动事件处理线程
    usbThread = std::thread(&HIDDev::usbEventHandling, this);
}

HIDDev::~HIDDev() {
    // 通知线程结束
    stopThread = true;
    if (usbThread.joinable()) {
        usbThread.join();
    }
    closeDevice();
    libusb_exit(ctx);
}

bool HIDDev::openDevice(int vendor_id, int product_id) {
    vendorId = vendor_id;
    productId = product_id;
    dev_handle = libusb_open_device_with_vid_pid(ctx, vendor_id, product_id);
    if (!dev_handle) {
        std::cerr << "Cannot open device\n";
        connected = false;
        return false;
    }
    if (libusb_kernel_driver_active(dev_handle, 0) == 1)
	{ // find out if kernel driver is attached
		printf("Kernel Driver Active\n");
		if (libusb_detach_kernel_driver(dev_handle, 0) == 0) // detach it
			printf("Kernel Driver Detached!\n");
	}
    if (libusb_claim_interface(dev_handle, 0) < 0) {
        std::cerr << "Cannot claim interface\n";
        closeDevice();
        return false;
    }
    connected = true;
    return true;
}
#if USB_HOT_PLUG_SUPPORT
int LIBUSB_CALL HIDDev::hotplug_callback(libusb_context *ctx, libusb_device *device,
                                         libusb_hotplug_event event, void *user_data) {

    HIDDev *self = static_cast<HIDDev *>(user_data);
    libusb_device_descriptor desc;
    if (libusb_get_device_descriptor(device, &desc) == 0) {
        if(self->vendorId != desc.idVendor || self->productId != desc.iProduct){
            return 0;
        }
        std::cout << "Device Event: VendorID=" << desc.idVendor << ", ProductID=" << desc.idProduct << std::endl;
    }
    if (event == LIBUSB_HOTPLUG_EVENT_DEVICE_ARRIVED) {
        self->devArrived = true;
        std::cout << "Device arrived." << std::endl;
    } else if (event == LIBUSB_HOTPLUG_EVENT_DEVICE_LEFT) {
        self->connected = false;
        std::cout << "Device disconnected." << std::endl;
    }
    std::cout << "Device event." << std::endl;
    return 0;
}
#endif

void HIDDev::closeDevice() {
    if (dev_handle) {
        libusb_release_interface(dev_handle, 0);
        libusb_close(dev_handle);
        dev_handle = nullptr;
    }
    connected = false;
}

int HIDDev::read(unsigned char *data, int length) {
    if (!connected) {
        return -1;
    }

    int actual_length;
    int res = libusb_bulk_transfer(dev_handle, LIBUSB_ENDPOINT_IN | 1, data, length, &actual_length, 0);
    if (res == 0) {
        return actual_length;
    } else {
        if (res == LIBUSB_ERROR_NO_DEVICE) {
            std::cout << "Device not connected error...\n";
            connected = false;
            reconnectFlag = true;
        }
        return -1;
    }
}

int HIDDev::write(const unsigned char *data, int length) {
    if (!connected) {
        return -1;
    }

    int actual_length;
    int res = libusb_bulk_transfer(dev_handle, LIBUSB_ENDPOINT_OUT | 1, 
                    const_cast<unsigned char *>(data), length, &actual_length, 0);
    if (res == 0) {
        return actual_length;
    } else {
        if (res == LIBUSB_ERROR_NO_DEVICE) {
            connected = false;
            reconnectFlag = true;
        }
        return -1;
    }
}

void HIDDev::usbEventHandling() {
    int completed = 0;
    while (!stopThread) {
#if USB_HOT_PLUG_SUPPORT
        libusb_handle_events_completed(ctx, &completed);
        // 也可以加入一些线程休眠来减少CPU使用率
        std::this_thread::sleep_for(std::chrono::milliseconds(100));

        if(devArrived == true){
            std::cout << "[INFO] Hotplug mode, Device reconnected ...\n";
            tryReconnect();
            devArrived = false;
        }
#else
        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
        // 如果设备未连接，定期尝试连接设备
        if(reconnectFlag && !connected){
            std::cout << "[INFO] Query mode,Device disconnected, try to connect.\n";
            reconnectFlag = !tryReconnect();
        }
#endif
    }
    std::cout << "[INFO] HIDDev event thread exit...\n";
}


bool HIDDev::isConnected() {
    return connected;
}

bool HIDDev::tryReconnect() {
    return openDevice(this->vendorId, this->productId);
}