summaryrefslogtreecommitdiff
path: root/spectro/usbio_lx.c
blob: cb9ec5913e92d3a07eee0fae9267dd8752f057d0 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085

/* General USB I/O support, Linux native implementation. */
/* ("libusbx ? We don't need no stinking libusbx..." :-) */
/* This file is conditionaly #included into usbio.c */
 
/* 
 * Argyll Color Correction System
 *
 * Author: Graeme W. Gill
 * Date:   2006/22/4
 *
 * Copyright 2006 - 2013 Graeme W. Gill
 * All rights reserved.
 *
 * This material is licenced under the GNU GENERAL PUBLIC LICENSE Version 2 or later :-
 * see the License2.txt file for licencing details.
 */

#include <unistd.h>
#include <dirent.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/usbdevice_fs.h>

/* select() defined, but not poll(), so emulate poll() */
#if defined(FD_CLR) && !defined(POLLIN)
#include "pollem.h"
#define poll_x pollem
#else
#include <sys/poll.h>	/* Else assume poll() is native */
#define poll_x poll
#endif

/* USB descriptors are little endian */

/* Take a word sized return buffer, and convert it to an unsigned int */
static unsigned int buf2uint(unsigned char *buf) {
	unsigned int val;
	val = buf[3];
	val = ((val << 8) + (0xff & buf[2]));
	val = ((val << 8) + (0xff & buf[1]));
	val = ((val << 8) + (0xff & buf[0]));
	return val;
}

/* Take a short sized return buffer, and convert it to an int */
static unsigned int buf2ushort(unsigned char *buf) {
	unsigned int val;
	val = buf[1];
	val = ((val << 8) + (0xff & buf[0]));
	return val;
}

/* Take an int, and convert it into a byte buffer */
static void int2buf(unsigned char *buf, int inv) {
	buf[0] = (inv >> 0) & 0xff;
	buf[1] = (inv >> 8) & 0xff;
	buf[2] = (inv >> 16) & 0xff;
	buf[3] = (inv >> 24) & 0xff;
}

/* Take a short, and convert it into a byte buffer */
static void short2buf(unsigned char *buf, int inv) {
	buf[0] = (inv >> 0) & 0xff;
	buf[1] = (inv >> 8) & 0xff;
}


/* Check a USB Vendor and product ID by reading the device descriptors, */
/* and add the device to the icoms path if it is supported. */
/* Return icom nz error code on fatal error */
static
int usb_check_and_add(
a1log *log,
icompaths *pp,	/* icompaths to add to */
char *dpath		/* path to device */
) {
	int rv;
	unsigned char buf[IUSB_DESC_TYPE_DEVICE_SIZE];
	unsigned vid, pid, nep10 = 0xffff;
	unsigned int configix, nconfig, totlen;
	instType itype;
	struct usb_idevice *usbd = NULL;
	int fd;			/* device file descriptor */

	a1logd(log, 6, "usb_check_and_add: givem '%s'\n",dpath);

	/* Open the device so that we can read it */
	if ((fd = open(dpath, O_RDONLY)) < 0) {
		a1logd(log, 1, "usb_check_and_add: failed to open '%s'\n",dpath);
		return ICOM_OK;
	}

	/* Read the device descriptor */
	if ((rv = read(fd, buf, IUSB_DESC_TYPE_DEVICE_SIZE)) < 0
	  || rv != IUSB_DESC_TYPE_DEVICE_SIZE
	  || buf[0] != IUSB_DESC_TYPE_DEVICE_SIZE
	  || buf[1] != IUSB_DESC_TYPE_DEVICE) {
		a1logd(log, 1, "usb_check_and_add: failed to read device descriptor\n");
		close(fd);
		return ICOM_OK;
	}

	/* Extract the vid and pid */ 	
	vid = buf2ushort(buf + 8);
	pid = buf2ushort(buf + 10);
	nconfig = buf[17];
	
	a1logd(log, 6, "usb_check_and_add: checking vid 0x%04x, pid 0x%04x\n",vid,pid);

	/* Do a preliminary match */
	if ((itype = inst_usb_match(vid, pid, 0)) == instUnknown) {
		a1logd(log, 6 , "usb_check_and_add: instrument not reconized\n");
		close(fd);
		return ICOM_OK;
	}

	/* Allocate an idevice so that we can fill in the end point information */
	if ((usbd = (struct usb_idevice *) calloc(sizeof(struct usb_idevice), 1)) == NULL) {
		a1loge(log, ICOM_SYS, "icoms: calloc failed!\n");
		close(fd);
		return ICOM_SYS;
	}

	usbd->nconfig = nconfig;

	/* Read the configuration descriptors looking for the first configuration, first interface, */
	/* and extract the number of end points */
	for (configix = 0; configix < nconfig; configix++) {
		int configno;
		unsigned int ninfaces, inface, nep;
		unsigned char *buf2, *bp, *zp;

		/* Read the first 4 bytes to get the type and size */
		if ((rv = read(fd, buf, 4)) < 0
		  || rv != 4
		  || buf[1] != IUSB_DESC_TYPE_CONFIG) {
			a1logd(log, 1, "usb_check_and_add: failed to read device config\n");
			free(usbd);
			close(fd);
			return ICOM_OK;
		}

		if ((totlen = buf2ushort(buf + 2)) < 6) {
			a1logd(log, 1, "usb_check_and_add: config desc size strange\n");
			free(usbd);
			close(fd);
			return ICOM_OK;;
		}
		if ((buf2 = calloc(1, totlen)) == NULL) {
			a1loge(log, ICOM_SYS, "usb_check_and_add: calloc of descriptor failed!\n");
			close(fd);
			return ICOM_SYS;
		}

		memcpy(buf2, buf, 4);		/* First 4 bytes read */
		if ((rv = read(fd, buf2 + 4, totlen - 4)) < 0		/* Read the remainder */
		  || rv != (totlen - 4)) {
			a1logd(log, 1, "usb_check_and_add: failed to read device config details\n");
			free(buf2);
			free(usbd);
			close(fd);
			return ICOM_SYS;
		}

		bp = buf2 + buf2[0];	/* Skip coniguration tag */
		zp = buf2 + totlen;		/* Past last bytes */

		/* We are at the first configuration. */
		/* Just read tags and keep track of where we are */
		ninfaces = 0;
		nep = 0;
		usbd->nifce = buf2[4];				/* number of interfaces */
		usbd->config = configno = buf2[5];	/* current configuration */
		for (;bp < zp; bp += bp[0]) {
			int ifaceno;
			if ((bp + 1) >= zp)
				break;			/* Hmm - bodgy, give up */
			if (bp[1] == IUSB_DESC_TYPE_INTERFACE) {
				ninfaces++;
				if ((bp + 2) >= zp)
					break;			/* Hmm - bodgy, give up */
				ifaceno = bp[2];	/* Get bInterfaceNumber */
			} else if (bp[1] == IUSB_DESC_TYPE_ENDPOINT) {
				nep++;
				if ((bp + 5) >= zp)
					break;			/* Hmm - bodgy */
				/* At first config - */
				/* record current nep and end point details */
				if (configno == 1) {
					int ad = bp[2];
					nep10 = nep;
					usbd->EPINFO(ad).valid = 1;
					usbd->EPINFO(ad).addr = ad;
					usbd->EPINFO(ad).packetsize = buf2ushort(bp + 4);
					usbd->EPINFO(ad).type = bp[3] & IUSB_ENDPOINT_TYPE_MASK;
					usbd->EPINFO(ad).interface = ifaceno;
					a1logd(log, 6, "set ep ad 0x%x packetsize %d type %d\n",ad,usbd->EPINFO(ad).packetsize,usbd->EPINFO(ad).type);
				}
			}
			/* Ignore other tags */
		}
		free(buf2);
	}
	if (nep10 == 0xffff) {			/* Hmm. Failed to find number of end points */
		a1logd(log, 1, "usb_check_and_add: failed to find number of end points\n");
		free(usbd);
		close(fd);
		return ICOM_SYS;
	}

	a1logd(log, 6, "usb_check_and_add: found nep10 %d\n",nep10);

	/* Found a known instrument ? */
	if ((itype = inst_usb_match(vid, pid, nep10)) != instUnknown) {
		char pname[400];

		a1logd(log, 2, "usb_check_and_add: found instrument vid 0x%04x, pid 0x%04x\n",vid,pid);

		/* Create a path/identification */
		/* (devnum doesn't seem valid ?) */
		sprintf(pname,"%s (%s)", dpath, inst_name(itype));
		if ((usbd->dpath = strdup(dpath)) == NULL) {
			a1loge(log, ICOM_SYS, "usb_check_and_add: strdup path failed!\n");
			free(usbd);
			close(fd);
			return ICOM_SYS;
		}

		/* Add the path and ep info to the list */
		if ((rv = pp->add_usb(pp, pname, vid, pid, nep10, usbd, itype)) != ICOM_OK) {
			close(fd);
			return rv;
		}



	} else {
		free(usbd);
	}

	close(fd);
	return ICOM_OK;
}

/* Add paths to USB connected instruments */
/* Return an icom error */
int usb_get_paths(
icompaths *p 
) {
	int vid, pid;

	a1logd(p->log, 6, "usb_get_paths: about to look through buses:\n");
	{
		int j;
		char *paths[3] = { "/dev/bus/usb", 		/* current, from udev */
		                   "/proc/bus/usb",		/* old, deprecated */
		                   "/dev" };			/* CONFIG_USB_DEVICE_CLASS, embeded, deprecated ? */
	
		/* See what device names to look for */
		for (j = 0; j < 3; j++) {
			DIR *d1;
			struct dirent *e1;
			int rv, found = 0;
	
			if ((d1 = opendir(paths[j])) == NULL)
				continue;
	
			while ((e1 = readdir(d1)) != NULL) {
				if (e1->d_name[0] == '.')
					continue;
				found = 1;
				if (j < 2) {		/* Directory structure */
					char path1[PATH_MAX];
					char path2[PATH_MAX];
					DIR *d2;
					struct dirent *e2;
					struct stat statbuf;

	                snprintf(path1, PATH_MAX, "%s/%s", paths[j], e1->d_name);

					if ((d2 = opendir(path1)) == NULL)
						continue;
					while ((e2 = readdir(d2)) != NULL) {
						if (e2->d_name[0] == '.')
							continue;
	
		                snprintf(path2, PATH_MAX, "%s/%s/%s", paths[j], e1->d_name, e2->d_name);
						a1logd(p->log, 8, "usb_get_paths: about to stat %s\n",path2);
						if (stat(path2, &statbuf) == 0 && S_ISCHR(statbuf.st_mode)) {
							found = 1;
							if ((rv = usb_check_and_add(p->log, p, path2)) != ICOM_OK) {
								closedir(d1);
								return rv;
							}
						}
					}
					closedir(d2);
				} else {	/* Flat */
					char path2[PATH_MAX];
					struct stat statbuf;

					/* Hmm. This will go badly wrong if this is a /dev/usbdev%d.%d_ep%d, */
					/* since we're not expecting the end points to be separate devices. */
					/* Maybe that's deprectated though... */
	                snprintf(path2, PATH_MAX, "%s/%s", paths[j], e1->d_name);
					a1logd(p->log, 8, "usb_get_paths: about to stat %s\n",path2);
					if (stat(path2, &statbuf) == 0 && S_ISCHR(statbuf.st_mode)) {
						found = 1;
						if ((rv = usb_check_and_add(p->log, p, path2)) != ICOM_OK) {
							closedir(d1);
							return rv;
						}
					}
				}
			}
			closedir(d1);
			if (found)
				break;
		}
	}

	a1logd(p->log, 8, "usb_get_paths: returning %d paths and ICOM_OK\n",p->npaths);
	return ICOM_OK;
}

/* Copy usb_idevice contents from icompaths to icom */
/* return icom error */
int usb_copy_usb_idevice(icoms *d, icompath *s) {
	int i;
	if (s->usbd == NULL) { 
		d->usbd = NULL;
		return ICOM_OK;
	}
	if ((d->usbd = calloc(sizeof(struct usb_idevice), 1)) == NULL) {
		a1loge(d->log, ICOM_SYS, "usb_copy_usb_idevice: malloc\n");
		return ICOM_SYS;
	}
	if ((d->usbd->dpath = strdup(s->usbd->dpath)) == NULL) {
		a1loge(d->log, ICOM_SYS, "usb_copy_usb_idevice: malloc\n");
		return ICOM_SYS;
	}
	/* Copy the ep info */
	d->nconfig = s->usbd->nconfig;
	d->nifce = s->usbd->nifce;
	d->config = s->usbd->config;
	for (i = 0; i < 32; i++)
		d->ep[i] = s->usbd->ep[i];		/* Struct copy */
	return ICOM_OK;
}

/* Cleanup and then free a usb dev entry */
void usb_del_usb_idevice(struct usb_idevice *usbd) {

	if (usbd == NULL)
		return;

	if (usbd->dpath != NULL)
		free(usbd->dpath);
	free(usbd);
}

/* Cleanup any USB specific icoms state */
void usb_del_usb(icoms *p) {

	usb_del_usb_idevice(p->usbd);
}

/* Close an open USB port */
/* If we don't do this, the port and/or the device may be left in an unusable state. */
void usb_close_port(icoms *p) {

	a1logd(p->log, 6, "usb_close_port: called\n");

	if (p->is_open && p->usbd != NULL) {
		struct usbdevfs_urb urb;
		unsigned char buf[8+IUSB_DESC_TYPE_DEVICE_SIZE];
		int iface, rv;

		/* Release all the interfaces */
		for (iface = 0; iface < p->nifce; iface++)
			ioctl(p->usbd->fd, USBDEVFS_RELEASEINTERFACE, &iface);

		/* Workaround for some bugs - reset device on close */
		if (p->uflags & icomuf_reset_before_close) {
			if ((rv = ioctl(p->usbd->fd, USBDEVFS_RESET, NULL)) != 0) {
				a1logd(p->log, 1, "usb_close_port: reset returned %d\n",rv);
			}
		}

		if (p->usbd->running) {		/* If reaper is still running */
			unsigned char buf[1] = { 0 };

			a1logd(p->log, 6, "usb_close_port: waking reaper thread to trigger exit\n");
			p->usbd->shutdown = 1;

			if (write(p->usbd->sd_pipe[1], buf, 1) < 1) {
				a1logd(p->log, 1, "usb_close_port: writing to sd_pipe failed with '%s'\n", strerror(errno));
				/* Hmm. We could be in trouble ? */
			}
		}
		a1logd(p->log, 6, "usb_close_port: waiting for reaper thread\n");
		pthread_join(p->usbd->thread, NULL);	/* Wait for urb reaper thread to exit */
		close(p->usbd->fd);
		pthread_mutex_destroy(&p->usbd->lock);
		close(p->usbd->sd_pipe[0]);
		close(p->usbd->sd_pipe[1]);

		a1logd(p->log, 6, "usb_close_port: usb port has been released and closed\n");
	}
	p->is_open = 0;

	/* Find it and delete it from our static cleanup list */
	usb_delete_from_cleanup_list(p);
}

static void *urb_reaper(void *context);		/* Declare */

/* Open a USB port for all our uses. */
/* This always re-opens the port */
/* return icom error */
static int usb_open_port(
icoms *p,
int    config,		/* Configuration number */
int    wr_ep,		/* Write end point */
int    rd_ep,		/* Read end point */
icomuflags usbflags,/* Any special handling flags */
int retries,		/* > 0 if we should retry set_configuration (100msec) */ 
char **pnames		/* List of process names to try and kill before opening */
) {
	int rv, tries = 0;
	a1logd(p->log, 8, "usb_open_port: Make sure USB port is open, tries %d\n",retries);

	if (p->is_open)
		p->close_port(p);

	/* Make sure the port is open */
	if (!p->is_open) {
		int rv, i, iface;
		kkill_nproc_ctx *kpc = NULL;

		if (config != 1) {
			/* Nothing currently needs it, so we haven't implemented it yet... */
			a1loge(p->log, ICOM_NOTS, "usb_open_port: native driver cant handle config %d\n",config);
			return ICOM_NOTS;
		}

		/* Do open retries */
		for (tries = 0; retries >= 0; retries--, tries++) {

			a1logd(p->log, 8, "usb_open_port: About to open USB port '%s'\n",p->usbd->dpath);

			if (tries > 0) {
				//msec_sleep(i_rand(50,100));
				msec_sleep(77);
			}

			if ((rv = p->usbd->fd = open(p->usbd->dpath, O_RDWR)) < 0) {
				a1logd(p->log, 8, "usb_open_port: open '%s' config %d failed (%d) (Permissions ?)\n",p->usbd->dpath,config,rv);
				if (retries <= 0) {
					if (kpc != NULL) {
						if (kpc->th->result < 0)
							a1logw(p->log, "usb_open_port: killing competing processes failed\n");
						kpc->del(kpc); 
					}
					a1loge(p->log, ICOM_SYS, "usb_open_port: open '%s' config %d failed (%d) (Permissions ?)\n",p->usbd->dpath,config,rv);
					return ICOM_SYS;
				}
				continue;
			} else if (p->debug)
				a1logd(p->log, 2, "usb_open_port: open port '%s' succeeded\n",p->usbd->dpath);

			p->uflags = usbflags;

			/* We should only do a set configuration if the device has more than one */
			/* possible configuration and it is currently not the desired configuration, */
			/* but we should avoid doing a set configuration if the OS has already */
			/* selected the configuration we want, since two set configs seem to */
			/* mess up the Spyder2, BUT we can't do a get config because this */
			/* messes up the i1pro-D. */

			/* Linux set_configuration(1) by default, so we don't need to do anything */
			p->cconfig = 1;

			if (p->cconfig != config) {
				if ((rv = ioctl(p->usbd->fd, USBDEVFS_SETCONFIGURATION, &config)) != 0) {
					a1logd(p->log, 1, "icoms_usb_setconfig failed with %d\n",rv);
					return ICOM_SYS;
				}
				p->cconfig = config;
				a1logd(p->log, 6, "usb_open_port: set config %d OK\n",config);
			}

			/* We're done */
			break;
		}

		if (kpc != NULL)
			kpc->del(kpc); 

		/* Claim all the interfaces */
		for (iface = 0; iface < p->nifce; iface++) {

			if ((rv = ioctl(p->usbd->fd, USBDEVFS_CLAIMINTERFACE, &iface)) < 0) {
				struct usbdevfs_getdriver getd;
				getd.interface = iface;

				a1logd(p->log, 1, "usb_open_port: Claiming USB port '%s' interface %d initally failed with %d\n",p->usbd->dpath,iface,rv);

				/* Detatch the existing interface if kernel driver is active. */
				if (p->uflags & icomuf_detach
				 && ioctl(p->usbd->fd, USBDEVFS_GETDRIVER, &getd) == 0) {
					struct usbdevfs_ioctl cmd;
					a1logd(p->log, 1, "usb_open_port: Attempting kernel detach\n");
					cmd.ifno = iface;
					cmd.ioctl_code = USBDEVFS_DISCONNECT;
					cmd.data = NULL;
				 	ioctl(p->usbd->fd, USBDEVFS_IOCTL, &cmd);
					if ((rv = ioctl(p->usbd->fd, USBDEVFS_CLAIMINTERFACE, &iface)) < 0) {
						a1loge(p->log, ICOM_SYS, "usb_open_port: Claiming USB port '%s' interface %d failed after detach with %d\n",p->usbd->dpath,iface,rv);
						return ICOM_SYS;
					}
				} else {
					a1loge(p->log, ICOM_SYS, "usb_open_port: Claiming USB port '%s' interface %d failed with %d\n",p->usbd->dpath,iface,rv);
					return ICOM_SYS;
				}
			}
		}

		/* Clear any errors. */
		/* (Some I/F seem to hang if we do this, some seem to hang if we don't !) */
		/* The ColorMunki on Linux only starts every second time if we don't do this. */
		if (!(p->uflags & icomuf_no_open_clear)) {
			for (i = 0; i < 32; i++) {
				if (!p->ep[i].valid)
					continue;
				p->usb_clearhalt(p, p->ep[i].addr); 
			}
		}

		/* Set "serial" coms values */
		p->wr_ep = wr_ep;
		p->rd_ep = rd_ep;
		p->rd_qa = p->EPINFO(rd_ep).packetsize;
		if (p->rd_qa == 0)
			p->rd_qa = 8;
		a1logd(p->log, 8, "usb_open_port: 'serial' read quanta = packet size = %d\n",p->rd_qa);

		/* Start the reaper thread to handle URB completions */
		if ((rv = pipe(p->usbd->sd_pipe)) < 0) {
			a1loge(p->log, ICOM_SYS, "usb_open_port: creat pipe failed with %d\n",rv);
			return ICOM_SYS;
		}
		pthread_mutex_init(&p->usbd->lock, NULL);
		
		p->usbd->running = 1;
		if ((rv = pthread_create(&p->usbd->thread, NULL, urb_reaper, (void*)p)) < 0) {
			p->usbd->running = 0;
			a1loge(p->log, ICOM_SYS, "usb_open_port: creating urb reaper thread failed with %s\n",rv);
			return ICOM_SYS;
		}

		p->is_open = 1;
		a1logd(p->log, 8, "usb_open_port: USB port is now open\n");
	}

	/* Install the cleanup signal handlers, and add to our cleanup list */
	usb_install_signal_handlers(p);

	return ICOM_OK;
}

/*  -------------------------------------------------------------- */
/* I/O structures */

/* an icoms urb */
typedef struct {
	struct _usbio_req *req;		/* Request we're part of */
	int urbno;					/* urb index within request */
	struct usbdevfs_urb urb;	/* Linux urb */
} usbio_urb;

/* an i/o request */
typedef struct _usbio_req {

	int nurbs;					/* Number of urbs in urbs[] */
	usbio_urb *urbs;			/* Allocated */
	volatile int nourbs;		/* Number of outstanding urbs, 0 when done */
	int cancelled;				/* All the URB's have been cancelled */

	pthread_mutex_t lock;		/* Protect req & reaper access */
	pthread_cond_t cond;		/* Signal to thread waiting on req */

	struct _usbio_req *next;	/* Link to next in list */
} usbio_req;

/* - - - - - - - - - - - - - - - - - - - - - */

/* Cancel a req's urbs from the last down to but not including thisurb. */
/* return icom error */
static int cancel_req(icoms *p, usbio_req *req, int thisurb) {
	int i, rv = ICOM_OK;
	for (i = req->nurbs-1; i > thisurb; i--) {
		int ev;
		// ~~99 can we skip done, errored or cancelled urbs ?
		// Does it matter if there is a race between cancellers ? */
		a1logd(p->log, 8, "cancel_req %d\n",i);
		ev = ioctl(p->usbd->fd, USBDEVFS_DISCARDURB, &req->urbs[i].urb);
		if (ev != 0 && ev != EINVAL) {
			/* Hmmm */
			a1loge(p->log, ICOM_SYS, "cancel_req: failed with %d\n",rv);
			rv = ICOM_SYS;
		}
		req->urbs[i].urb.status = -ECONNRESET; 
	}
	req->cancelled = 1;		/* Don't cancel it again */
	return ICOM_OK;
}

/* The reaper thread */
static void *urb_reaper(void *context) {
	icoms *p = (icoms *)context;
	struct usbdevfs_urb *out = NULL;
	int errc = 0;
	int rv;
	struct pollfd pa[2];        /* Poll array to monitor urb result or shutdown */

	a1logd(p->log, 8, "urb_reaper: reap starting\n");

	/* Wait for a URB, and signal the requester */
	for (;;) {
		usbio_urb *iurb;
		usbio_req *req;

		/* Setup to wait for serial output not block */
		pa[0].fd = p->usbd->fd;
		pa[0].events = POLLIN | POLLOUT;
		pa[0].revents = 0;
	
		/* Setup to wait for a shutdown signal via the sd_pipe */
		pa[1].fd = p->usbd->sd_pipe[0];
		pa[1].events = POLLIN;
		pa[1].revents = 0;

		/* Wait for fd to become ready or fail */
		rv = poll_x(pa, 2, -1);

		/* Failed */
		if (rv < 0) {
			a1logd(p->log, 2, "urb_reaper: poll failed with %d\n",rv);
				if (errc++ < 5) {
				continue;
			}
			a1logd(p->log, 2, "urb_reaper: poll failed too many times - shutting down\n");
			p->usbd->shutdown = 1;
			break;
		}

		/* Shutdown event */
		if (pa[1].revents != 0) {
			a1logd(p->log, 6, "urb_reaper: poll returned events %d %d - shutting down\n",
			                   pa[0].revents,pa[1].revents);
			p->usbd->shutdown = 1;
			break;
		}

		/* Hmm. poll returned without event from fd. */
		if (pa[0].revents == 0) {
			a1logd(p->log, 8, "urb_reaper: poll returned events %d %d - ignoring\n",
			                   pa[0].revents,pa[1].revents);
			continue;
		}

		/* Not sure what this returns if there is nothing there */
		rv = ioctl(p->usbd->fd, USBDEVFS_REAPURBNDELAY, &out);

		if (rv == EAGAIN) {
			a1logd(p->log, 8, "urb_reaper: reap returned EAGAIN - ignored\n");
			continue;
		}
		if (rv < 0) {
			a1logd(p->log, 8, "urb_reaper: reap failed with %d\n",rv);
				if (errc++ < 5) {
				continue;
			}
			a1logd(p->log, 8, "urb_reaper: reap failed too many times - shutting down\n");
			p->usbd->shutdown = 1;
			break;
		}

		errc = 0;

		if (out == NULL) {
			a1logd(p->log, 8, "urb_reaper: reap returned NULL URB - ignored\n");
			continue;
		}

		/* Normal reap */
		iurb = (usbio_urb *)out->usercontext;
		req = iurb->req;

		a1logd(p->log, 8, "urb_reaper: urb reap URB %d with status %d bytes %d, urbs left %d\n",iurb->urbno, out->status, out->actual_length, req->nourbs-1);

		pthread_mutex_lock(&req->lock);	/* Stop requester from missing reap */
		req->nourbs--;					/* We're reaped one */

		/* If urb failed or is done (but not cancelled), cancel all the following urbs */
		if (req->nourbs > 0 && !req->cancelled
		 && ((out->actual_length < out->buffer_length)
		   || (out->status < 0 && out->status != -ECONNRESET))) {
			a1logd(p->log, 8, "urb_reaper: reaper canceling failed or done urb's\n",rv);
			if (cancel_req(p, req, iurb->urbno) != ICOM_OK) {
				pthread_mutex_unlock(&req->lock);
				/* Is this fatal ? Assume so for the moment ... */
				break;
			} 
		}
		if (req->nourbs <= 0)		/* Signal the requesting thread that we're done */
			pthread_cond_signal(&req->cond);
		pthread_mutex_unlock(&req->lock);
	}

	/* Clean up */
	if (p->usbd->shutdown) {
		usbio_req *req;

		a1logd(p->log, 8, "urb_reaper: shutdown or too many failure\n");

		/* Signal that any request should give up, and that the */
		/* reaper thread is going to exit */
		p->usbd->running = 0;

		/* Go through the outstanding request list, and */
		/* mark them as failed and signal them all */
		pthread_mutex_lock(&p->usbd->lock);
		req = p->usbd->reqs;
		while(req != NULL) {
			int i;

			pthread_mutex_lock(&req->lock);	
			for (i = req->nourbs-1; i >= 0; i--) {
				req->urbs[i].urb.status = -ENOMSG;	/* Use ENOMSG as error marker */
			}
			req->nourbs = 0;
			pthread_cond_signal(&req->cond);
			pthread_mutex_unlock(&req->lock);
			req = req->next;
		}
		pthread_mutex_unlock(&p->usbd->lock);
		a1logd(p->log, 8, "urb_reaper: cleared requests\n");
	}
	p->usbd->running = 0;

	a1logd(p->log, 6, "urb_reaper: thread done\n");
	return NULL;
}

/* - - - - - - - - - - - - - - - - - - - - - */
/* Our universal USB transfer function */
static int icoms_usb_transaction(
	icoms *p,
	usb_cancelt *cancelt,
	int *transferred,
	icom_usb_trantype ttype,	/* transfer type */
	unsigned char endpoint,		/* 0x80 for control write, 0x00 for control read */
	unsigned char *buffer,
	int length,
	unsigned int timeout		/* In msec */
) {
	int reqrv = ICOM_OK, rv = 0;
	usbio_req req, **preq;
	int type;
	int remlen;
	unsigned char *bp;
	int xlength = 0;
	int i;

	in_usb_rw++;
	a1logd(p->log, 8, "icoms_usb_transaction: req type 0x%x ep 0x%x size %d\n",ttype,endpoint,length);

	if (!p->usbd->running) {
		in_usb_rw--;
		a1logv(p->log, 1, "icoms_usb_transaction: reaper thread is not running\n");
		return ICOM_SYS;
	}

	/* Translate icoms transfer type of Linux */
	switch (ttype) {
		case icom_usb_trantype_command:
			type = USBDEVFS_URB_TYPE_CONTROL;
			break;
		case icom_usb_trantype_interrutpt:
			type = USBDEVFS_URB_TYPE_INTERRUPT;
			break;
		case icom_usb_trantype_bulk:
			type = USBDEVFS_URB_TYPE_BULK;
			break;
	}

	/* Setup the icom req and urbs */
	req.urbs = NULL;
	pthread_mutex_init(&req.lock, NULL);
	pthread_cond_init(&req.cond, NULL);

	/* Linux historically only copes with 16384 length urbs, */
	/* so break up longer requests into multiple urbs */

	req.cancelled = 0;
	req.nourbs = req.nurbs = (length + (1 << 14)-1) >> 14;
	if ((req.urbs = (usbio_urb *)calloc(sizeof(usbio_urb), req.nourbs)) == NULL) {
		in_usb_rw--;
		a1loge(p->log, ICOM_SYS, "icoms_usb_transaction: control transfer too big! (%d)\n",length);
		return ICOM_SYS;
	}

	bp = buffer;
	remlen = length;
	for (i = 0; i < req.nurbs; i++) {
		req.urbs[i].req = &req;
		req.urbs[i].urbno = i;
		/* Setup Linux URB */
		req.urbs[i].urb.usercontext = &req.urbs[i];
		req.urbs[i].urb.type = type; 
		if (type != USBDEVFS_URB_TYPE_CONTROL)
			req.urbs[i].urb.endpoint = endpoint;
		if (remlen > 16384)
			req.urbs[i].urb.buffer_length = 16384;
		else
			req.urbs[i].urb.buffer_length = remlen;
		req.urbs[i].urb.buffer = (void *)bp;
		remlen -= req.urbs[i].urb.buffer_length;
		bp += req.urbs[i].urb.buffer_length;
		req.urbs[i].urb.status = -EINPROGRESS;
	}
	a1logd(p->log, 8, "icoms_usb_transaction: reset req %p nourbs to %d\n",&req,req.nourbs);

	/* Add our request to the req list so that it can be cancelled on reap failure */
	pthread_mutex_lock(&p->usbd->lock);
	req.next = p->usbd->reqs;
	p->usbd->reqs = &req;
	pthread_mutex_unlock(&p->usbd->lock);

	/* submit the URBs */
	for (i = 0; i < req.nurbs; i++) {
		if ((rv = ioctl(p->usbd->fd, USBDEVFS_SUBMITURB, &req.urbs[i].urb)) < 0) {
			a1logd(p->log, 1, "coms_usb_transaction: Submitting urb to fd %d failed with %d\n",p->usbd->fd, rv);
			req.urbs[i].urb.status = -ENOMSG;	/* Mark it as failed to submit */
			req.nourbs--;
		}
	}
	
	if (cancelt != NULL) {
		amutex_lock(cancelt->cmtx);
		cancelt->hcancel = (void *)&req;
		cancelt->state = 1;
		amutex_unlock(cancelt->condx);	/* Signal any thread waiting for IO start */
		amutex_unlock(cancelt->cmtx);
	}

	/* Wait for the reaper to wake us, or for a timeout, */
	/* or for the reaper to die. */
	pthread_mutex_lock(&req.lock);
	if (req.nourbs > 0) {
		struct timeval tv;
		struct timespec ts;

		// this is unduly complicated...
		gettimeofday(&tv, NULL);
		ts.tv_sec = tv.tv_sec + timeout/1000;
		ts.tv_nsec = (tv.tv_usec + (timeout % 1000) * 1000) * 1000L;
		if (ts.tv_nsec > 1000000000L) {
			ts.tv_nsec -= 1000000000L;
			ts.tv_sec++;
		}
		
		for(;;) {	/* Ignore spurious wakeups */
			if ((rv = pthread_cond_timedwait(&req.cond, &req.lock, &ts)) != 0) {
				if (rv != ETIMEDOUT) {
					pthread_mutex_unlock(&req.lock);
					a1logd(p->log, 1, "coms_usb_transaction: pthread_cond_timedwait failed with %d\n",rv);
					rv = ICOM_SYS;
					goto done;
				}

				/* Timed out - cancel the remaining URB's */
				a1logd(p->log, 8, "coms_usb_transaction: time out - cancel remaining URB's\n");
				reqrv = ICOM_TO;
				if (!req.cancelled && (rv = cancel_req(p, &req, -1)) != ICOM_OK) {
					pthread_mutex_unlock(&req.lock);
					reqrv = ICOM_SYS;
					/* Since cancelling failed, we can't wait for them to be reaped */
					goto done;
				}
	
				/* Wait for the cancelled URB's to be reaped */
				for (;req.nourbs > 0;) {	/* Ignore spurious wakeups */
					if ((rv = pthread_cond_wait(&req.cond, &req.lock)) != 0) {
						pthread_mutex_unlock(&req.lock);
						a1logd(p->log, 1, "coms_usb_transaction:  pthread_cond_wait failed with %d\n",rv);
						reqrv = ICOM_SYS;
						/* Waiting for reap failed, so give up */
						goto done;
					}
				}
			} else {
				a1logd(p->log, 8, "coms_usb_transaction: reap - %d left\n",req.nourbs);
			}
			if (req.nourbs <= 0)
				break;				/* All urbs's are done */
		}
	}
	pthread_mutex_unlock(&req.lock);

	/* Compute the overall result by going through the urbs. */
	for (i = 0; i < req.nurbs; i++) {
		int stat = req.urbs[i].urb.status;
		xlength += req.urbs[i].urb.actual_length;

		if (stat == -ENOMSG) {	/* Submit or cancel failed */
			reqrv = ICOM_SYS;
		} else if (reqrv == ICOM_OK && stat < 0 && stat != -ECONNRESET) {	/* Error result */
			if ((endpoint & IUSB_ENDPOINT_DIR_MASK) == IUSB_ENDPOINT_OUT)
				reqrv = ICOM_USBW;
			else
				reqrv = ICOM_USBR;
		} else if (reqrv == ICOM_OK && stat == -ECONNRESET) {	/* Cancelled */
			reqrv = ICOM_CANC;
		} else if (reqrv == ICOM_OK
		        && req.urbs[i].urb.actual_length < req.urbs[i].urb.buffer_length) {
			/* Disregard any following urb's status - they are probably cancelled */
			break;
		}
		/* reqrv == ICOM_TO will ignore urb status */
	}

	if (ttype == icom_usb_trantype_command)
		xlength += IUSB_REQ_HEADER_SIZE;		/* Account for header - linux doesn't */

	/* requested size wasn't transferred ? */
	if (reqrv == ICOM_OK && xlength != length)
		reqrv = ICOM_SHORT;

	if (transferred != NULL)
		*transferred = xlength;

done:;
	if (cancelt != NULL) {
		amutex_lock(cancelt->cmtx);
		cancelt->hcancel = (void *)NULL;
		if (cancelt->state == 0)
			amutex_unlock(cancelt->condx);
		cancelt->state = 2;
		amutex_unlock(cancelt->cmtx);
	}

	/* Remove our request from the list  */
	pthread_mutex_lock(&p->usbd->lock);
	preq = &p->usbd->reqs;
	while (*preq != &req && *preq != NULL)		/* Find it */
		preq = &((*preq)->next);
	if (*preq != NULL)
		*preq = (*preq)->next;
	pthread_mutex_unlock(&p->usbd->lock);

	if (req.urbs != NULL)
		free(req.urbs);
	pthread_cond_destroy(&req.cond);
	pthread_mutex_destroy(&req.lock);

	if (in_usb_rw < 0)
		exit(0);

	in_usb_rw--;

	a1logd(p->log, 8, "coms_usb_transaction: returning err 0x%x and %d bytes\n",reqrv, xlength);

	return reqrv;
}


/* Return error icom error code */
static int icoms_usb_control_msg(
icoms *p,
int *transferred,
int requesttype, int request,
int value, int index, unsigned char *bytes, int size, 
int timeout) {
	int reqrv = ICOM_OK;
	int dirw = (requesttype & IUSB_REQ_DIR_MASK) == IUSB_REQ_HOST_TO_DEV ? 1 : 0;
	unsigned char *buf;

	a1logd(p->log, 8, "icoms_usb_control_msg: type 0x%x req 0x%x size %d\n",requesttype,request,size);

	/* Allocate a buffer for the ctrl header + payload */
	if ((buf = calloc(1, IUSB_REQ_HEADER_SIZE + size)) == NULL) {
		a1loge(p->log, ICOM_SYS, "icoms_usb_control_msg: calloc failed\n");
		return ICOM_SYS;
	}

	/* Setup the control header */
	buf[0] = requesttype;
	buf[1] = request;
	short2buf(buf + 2, value);
	short2buf(buf + 4, index);
	short2buf(buf + 6, size);

	/* If it's a write, copy the write data into the buffer */
	if (dirw)
		memcpy(buf + IUSB_REQ_HEADER_SIZE, bytes, size);

	reqrv = icoms_usb_transaction(p, NULL, transferred, icom_usb_trantype_command,   
	                  dirw ? 0x80 : 0x00, buf, IUSB_REQ_HEADER_SIZE + size, timeout);  

	/* If read, copy the data back */
	if (!dirw)
		memcpy(bytes, buf + IUSB_REQ_HEADER_SIZE, size);

	if (transferred != NULL)	/* Adjust for header size requested */
		*transferred -= IUSB_REQ_HEADER_SIZE;

	free(buf);

	a1logd(p->log, 8, "icoms_usb_control_msg: returning err 0x%x and %d bytes\n",reqrv, *transferred);
	return reqrv;
}

/*  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
/* Time out error return value */

#define USBIO_ERROR_TIMEOUT	-ETIMEDOUT

/*  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */

/* Cancel i/o in another thread */
int icoms_usb_cancel_io(
	icoms *p,
	usb_cancelt *cancelt
) {
	int rv = ICOM_OK;
	a1logd(p->log, 8, "icoms_usb_cancel_io called\n");
	amutex_lock(cancelt->cmtx);
	if (cancelt->hcancel != NULL)
		rv = cancel_req(p, (usbio_req *)cancelt->hcancel, -1);
	amutex_unlock(cancelt->cmtx);

	if (rv != ICOM_OK)	/* Assume this could be because of faulty device */
		rv = ICOM_USBW;

	return rv;
}

/* - - - - - - - - - - - - - - - - - - - - - - - - - */
/* Reset and end point data toggle to 0 */
int icoms_usb_resetep(
	icoms *p,
	int ep					/* End point address */
) {
	int rv = ICOM_OK;

	if ((rv = ioctl(p->usbd->fd, USBDEVFS_RESETEP, &ep)) != 0) {
		a1logd(p->log, 1, "icoms_usb_resetep failed with %d\n",rv);
		rv = ICOM_USBW;
	}
	return rv;
}

/* - - - - - - - - - - - - - - - - - - - - - - - - - */
/* Clear a halt on an end point */
int icoms_usb_clearhalt(
	icoms *p,
	int ep					/* End point address */
) {
	int rv = ICOM_OK;

	if ((rv = ioctl(p->usbd->fd, USBDEVFS_CLEAR_HALT, &ep)) != 0) {
		a1logd(p->log, 1, "icoms_usb_clearhalt failed with %d\n",rv);
		rv = ICOM_USBW;
	}
	return rv;
}

/* - - - - - - - - - - - - - - - - - - - - - - - - - */