#include <libusb-1.0/libusb.h> //bibliothèque USB
  #include <stdio.h>
  #include <stdlib.h>

  #include <fcntl.h>
  #include <strings.h>
  #include <unistd.h>
  
  

  #define LED_ON 0x21
  #define LED_OFF 0x22
  #define MOVE_RIGHT 0x04
  #define MOVE_LEFT 0x08
  #define MOVE_STOP 0x10
  
  
  #define ACM_CTRL_DTR  0x01
  #define ACM_CTRL_RTS 0x02
  
  static int ep_in_addr  = 0x83;
  static int ep_out_addr = 0x04;
  

  libusb_device **list;
  libusb_device_handle *handle = NULL;
  libusb_device *device;

  
  void configuration_periph(libusb_device *device) //Configuration de la tourelle
  {
    //Ouverture du pepherique
    int status=libusb_open(device,&handle);
    if(status!=0)
      {
        perror("libusb_open"); exit(-1);
      }

    
    //Recuperation de la configuration d'indice 0 du périphérique
    struct libusb_config_descriptor *config;
    status=libusb_get_active_config_descriptor(device,&config);
    if(status!=0)
      {
        perror("libusb_get_active_config_descriptor"); exit(-1);
      }
  
    //Interfaces
    int i;
    int interface;
    

    //On détache le noyau de notre périphérique

    for(i=0;i<(config->bNumInterfaces);i++)
      {

        interface=config->interface[i].altsetting[0].bInterfaceNumber;

        if(libusb_kernel_driver_active(handle,interface))

        {
          status=libusb_detach_kernel_driver(handle,interface);
          if(status!=0)
          {
            perror("libusb_detach_kernel_driver"); exit(-1);
          }
        }

      }
  

    //Utilisation d'une configuration du périphérique
    int configuration=config->bConfigurationValue;

    status=libusb_set_configuration(handle,configuration);

    if(status!=0)
      {
        perror("libusb_set_configuration"); exit(-1);
      }

    //Claim interfaces
    for(i=0;i<(config->bNumInterfaces);i++)
      {
        interface=config->interface[i].altsetting[0].bInterfaceNumber;
        printf("Numero d'interface : %d\n", interface);
        status=libusb_claim_interface(handle,interface);
        if(status!=0)

        {
          perror("libusb_claim_interface"); exit(-1);
        }
      }

  }
  
  
  void fermeture(libusb_device_handle *handle) //Fermeture du périphérique
  {
    int i, interface, status;
    libusb_device *device = libusb_get_device(handle);
    struct libusb_config_descriptor *config;
    status = libusb_get_active_config_descriptor(device, &config);
    if(status != 0)
      {
        perror("libusb_get_active_config_descriptor");exit(-1);
      }
    
    for(i=0;i<(config->bNumInterfaces);i++)
      {
        interface=config->interface[i].altsetting[0].bInterfaceNumber;
        status=libusb_release_interface(handle,interface); //On libère l'interface
        if(status!=0)
  	{
  	  perror("libusb_release_interface");
  	  exit(-1);
  	}
        printf("Interface liberee : %d\n",interface);
      }
     
    libusb_close(handle);
    }
  
  
  void enumeration(libusb_context *context) //Enumération des périphériques USB
  {
    int t=0;
    libusb_device **list;
    ssize_t count=libusb_get_device_list(context,&list);
    if(count<0)
      {
        perror("libusb_get_device_list"); exit(-1);
      }

    ssize_t i=0;
    for(i=0;i<count;i++)
    {
    libusb_device *device=list[i];
    struct libusb_device_descriptor desc;
    int status=libusb_get_device_descriptor(device,&desc);
    if(status!=0) continue;
    uint8_t bus=libusb_get_bus_number(device);
    uint8_t address=libusb_get_device_address(device);

   
   //Lorsque l'on retrouves notre périphérique nous passons à la configuration.
   if ((desc.idVendor==0x0010) && (desc.idProduct==0x1010)) 

      {

        printf("périphérique trouvée !\n");

        t=1;
        configuration_periph(device);
      }
    }

    if(t==0) printf("périphérique non connectée !\n");

  }

  void envoi(unsigned char c)

  {

      /* To send a char to the device simply initiate a bulk_transfer to the
       * Endpoint with address ep_out_addr.
       */
      int actual_length;
      if (libusb_bulk_transfer(handle, ep_out_addr, &c, 1,
                               &actual_length, 0) < 0) {
          fprintf(stderr, "Error while sending char\n");
      }

  }
  

  int reception(unsigned char * data, int size)

  {

      /* To receive characters from the device initiate a bulk_transfer to the
       * Endpoint with address ep_in_addr.
       */
      int actual_length;
      int status = libusb_bulk_transfer(handle, ep_in_addr, data, size, &actual_length,
                                    1000);
      if (status == LIBUSB_ERROR_TIMEOUT) {
          printf("timeout (%d)\n", actual_length);
          return -1;
      } else if (status < 0) {
          fprintf(stderr, "Error while waiting for char\n");
          return -1;

      }
  

      return actual_length;

  }

  int main()
  {
     //Initialisation de la bibliotheque libusb
    libusb_context *context;

    unsigned char buf[65];

    int len;

    
    int status=libusb_init(&context);
    if(status!=0)
      {
        perror("libusb_init"); exit(-1);
      }
  

  //Enumération des périphériques USB. Si le périphérique est trouvé, cette fonction fait appel à la fonction configuration_perip.
    enumeration(context); 

  //configuration du périphérique
   status = libusb_control_transfer(handle, 0x21, 0x22, ACM_CTRL_DTR | ACM_CTRL_RTS,
                                  0, NULL, 0, 0);
      if (status < 0) {
          fprintf(stderr, "Error during control transfer: %s\n",
                  libusb_error_name(status));
  }

       //Configuration du port série.
      unsigned char encoding[] = { 0x80, 0x25, 0x00, 0x00, 0x00, 0x00, 0x08 };
      status = libusb_control_transfer(handle, 0x21, 0x20, 0, 0, encoding,
                                  sizeof(encoding), 0);
      if (status < 0) {
          fprintf(stderr, "Error during control transfer: %s\n",
                  libusb_error_name(status));
        } 

    //Menu de commande
    char action;
    for(;;) 

      { 

  
        printf("s=fermer / d=allumer led / g=eteindre led / h=moteur gauche / b=moteur droit / t=moteur éteint \n");
        scanf("%c",&action);
  	  
      switch (action)

  	    {
  	    case 's':
  	      fermeture(handle);

  	      libusb_free_device_list(list,1);
  	      libusb_exit(context);
  	      return 0;
  	      break;
  	    case 'd':

  	      envoi(LED_ON);

  	      sleep(1);

  	      break;
  	    case 'g':

  	      envoi(LED_OFF);

  	      sleep(1);

  	      break;
  	    case 'h':

  	      envoi(MOVE_LEFT);

          sleep(1);

  	      break;
  	    case 'b':

  	      envoi(MOVE_RIGHT);

          sleep(1);

  	      break;
  	    case 't' :

  	      envoi(MOVE_STOP);

          sleep(1);

  	      break;
  	    default :
  	      printf("Commande invalide ! Retaper :\n");
  	      break;
  	    }

          
          sleep(1);
  }

  
    return 0;
  }