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

  // gcc file.c -l usb-1.0
  

  int main(){
  	// init
  	libusb_context *context;
  	int status = libusb_init(&context);
  	if(status != 0){perror("libusb_init"); exit(-1);}
  
  	// devices list
  	libusb_device **devices;
  	ssize_t devices_count = libusb_get_device_list(context, &devices);
  	if(devices_count < 0){perror("libusb_get_device_list"); exit(-1);}
  	for(int i=0; i<devices_count; i++){
  		libusb_device *device = devices[i];
  

  		// device description
  		struct libusb_device_descriptor desc;
  		int status = libusb_get_device_descriptor(device, &desc);
  		if(status != 0) continue;
  		
  		// search for device
  		if(desc.idVendor != 0x0951
  				|| desc.idProduct != 0x01666)
  			continue;
  

  		// open connection
  		libusb_device_handle *handle;

  		status = libusb_open(device, &handle);
  		if(status != 0){ perror("libusb_open"); exit(-1); }
  		
  		// prepare config
  		struct libusb_config_descriptor *config_desc;
  		status = libusb_get_config_descriptor(device, 0, &config_desc);
  		if(status != 0){ perror("libusb_get_config_descriptor"); exit(-1); }
  		int configuration = config_desc->bConfigurationValue;

  
  		// detach kernel

  		for(int j=0; j<config_desc->bNumInterfaces; j++){
  			for(int k=0; k<config_desc->interface[j].num_altsetting; k++){
  				int interface = config_desc->interface[j].altsetting[k].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); }
  				}
  			}

  		}

  		// use config

  		status = libusb_set_configuration(handle, configuration);

  		if(status != 0){ perror("libusb_set_configuration"); exit(-1); }
  		
  		// claim interfaces
  		for(int j=0; j<config_desc->bNumInterfaces; j++){
  			for(int k=0; k<config_desc->interface[j].num_altsetting; k++){
  				int interface = config_desc->interface[j].altsetting[k].bInterfaceNumber;
  				status = libusb_claim_interface(handle, interface);
  				if(status != 0){ perror("libusb_claim_interface"); exit(-1); }
  			}
  		}

  
  		/* ... some code ... */

  		// TODO endpoints

  		// release interfaces
  		for(int j=0; j<config_desc->bNumInterfaces; j++){
  			for(int k=0; k<config_desc->interface[j].num_altsetting; k++){
  				int interface = config_desc->interface[j].altsetting[k].bInterfaceNumber;
  				status = libusb_release_interface(handle, interface);
  				if(status != 0){ perror("libusb_release_interface"); exit(-1); }
  			}
  		}
  		
  		// free config
  		libusb_free_config_descriptor(config_desc);

  
  		// close connection
  		libusb_close(handle);
  	}
  	libusb_free_device_list(devices, 1);
  
  	libusb_exit(context);
  }