libusb

joe @joe-PC /cygdrive/g/dapjtag/openocd-20200729/OpenOCD-20200729-0.10.0/share/openocd/scripts $ openocd -f ./board/st_nucleo_f103rb.cfg Open On-Chip Debugger 0.10.0 (2020-07-29) [https://github.com/sysprogs/openocd] Licensed under GNU GPL v2 libusb1 09e75e98b4d9ea7909e8837b7a3f00dda4589dc3 For bug reports, read http://openocd.org/doc/doxygen/bugs.html Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD srst_only separate srst_nogate srst_open_drain connect_deassert_srst Info : Listening on port 6666 for tcl connections Info :

奥比中光Astra Pro在ROS系统中的使用 上一次介绍了Astra Pro在ubuntu中的使用，由于Astra Pro使用uvc传输彩色图像，所以当用rqt_image_view窗口 时，看不到彩色图。需要安装libuvc和libuvc_ros。 安装ROS功能包 1 sudo apt- get install ros-kinetic-astra-camera ros-kinetic-astra-launch 使用命令 1 roslaunch astra_launch astra.luanch libuvc的安装 1 cd ~ 2 git clone https: // github.com/ktossell/libuvc 3 cd libuvc 4 mkdir build 5 cd build 6 cmake .. 7 make && sudo make install libuvc_ros的安装 1 cd ~/catkin_ws/ src 2 git clone https: // github.com/ktossell/libuvc_ros 3 cd .. 4 catkin_make 编译错误及解决办法 提示找不到JpegPkg这个库。 我换回了旧版本的linuvc和libuvc_ros安装包，解决了这个问题。下载地址： https://i.cnblogs.com

同步方式 libusb_bulk_transfer(devh, ep_bulk, buf, CAM_BUF_SZ, &len, timeout); 进入libusb研究，发现libusb是采用异步方式来实现的。在do_sync_bulk_transfer中： static int do_sync_bulk_transfer ( struct libusb_device_handle * dev_handle , unsigned char endpoint , unsigned char * buffer , int length , int * transferred , unsigned int timeout , unsigned char type ) { libusb_fill_bulk_transfer ( transfer , dev_handle , endpoint , buffer , length , bulk_transfer_cb , & completed , timeout ); transfer -> type = type ; r = libusb_submit_transfer ( transfer ); if ( r < 0 ) { libusb_free_transfer ( transfer ); return r ; } while (!

以下为判断usb设备是插入还是拔出状态(热插拔)的测试代码： 在Windows下是不支持的，在Linux是支持的，下一个版本可能会支持Windows下的热插拔： #include <chrono> #include <thread> #include <iostream> #include <libusb.h> namespace { bool running = true; int LIBUSB_CALL hotplug_callback(libusb_context* ctx, libusb_device* dev, libusb_hotplug_event event, void* user_data) { struct libusb_device_descriptor desc; int ret = libusb_get_device_descriptor(dev, &desc); if (LIBUSB_SUCCESS != ret) { fprintf(stderr, "fail to get device descriptor: %d, %s\n", ret, libusb_error_name(ret)); //return -1; } if (event == LIBUSB_HOTPLUG_EVENT_DEVICE_ARRIVED) fprintf(stdout,