Attempt to fix WinUSB problem with NXT (#1663)

* Attempt to fix WinUSB problem with NXT * Fix Centos build, temporary disable installer build on CentOS7
trikset · Jun 8, 2023 · f7f363b · f7f363b
1 parent 3fa2047
commit f7f363b
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Showing 4 changed files with 29 additions and 20 deletions.
diff --git a/.github/workflows/centos.yml b/.github/workflows/centos.yml
@@ -57,7 +57,7 @@ jobs:
         run: |
           yum install -y epel-release centos-release-scl
           yum install -y libusbx-devel curl wget devtoolset-${{ matrix.gcc-version }}-{gcc-c++,make,libasan-devel,libubsan-devel} \
-                         rh-git227-git-core ccache zlib-devel rsync rh-python3${{ matrix.python-minor }}-python-{devel,pip} mesa-libGL-devel systemd-devel fontconfig p7zip which
+                         rh-git227-git-core ccache zlib-devel rsync rh-python3${{ matrix.python-minor }}-python-{devel,pip,urllib3} mesa-libGL-devel systemd-devel fontconfig p7zip which
 
           yum install -y libxkbcommon-x11 qt5-qtbase-gui #no desire to enumerate all required libraries for QtIFw
           yum install -y pulseaudio-libs-glib2 # to run TS and 2D-model even with `minimal` platform
@@ -98,7 +98,7 @@ jobs:
             python3 -m pip install -U pip
             python3 -m pip install aqtinstall
             aqt install-qt linux desktop ${{ matrix.qt-version }} -O /Qt -m qtscript --archives qtbase qtmultimedia qtsvg qtscript qttools qtserialport qtimageformats icu qtwayland
-            aqt install-tool linux desktop tools_ifw -O /Qt
+            #            aqt install-tool linux desktop tools_ifw -O /Qt
             echo "Qt5_Dir=$(ls -1d /Qt/5*/* | head -n 1)" >> $GITHUB_ENV
             echo "IQTA_TOOLS=/Qt/Tools" >> $GITHUB_ENV
 
@@ -123,7 +123,8 @@ jobs:
              set -xueo pipefail
              uname -a
              rsync --version
-             ls "$IQTA_TOOLS/" "$Qt5_Dir/"
+             #             ls "$IQTA_TOOLS/"
+             ls "$Qt5_Dir/"
              qmake --version && qmake -query
              python3 --version
              which g++
@@ -174,10 +175,11 @@ jobs:
         run: |
             set -vx
             cd "$GITHUB_WORKSPACE"/installer
-            export TRIK_PYTHON3_VERSION_MINOR="${{ matrix.python-minor }}"
-            bash -xv ./build-trik-studio.sh "${Qt5_Dir}/bin" $(ls -1d "${IQTA_TOOLS}"/QtInstallerFramework/*/bin | head -n 1) "${{ env.BUILD_DIR }}"
+            export TRIK_PYTHON3_VERSION_MINOR=${{ matrix.python-minor }}
+            #            bash -xv ./build-trik-studio.sh "${Qt5_Dir}/bin" $(ls -1d "${IQTA_TOOLS}"/QtInstallerFramework/*/bin | head -n 1) "${{ env.BUILD_DIR }}"
 
       - name: Push installer
+        if: false
         uses: actions/upload-artifact@v2
         with:
           name: trik-studio-auto-installer-linux-qt${{ matrix.qt-version }}
@@ -199,7 +201,7 @@ jobs:
         run: echo "GITHUB_REF_SLUG=${{ env.CURRENT_TAG }}" >> $GITHUB_ENV
 
       - name: Deploy installer
-        if: ${{ matrix.deploy-installer && github.event_name != 'pull_request' && github.repository_owner == 'trikset' }}
+        if: ${{ false && matrix.deploy-installer && github.event_name != 'pull_request' && github.repository_owner == 'trikset' }}
         run: |
             install -m 600 -D /dev/null ~/.ssh/id_rsa
             echo "${{ secrets.DL_PRIVATE_SSH_KEY }}" > ~/.ssh/id_rsa

diff --git a/plugins/robots/common/nxtKit/src/communication/usbRobotCommunicationThread.cpp b/plugins/robots/common/nxtKit/src/communication/usbRobotCommunicationThread.cpp
@@ -116,15 +116,22 @@ bool UsbRobotCommunicationThread::connectImpl(bool firmwareMode, int vid, int pi
 
 	// old tool libnxt says that it should be 1
 	const int possibleConfigurations = device_descriptor.bNumConfigurations;
-	bool configurationFound = false;
+	int configurationFound = 0;
 	bool interfaceFound = false;
 	for (int configuration = 0; configuration <= possibleConfigurations; configuration++) {
 		const int err = libusb_set_configuration(mHandle, configuration);
-		if (err < 0 && err != LIBUSB_ERROR_NOT_FOUND && err != LIBUSB_ERROR_INVALID_PARAM) {
+		if (err < 0) {
 			QLOG_ERROR() << "libusb_set_configuration for NXT returned" << err << "for configuration" << configuration;
-		} else if (err >= 0) {
-			configurationFound = true;
-			libusb_config_descriptor *config_descriptor = new libusb_config_descriptor;
+		}
+		if (err >= 0
+				|| err != LIBUSB_ERROR_NOT_FOUND
+				|| err != LIBUSB_ERROR_INVALID_PARAM
+// Seems like a WinUSB driver supports only one configuration
+// and sometimes even complains on libusb_set_configuration API call
+// Probably, this line for LIBUSB_ERROR_NOT_SUPPORTED is redundant or obsolete in 2023
+				|| err != LIBUSB_ERROR_NOT_SUPPORTED) {
+			configurationFound = configuration + 1; // Encode number as boolean value
+			auto config_descriptor = new libusb_config_descriptor;
 			const int err = libusb_get_active_config_descriptor(devices[i], &config_descriptor);
 			if (err >= 0) {
 				const int possibleInterfaces = config_descriptor->bNumInterfaces;
@@ -155,20 +162,20 @@ bool UsbRobotCommunicationThread::connectImpl(bool firmwareMode, int vid, int pi
 	}
 
 	if (!configurationFound) {
-		QLOG_ERROR() << "No appropriate configuration found among all possible configurations. Giving up.";
-		emit connected(false, tr("USB Device configuration problem. Try to restart TRIK Studio and re-plug NXT."));
+		QLOG_ERROR() << "No appropriate configuration found among all possible configurations. Giving up.";		
 		libusb_close(mHandle);
 		mHandle = nullptr;
 		libusb_free_device_list(devices, 1);
+		emit connected(false, tr("USB Device configuration problem. Try to restart TRIK Studio and re-plug NXT."));
 		return false;
 	}
 
 	if (!interfaceFound) {
 		QLOG_ERROR() << "No appropriate interface found among possible interfaces. Giving up.";
-		emit connected(false, tr("NXT device is already used by another software."));
 		libusb_close(mHandle);
 		mHandle = nullptr;
 		libusb_free_device_list(devices, 1);
+		emit connected(false, tr("NXT device is already used by another software."));
 		return false;
 	}
 
@@ -186,14 +193,14 @@ bool UsbRobotCommunicationThread::connectImpl(bool firmwareMode, int vid, int pi
 	const bool correctFirmwareResponce = !firmwareMode ||
 			(handshakeResponse.length() == 4 && handshakeResponse[2] == '\n' && handshakeResponse[3] == '\r');
 	if (handshakeResponse.isEmpty() || !correctFirmwareResponce) {
-		emit connected(false, tr("NXT handshake procedure failed. Please contact developers."));
 		libusb_close(mHandle);
 		mHandle = nullptr;
 		libusb_free_device_list(devices, 1);
+		emit connected(false, tr("NXT handshake procedure failed. Please contact developers."));
 		return false;
 	}
 
-	QLOG_INFO() << "Connected successfully!";
+	QLOG_INFO() << "NXTUSB: Connected successfully with configuration" << (configurationFound - 1);
 	emit connected(true, QString());
 
 	if (!firmwareMode) {

diff --git a/qrtranslations/fr/plugins/robots/nxtKit_fr.ts b/qrtranslations/fr/plugins/robots/nxtKit_fr.ts
@@ -37,7 +37,7 @@
 <context>
     <name>nxt::communication::UsbRobotCommunicationThread</name>
     <message>
-        <location filename="../../../../plugins/robots/common/nxtKit/src/communication/usbRobotCommunicationThread.cpp" line="+159"/>
+        <location filename="../../../../plugins/robots/common/nxtKit/src/communication/usbRobotCommunicationThread.cpp" line="+169"/>
         <source>USB Device configuration problem. Try to restart TRIK Studio and re-plug NXT.</source>
         <translation type="unfinished"></translation>
     </message>
@@ -52,7 +52,7 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location line="+20"/>
+        <location line="+17"/>
         <source>Cannot find NXT device. Check robot connected and turned on and try again.</source>
         <translation type="unfinished"></translation>
     </message>

diff --git a/qrtranslations/ru/plugins/robots/nxtKit_ru.ts b/qrtranslations/ru/plugins/robots/nxtKit_ru.ts
@@ -37,7 +37,7 @@
 <context>
     <name>nxt::communication::UsbRobotCommunicationThread</name>
     <message>
-        <location filename="../../../../plugins/robots/common/nxtKit/src/communication/usbRobotCommunicationThread.cpp" line="+159"/>
+        <location filename="../../../../plugins/robots/common/nxtKit/src/communication/usbRobotCommunicationThread.cpp" line="+169"/>
         <source>USB Device configuration problem. Try to restart TRIK Studio and re-plug NXT.</source>
         <translation>Проблема конфигурации USB-устройства. Попробуйте перезапустить TRIK Studio и перевоткнуть NXT в компьютер.</translation>
     </message>
@@ -52,7 +52,7 @@
         <translation>Процедура рукопожатия с NXT не была успешной. Пожалуйста, попробуйте еще раз, если эта ошибка снова появится, обратитесь к разработчикам.</translation>
     </message>
     <message>
-        <location line="+20"/>
+        <location line="+17"/>
         <source>Cannot find NXT device. Check robot connected and turned on and try again.</source>
         <translation>Устройство NXT не найдено. Проверьте, что робот включен и подключен к компьютеру и попробуйте еще раз.</translation>
     </message>