public static int[] FindEV3s()
{
Guid guid;
int index = 0;
List <int> devices = new List <int>();
HidImports.HidD_GetHidGuid(out guid);
IntPtr hDevInfo = HidImports.SetupDiGetClassDevs(ref guid, null, IntPtr.Zero, HidImports.DIGCF_DEVICEINTERFACE | HidImports.DIGCF_PRESENT);
HidImports.SP_DEVICE_INTERFACE_DATA diData = new HidImports.SP_DEVICE_INTERFACE_DATA();
diData.cbSize = Marshal.SizeOf(diData);
while (HidImports.SetupDiEnumDeviceInterfaces(hDevInfo, IntPtr.Zero, ref guid, index, ref diData))
{
UInt32 size;
HidImports.SetupDiGetDeviceInterfaceDetail(hDevInfo, ref diData, IntPtr.Zero, 0, out size, IntPtr.Zero);
HidImports.SP_DEVICE_INTERFACE_DETAIL_DATA diDetail = new HidImports.SP_DEVICE_INTERFACE_DETAIL_DATA();
diDetail.cbSize = (uint)(IntPtr.Size == 8 ? 8 : 5);
if (HidImports.SetupDiGetDeviceInterfaceDetail(hDevInfo, ref diData, ref diDetail, size, out size, IntPtr.Zero))
{
HidImports.HIDD_ATTRIBUTES attrib = new HidImports.HIDD_ATTRIBUTES();
attrib.Size = Marshal.SizeOf(attrib);
SafeFileHandle handle = HidImports.CreateFile(diDetail.DevicePath, FileAccess.ReadWrite, FileShare.None /*.ReadWrite*/, IntPtr.Zero, FileMode.Open, 0 /*HidImports.EFileAttributes.Overlapped*/, IntPtr.Zero);
if (HidImports.HidD_GetAttributes(handle.DangerousGetHandle(), ref attrib))
{
if (attrib.VendorID == VID && attrib.ProductID == PID)
{
devices.Add(index);
}
}
handle.Close();
}
else
{
throw new Exception("SetupDiGetDeviceInterfaceDetail failed on index " + index);
}
index++;
}
HidImports.SetupDiDestroyDeviceInfoList(hDevInfo);
return(devices.ToArray());
}
public EV3ConnectionUSB(int index)
: base()
{
Guid guid;
HidImports.HidD_GetHidGuid(out guid);
IntPtr hDevInfo = HidImports.SetupDiGetClassDevs(ref guid, null, IntPtr.Zero, HidImports.DIGCF_DEVICEINTERFACE | HidImports.DIGCF_PRESENT);
HidImports.SP_DEVICE_INTERFACE_DATA diData = new HidImports.SP_DEVICE_INTERFACE_DATA();
diData.cbSize = Marshal.SizeOf(diData);
if (HidImports.SetupDiEnumDeviceInterfaces(hDevInfo, IntPtr.Zero, ref guid, index, ref diData))
{
UInt32 size;
HidImports.SetupDiGetDeviceInterfaceDetail(hDevInfo, ref diData, IntPtr.Zero, 0, out size, IntPtr.Zero);
HidImports.SP_DEVICE_INTERFACE_DETAIL_DATA diDetail = new HidImports.SP_DEVICE_INTERFACE_DETAIL_DATA();
diDetail.cbSize = (uint)(IntPtr.Size == 8 ? 8 : 5);
if (HidImports.SetupDiGetDeviceInterfaceDetail(hDevInfo, ref diData, ref diDetail, size, out size, IntPtr.Zero))
{
_handle = HidImports.CreateFile(diDetail.DevicePath, FileAccess.ReadWrite, FileShare.None /*.ReadWrite*/, IntPtr.Zero, FileMode.Open, 0 /*HidImports.EFileAttributes.Overlapped*/, IntPtr.Zero);
HidImports.HIDD_ATTRIBUTES attrib = new HidImports.HIDD_ATTRIBUTES();
attrib.Size = Marshal.SizeOf(attrib);
if (HidImports.HidD_GetAttributes(_handle.DangerousGetHandle(), ref attrib))
{
if (attrib.VendorID == VID && attrib.ProductID == PID)
{
IntPtr preparsedData;
if (!HidImports.HidD_GetPreparsedData(_handle.DangerousGetHandle(), out preparsedData))
{
throw new Exception("Could not get preparsed data for HID device");
}
HidImports.HIDP_CAPS caps;
if (HidImports.HidP_GetCaps(preparsedData, out caps) != HidImports.HIDP_STATUS_SUCCESS)
{
throw new Exception("Could not get CAPS for HID device");
}
HidImports.HidD_FreePreparsedData(ref preparsedData);
_inputReport = new byte[caps.InputReportByteLength];
_outputReport = new byte[caps.OutputReportByteLength];
_stream = new FileStream(_handle, FileAccess.ReadWrite, _inputReport.Length);
HidImports.SetupDiDestroyDeviceInfoList(hDevInfo);
return;
}
}
_handle.Close();
}
else
{
throw new Exception("SetupDiGetDeviceInterfaceDetail failed on index " + index);
}
}
HidImports.SetupDiDestroyDeviceInfoList(hDevInfo);
throw new Exception("No LEGO EV3s found in HID device list.");
}