Direct control of NXT mindstorms

["Alex R. Mosteo" <alejandro@mosteo.com>]

Hi people,

I'm studying the options for Ada direct control of a NXT brick from an 
external computer using the USB connection (as opposed to flashing a new 
firmware, which is the way that GNAT for Mindstorms does). After looking for 
what's available out there I've come to the following options:

a) Pure Ada library, would require binding to libusb.
b) Binding to some of the other libraries out there. I couldn't find a C/C++ 
one that has USB implemented, so next good candidate seems Python or OCaml.
c) Completing the libnxtc (the one in C) with the missing USB bits.

Probably the less work is b) or c), and then bind to it from Ada if wanted. 
Anyway, just for the sake of completeness, I'd like to ask the group for any 
related experiences or missing bits. More precisely:

p) I'm missing some approach in the above?
q) Are there any Ada bindings to libusb already? Not according to my 
googling, and only some early efforts in old threads that didn't get 
reported here afterwards.
r) Experiences in binding to Python/OCaml? I guess a C glue layer is the 
way?

Kind regards,

Alex.