AndBondStyle · January 13, 2024 22:44 · Jan 13, 2024
diff --git a/libfibre.py b/libfibre.py
@@ -0,0 +1,148 @@
+from odrive.pyfibre.fibre.libfibre import *
+import select
+
+tasks = []  # time, callback, args...
+now = time.perf_counter
+
+# super stupid "event loop" implementation
+def spin():
+    for _ in range(10):
+        delete = []
+        for i, task in enumerate(tasks.copy()):
+            when, callback, *args = task
+            if when <= now():
+                # print("-->", callback)
+                callback(*args)
+                # print("<--")
+                delete.append(i)
+        for i in reversed(delete):
+            del tasks[i]
+
+# "coroutine" that watches file descriptior for read/write access
+def watch_fd(fd, mode, callback, ctx):
+    if mode == "read":
+        rlist, _, _ = select.select([fd], [], [], 0)
+        if rlist:
+            print(">>> read", fd)
+            tasks.append((now(), callback, ctx, 1))
+        # return
+    if mode == "write":
+        _, wlist, _ = select.select([], [fd], [], 0)
+        if wlist:
+            print(">>> write", fd)
+            tasks.append((now(), callback, ctx, 4))
+        # return
+    tasks.append((now(), watch_fd, fd, mode, callback, ctx))
+
+# debug decorator
+def logcall(func):
+    def deco(*args):
+        print("[call]", func.__name__, *args)
+        return func(*args)
+    return deco
+
+# =========================
+# libfibre callbacks impl
+# =========================
+
+@logcall
+def _post(callback, ctx):
+    tasks.append((now(), callback, ctx))
+    return 0
+
+@logcall
+def _register_event(event_fd, events, callback, ctx):
+    assert not events & 0xfffffffa
+    if events & 1:
+        tasks.append((now(), watch_fd, event_fd, "read", callback, ctx))
+    if events & 4:
+        tasks.append((now(), watch_fd, event_fd, "write", callback, ctx))
+    return 0
+
+@logcall
+def _deregister_event(event_fd):
+    return 0
+
+@logcall
+def _call_later(delay, callback, ctx):
+    return 0
+
+@logcall
+def _cancel_timer(timer_id):
+    return 0
+
+@logcall
+def _on_found_object(ctx, obj, intf):
+    pass
+
+@logcall
+def _on_lost_object(ctx, obj):
+    pass
+
+@logcall
+def _on_discovery_stopped(ctx, result):
+    pass
+
+@logcall
+def _on_attribute_added(ctx, attr, name, name_length, subintf, subintf_name, subintf_name_length):
+    pass
+
+@logcall
+def _on_attribute_removed(ctx, attr):
+    pass
+
+@logcall
+def _on_function_added(ctx, func, name, name_length, input_names, input_codecs, output_names, output_codecs):
+    pass
+
+@logcall
+def _on_function_removed(ctx, func):
+    pass
+
+@logcall
+def _on_call_completed(ctx, status, tx_end, rx_end, tx_buf, tx_len, rx_buf, rx_len):
+    pass
+
+c_post = PostSignature(_post)
+c_register_event = RegisterEventSignature(_register_event)
+c_deregister_event = DeregisterEventSignature(_deregister_event)
+c_call_later = CallLaterSignature(_call_later)
+c_cancel_timer = CancelTimerSignature(_cancel_timer)
+c_on_found_object = OnFoundObjectSignature(_on_found_object)
+c_on_lost_object = OnLostObjectSignature(_on_lost_object)
+c_on_discovery_stopped = OnStoppedSignature(_on_discovery_stopped)
+c_on_attribute_added = OnAttributeAddedSignature(_on_attribute_added)
+c_on_attribute_removed = OnAttributeRemovedSignature(_on_attribute_removed)
+c_on_function_added = OnFunctionAddedSignature(_on_function_added)
+c_on_function_removed = OnFunctionRemovedSignature(_on_function_removed)
+c_on_call_completed = OnCallCompletedSignature(_on_call_completed)
+
+event_loop = LibFibreEventLoop()
+event_loop.post = c_post
+event_loop.register_event = c_register_event
+event_loop.deregister_event = c_deregister_event
+event_loop.call_later = c_call_later
+event_loop.cancel_timer = c_cancel_timer
+
+# entrypoint
+
+ctx = c_void_p(libfibre_open(event_loop))
+assert ctx
+
+spin()
+
+path = 'usb:idVendor=0x1209,idProduct=0x0D32,bInterfaceClass=0,bInterfaceSubClass=1,bInterfaceProtocol=0'
+buf = path.encode('ascii')
+domain_handle = libfibre_open_domain(ctx, buf, len(buf))
+print(domain_handle)
+
+spin()
+
+discovery_handle = c_void_p(0)
+discovery_id = 0
+libfibre_start_discovery(domain_handle, byref(discovery_handle), c_on_found_object, c_on_lost_object, c_on_discovery_stopped, discovery_id)
+
+# "event loop"
+while True:
+    spin()
+    time.sleep(0.001)
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