update libfibre

Firmware/Makefile

@@ -31,13 +31,24 @@ all:
 	@tup --quiet --no-environ-check
 	@$(PY_CMD) interface_generator_stub.py --definitions odrive-interface.yaml --template ../tools/enums_template.j2 --output ../tools/odrive/enums.py
 
-fibre:
-	(cd fibre-cpp && tup --no-environ-check)
-	! ls fibre-cpp/*.so 2>&1 > /dev/null || cp fibre-cpp/build-local/*.so ../tools/odrive/pyfibre/fibre/
-	! ls fibre-cpp/*.dylib 2>&1 > /dev/null || cp fibre-cpp/build-local/*.dylib ../tools/odrive/pyfibre/fibre/
-	! ls fibre-cpp/*.dll 2>&1 > /dev/null || cp fibre-cpp/build-local/*.dll ../tools/odrive/pyfibre/fibre/
-	#(cd fibre-cpp && tup --no-environ-check build-linux-armhf)
-	#cp fibre-cpp/build-linux-armhf/libfibre-linux-armhf.so ../tools/odrive/pyfibre/fibre/
+# Copy libfibre files to odrivetool if they were built
+	@ ! compgen -G "fibre-cpp/build/libfibre-*.so" > /dev/null || cp fibre-cpp/build/libfibre-*.so ../tools/odrive/pyfibre/fibre/
+	@ ! compgen -G "fibre-cpp/build/libfibre-*.dylib" > /dev/null || cp fibre-cpp/build/libfibre-*.dylib ../tools/odrive/pyfibre/fibre/
+	@ ! compgen -G "fibre-cpp/build/libfibre-*.dll" > /dev/null || cp fibre-cpp/build/libfibre-*.dll ../tools/odrive/pyfibre/fibre/
+
+libfibre-linux-armhf:
+	docker run -it -v "`pwd`/fibre-cpp":/build -v /tmp/fibre-linux-armhf-build:/build/build -w /build fibre-compiler configs/linux-armhf.config
+	cp /tmp/fibre-linux-armhf-build/libfibre-*.so ../tools/odrive/pyfibre/fibre/
+
+libfibre-all:
+	docker run -it -v "`pwd`/fibre-cpp":/build -v /tmp/libfibre-build:/build/build -w /build fibre-compiler configs/linux-amd64.config
+	cp /tmp/libfibre-build/libfibre-linux-amd64.so ../tools/odrive/pyfibre/fibre/
+	docker run -it -v "`pwd`/fibre-cpp":/build -v /tmp/libfibre-build:/build/build -w /build fibre-compiler configs/linux-armhf.config
+	cp /tmp/libfibre-build/libfibre-linux-armhf.so ../tools/odrive/pyfibre/fibre/
+	docker run -it -v "`pwd`/fibre-cpp":/build -v /tmp/libfibre-build:/build/build -w /build fibre-compiler configs/macos-x86.config
+	cp /tmp/libfibre-build/libfibre-macos-x86.dylib ../tools/odrive/pyfibre/fibre/
+	docker run -it -v "`pwd`/fibre-cpp":/build -v /tmp/libfibre-build:/build/build -w /build fibre-compiler configs/windows-amd64.config
+	cp /tmp/libfibre-build/libfibre-windows-amd64.dll ../tools/odrive/pyfibre/fibre/
 
 clean:
 	-rm -fR .dep $(BUILD_DIR)

Firmware/Tuprules.lua

@@ -1,4 +1,4 @@
 
 -- Prevent tup from running `Firmware/fibre-cpp/Tupfile.lua` when we run it in
 -- the `Firmware` folder.
-no_libfibre = true
+no_libfibre = tup.getconfig("BUILD_LIBFIBRE") != "true"

docs/developer-guide.md

@@ -284,11 +284,14 @@ On Ubuntu 18.04, prerequisites are: `ruby ruby-dev zlib1g-dev`.
 
 ## Modifying libfibre
 
-If you need to modify libfibre run `make fibre` in the `Firmware` directory. If
-you now run odrivetool from the repository it should use the new libfibre binary.
+If you need to modify libfibre add `CONFIG_BUILD_LIBFIBRE=true` to your tup.config and rerun `make`. After this you can start `odrivetool` (on your local PC) and it will use the updated libfibre.
+
+To cross-compile libfibre for the Raspberry Pi, run `make libfibre-linux-armhf` or `make libfibre-all`. This will require a docker container. See [fibre-cpp readme](../Firmware/fibre-cpp/README.md) for details.
+
+docker run -it -v "$(pwd)":/build -v /tmp/build:/build/build -w /build fibre-compiler configs/linux-armhf.config
 
 If you're satisfied with the changes don't forget to generate binaries for all
-supported systems. See [Releases](#releases) for more info.
+supported systems using `make libfibre-all`.
 
 ## Releases
 
@@ -297,7 +300,7 @@ We use GitHub Releases to provide firmware releases.
 1. Cut off the changelog to reflect the new release
 2. Merge the release candidate into master.
 3. Push a (lightweight) tag to the master branch. Follow the existing naming convention.
-4. If you changed something in libfibre, regenerate the binaries using `Firmware/fibre-cpp/compile_for_all_platforms.sh` and then copy all resulting `*.so`, `*.dll` and `*.dylib` files to `tools/odrive/pyfibre/fibre/`.
+4. If you changed something in libfibre, regenerate the binaries using `make libfibre-all`. See [Modifying libfibre](#modifying-libfibre) for details.
 5. Push the python tools to PyPI (see setup.py for details).
 6. Edit the release on GitHub to add a title and description (copy&paste from changelog).
 

tools/fibre-tools/fibre-shell

@@ -45,7 +45,6 @@ parser.set_defaults(path="usb,tcp:localhost:9910")
 args = parser.parse_args()
 
 logger = Logger(verbose=args.verbose)
-app_shutdown_token = Event()
 
 def print_banner():
     pass
@@ -54,4 +53,4 @@ def print_help(args, have_devices):
     pass
 
 import fibre
-fibre.launch_shell(args, {}, print_banner, print_help, logger, app_shutdown_token)
+fibre.launch_shell(args, {}, print_banner, print_help, logger)

tools/odrive/__init__.py

@@ -14,41 +14,42 @@ __version__ = get_version_str()
 del get_version_str
 
 from .utils import get_serial_number_str
+import threading
 
 default_search_path = 'usb:idVendor=0x1209,idProduct=0x0D32,bInterfaceClass=0,bInterfaceSubClass=1,bInterfaceProtocol=0'
 
 def find_any(path=default_search_path, serial_number=None,
         search_cancellation_token=None, channel_termination_token=None,
-        timeout=None, logger=fibre.Logger(verbose=False), find_multiple=False):
+        timeout=None, logger=fibre.Logger(verbose=False)):
     """
     Blocks until the first matching ODrive object is connected and then returns that object
     """
+
     result = []
+
     done_signal = fibre.Event(search_cancellation_token)
-    def did_discover_object(obj):
+    channel_termination_token = fibre.Event(channel_termination_token)
+
+    async def discovered_object(obj):
+        if not (serial_number is None) and ((await get_serial_number_str(obj)) != serial_number):
+            return # ignore this device
+
+        obj._on_lost.add_done_callback(lambda x: channel_termination_token.set())
         result.append(obj)
-        if find_multiple:
-            if len(result) >= int(find_multiple):
-               done_signal.set()
-        else:
-            done_signal.set()
+        done_signal.set()
 
-    async def obj_filter(obj):
-        return (serial_number is None or
-                (await get_serial_number_str(obj)) == serial_number)
-
-    fibre.start_discovery(path, obj_filter, did_discover_object,
-            done_signal, channel_termination_token, logger)
+    def domain_thread():
+        with fibre.Domain(path) as domain:
+            discovery = domain.run_discovery(discovered_object)
+            channel_termination_token.wait()
+            discovery.stop()
+    
+    threading.Thread(target=domain_thread).start()
 
     try:
         done_signal.wait(timeout=timeout)
-    except TimeoutError:
-        if not find_multiple:
-            return None
-    finally:
-        done_signal.set() # terminate find_all
+    except:
+        channel_termination_token.set()
+        raise
 
-    if find_multiple:
-        return result
-    else:
-        return result[0] if len(result) > 0 else None
+    return result[0]

tools/odrive/shell.py

@@ -53,7 +53,7 @@ def benchmark(odrv):
 
     fibre.libfibre.libfibre.loop.call_soon_threadsafe(lambda: asyncio.ensure_future(measure_async()))
 
-def launch_shell(args, logger, app_shutdown_token):
+def launch_shell(args, logger):
     """
     Launches an interactive python or IPython command line
     interface.
@@ -79,12 +79,13 @@ def launch_shell(args, logger, app_shutdown_token):
     # Expose all enums from odrive.enums
     interactive_variables.update({k: v for (k, v) in odrive.enums.__dict__.items() if not k.startswith("_")})
 
-    async def obj_filter(obj):
-        return (args.serial_number is None or
-                (await odrive.utils.get_serial_number_str(obj)) == args.serial_number)
+    async def mount(obj):
+        serial_number_str = await odrive.utils.get_serial_number_str(obj)
+        if ((not args.serial_number is None) and (serial_number_str != args.serial_number)):
+            return None # reject this object
+        return ("ODrive " + serial_number_str, "odrv")
 
-    fibre.launch_shell(args, obj_filter,
+    fibre.launch_shell(args, mount,
                        interactive_variables,
                        print_banner, print_help,
-                       logger, app_shutdown_token,
-                       branding_short="odrv", branding_long="ODrive")
+                       logger)

tools/odrivetool

@@ -140,7 +140,7 @@ try:
             print("  or better yet, submit a pull request to fix it.")
             print("")
         import odrive.shell
-        odrive.shell.launch_shell(args, logger, app_shutdown_token)
+        odrive.shell.launch_shell(args, logger)
 
     elif args.command == 'dfu':
         print_version()