[fibre] fix handling of multiple devices

Firmware/fibre-cpp/fibre.cpp

@@ -210,8 +210,8 @@ void Context::deregister_backend(std::string name) {
 void Domain::start_discovery(Callback<void, Object*, Interface*> on_found_object, Callback<void, Object*> on_lost_object) {
     on_found_object_ = on_found_object;
     on_lost_object_ = on_lost_object;
-    if (root_object_) {
-        on_found_object_.invoke(root_object_, root_intf_);
+    for (auto& it: root_objects_) {
+        on_found_object_.invoke(it.first, it.second);
     }
 }
 
@@ -219,8 +219,8 @@ void Domain::stop_discovery() {
     auto on_lost_object = on_lost_object_;
     on_found_object_ = nullptr;
     on_lost_object_ = nullptr;
-    if (root_object_) {
-        on_lost_object.invoke(root_object_);
+    for (auto& it: root_objects_) {
+        on_lost_object.invoke(it.first);
     }
 }
 #endif
@@ -251,16 +251,17 @@ void Domain::on_found_channels(ChannelDiscoveryResult result) {
 
 #if FIBRE_ENABLE_CLIENT
 void Domain::on_found_root_object(LegacyObjectClient* obj_client, std::shared_ptr<LegacyObject> obj) {
-    root_object_ = reinterpret_cast<Object*>(obj.get());
-    root_intf_ = reinterpret_cast<Interface*>(obj->intf.get());
-    on_found_object_.invoke(root_object_, root_intf_);
+    Object* root_object = reinterpret_cast<Object*>(obj.get());
+    Interface* root_intf = reinterpret_cast<Interface*>(obj->intf.get());
+    root_objects_[root_object] = root_intf;
+    on_found_object_.invoke(root_object, root_intf);
 }
 
-void Domain::on_lost_root_object(LegacyObjectClient* obj_client) {
-    auto root_object = root_object_;
-    root_object_ = nullptr;
-    root_intf_ = nullptr;
-    on_lost_object_.invoke(reinterpret_cast<Object*>(root_object));
+void Domain::on_lost_root_object(LegacyObjectClient* obj_client, std::shared_ptr<LegacyObject> obj) {
+    Object* root_object = reinterpret_cast<Object*>(obj.get());
+    auto it = root_objects_.find(root_object);
+    root_objects_.erase(it);
+    on_lost_object_.invoke(root_object);
 }
 #endif
 

Firmware/fibre-cpp/include/fibre/fibre.hpp

@@ -106,7 +106,7 @@ public:
 private:
 #if FIBRE_ENABLE_CLIENT
     void on_found_root_object(LegacyObjectClient* obj_client, std::shared_ptr<LegacyObject> obj);
-    void on_lost_root_object(LegacyObjectClient* obj_client);
+    void on_lost_root_object(LegacyObjectClient* obj_client, std::shared_ptr<LegacyObject> obj);
 #endif
     void on_stopped(LegacyProtocolPacketBased* protocol, StreamStatus status);
 
@@ -116,8 +116,7 @@ private:
 #if FIBRE_ENABLE_CLIENT
     Callback<void, Object*, Interface*> on_found_object_;
     Callback<void, Object*> on_lost_object_;
-    Object* root_object_ = nullptr;
-    Interface* root_intf_ = nullptr;
+    std::unordered_map<Object*, Interface*> root_objects_;
 #endif
 };
 

Firmware/fibre-cpp/legacy_object_client.cpp

@@ -231,7 +231,7 @@ std::vector<LegacyFibreArg> parse_arglist(const json_value& list_val) {
     return arglist;
 }
 
-void LegacyObjectClient::start(Callback<void, LegacyObjectClient*, std::shared_ptr<LegacyObject>> on_found_root_object, Callback<void, LegacyObjectClient*> on_lost_root_object) {
+void LegacyObjectClient::start(Callback<void, LegacyObjectClient*, std::shared_ptr<LegacyObject>> on_found_root_object, Callback<void, LegacyObjectClient*, std::shared_ptr<LegacyObject>> on_lost_root_object) {
     FIBRE_LOG(D) << "start";
     on_found_root_object_ = on_found_root_object;
     on_lost_root_object_ = on_lost_root_object;

Firmware/fibre-cpp/legacy_object_client.hpp

@@ -121,12 +121,12 @@ class LegacyObjectClient {
 public:
     LegacyObjectClient(LegacyProtocolPacketBased* protocol) : protocol_(protocol) {}
 
-    void start(Callback<void, LegacyObjectClient*, std::shared_ptr<LegacyObject>> on_found_root_object, Callback<void, LegacyObjectClient*> on_lost_root_object);
+    void start(Callback<void, LegacyObjectClient*, std::shared_ptr<LegacyObject>> on_found_root_object, Callback<void, LegacyObjectClient*, std::shared_ptr<LegacyObject>> on_lost_root_object);
     bool transcode(cbufptr_t src, bufptr_t dst, std::string src_codec, std::string dst_codec);
 
     // For direct access by LegacyProtocolPacketBased and libfibre.cpp
     uint16_t json_crc_ = 0;
-    Callback<void, LegacyObjectClient*> on_lost_root_object_;
+    Callback<void, LegacyObjectClient*, std::shared_ptr<LegacyObject>> on_lost_root_object_;
     std::shared_ptr<LegacyObject> root_obj_;
     std::vector<std::shared_ptr<LegacyObject>> objects_;
     void* user_data_; // used by libfibre to store the libfibre context pointer

Firmware/fibre-cpp/legacy_protocol.cpp

@@ -541,15 +541,16 @@ void LegacyProtocolPacketBased::on_rx_tx_closed(StreamStatus status) {
 
     // Report that the root object was lost
     if (client_.on_lost_root_object_ && client_.root_obj_) {
+        auto root_obj = client_.root_obj_;
         client_.root_obj_ = nullptr;
-        client_.on_lost_root_object_.invoke(&client_);
+        client_.on_lost_root_object_.invoke(&client_, root_obj);
     }
 #endif
     on_stopped_.invoke_and_clear(this, status);
 }
 
 #if FIBRE_ENABLE_CLIENT
-void LegacyProtocolPacketBased::start(Callback<void, LegacyObjectClient*, std::shared_ptr<LegacyObject>> on_found_root_object, Callback<void, LegacyObjectClient*> on_lost_root_object, Callback<void, LegacyProtocolPacketBased*, StreamStatus> on_stopped) {
+void LegacyProtocolPacketBased::start(Callback<void, LegacyObjectClient*, std::shared_ptr<LegacyObject>> on_found_root_object, Callback<void, LegacyObjectClient*, std::shared_ptr<LegacyObject>> on_lost_root_object, Callback<void, LegacyProtocolPacketBased*, StreamStatus> on_stopped) {
 #else
 void LegacyProtocolPacketBased::start(Callback<void, LegacyProtocolPacketBased*, StreamStatus> on_stopped) {
 #endif

Firmware/fibre-cpp/legacy_protocol.hpp

@@ -114,7 +114,7 @@ public:
 #endif
 
 #if FIBRE_ENABLE_CLIENT
-    void start(Callback<void, LegacyObjectClient*, std::shared_ptr<LegacyObject>> on_found_root_object, Callback<void, LegacyObjectClient*> on_lost_root_object, Callback<void, LegacyProtocolPacketBased*, StreamStatus> on_stopped);
+    void start(Callback<void, LegacyObjectClient*, std::shared_ptr<LegacyObject>> on_found_root_object, Callback<void, LegacyObjectClient*, std::shared_ptr<LegacyObject>> on_lost_root_object, Callback<void, LegacyProtocolPacketBased*, StreamStatus> on_stopped);
 #else
     void start(Callback<void, LegacyProtocolPacketBased*, StreamStatus> on_stopped);
 #endif
@@ -154,7 +154,7 @@ public:
 
 
 #if FIBRE_ENABLE_CLIENT
-    void start(Callback<void, LegacyObjectClient*, std::shared_ptr<LegacyObject>> on_found_root_object, Callback<void, LegacyObjectClient*> on_lost_root_object, Callback<void, LegacyProtocolPacketBased*, StreamStatus> on_stopped) {
+    void start(Callback<void, LegacyObjectClient*, std::shared_ptr<LegacyObject>> on_found_root_object, Callback<void, LegacyObjectClient*, std::shared_ptr<LegacyObject>> on_lost_root_object, Callback<void, LegacyProtocolPacketBased*, StreamStatus> on_stopped) {
         inner_protocol_.start(on_found_root_object, on_lost_root_object, on_stopped);
     }
 #else

Firmware/fibre-cpp/libfibre.cpp

@@ -10,7 +10,7 @@
 DEFINE_LOG_TOPIC(LIBFIBRE);
 USE_LOG_TOPIC(LIBFIBRE);
 
-static const struct LibFibreVersion libfibre_version = { 0, 1, 0 };
+static const struct LibFibreVersion libfibre_version = { 0, 1, 1 };
 
 class FIBRE_PRIVATE ExternalEventLoop final : public fibre::EventLoop {
 public:

tools/odrive/pyfibre/fibre/libfibre.py

@@ -243,6 +243,7 @@ class ObjectPtrCodec():
         if value is None:
             return struct.pack("P", 0)
         elif isinstance(value, RemoteObject):
+            assert(value._obj_handle) # Cannot serialize reference to a lost object
             return struct.pack("P", value._obj_handle)
         else:
             raise TypeError("Expected value of type RemoteObject or None but got '{}'. An example for a RemoteObject is this expression: odrv0.axis0.controller._input_pos_property".format(type(value).__name__))
@@ -642,6 +643,11 @@ class RemoteAttribute(object):
         else:
             raise Exception("this attribute cannot be written to")
 
+class EmptyInterface():
+    def __str__(self):
+        return "[lost object]"
+    def __repr__(self):
+        return self.__str__()
 
 class RemoteObject(object):
     """
@@ -725,6 +731,7 @@ class RemoteObject(object):
         if self.__class__._refcount == 0:
             libfibre.interfaces.pop(self.__class__._handle)
 
+        self.__class__ = EmptyInterface # ensure that this object has no more attributes
         on_lost.set_result(True)
 
 
@@ -844,6 +851,7 @@ class LibFibre():
         old_future.set_result(None)
     
     def _on_lost_object(self, ctx, obj):
+        assert(obj)
         self._release_py_obj(obj)
     
     def _on_discovery_stopped(self, ctx, result):