a7b7192341
- FFI: eskin_open/close/read_register/write_register for C/C++/Python - Protocol: encode/decode tests with golden bytes verification - Stream: implement PollingSampleCollector producing FingerSample - Register: add parse_combined_forces/parse_module_errors - Transport: add MockSerialTransport for testing - Include: add C header file eskin_ffi.h - Examples: C++ and Python usage examples - README: full usage guide for Rust/C++/Python - Exclude docs/ from repo (internal only)
87 lines
2.5 KiB
Python
87 lines
2.5 KiB
Python
import ctypes
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from ctypes import (
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Structure, POINTER, c_void_p, c_char_p, c_uint8, c_uint16,
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c_uint32, c_uint64, c_int16, c_bool
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)
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class EskinSdkVersion(Structure):
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_fields_ = [
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("major", c_uint16),
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("minor", c_uint16),
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("patch", c_uint16),
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]
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class EskinDevice:
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def __init__(self, lib_path: str):
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self._lib = ctypes.CDLL(lib_path)
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self._setup_functions()
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self._handle = None
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def _setup_functions(self):
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lib = self._lib
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lib.eskin_version.restype = EskinSdkVersion
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lib.eskin_version.argtypes = []
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lib.eskin_open.restype = c_void_p
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lib.eskin_open.argtypes = [c_char_p, c_void_p]
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lib.eskin_close.restype = c_uint32
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lib.eskin_close.argtypes = [c_void_p]
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lib.eskin_read_register.restype = c_uint32
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lib.eskin_read_register.argtypes = [
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c_void_p, c_uint32, c_uint16,
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POINTER(c_uint8), c_uint32, POINTER(c_uint32)
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]
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lib.eskin_write_register.restype = c_uint32
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lib.eskin_write_register.argtypes = [
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c_void_p, c_uint32, POINTER(c_uint8), c_uint16, POINTER(c_uint16)
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]
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def version(self) -> tuple:
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v = self._lib.eskin_version()
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return (v.major, v.minor, v.patch)
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def open(self, path: str):
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handle = self._lib.eskin_open(path.encode("utf-8"), None)
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if not handle:
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raise RuntimeError(f"Failed to open device: {path}")
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self._handle = handle
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def close(self):
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if self._handle:
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self._lib.eskin_close(self._handle)
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self._handle = None
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def read_register(self, addr: int, length: int) -> bytes:
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"""读寄存器，返回原始字节"""
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buf = (c_uint8 * 256)()
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actual = c_uint32(0)
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err = self._lib.eskin_read_register(
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self._handle, addr, length, buf, len(buf), ctypes.byref(actual)
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)
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if err != 0:
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raise RuntimeError(f"read_register failed: error={err}")
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return bytes(buf[:actual.value])
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def write_register(self, addr: int, data: bytes) -> int:
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"""写寄存器，返回设备确认的字节数"""
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arr = (c_uint8 * len(data))(*data)
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ret = c_uint16(0)
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err = self._lib.eskin_write_register(
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self._handle, addr, arr, len(data), ctypes.byref(ret)
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)
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if err != 0:
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raise RuntimeError(f"write_register failed: error={err}")
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return ret.value
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def __enter__(self):
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return self
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def __exit__(self, *args):
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self.close()
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