In the topology editor / reader / writer I'm finishing up (can do psf, top and tpr), I just use gmxlib's read_tpx which reads a tpr and fills out a gmx_mtop_t structure. top files are a bit more complicated, but do_top essentially reads a .top and fills out a gmx_mtop_t.
IMO, trying to manually parse a tpr is probably not a super great idea because this file format is basically a binary dump of the gmx_mtop_t struct, which changes all the time, read_tpx takes care of all the past gromacs versions.
I'm still working on API cleanup, and build issues. I'm going to see if how feasible it is using setup.py check how gromacs is installed, and set the appropriate preprocessor directives.
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