# 2/11/2016 - removed requirement for sudo import time import copy import os import ConfigParser from pp_utils import Monitor class GPIODriver(object): """ GPIODriver provides GPIO facilties for Pi presents - configures and binds GPIO pins from data in gpio.cfg - reads and debounces inputs pins, provides callbacks on state changes which generate input events - changes the stae of output pins as required by calling programs """ # constants for buttons # cofiguration from gpio.cfg PIN=0 # pin on RPi board GPIO connector e.g. P1-11 DIRECTION = 1 # IN/OUT/NONE (None is not used) NAME = 2 # symbolic name for output RISING_NAME=3 # symbolic name for rising edge callback FALLING_NAME=4 # symbolic name of falling edge callback ONE_NAME=5 # symbolic name for one state callback ZERO_NAME = 6 # symbolic name for zero state callback REPEAT = 7 # repeat interval for state callbacks (mS) THRESHOLD = 8 # threshold of debounce count for state change to be considered PULL = 9 # pull up or down or none LINKED_NAME = 10 # output pin that follows the input LINKED_INVERT = 11 # invert the linked pin # dynamic data COUNT=12 # variable - count of the number of times the input has been 0 (limited to threshold) PRESSED = 13 # variable - debounced state LAST = 14 # varible - last state - used to detect edge REPEAT_COUNT = 15 TEMPLATE = ['', # pin '', # direction '', # name '','','','', #input names 0, # repeat 0, # threshold '', #pull -1, #linked pin False, # linked invert 0,False,False,0] #dynamics # for A and B # PINLIST = ('P1-03','P1-05','P1-07','P1-08', # 'P1-10','P1-11','P1-12','P1-13','P1-15','P1-16','P1-18','P1-19', # 'P1-21','P1-22','P1-23','P1-24','P1-26') # for A+ and B+ seems to work for A and B PINLIST = ('P1-03','P1-05','P1-07','P1-08', 'P1-10','P1-11','P1-12','P1-13','P1-15','P1-16','P1-18','P1-19', 'P1-21','P1-22','P1-23','P1-24','P1-26','P1-29', 'P1-31','P1-32','P1-33','P1-35','P1-36','P1-37','P1-38','P1-40') # CLASS VARIABLES (GPIODriver.) shutdown_index=0 #index of shutdown pin pins=[] options=None gpio_enabled=False # executed by main program and by each object using gpio def __init__(self): self.mon=Monitor() # executed once from main program def init(self,pp_dir,pp_home,pp_profile,widget,button_tick,button_callback=None): # instantiate arguments self.widget=widget self.pp_dir=pp_dir self.pp_profile=pp_profile self.pp_home=pp_home self.button_tick=button_tick self.button_callback=button_callback GPIODriver.shutdown_index=0 # read gpio.cfg file. reason,message=self.read(self.pp_dir,self.pp_home,self.pp_profile) if reason =='error': return 'error',message import RPi.GPIO as GPIO self.GPIO = GPIO # construct the GPIO control list from the configuration for index, pin_def in enumerate(GPIODriver.PINLIST): pin=copy.deepcopy(GPIODriver.TEMPLATE) pin_bits = pin_def.split('-') pin_num=pin_bits[1:] pin[GPIODriver.PIN]=int(pin_num[0]) if self.config.has_section(pin_def) is False: self.mon.warn(self, "no pin definition for "+ pin_def) pin[GPIODriver.DIRECTION]='None' else: # unused pin if self.config.get(pin_def,'direction') == 'none': pin[GPIODriver.DIRECTION]='none' else: pin[GPIODriver.DIRECTION]=self.config.get(pin_def,'direction') if pin[GPIODriver.DIRECTION] == 'in': # input pin pin[GPIODriver.RISING_NAME]=self.config.get(pin_def,'rising-name') pin[GPIODriver.FALLING_NAME]=self.config.get(pin_def,'falling-name') pin[GPIODriver.ONE_NAME]=self.config.get(pin_def,'one-name') pin[GPIODriver.ZERO_NAME]=self.config.get(pin_def,'zero-name') if self.config.has_option(pin_def,'linked-output'): # print self.config.get(pin_def,'linked-output') pin[GPIODriver.LINKED_NAME]=self.config.get(pin_def,'linked-output') if self.config.get(pin_def,'linked-invert') == 'yes': pin[GPIODriver.LINKED_INVERT]=True else: pin[GPIODriver.LINKED_INVERT]=False else: pin[GPIODriver.LINKED_NAME]= '' pin[GPIODriver.LINKED_INVERT]=False if pin[GPIODriver.FALLING_NAME] == 'pp-shutdown': GPIODriver.shutdown_index=index if self.config.get(pin_def,'repeat') != '': pin[GPIODriver.REPEAT]=int(self.config.get(pin_def,'repeat')) else: pin[GPIODriver.REPEAT]=-1 pin[GPIODriver.THRESHOLD]=int(self.config.get(pin_def,'threshold')) if self.config.get(pin_def,'pull-up-down') == 'up': pin[GPIODriver.PULL]=GPIO.PUD_UP elif self.config.get(pin_def,'pull-up-down') == 'down': pin[GPIODriver.PULL]=GPIO.PUD_DOWN else: pin[GPIODriver.PULL]=GPIO.PUD_OFF else: # output pin pin[GPIODriver.NAME]=self.config.get(pin_def,'name') # print pin GPIODriver.pins.append(copy.deepcopy(pin)) # setup GPIO self.GPIO.setwarnings(True) self.GPIO.setmode(self.GPIO.BOARD) # set up the GPIO inputs and outputs for index, pin in enumerate(GPIODriver.pins): num = pin[GPIODriver.PIN] if pin[GPIODriver.DIRECTION] == 'in': self.GPIO.setup(num,self.GPIO.IN,pull_up_down=pin[GPIODriver.PULL]) elif pin[GPIODriver.DIRECTION] == 'out': self.GPIO.setup(num,self.GPIO.OUT) self.GPIO.setup(num,False) self.reset_input_state() GPIODriver.gpio_enabled=True # init timer self.button_tick_timer=None return 'normal','GPIO initialised' # called by main program only def poll(self): # loop to look at the buttons self.do_buttons() self.button_tick_timer=self.widget.after(self.button_tick,self.poll) # called by main program only def terminate(self): if GPIODriver.gpio_enabled is True: if self.button_tick_timer is not None: self.widget.after_cancel(self.button_tick_timer) self.reset_outputs() self.GPIO.cleanup() # ************************************************ # gpio input functions # called by main program only # ************************************************ def reset_input_state(self): for pin in GPIODriver.pins: pin[GPIODriver.COUNT]=0 pin[GPIODriver.PRESSED]=False pin[GPIODriver.LAST]=False pin[GPIODriver.REPEAT_COUNT]=pin[GPIODriver.REPEAT] # index is of the pins array, provided by the callback ***** needs to be name def shutdown_pressed(self): if GPIODriver.shutdown_index != 0: return GPIODriver.pins[GPIODriver.shutdown_index][GPIODriver.PRESSED] else: return False def do_buttons(self): for index, pin in enumerate(GPIODriver.pins): if pin[GPIODriver.DIRECTION] == 'in': # linked pin if pin[GPIODriver.LINKED_NAME] != '': link_pin=self.output_pin_of(pin[GPIODriver.LINKED_NAME]) if link_pin!=-1: self.GPIO.output(link_pin,self.GPIO.input(pin[GPIODriver.PIN]) ^ pin[GPIODriver.LINKED_INVERT]) # debounce if self.GPIO.input(pin[GPIODriver.PIN]) == 0: if pin[GPIODriver.COUNT]0: pin[GPIODriver.COUNT]-=1 if pin[GPIODriver.COUNT] == 0: pin[GPIODriver.PRESSED]=False # detect edges # falling edge if pin[GPIODriver.PRESSED] is True and pin[GPIODriver.LAST] is False: pin[GPIODriver.LAST]=pin[GPIODriver.PRESSED] pin[GPIODriver.REPEAT_COUNT]=pin[GPIODriver.REPEAT] if pin[GPIODriver.FALLING_NAME] != '' and self.button_callback is not None: self.button_callback(pin[GPIODriver.FALLING_NAME],"GPIO") # rising edge if pin[GPIODriver.PRESSED] is False and pin[GPIODriver.LAST] is True: pin[GPIODriver.LAST]=pin[GPIODriver.PRESSED] pin[GPIODriver.REPEAT_COUNT]=pin[GPIODriver.REPEAT] if pin[GPIODriver.RISING_NAME] != '' and self.button_callback is not None: self.button_callback(pin[GPIODriver.RISING_NAME],"GPIO") # do state callbacks if pin[GPIODriver.REPEAT_COUNT] == 0: if pin[GPIODriver.ZERO_NAME] != '' and pin[GPIODriver.PRESSED] is True and self.button_callback is not None: self.button_callback(pin[GPIODriver.ZERO_NAME],"GPIO") if pin[GPIODriver.ONE_NAME] != '' and pin[GPIODriver.PRESSED] is False and self.button_callback is not None: self.button_callback(pin[GPIODriver.ONE_NAME],"GPIO") pin[GPIODriver.REPEAT_COUNT]=pin[GPIODriver.REPEAT] else: if pin[GPIODriver.REPEAT] != -1: pin[GPIODriver.REPEAT_COUNT]-=1 # execute an output event def handle_output_event(self,name,param_type,param_values,req_time): if GPIODriver.gpio_enabled is False: return 'normal','gpio not enabled' #gpio only handles state parameters if param_type != 'state': return 'error','gpio does not handle: ' + param_type to_state=param_values[0] if to_state== 'on': state=True else: state=False pin= self.output_pin_of(name) if pin == -1: return 'error','Not an output for gpio: ' + name self.mon.log (self,'pin P1-'+ str(pin)+ ' set '+ str(state) + ' required at: ' + str(req_time)+ ' sent at: ' + str(long(time.time()))) # print 'pin P1-'+ str(pin)+ ' set '+ str(state) + ' required: ' + str(req_time)+ ' actual: ' + str(long(time.time())) self.GPIO.output(pin,state) return 'normal','gpio handled OK' # ************************************************ # gpio output interface methods # these can be called from many classes so need to operate on class variables # ************************************************ def reset_outputs(self): if GPIODriver.gpio_enabled is True: self.mon.log(self,'reset outputs') for index, pin in enumerate(GPIODriver.pins): num = pin[GPIODriver.PIN] if pin[GPIODriver.DIRECTION] == 'out': self.GPIO.output(num,False) # ************************************************ # internal functions # these can be called from many classes so need to operate on class variables # ************************************************ def output_pin_of(self,name): for pin in GPIODriver.pins: # print " in list" + pin[GPIODriver.NAME] + str(pin[GPIODriver.PIN] ) if pin[GPIODriver.NAME] == name and pin[GPIODriver.DIRECTION] == 'out': # print " linked pin " + pin[GPIODriver.NAME] + ' ' + str(pin[GPIODriver.PIN] ) return pin[GPIODriver.PIN] return -1 # *********************************** # reading gpio.cfg # ************************************ def read(self,pp_dir,pp_home,pp_profile): # try inside profile filename=pp_profile+os.sep+'pp_io_config'+os.sep+'gpio.cfg' if os.path.exists(filename): self.config = ConfigParser.ConfigParser() self.config.read(filename) self.mon.log(self,"gpio.cfg read from "+ filename) return 'normal','gpio.cfg read' else: return 'normal','gpio.cfg not found in profile: '+filename