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feat: update GpioNode to use gpiod v2.x API for batch line requests and improved GPIO handling

This commit is contained in:
a2nr 2026-03-10 21:55:00 +07:00
parent 9f7ac848d8
commit 0bdd3040e0
1 changed files with 50 additions and 37 deletions
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87
src/gpio_node/gpio_node/gpio_node.py
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@ -11,6 +11,8 @@ Alur komunikasi:
Jika gpiod tidak tersedia (misalnya di x86 dev machine), node tetap berjalan
dalam simulation mode — hanya logging tanpa akses hardware. Ini memungkinkan
pengembangan dan testing tanpa Pi.
Menggunakan gpiod v2.x API (request_lines / LineSettings / Value).
"""
import rclpy
@ -23,6 +25,7 @@ from blockly_interfaces.msg import GpioWrite, GpioRead
# berjalan dalam simulation mode.
try:
import gpiod
from gpiod.line import Direction, Value
HAS_GPIOD = True
except ImportError:
HAS_GPIOD = False
@ -40,10 +43,10 @@ class GpioNode(Node):
self.declare_parameter("input_publish_rate", 10.0) # Hz
self.declare_parameter("gpio_chip", "/dev/gpiochip0") # gpiod v2.x butuh path lengkap
self._output_pins = (
self._output_pins = list(
self.get_parameter("output_pins").get_parameter_value().integer_array_value
)
self._input_pins = (
self._input_pins = list(
self.get_parameter("input_pins").get_parameter_value().integer_array_value
)
rate = (
@ -53,9 +56,10 @@ class GpioNode(Node):
self.get_parameter("gpio_chip").get_parameter_value().string_value
)
self._chip = None
self._output_lines: dict[int, object] = {}
self._input_lines: dict[int, object] = {}
# gpiod v2.x: request_lines() mengembalikan LineRequest object,
# bukan per-line object seperti v1.x.
self._output_request = None
self._input_request = None
# Instance flag — True hanya jika gpiod tersedia DAN chip berhasil dibuka.
# Berbeda dari module-level HAS_GPIOD yang hanya cek import.
@ -93,30 +97,41 @@ class GpioNode(Node):
self._read_timer = self.create_timer(period, self._read_callback)
self.get_logger().info(
f"GpioNode ready — outputs={list(self._output_pins)}, "
f"inputs={list(self._input_pins)}, "
f"GpioNode ready — outputs={self._output_pins}, "
f"inputs={self._input_pins}, "
f"gpiod={'yes' if self._has_hardware else 'no (simulation)'}"
)
def _setup_gpio(self, chip_name: str) -> None:
"""Konfigurasi GPIO lines via gpiod.
"""Konfigurasi GPIO lines via gpiod v2.x API.
Setiap pin di-request dengan consumer name "gpio_node" agar mudah
diidentifikasi via `gpioinfo` jika ada konflik.
gpiod v2.x menggunakan request_lines() untuk merequest semua pin
sekaligus, berbeda dari v1.x yang per-line. LineSettings menentukan
direction (input/output) untuk setiap pin.
"""
self._chip = gpiod.Chip(chip_name)
# Request output lines sebagai satu batch
if self._output_pins:
out_config = {
pin: gpiod.LineSettings(direction=Direction.OUTPUT)
for pin in self._output_pins
}
self._output_request = gpiod.request_lines(
chip_name, consumer="gpio_node", config=out_config
)
for pin in self._output_pins:
self.get_logger().info(f"Configured pin {pin} as OUTPUT")
for pin in self._output_pins:
line = self._chip.get_line(pin)
line.request(consumer="gpio_node", type=gpiod.LINE_REQ_DIR_OUT)
self._output_lines[pin] = line
self.get_logger().info(f"Configured pin {pin} as OUTPUT")
for pin in self._input_pins:
line = self._chip.get_line(pin)
line.request(consumer="gpio_node", type=gpiod.LINE_REQ_DIR_IN)
self._input_lines[pin] = line
self.get_logger().info(f"Configured pin {pin} as INPUT")
# Request input lines sebagai satu batch
if self._input_pins:
in_config = {
pin: gpiod.LineSettings(direction=Direction.INPUT)
for pin in self._input_pins
}
self._input_request = gpiod.request_lines(
chip_name, consumer="gpio_node", config=in_config
)
for pin in self._input_pins:
self.get_logger().info(f"Configured pin {pin} as INPUT")
def _write_callback(self, msg: GpioWrite) -> None:
"""Handle perintah digital output dari executor.
@ -129,14 +144,15 @@ class GpioNode(Node):
state = msg.state
state_str = "HIGH" if state else "LOW"
if pin not in self._output_lines and self._has_hardware:
if pin not in self._output_pins and self._has_hardware:
self.get_logger().warn(
f"Pin {pin} not configured as output — ignoring write"
)
return
if self._has_hardware:
self._output_lines[pin].set_value(1 if state else 0)
if self._has_hardware and self._output_request:
value = Value.ACTIVE if state else Value.INACTIVE
self._output_request.set_value(pin, value)
self.get_logger().info(f"GPIO write: pin={pin} state={state_str}")
@ -147,12 +163,12 @@ class GpioNode(Node):
Setiap pin dipublish sebagai message terpisah agar subscriber
bisa memfilter berdasarkan pin number.
"""
for pin, line in self._input_lines.items():
for pin in self._input_pins:
msg = GpioRead()
msg.pin = pin
if self._has_hardware:
msg.state = bool(line.get_value())
if self._has_hardware and self._input_request:
msg.state = self._input_request.get_value(pin) == Value.ACTIVE
else:
msg.state = False # simulation: selalu LOW
@ -161,17 +177,14 @@ class GpioNode(Node):
def destroy_node(self) -> None:
"""Release GPIO lines saat shutdown.
Penting untuk melepaskan line agar pin bisa digunakan kembali
oleh proses lain tanpa reboot. Jika tidak di-release, gpiod
akan menandai pin sebagai "busy".
gpiod v2.x: release() dipanggil pada LineRequest object,
bukan per-line seperti v1.x.
"""
if self._has_hardware:
for line in self._output_lines.values():
line.release()
for line in self._input_lines.values():
line.release()
if self._chip is not None:
self._chip.close()
if self._output_request:
self._output_request.release()
if self._input_request:
self._input_request.release()
self.get_logger().info("GPIO lines released")
super().destroy_node()