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Merge pull request #192 from waveform80/pigpiod
Fix #180 - Add support for pigpio
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,240 @@ | ||
| from __future__ import ( | ||
| unicode_literals, | ||
| absolute_import, | ||
| print_function, | ||
| division, | ||
| ) | ||
| str = type('') | ||
|
|
||
| import pigpio | ||
|
|
||
| from . import Pin | ||
| from ..exc import ( | ||
| PinInvalidFunction, | ||
| PinSetInput, | ||
| PinFixedPull, | ||
| ) | ||
|
|
||
|
|
||
| class PiGPIOPin(Pin): | ||
| """ | ||
| Uses the `pigpio`_ library to interface to the Pi's GPIO pins. The pigpio | ||
| library relies on a daemon (``pigpiod``) to be running as root to provide | ||
| access to the GPIO pins, and communicates with this daemon over a network | ||
| socket. | ||
| While this does mean only the daemon itself should control the pins, the | ||
| architecture does have several advantages: | ||
| * Pins can be remote controlled from another machine (the other | ||
| machine doesn't even have to be a Raspberry Pi; it simply needs the | ||
| `pigpio`_ client library installed on it) | ||
| * The daemon supports hardware PWM via the DMA controller | ||
| * Your script itself doesn't require root privileges; it just needs to | ||
| be able to communicate with the daemon | ||
| You can construct pigpiod pins manually like so:: | ||
| from gpiozero.pins.pigpiod import PiGPIOPin | ||
| from gpiozero import LED | ||
| led = LED(PiGPIOPin(12)) | ||
| This is particularly useful for controlling pins on a remote machine. To | ||
| accomplish this simply specify the host (and optionally port) when | ||
| constructing the pin:: | ||
| from gpiozero.pins.pigpiod import PiGPIOPin | ||
| from gpiozero import LED | ||
| from signal import pause | ||
| led = LED(PiGPIOPin(12, host='192.168.0.2')) | ||
| .. note:: | ||
| In some circumstances, especially when playing with PWM, it does appear | ||
| to be possible to get the daemon into "unusual" states. We would be | ||
| most interested to hear any bug reports relating to this (it may be a | ||
| bug in our pin implementation). A workaround for now is simply to | ||
| restart the ``pigpiod`` daemon. | ||
| .. _pigpio: http://abyz.co.uk/rpi/pigpio/ | ||
| """ | ||
|
|
||
| _CONNECTIONS = {} | ||
| _PINS = {} | ||
|
|
||
| GPIO_FUNCTIONS = { | ||
| 'input': pigpio.INPUT, | ||
| 'output': pigpio.OUTPUT, | ||
| 'alt0': pigpio.ALT0, | ||
| 'alt1': pigpio.ALT1, | ||
| 'alt2': pigpio.ALT2, | ||
| 'alt3': pigpio.ALT3, | ||
| 'alt4': pigpio.ALT4, | ||
| 'alt5': pigpio.ALT5, | ||
| } | ||
|
|
||
| GPIO_PULL_UPS = { | ||
| 'up': pigpio.PUD_UP, | ||
| 'down': pigpio.PUD_DOWN, | ||
| 'floating': pigpio.PUD_OFF, | ||
| } | ||
|
|
||
| GPIO_EDGES = { | ||
| 'both': pigpio.EITHER_EDGE, | ||
| 'rising': pigpio.RISING_EDGE, | ||
| 'falling': pigpio.FALLING_EDGE, | ||
| } | ||
|
|
||
| GPIO_FUNCTION_NAMES = {v: k for (k, v) in GPIO_FUNCTIONS.items()} | ||
| GPIO_PULL_UP_NAMES = {v: k for (k, v) in GPIO_PULL_UPS.items()} | ||
| GPIO_EDGES_NAMES = {v: k for (k, v) in GPIO_EDGES.items()} | ||
|
|
||
| def __new__(cls, number, host='localhost', port=8888): | ||
| try: | ||
| return cls._PINS[(host, port, number)] | ||
| except KeyError: | ||
| self = super(PiGPIOPin, cls).__new__(cls) | ||
| cls._PINS[(host, port, number)] = self | ||
| try: | ||
| self._connection = cls._CONNECTIONS[(host, port)] | ||
| except KeyError: | ||
| self._connection = pigpio.pi(host, port) | ||
| cls._CONNECTIONS[(host, port)] = self._connection | ||
| self._host = host | ||
| self._port = port | ||
| self._number = number | ||
| self._pull = 'up' if number in (2, 3) else 'floating' | ||
| self._pwm = False | ||
| self._bounce = None | ||
| self._when_changed = None | ||
| self._callback = None | ||
| self._edges = pigpio.EITHER_EDGE | ||
| self._connection.set_mode(self._number, pigpio.INPUT) | ||
| self._connection.set_pull_up_down(self._number, self.GPIO_PULL_UPS[self._pull]) | ||
| self._connection.set_glitch_filter(self._number, 0) | ||
| self._connection.set_PWM_range(self._number, 255) | ||
| return self | ||
|
|
||
| def __repr__(self): | ||
| if self._host == 'localhost': | ||
| return "GPIO%d" % self._number | ||
| else: | ||
| return "GPIO%d on %s:%d" % (self._host, self._port) | ||
|
|
||
| @property | ||
| def host(self): | ||
| return self._host | ||
|
|
||
| @property | ||
| def port(self): | ||
| return self._port | ||
|
|
||
| @property | ||
| def number(self): | ||
| return self._number | ||
|
|
||
| def close(self): | ||
| # If we're shutting down, the connection may have disconnected itself | ||
| # already. Unfortunately, the connection's "connected" property is | ||
| # rather buggy - disconnecting doesn't set it to False! So we're | ||
| # naughty and check an internal variable instead... | ||
| if self._connection.sl.s is not None: | ||
| self.frequency = None | ||
| self.when_changed = None | ||
| self.function = 'input' | ||
| self.pull = 'floating' | ||
|
|
||
| def _get_function(self): | ||
| return self.GPIO_FUNCTION_NAMES[self._connection.get_mode(self._number)] | ||
|
|
||
| def _set_function(self, value): | ||
| if value != 'input': | ||
| self._pull = 'floating' | ||
| try: | ||
| self._connection.set_mode(self._number, self.GPIO_FUNCTIONS[value]) | ||
| except KeyError: | ||
| raise PinInvalidFunction('invalid function "%s" for pin %r' % (value, self)) | ||
|
|
||
| def _get_state(self): | ||
| if self._pwm: | ||
| return self._connection.get_PWM_dutycycle(self._number) / 255 | ||
| else: | ||
| return bool(self._connection.read(self._number)) | ||
|
|
||
| def _set_state(self, value): | ||
| if self._pwm: | ||
| try: | ||
| self._connection.set_PWM_dutycycle(self._number, int(value * 255)) | ||
| except pigpio.error: | ||
| raise PinInvalidValue('invalid state "%s" for pin %r' % (value, self)) | ||
| elif self.function == 'input': | ||
| raise PinSetInput('cannot set state of pin %r' % self) | ||
| else: | ||
| # write forces pin to OUTPUT, hence the check above | ||
| self._connection.write(self._number, bool(value)) | ||
|
|
||
| def _get_pull(self): | ||
| return self._pull | ||
|
|
||
| def _set_pull(self, value): | ||
| if self.function != 'input': | ||
| raise PinFixedPull('cannot set pull on non-input pin %r' % self) | ||
| if value != 'up' and self._number in (2, 3): | ||
| raise PinFixedPull('%r has a physical pull-up resistor' % self) | ||
| try: | ||
| self._connection.set_pull_up_down(self._number, self.GPIO_PULL_UPS[value]) | ||
| self._pull = value | ||
| except KeyError: | ||
| raise PinInvalidPull('invalid pull "%s" for pin %r' % (value, self)) | ||
|
|
||
| def _get_frequency(self): | ||
| if self._pwm: | ||
| return self._connection.get_PWM_frequency(self._number) | ||
| return None | ||
|
|
||
| def _set_frequency(self, value): | ||
| if not self._pwm and value is not None: | ||
| self._connection.set_PWM_frequency(self._number, value) | ||
| self._connection.set_PWM_dutycycle(self._number, 0) | ||
| self._pwm = True | ||
| elif self._pwm and value is not None: | ||
| self._connection.set_PWM_frequency(self._number, value) | ||
| elif self._pwm and value is None: | ||
| self._connection.set_PWM_dutycycle(self._number, 0) | ||
| self._pwm = False | ||
|
|
||
| def _get_bounce(self): | ||
| return None if not self._bounce else self._bounce / 1000000 | ||
|
|
||
| def _set_bounce(self, value): | ||
| if value is None: | ||
| value = 0 | ||
| self._connection.set_glitch_filter(self._number, int(value * 1000000)) | ||
|
|
||
| def _get_edges(self): | ||
| return self.GPIO_EDGES_NAMES[self._edges] | ||
|
|
||
| def _set_edges(self, value): | ||
| f = self.when_changed | ||
| self.when_changed = None | ||
| try: | ||
| self._edges = self.GPIO_EDGES[value] | ||
| finally: | ||
| self.when_changed = f | ||
|
|
||
| def _get_when_changed(self): | ||
| if self._callback is None: | ||
| return None | ||
| return self._callback.callb.func | ||
|
|
||
| def _set_when_changed(self, value): | ||
| if self._callback is not None: | ||
| self._callback.cancel() | ||
| self._callback = None | ||
| if value is not None: | ||
| self._callback = self._connection.callback( | ||
| self._number, self._edges, | ||
| lambda gpio, level, tick: value()) | ||
|
|
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