rework raspberry pi driver with digitalio

Author: NickCao

.devfile/Containerfile

@@ -13,7 +13,7 @@ COPY --from=ghcr.io/astral-sh/uv:latest /uvx /bin/uvx
 
 USER root
 
-RUN dnf -y install make git python3.12 libusbx python3-pyusb golang podman && dnf clean all
+RUN dnf -y install make git python3.12 python3.12-devel libusbx python3-pyusb golang podman gcc && dnf clean all
 
 USER 10001
 

.devfile/Containerfile.client

@@ -24,7 +24,7 @@ USER root
 # switch to python 3.12 as the default
 RUN rm -rf /usr/bin/python && ln -s /usr/bin/python3.12 /usr/bin/python
 
-RUN dnf -y install make git python3.12 python3.12 libusbx python3-pyusb python3.12-pip golang && dnf clean all
+RUN dnf -y install make git python3.12 python3.12-devel libusbx python3-pyusb python3.12-pip golang gcc && dnf clean all
 
 USER 10001
 

Dockerfile

@@ -7,7 +7,7 @@ RUN dnf install -y make git && \
 COPY --from=uv /uv /uvx /bin/
 
 FROM fedora:40 AS product
-RUN dnf install -y python3 ustreamer libusb1 && \
+RUN dnf install -y python3 python3-devel ustreamer libusb1 gcc && \
     dnf clean all && \
     rm -rf /var/cache/dnf
 COPY --from=ghcr.io/astral-sh/uv:latest /uv /uvx /bin/

docs/source/api-reference/drivers/index.md

@@ -11,4 +11,5 @@ can.md
 pyserial.md
 sdwire.md
 ustreamer.md
+raspberrypi.md
 ```

docs/source/api-reference/drivers/raspberrypi.md

@@ -0,0 +1,37 @@
+# Raspberry Pi drivers
+
+Raspberry Pi drivers are a set of drivers for the various peripherals on Pi and similar single board computers.
+
+## Driver configuration
+```yaml
+export:
+  my_serial:
+    type: "jumpstarter_driver_raspberrypi.driver.DigitalIO"
+    config:
+      pin: "D3"
+```
+
+### Config parameters
+
+| Parameter | Description | Type | Required | Default |
+|-----------|-------------|------|----------|---------|
+| pin | Name of the GPIO pin to connect to, in [Adafruit Blinka format](https://docs.circuitpython.org/projects/blinka/en/latest/index.html#usage-example) | str | yes | |
+
+## DigitalIOClient API
+```{eval-rst}
+.. autoclass:: jumpstarter_driver_raspberrypi.client.DigitalIOClient
+    :members:
+```
+
+## Examples
+Switch pin to push pull output and set output to high
+```{testcode}
+digitalioclient.switch_to_output(value=False, drive_mode=digitalio.DriveMode.PUSH_PULL) # default to low
+digitalioclient.value = True
+```
+
+Switch pin to input with pull up and read value
+```{testcode}
+digitalioclient.switch_to_input(pull=digitalio.Pull.UP)
+print(digitalioclient.value)
+```

packages/jumpstarter-driver-raspberrypi/jumpstarter_driver_raspberrypi/client.py

@@ -1,21 +1,54 @@
 from dataclasses import dataclass
 
+from digitalio import DriveMode, Pull
 from jumpstarter.client import DriverClient
 
 
 @dataclass(kw_only=True)
-class DigitalOutputClient(DriverClient):
-    def off(self):
-        self.call("off")
+class DigitalIOClient(DriverClient):
+    """DigitalIO (Digital GPIO) client class
 
-    def on(self):
-        self.call("on")
+    Client methods for the DigitalIO driver.
+    """
 
+    def switch_to_output(self, value: bool = False, drive_mode: DriveMode = DriveMode.PUSH_PULL) -> None:
+        """
+        Switch pin to output mode with given default value and drive mode
+        """
 
-@dataclass(kw_only=True)
-class DigitalInputClient(DriverClient):
-    def wait_for_active(self, timeout: float | None = None):
-        self.call("wait_for_active", timeout)
+        match drive_mode:
+            case DriveMode.PUSH_PULL:
+                drive_mode = 0
+            case DriveMode.OPEN_DRAIN:
+                drive_mode = 1
+            case _:
+                raise ValueError("unrecognized drive_mode")
+        self.call("switch_to_output", value, drive_mode)
+
+    def switch_to_input(self, pull: Pull | None = None) -> None:
+        """
+        Switch pin to input mode with given pull up/down mode
+        """
+
+        match pull:
+            case None:
+                pull = 0
+            case Pull.UP:
+                pull = 1
+            case Pull.DOWN:
+                pull = 2
+            case _:
+                raise ValueError("unrecognized pull")
+        self.call("switch_to_input", pull)
+
+    @property
+    def value(self) -> bool:
+        """
+        Current value of the pin
+        """
+
+        return self.call("get_value")
 
-    def wait_for_inactive(self, timeout: float | None = None):
-        self.call("wait_for_inactive", timeout)
+    @value.setter
+    def value(self, value: bool) -> None:
+        self.call("set_value", value)

packages/jumpstarter-driver-raspberrypi/jumpstarter_driver_raspberrypi/driver.py

@@ -1,60 +1,124 @@
+from collections.abc import AsyncGenerator
 from dataclasses import dataclass, field
+from time import sleep
 
-from gpiozero import DigitalInputDevice, DigitalOutputDevice, InputDevice
+import board
+from digitalio import DigitalInOut, DriveMode, Pull
 from jumpstarter.driver import Driver, export
+from jumpstarter_driver_power.driver import PowerInterface, PowerReading
 
 
 @dataclass(kw_only=True)
-class DigitalOutput(Driver):
-    pin: int | str
-    device: InputDevice = field(init=False)  # Start as input
+class DigitalIO(Driver):
+    pin: str
+    device: DigitalInOut = field(init=False)
 
     @classmethod
     def client(cls) -> str:
-        return "jumpstarter_driver_raspberrypi.client.DigitalOutputClient"
+        return "jumpstarter_driver_raspberrypi.client.DigitalIOClient"
 
     def __post_init__(self):
         super().__post_init__()
-        # Initialize as InputDevice first
-        self.device = InputDevice(pin=self.pin)
+        # Defaults to input with no pull
+        try:
+            self.device = DigitalInOut(pin=getattr(board, self.pin))
+        except AttributeError as err:
+            raise ValueError(f"Invalid pin name: {self.pin}") from err
 
     def close(self):
         if hasattr(self, "device"):
-            self.device.close()
-        super().close()
+            self.device.deinit()
 
     @export
-    def off(self):
-        if not isinstance(self.device, DigitalOutputDevice):
-            self.device.close()
-            self.device = DigitalOutputDevice(pin=self.pin, initial_value=None)
-        self.device.off()
+    def switch_to_output(self, value: bool = False, drive_mode: int = 0) -> None:
+        match drive_mode:
+            case 0:
+                drive_mode = DriveMode.PUSH_PULL
+            case 1:
+                drive_mode = DriveMode.OPEN_DRAIN
+            case _:
+                raise ValueError("unrecognized drive_mode")
+
+        self.device.switch_to_output(value, drive_mode)
+
+    @export
+    def switch_to_input(self, pull: int = 0) -> None:
+        match pull:
+            case 0:
+                pull = None
+            case 1:
+                pull = Pull.UP
+            case 2:
+                pull = Pull.DOWN
+            case _:
+                raise ValueError("unrecognized pull")
+
+        self.device.switch_to_input(pull)
+
+    @export
+    def set_value(self, value: bool) -> None:
+        self.device.value = value
 
     @export
-    def on(self):
-        if not isinstance(self.device, DigitalOutputDevice):
-            self.device.close()
-            self.device = DigitalOutputDevice(pin=self.pin, initial_value=None)
-        self.device.on()
+    def get_value(self) -> bool:
+        return self.device.value
 
 
 @dataclass(kw_only=True)
-class DigitalInput(Driver):
-    pin: int | str
-    device: DigitalInputDevice = field(init=False)
+class DigitalPowerSwitch(PowerInterface, DigitalIO):
+    value: bool = False
+    drive_mode: str = "PUSH_PULL"
+
+    def __post_init__(self):
+        super().__post_init__()
+
+        try:
+            self.device.switch_to_output(value=self.value, drive_mode=getattr(DriveMode, self.drive_mode))
+        except AttributeError as err:
+            raise ValueError(f"Invalid drive mode: {self.drive_mode}") from err
+
+    @export
+    def on(self) -> None:
+        self.device.value = True
+
+    @export
+    def off(self) -> None:
+        self.device.value = False
+
+    @export
+    def read(self) -> AsyncGenerator[PowerReading, None]:
+        raise NotImplementedError
 
-    @classmethod
-    def client(cls) -> str:
-        return "jumpstarter_driver_raspberrypi.client.DigitalInputClient"
+
+@dataclass(kw_only=True)
+class DigitalPowerButton(PowerInterface, DigitalIO):
+    value: bool = False
+    drive_mode: str = "OPEN_DRAIN"
+    on_press_seconds: int = 1
+    off_press_seconds: int = 5
 
     def __post_init__(self):
         super().__post_init__()
-        self.device = DigitalInputDevice(pin=self.pin)
+
+        try:
+            self.device.switch_to_output(value=self.value, drive_mode=getattr(DriveMode, self.drive_mode))
+        except AttributeError as err:
+            raise ValueError(f"Invalid drive mode: {self.drive_mode}") from err
+
+    def press(self, seconds: int) -> None:
+        self.device.value = self.value
+        self.device.value = not self.value
+        sleep(seconds)
+        self.device.value = self.value
+
+    @export
+    def on(self) -> None:
+        self.press(self.on_press_seconds)
 
     @export
-    def wait_for_active(self, timeout: float | None = None):
-        self.device.wait_for_active(timeout)
+    def off(self) -> None:
+        self.press(self.off_press_seconds)
 
     @export
-    def wait_for_inactive(self, timeout: float | None = None):
-        self.device.wait_for_inactive(timeout)
+    def read(self) -> AsyncGenerator[PowerReading, None]:
+        raise NotImplementedError

packages/jumpstarter-driver-raspberrypi/jumpstarter_driver_raspberrypi/driver_test.py

@@ -1,45 +1,45 @@
-from concurrent.futures import ThreadPoolExecutor
-
-from gpiozero import Device
-from gpiozero.pins.mock import MockFactory
 from jumpstarter.common.utils import serve
 
-from jumpstarter_driver_raspberrypi.driver import DigitalInput, DigitalOutput
 
-Device.pin_factory = MockFactory()
+def test_drivers_gpio_digital_input(monkeypatch):
+    monkeypatch.setenv("BLINKA_OS_AGNOSTIC", "1")
 
+    from digitalio import Pull
 
-def test_drivers_gpio_digital_output():
-    pin_factory = MockFactory()
-    Device.pin_factory = pin_factory
-    pin_number = 1
-    mock_pin = pin_factory.pin(pin_number)
+    from jumpstarter_driver_raspberrypi.driver import DigitalIO
 
-    instance = DigitalOutput(pin=pin_number)
+    with serve(DigitalIO(pin="Dx_INPUT_TOGGLE")) as client:
+        client.switch_to_input(pull=Pull.UP)
+        assert client.value
+        assert not client.value
+        assert client.value
 
-    assert not mock_pin.state
 
-    with serve(instance) as client:
-        client.off()
-        assert not mock_pin.state
+def test_drivers_gpio_digital_output(monkeypatch):
+    monkeypatch.setenv("BLINKA_OS_AGNOSTIC", "1")
 
-        client.on()
-        assert mock_pin.state
+    from digitalio import DriveMode
 
-        client.off()
-        assert not mock_pin.state
+    from jumpstarter_driver_raspberrypi.driver import DigitalIO
 
-    mock_pin.assert_states([False, True, False])
+    with serve(DigitalIO(pin="Dx_OUTPUT")) as client:
+        client.switch_to_output(value=True, drive_mode=DriveMode.PUSH_PULL)
+        client.value = True
+        assert client.value
+        client.value = False
+        # Dx_OUTPUT is always True
+        assert client.value
 
 
-def test_drivers_gpio_digital_input():
-    instance = DigitalInput(pin=4)
+def test_drivers_gpio_power(monkeypatch):
+    monkeypatch.setenv("BLINKA_OS_AGNOSTIC", "1")
 
-    with serve(instance) as client:
-        with ThreadPoolExecutor() as pool:
-            pool.submit(client.wait_for_active)
-            instance.device.pin.drive_high()
+    from jumpstarter_driver_raspberrypi.driver import DigitalPowerButton, DigitalPowerSwitch
 
-        with ThreadPoolExecutor() as pool:
-            pool.submit(client.wait_for_inactive)
-            instance.device.pin.drive_low()
+    with serve(DigitalPowerSwitch(pin="Dx_OUTPUT", drive_mode="PUSH_PULL")) as client:
+        client.off()
+        client.on()
+
+    with serve(DigitalPowerButton(pin="Dx_OUTPUT", drive_mode="PUSH_PULL", off_press_seconds=1)) as client:
+        client.off()
+        client.on()

packages/jumpstarter-driver-raspberrypi/pyproject.toml

@@ -12,7 +12,8 @@ license = { text = "Apache-2.0" }
 requires-python = ">=3.11"
 dependencies = [
     "jumpstarter",
-    "gpiozero>=2.0.1",
+    "jumpstarter-driver-power",
+    "adafruit-blinka>=8.51.0",
 ]
 
 [dependency-groups]