Merge pull request #192 from waveform80/pigpiod

Fix #180 - Add support for pigpio

docs/api_pins.rst

@@ -20,10 +20,12 @@ integer number instead, it uses one of the following classes to provide the
 
 2. :class:`gpiozero.pins.rpio.RPIOPin`
 
-3. :class:`gpiozero.pins.native.NativePin`
+3. :class:`gpiozero.pins.pigpiod.PiGPIOPin`
+
+4. :class:`gpiozero.pins.native.NativePin`
 
 You can change the default pin implementation by over-writing the
-``DefaultPin`` global in devices like so::
+``DefaultPin`` global in the ``devices`` module like so::
 
     from gpiozero.pins.native import NativePin
     import gpiozero.devices
@@ -35,8 +37,24 @@ You can change the default pin implementation by over-writing the
     # This will now use NativePin instead of RPiGPIOPin
     led = LED(16)
 
-In future, this separation should allow the library to utilize pins that are
-part of IO extender chips. For example::
+Alternatively, instead of passing an integer to the device constructor, you
+can pass a :class:`Pin` object itself::
+
+    from gpiozero.pins.native import NativePin
+    from gpiozero import LED
+
+    led = LED(NativePin(16))
+
+This is particularly useful with implementations that can take extra parameters
+such as :class:`PiGPIOPin` which can address pins on remote machines::
+
+    from gpiozero.pins.pigpiod import PiGPIOPin
+    from gpiozero import LED
+
+    led = LED(PiGPIOPin(16, host='my_other_pi'))
+
+In future, this separation of pins and devices should also permit the library
+to utilize pins that are part of IO extender chips. For example::
 
     from gpiozero import IOExtender, LED
 
@@ -52,13 +70,6 @@ part of IO extender chips. For example::
     comments from testers!
 
 
-Abstract Pin
-============
-
-.. autoclass:: Pin
-    :members:
-
-
 RPiGPIOPin
 ==========
 
@@ -75,6 +86,14 @@ RPIOPin
 .. autoclass:: RPIOPin
 
 
+PiGPIOPin
+=========
+
+.. currentmodule:: gpiozero.pins.pigpiod
+
+.. autoclass:: PiGPIOPin
+
+
 NativePin
 =========
 
@@ -82,3 +101,10 @@ NativePin
 
 .. autoclass:: NativePin
 
+
+Abstract Pin
+============
+
+.. autoclass:: Pin
+    :members:
+

docs/conf.py

@@ -39,6 +39,7 @@ sys.modules['RPi'] = Mock()
 sys.modules['RPi.GPIO'] = sys.modules['RPi'].GPIO
 sys.modules['RPIO'] = Mock()
 sys.modules['RPIO.PWM'] = sys.modules['RPIO'].PWM
+sys.modules['pigpio'] = Mock()
 sys.modules['w1thermsensor'] = Mock()
 sys.modules['spidev'] = Mock()
 

gpiozero/devices.py

@@ -38,8 +38,12 @@ except ImportError:
         from .pins.rpio import RPIOPin
         DefaultPin = RPIOPin
     except ImportError:
-        from .pins.native import NativePin
-        DefaultPin = NativePin
+        try:
+            from .pins.pigipod import PiGPIOPin
+            DefaultPin = PiGPIOPin
+        except ImportError:
+            from .pins.native import NativePin
+            DefaultPin = NativePin
 
 
 _THREADS = set()

gpiozero/pins/native.py

@@ -156,6 +156,13 @@ class NativePin(Pin):
         use any class which requests PWM will raise an exception. This
         implementation is also experimental; we make no guarantees it will
         not eat your Pi for breakfast!
+
+    You can construct native pin instances manually like so::
+
+        from gpiozero.pins.native import NativePin
+        from gpiozero import LED
+
+        led = LED(NativePin(12))
     """
 
     _MEM = None

gpiozero/pins/pigpiod.py

@@ -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())
+

gpiozero/pins/rpigpio.py

@@ -22,6 +22,20 @@ class RPiGPIOPin(Pin):
     the default pin implementation if the RPi.GPIO library is installed.
     Supports all features including PWM (via software).
 
+    Because this is the default pin implementation you can use it simply by
+    specifying an integer number for the pin in most operations, e.g.::
+
+        from gpiozero import LED
+
+        led = LED(12)
+
+    However, you can also construct RPi.GPIO pins manually if you wish::
+
+        from gpiozero.pins.rpigpio import RPiGPIOPin
+        from gpiozero import LED
+
+        led = LED(RPiGPIOPin(12))
+
     .. _RPi.GPIO: https://pypi.python.org/pypi/RPi.GPIO
     """
 

gpiozero/pins/rpio.py

@@ -32,6 +32,13 @@ class RPIOPin(Pin):
         Pi 1's; the Raspberry Pi 2 Model B is *not* supported. Also note that
         root access is required so scripts must typically be run with ``sudo``.
 
+    You can construct RPIO pins manually like so::
+
+        from gpiozero.pins.rpio import RPIOPin
+        from gpiozero import LED
+
+        led = LED(RPIOPin(12))
+
     .. _RPIO: https://pythonhosted.org/RPIO/
     """