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[RSDK-2782] Remove Periph GPIO from genericlinux boards #2603

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merged 10 commits into from
Jul 10, 2023
Merged

[RSDK-2782] Remove Periph GPIO from genericlinux boards #2603

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0b49ca8
remove periph from GPIO stuff. Test still needs cleanup
penguinland Jun 29, 2023
ce626aa
all the genericlinux boards don't need to specify whether they're usi…
penguinland Jun 29, 2023
690dc14
Remove the nanopi implementation; it didn't work without periph
penguinland Jun 29, 2023
e4469f3
the main server compiles now, still need to look at tests"
penguinland Jun 30, 2023
572306f
pull boards out of mock pins, still need to get rid of 1 mock pin
penguinland Jun 30, 2023
ec2e007
finish removing periph gpio from tests
penguinland Jun 30, 2023
f9b7816
fix test
penguinland Jun 30, 2023
fe439b8
fix more tests
penguinland Jun 30, 2023
26e3b0f
make lint-go
penguinland Jun 30, 2023
38b5124
remove test that doesn't do anything
penguinland Jul 10, 2023
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3 changes: 1 addition & 2 deletions components/board/beaglebone/board.go
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,5 @@ func init() {
golog.Global().Debugw("error getting beaglebone GPIO board mapping", "error", err)
}

// The false on this line means we're not using Periph. This lets us enable hardware PWM pins.
genericlinux.RegisterBoard(modelName, gpioMappings, false)
genericlinux.RegisterBoard(modelName, gpioMappings)
}
125 changes: 13 additions & 112 deletions components/board/genericlinux/board.go
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Original file line number Diff line number Diff line change
Expand Up @@ -18,17 +18,14 @@ import (
commonpb "go.viam.com/api/common/v1"
pb "go.viam.com/api/component/board/v1"
goutils "go.viam.com/utils"
"periph.io/x/conn/v3/gpio"
"periph.io/x/conn/v3/gpio/gpioreg"
"periph.io/x/conn/v3/physic"

"go.viam.com/rdk/components/board"
"go.viam.com/rdk/grpc"
"go.viam.com/rdk/resource"
)

// RegisterBoard registers a sysfs based board of the given model.
func RegisterBoard(modelName string, gpioMappings map[int]GPIOBoardMapping, usePeriphGpio bool) {
func RegisterBoard(modelName string, gpioMappings map[int]GPIOBoardMapping) {
resource.RegisterComponent(
board.API,
resource.DefaultModelFamily.WithModel(modelName),
Expand All @@ -39,7 +36,7 @@ func RegisterBoard(modelName string, gpioMappings map[int]GPIOBoardMapping, useP
conf resource.Config,
logger golog.Logger,
) (board.Board, error) {
return newBoard(ctx, conf, gpioMappings, usePeriphGpio, logger)
return newBoard(ctx, conf, gpioMappings, logger)
},
})
}
Expand All @@ -48,22 +45,18 @@ func newBoard(
ctx context.Context,
conf resource.Config,
gpioMappings map[int]GPIOBoardMapping,
usePeriphGpio bool,
logger golog.Logger,
) (board.Board, error) {
cancelCtx, cancelFunc := context.WithCancel(context.Background())
b := sysfsBoard{
Named: conf.ResourceName().AsNamed(),
usePeriphGpio: usePeriphGpio,
gpioMappings: gpioMappings,
logger: logger,
cancelCtx: cancelCtx,
cancelFunc: cancelFunc,

spis: map[string]*spiBus{},
analogs: map[string]*wrappedAnalog{},
// this is not yet modified during reconfiguration but maybe should be
pwms: map[string]pwmSetting{},
Named: conf.ResourceName().AsNamed(),
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gpioMappings: gpioMappings,
logger: logger,
cancelCtx: cancelCtx,
cancelFunc: cancelFunc,

spis: map[string]*spiBus{},
analogs: map[string]*wrappedAnalog{},
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The current diff makes this confusing because gofmt adjusted the whitespace. I've removed usePeriphGpio, pwms, and the comment just above pwms. The rest are unchanged.

i2cs: map[string]*I2cBus{},
gpios: map[string]*gpioPin{},
interrupts: map[string]*digitalInterrupt{},
Expand Down Expand Up @@ -237,16 +230,8 @@ func findNewDigIntConfig(
}

func (b *sysfsBoard) reconfigureInterrupts(newConf *Config) error {
if b.usePeriphGpio {
if len(newConf.DigitalInterrupts) != 0 {
return errors.New("digital interrupts on Periph GPIO pins are not yet supported")
}
return nil // No digital interrupts to reconfigure.
}

// If we get here, we need to reconfigure b.interrupts. Any pin that already exists in the
// right configuration should just be copied over; closing and re-opening it risks losing its
// state.
// Any pin that already exists in the right configuration should just be copied over; closing
// and re-opening it risks losing its state.
newInterrupts := make(map[string]*digitalInterrupt, len(newConf.DigitalInterrupts))

// Reuse any old interrupts that have new configs
Expand Down Expand Up @@ -362,12 +347,9 @@ type sysfsBoard struct {
gpioMappings map[int]GPIOBoardMapping
spis map[string]*spiBus
analogs map[string]*wrappedAnalog
pwms map[string]pwmSetting
i2cs map[string]*I2cBus
logger golog.Logger

usePeriphGpio bool
// These next two are only used for non-periph.io pins
gpios map[string]*gpioPin
interrupts map[string]*digitalInterrupt

Expand All @@ -376,11 +358,6 @@ type sysfsBoard struct {
activeBackgroundWorkers sync.WaitGroup
}

type pwmSetting struct {
dutyCycle gpio.Duty
frequency physic.Frequency
}

func (b *sysfsBoard) SPIByName(name string) (board.SPI, bool) {
s, ok := b.spis[name]
return s, ok
Expand All @@ -397,10 +374,6 @@ func (b *sysfsBoard) AnalogReaderByName(name string) (board.AnalogReader, bool)
}

func (b *sysfsBoard) DigitalInterruptByName(name string) (board.DigitalInterrupt, bool) {
if b.usePeriphGpio {
return nil, false // Digital interrupts aren't supported.
}

b.mu.Lock()
defer b.mu.Unlock()

Expand Down Expand Up @@ -491,86 +464,19 @@ func (b *sysfsBoard) GPIOPinNames() []string {
return names
}

func (b *sysfsBoard) getGPIOLine(hwPin string) (gpio.PinIO, error) {
pinName := hwPin

pin := gpioreg.ByName(pinName)
if pin == nil {
return nil, errors.Errorf("no global pin found for %q", pinName)
}
return pin, nil
}

func (b *sysfsBoard) GPIOPinByName(pinName string) (board.GPIOPin, error) {
if b.usePeriphGpio {
return b.periphGPIOPinByName(pinName)
}
// Otherwise, the pins are stored in b.gpios.
if pin, ok := b.gpios[pinName]; ok {
return pin, nil
}

// check if pin is a digital interrupt
// Check if pin is a digital interrupt: those can still be used as inputs.
if interrupt, interruptOk := b.interrupts[pinName]; interruptOk {
return &gpioInterruptWrapperPin{*interrupt}, nil
}

return nil, errors.Errorf("cannot find GPIO for unknown pin: %s", pinName)
}

func (b *sysfsBoard) periphGPIOPinByName(pinName string) (board.GPIOPin, error) {
pin, err := b.getGPIOLine(pinName)
hwPWMSupported := false
if err != nil {
return nil, err
}

return periphGpioPin{b, pin, pinName, hwPWMSupported}, nil
}

// expects to already have lock acquired.
func (b *sysfsBoard) startSoftwarePWMLoop(gp periphGpioPin) {
b.activeBackgroundWorkers.Add(1)
goutils.ManagedGo(func() {
b.softwarePWMLoop(b.cancelCtx, gp)
}, b.activeBackgroundWorkers.Done)
}

func (b *sysfsBoard) softwarePWMLoop(ctx context.Context, gp periphGpioPin) {
for {
cont := func() bool {
b.mu.RLock()
defer b.mu.RUnlock()
pwmSetting, ok := b.pwms[gp.pinName]
if !ok {
b.logger.Debug("pwm setting deleted; stopping")
return false
}

if err := gp.set(true); err != nil {
b.logger.Errorw("error setting pin", "pin_name", gp.pinName, "error", err)
return true
}
onPeriod := time.Duration(
int64((float64(pwmSetting.dutyCycle) / float64(gpio.DutyMax)) * float64(pwmSetting.frequency.Period())),
)
if !goutils.SelectContextOrWait(ctx, onPeriod) {
return false
}
if err := gp.set(false); err != nil {
b.logger.Errorw("error setting pin", "pin_name", gp.pinName, "error", err)
return true
}
offPeriod := pwmSetting.frequency.Period() - onPeriod

return goutils.SelectContextOrWait(ctx, offPeriod)
}()
if !cont {
return
}
}
}

func (b *sysfsBoard) Status(ctx context.Context, extra map[string]interface{}) (*commonpb.BoardStatus, error) {
return &commonpb.BoardStatus{}, nil
}
Expand All @@ -589,11 +495,6 @@ func (b *sysfsBoard) Close(ctx context.Context) error {
b.mu.Unlock()
b.activeBackgroundWorkers.Wait()

// For non-Periph boards, shut down all our open pins so we don't leak file descriptors
if b.usePeriphGpio {
return nil
}

var err error
for _, pin := range b.gpios {
err = multierr.Combine(err, pin.Close())
Expand Down
2 changes: 1 addition & 1 deletion components/board/genericlinux/board_nonlinux.go
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ import (

// RegisterBoard would register a sysfs based board of the given model. However, this one never
// creates a board, and instead returns errors about making a Linux board on a non-Linux OS.
func RegisterBoard(modelName string, gpioMappings map[int]GPIOBoardMapping, usePeriphGpio bool) {
func RegisterBoard(modelName string, gpioMappings map[int]GPIOBoardMapping) {
resource.RegisterComponent(
board.API,
resource.DefaultModelFamily.WithModel(modelName),
Expand Down
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