Sys shd rt

code/sys_shd/pyproject.toml

@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 # users can install this project, e.g.:
 #
 # $ pip install <sampleproject>
-name = "system_shared_tool"
+name = "system_shared_tool_rt"
 
 # Versions should comply with PEP 440:
 # https://www.python.org/dev/peps/pep-0440/

code/sys_shd/requirements.txt

@@ -2,3 +2,4 @@ posix-ipc>=1.1.1
 PyYAML>=6.0.1
 system-config-tool>=0.0.7
 system-logger-tool>=0.2.2
+RPi-GPIO>=0.7.1

code/sys_shd/src/system_shared_tool/__init__.py

@@ -2,7 +2,8 @@
 This file specifies what is going to be exported from this module.
 In this case is sys_shd.
 """
-from .sys_shd_common import SysShdErrorC, SysShdNodeParamsC, SysShdNodeC, SysShdNodeStatusE
+from .sys_shd_common import (SysShdErrorC, SysShdNodeParamsC, SysShdNodeC, SysShdNodeStatusE,
+                             SysShdPeripheralC)
 from .sys_shd_channels import SysShdIpcChanC, SysShdChanC
 from .sys_shd_objects import SysShdSharedObjC
 __all__= ['SysShdChanC', 'SysShdSharedObjC', 'SysShdErrorC', 'SysShdNodeStatusE',

code/sys_shd/src/system_shared_tool/context.py

@@ -27,8 +27,10 @@
 # For further information check out README.md
 DEFAULT_CHAN_NUM_MSG : int = 100 # Max number of allowed message per chan
 DEFAULT_IPC_MSG_SIZE : int = 100 # Size of message sent through IPC message queue
-DEFAULT_CHAN_TIMEOUT : int = 1
+DEFAULT_CHAN_TIMEOUT : int|None = None
+DEFAULT_GPIO_CONFIG_PATH    : str = 'config_gpio.yaml'
 
-CONSTANTS_NAMES = ('DEFAULT_CHAN_NUM_MSG', 'DEFAULT_IPC_MSG_SIZE', 'DEFAULT_CHAN_TIMEOUT')
+CONSTANTS_NAMES = ('DEFAULT_CHAN_NUM_MSG', 'DEFAULT_IPC_MSG_SIZE', 'DEFAULT_CHAN_TIMEOUT',
+                   'DEFAULT_GPIO_CONFIG_PATH')
 sys_conf_update_config_params(context=globals(),
                               constants_names=CONSTANTS_NAMES)

code/sys_shd/src/system_shared_tool/sys_shd_channels.py

@@ -7,6 +7,7 @@
 
 #######################        MANDATORY IMPORTS         #######################
 from __future__ import annotations
+from typing import Any
 #######################         GENERIC IMPORTS          #######################
 from queue import Queue, Empty, Full
 from pickle import dumps, loads, HIGHEST_PROTOCOL
@@ -59,7 +60,7 @@ def delete_until_last(self) -> None:
         while self.qsize() > 1:
             self.get()
 
-    def receive_data(self) -> object:
+    def receive_data(self) -> Any:
         '''
         Pop the first element from the queue and return it. If queue is empty,
         wait until a new element is pushed to the queue.
@@ -69,7 +70,7 @@ def receive_data(self) -> object:
         '''
         return self.get()
 
-    def receive_data_unblocking(self) -> object:
+    def receive_data_unblocking(self) -> Any:
         '''
         Receive data from the queue in unblocking mode.
 
@@ -142,7 +143,7 @@ def delete_until_last(self) -> None:
         while self.current_messages > 0:
             self.receive(timeout = 0)
 
-    def receive_data(self, timeout: int = DEFAULT_CHAN_TIMEOUT) -> object:
+    def receive_data(self, timeout: int|None = DEFAULT_CHAN_TIMEOUT) -> Any:
         '''
         Pop the first element from the queue and return it. If queue is empty,
         wait until a new element is pushed to the queue.
@@ -162,7 +163,7 @@ def receive_data(self, timeout: int = DEFAULT_CHAN_TIMEOUT) -> object:
         self.block = False
         return msg_decoded
 
-    def receive_data_unblocking(self) -> object:
+    def receive_data_unblocking(self) -> Any:
         '''
         Receive data from the queue in unblocking mode.
         Returns:

code/sys_shd/src/system_shared_tool/sys_shd_common.py

@@ -11,22 +11,28 @@
 from enum import Enum
 from time import time, sleep
 #######################      SYSTEM ABSTRACTION IMPORTS  #######################
+from system_config_tool import sys_conf_read_config_params, SysConfSectionNotFoundErrorC
 from system_logger_tool import Logger, SysLogLoggerC, sys_log_logger_get_module_logger
 
 if __name__ == "__main__":
     cycler_logger = SysLogLoggerC()
 log: Logger = sys_log_logger_get_module_logger(__name__)
 #######################       THIRD PARTY IMPORTS        #######################
+from RPi.GPIO.GPIO import setmode, BCM, BOARD, setup, output, HIGH, LOW, OUT
 
 #######################          MODULE IMPORTS          #######################
 
 #######################          PROJECT IMPORTS         #######################
 
-#######################              ENUMS               #######################
-
-#######################             CLASSES              #######################
+######################             CONSTANTS              ######################
+from .context import DEFAULT_GPIO_CONFIG_PATH
+gpio_mode = sys_conf_read_config_params(filename=DEFAULT_GPIO_CONFIG_PATH, section= 'GPIO_BOARD')
+if gpio_mode == 'BOARD':
+    setmode(BOARD)
+else:
+    setmode(BCM)
 _TO_MS = 1000
-
+#######################              ENUMS               #######################
 class SysShdNodeStatusE(Enum):
     '''
     Enum class for the node state
@@ -37,6 +43,7 @@ class SysShdNodeStatusE(Enum):
     INIT = 2
     STOP = 3
 
+#######################             CLASSES              #######################
 class SysShdNodeParamsC:
     '''
     Class that contains the can parameters in order to create the thread correctly
@@ -66,6 +73,13 @@ def __init__(self,name: str, cycle_period: int, working_flag : Event,
             working_flag (Event): [description]
             node_params (SysShdNodeParamsC, optional): .Defaults to SysShdNodeParamsC().
         '''
+        try:
+            port: int = sys_conf_read_config_params(filename=DEFAULT_GPIO_CONFIG_PATH,
+                                                    section= name)
+        except SysConfSectionNotFoundErrorC as err:
+            log.warning(f"No port configurable {err}")
+        else:
+            self.gpio: SysShdPeripheralC = SysShdPeripheralC(port=port)
         super().__init__(group = None, target = node_params.target, name = name,
                          args = node_params.args, kwargs = node_params.kwargs,
                          daemon = node_params.daemon)
@@ -102,7 +116,11 @@ def run(self) -> None:
         while self.working_flag.is_set():
             try:
                 next_time = time()+self.cycle_period/_TO_MS
+                if hasattr(self, 'gpio'):
+                    self.gpio.set_gpio_up()
                 self.process_iteration()
+                if hasattr(self, 'gpio'):
+                    self.gpio.set_gpio_down()
                 # Sleep the remaining time
                 sleep_time = next_time-int(time())
                 # sleep_time is measure in miliseconds
@@ -135,3 +153,24 @@ def __init__(self, message) -> None:
             message (str): explanation of the error
         '''
         super().__init__(message)
+
+class SysShdPeripheralC:
+    '''
+    Class that contains the common methods to toggle gpios.
+    '''
+    def __init__(self, port: int) -> None:
+        self.port: int = port
+        setup(port, OUT)
+    def set_gpio_up(self) -> None:
+        """
+        Sets the GPIO pin to a high state.
+        """
+        log.debug(f"Setting GPIO {self.port} up")
+        output(self.port, HIGH)
+
+    def set_gpio_down(self) -> None:
+        """
+        Sets the GPIO pin to a low state.
+        """
+        log.debug(f"Setting GPIO {self.port} down")
+        output(self.port, LOW)