Working GPIO Set/Get

.gitignore

@@ -26,6 +26,7 @@ share/python-wheels/
 .installed.cfg
 *.egg
 MANIFEST
+module.tar.gz
 
 # PyInstaller
 #  Usually these files are written by a python script from a template

meta.json

@@ -1,24 +1,20 @@
 {
   "$schema": "https://dl.viam.dev/module.schema.json",
   "module_id": "michaellee1019:mcp23017",
-  "visibility": "public",
-  "url": "",
-  "description": "Modular board component: board",
+  "visibility": "private",
+  "url": "https://github.com/michaellee1019/mcp23017",
+  "description": "Provides models for the mcp23017 GPIO expansion chip.",
   "models": [
     {
       "api": "rdk:component:board",
       "model": "michaellee1019:mcp23017:board"
     }
   ],
-  "entrypoint": "dist/main",
+  "entrypoint": "reload.sh",
   "first_run": "",
   "build": {
-    "build": "./build.sh",
+    "build": "rm -f module.tar.gz && tar czf module.tar.gz requirements.txt src/*.py meta.json setup.sh reload.sh",
     "setup": "./setup.sh",
-    "path": "dist/archive.tar.gz",
-    "arch": [
-      "linux/amd64",
-      "linux/arm64"
-    ]
+    "path": "module.tar.gz"
   }
 }

reload.sh

@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+
+# bash safe mode. look at `set --help` to see what these are doing
+set -euxo pipefail 
+
+cd $(dirname $0)
+MODULE_DIR=$(dirname $0)
+VIRTUAL_ENV=$MODULE_DIR/.venv
+PYTHON=$VIRTUAL_ENV/bin/python
+./setup.sh
+
+# Be sure to use `exec` so that termination signals reach the python process,
+# or handle forwarding termination signals manually
+exec $PYTHON src/main.py $@

requirements.txt

@@ -1,4 +1,4 @@
 
 viam-sdk==0.34.0
-
+adafruit-circuitpython-mcp230xx==2.5.15
 typing-extensions

setup.sh

@@ -2,7 +2,7 @@
 cd `dirname $0`
 
 # Create a virtual environment to run our code
-VENV_NAME="venv"
+VENV_NAME=".venv"
 PYTHON="$VENV_NAME/bin/python"
 ENV_ERROR="This module requires Python >=3.8, pip, and virtualenv to be installed."
 
@@ -19,7 +19,7 @@ if ! python3 -m venv $VENV_NAME >/dev/null 2>&1; then
 			$SUDO apt -qq update >/dev/null
 		fi
         $SUDO apt install -qqy python3-venv >/dev/null 2>&1
-        if ! python3 -m venv $VENV_NAME >/dev/null 2>&1; then
+        if ! python3 -m .venv $VENV_NAME >/dev/null 2>&1; then
             echo $ENV_ERROR >&2
             exit 1
         fi

src/main.py

@@ -1,24 +1,56 @@
 import asyncio
-import sys
+
 from datetime import timedelta
-from typing import (Any, ClassVar, Dict, Final, List, Mapping, Optional,
-                    Sequence)
+from typing import Any, ClassVar, Dict, List, Mapping, Optional, Sequence
 
 from typing_extensions import Self
-from viam.components.board import *
+from viam.components.board import Board, TickStream
 from viam.module.module import Module
 from viam.proto.app.robot import ComponentConfig
 from viam.proto.common import ResourceName
-from viam.proto.component.board import (PowerMode, ReadAnalogReaderResponse,
-                                        StreamTicksResponse)
+from viam.proto.component.board import PowerMode
 from viam.resource.base import ResourceBase
 from viam.resource.easy_resource import EasyResource
 from viam.resource.types import Model, ModelFamily
-from viam.streams import Stream
-
 
-class Board(Board, EasyResource):
+import digitalio
+import board
+import busio
+from adafruit_mcp230xx.mcp23017 import MCP23017
+from adafruit_mcp230xx.digital_inout import DigitalInOut
+
+MCP23017_IODIRA = 0x00
+MCP23017_IPOLA = 0x02
+MCP23017_GPINTENA = 0x04
+MCP23017_DEFVALA = 0x06
+MCP23017_INTCONA = 0x08
+MCP23017_IOCONA = 0x0A
+MCP23017_GPPUA = 0x0C
+MCP23017_INTFA = 0x0E
+MCP23017_INTCAPA = 0x10
+MCP23017_GPIOA = 0x12
+MCP23017_OLATA = 0x14
+
+MCP23017_IODIRB = 0x01
+MCP23017_IPOLB = 0x03
+MCP23017_GPINTENB = 0x05
+MCP23017_DEFVALB = 0x07
+MCP23017_INTCONB = 0x09
+MCP23017_IOCONB = 0x0B
+MCP23017_GPPUB = 0x0D
+MCP23017_INTFB = 0x0F
+MCP23017_INTCAPB = 0x11
+MCP23017_GPIOB = 0x13
+MCP23017_OLATB = 0x15
+
+
+class MCP23017Board(Board, EasyResource):
     MODEL: ClassVar[Model] = Model(ModelFamily("michaellee1019", "mcp23017"), "board")
+    i2c: busio.I2C = None
+    i2c_address: int = 0x27
+    mcp: MCP23017 = None
+    pins: List[DigitalInOut]
+    pullups: List[int] = []
 
     @classmethod
     def new(
@@ -58,6 +90,24 @@ def reconfigure(
             config (ComponentConfig): The new configuration
             dependencies (Mapping[ResourceName, ResourceBase]): Any dependencies (both implicit and explicit)
         """
+        # if "i2c_bus" in config.attributes.fields:
+        #     self.i2c_bus = int(config.attributes.fields["i2c_bus"].string_value)
+        self.i2c = busio.I2C(board.SCL, board.SDA)
+        if "i2c_address" in config.attributes.fields:
+            self.i2c_address = int(
+                config.attributes.fields["i2c_address"].string_value, base=16
+            )
+        if "pullups" in config.attributes.fields:
+            self.pullups = [int(x) for x in config.attributes.fields["pullups"].list_value]
+
+        self.mcp = MCP23017(self.i2c, self.i2c_address)
+        self.pins = [self.mcp.get_pin(i) for i in range(16)]
+        for i in range(16):
+            if i in self.pullups:
+                self.pins[i].pull = digitalio.Pull.UP
+            else:
+                self.pins[i].pull = None
+
         return super().reconfigure(config, dependencies)
 
     class Analog(Board.Analog):
@@ -93,6 +143,11 @@ async def value(
             raise NotImplementedError()
 
     class GPIOPin(Board.GPIOPin):
+        pin: DigitalInOut = None
+
+        def __init__(self, name: str, pin: DigitalInOut):
+            self.pin = pin
+            super().__init__(name)
 
         async def set(
             self,
@@ -102,7 +157,9 @@ async def set(
             timeout: Optional[float] = None,
             **kwargs
         ):
-            raise NotImplementedError()
+            if self.pin.direction:
+                self.pin.switch_to_output()
+            self.pin.value = high
 
         async def get(
             self,
@@ -111,7 +168,9 @@ async def get(
             timeout: Optional[float] = None,
             **kwargs
         ) -> bool:
-            raise NotImplementedError()
+            if not self.pin.direction:
+                self.pin.switch_to_input()
+            return self.pin.value
 
         async def get_pwm(
             self,
@@ -158,7 +217,12 @@ async def digital_interrupt_by_name(self, name: str) -> DigitalInterrupt:
         raise NotImplementedError()
 
     async def gpio_pin_by_name(self, name: str) -> GPIOPin:
-        raise NotImplementedError()
+        try:
+            pin_num = int(name)
+            pin = self.pins[pin_num]
+            return MCP23017Board.GPIOPin(name, pin)
+        except ValueError as ex:
+            raise ValueError("pin name must be an integer between 0-15") from ex
 
     async def analog_names(self) -> List[str]:
         raise NotImplementedError()
@@ -188,4 +252,3 @@ async def stream_ticks(
 
 if __name__ == "__main__":
     asyncio.run(Module.run_from_registry())
-

test.py

@@ -54,7 +54,7 @@
 #configue all PinB input
 bus.write_byte_data(MCP23017_ADDRESS,MCP23017_IODIRB,0xFF)
 #configue all PinB pullDOWN
-bus.write_byte_data(MCP23017_ADDRESS,MCP23017_GPPUB,0x00)   
+bus.write_byte_data(MCP23017_ADDRESS,MCP23017_GPPUB,0x00)
 
 
 #only for debug