feat(io): Integrate com.revolutionpi.ios1 bus to daemon

Signed-off-by: Sven Sager <s.sager@kunbus.com>

data/dbus-policy/com.revolutionpi.ios1.conf

@@ -0,0 +1,22 @@
+<!-- /usr/share/dbus-1/system.d/com.revolutionpi.ios1.conf -->
+<busconfig>
+    <!-- Allow full access to root as the bus owner -->
+    <policy user="root">
+        <allow own="com.revolutionpi.ios1"/>
+        <allow send_destination="com.revolutionpi.ios1"/>
+        <allow receive_sender="com.revolutionpi.ios1"/>
+    </policy>
+
+    <!-- System group picontrol -->
+    <policy group="picontrol">
+        <allow send_destination="com.revolutionpi.ios1"
+               send_interface="org.freedesktop.DBus.Introspectable"/>
+        <allow send_destination="com.revolutionpi.ios1"
+               send_interface="com.revolutionpi.middleware1.PiControl"/>
+    </policy>
+
+    <!-- Standard-Policy -->
+    <policy context="default">
+        <deny send_destination="com.revolutionpi.ios1"/>
+    </policy>
+</busconfig>

data/examples/io_controller.py

@@ -0,0 +1,46 @@
+from time import time
+
+from gi.repository import GLib
+from pydbus import SystemBus
+
+detected_signal = False
+timestamp = time()
+
+bus = SystemBus()
+bus_revpi = bus.get("com.revolutionpi.ios1", "/com/revolutionpi/ios1")
+interface = bus_revpi["com.revolutionpi.ios1.IoManager"]
+
+io_o_1_path = interface.Get("O_1")
+io_revpiled_path = interface.Get("RevPiLED")
+
+io_RevPiLED = bus.get("com.revolutionpi.ios1", io_revpiled_path)
+io_O_1 = bus.get("com.revolutionpi.ios1", io_o_1_path)
+
+
+def signal_handler(io_name, io_value):
+    global timestamp
+
+    print(f"Signal received: {io_name} = {io_value}")
+    if io_name == "O_1":
+        timestamp = time()
+        io_RevPiLED.Set("com.revolutionpi.ios1.OutInt", "value", GLib.Variant("i", int(io_value)))
+
+    elif io_name == "I_1":
+        io_RevPiLED.Set("com.revolutionpi.ios1.OutInt", "value", GLib.Variant("i", int(io_value)))
+        io_O_1.Set("com.revolutionpi.ios1.OutBool", "value", GLib.Variant("b", not io_value))
+        print(time() - timestamp)
+
+
+# Start event detection
+interface.ActivateIoEvents()
+
+interface.onIoChanged = signal_handler
+
+try:
+    loop = GLib.MainLoop()
+    loop.run()
+except KeyboardInterrupt:
+    pass
+
+# Stop event detection
+interface.DeactivateIoEvents()

debian/changelog

@@ -1,96 +0,0 @@
-revpi-middleware (0.0.5-1+deb12+1) bookworm; urgency=medium
-
-  * fix(revpiconfig): Ensure systemd reloads after unit changes
-  * feat(revpiconfig): Make unit config changes asynchronous
-  * Update changelog for 0.0.4-1+deb12+1 release
-
- -- Sven Sager <s.sager@kunbus.com>  Tue, 22 Apr 2025 13:44:45 +0200
-
-revpi-middleware (0.0.4-1+deb12+1) bookworm; urgency=medium
-
-  * fix(dbus): Update DBus policy file path and interface name
-  * fix(dbus): Update systemd interface and path handling
-  * doc(revpiconfig): Add detailed docstrings to ConfigTxt methods
-  * doc(revpiconfig): Add docstrings to `RevPiConfig` class and methods
-  * doc(revpiconfig): Add docstrings to enums in `revpi_config.py`
-  * doc(revpiconfig): Docstrings for `get_rfkill_index` and `simple_systemd`
-
- -- Sven Sager <s.sager@kunbus.com>  Tue, 22 Apr 2025 13:43:53 +0200
-
-revpi-middleware (0.0.3-1+deb12+1) bookworm; urgency=medium
-
-  * refactor: Update interface name from 'picontrol' to 'PiControl'
-  * feat(dbus): Add `grep` function to search for patterns in a file
-  * fix(cli): Change absolute imports to relative imports
-  * feat(dbus): Add D-Bus interface for system configuration in middleware
-  * feat(dbus): Add GUI configuration handling to interface_config.py
-  * feat(revpiconfig): Add RevPiConfig class for device information handling
-  * refactor(dbus): Move system configuration methods to revpi_config.py
-  * feat(dbus): Remove 'var-log.mount' feature
-  * feat(dbus): Add avahi-daemon configuration to system services
-  * feat(dbus): Add dphys-swapfile configuration functionality
-  * feat(revpiconfig): Add ConfigTxt class for managing config.txt file
-  * feat(dbus): Add support for configuring the external antenna
-  * feat(dbus): Add support for configuring 'revpi-con-can' feature
-  * feat(revpiconfig): Enhance Wi-Fi detection and add rfkill index support
-  * feat(dbus): Add Wi-Fi configuration support to the system config
-  * refactor(revpiconfig: Change Wi-Fi detection and rfkill index logic
-  * feat(dbus): Add Bluetooth configuration functionality
-  * feat(dbus): Add InterfaceRevpiConfig to DBus interfaces list
-  * feat(cli): Add `get_properties` helper function for DBus interactions
-  * feat(cli): Add CLI command for configuring Revpi features
-  * feat(cli): Add CLI support for RevPi configuration object (revpi-config)
-  * feat(revpiconfig): Replace rfkill subprocess calls with sysfs writes
-  * refactor: Rename WiFi to WLAN for consistent terminology
-  * feat(deb): Add dependencies for `dtoverlay` command
-
- -- Sven Sager <s.sager@kunbus.com>  Mon, 21 Apr 2025 13:44:18 +0200
-
-revpi-middleware (0.0.2-1+deb12+1) bookworm; urgency=medium
-
-  * refactor(dbus): Move D-Bus helper functions to a dedicated file
-  * refactor(dbus): Move ResetDriverWatchdog to process_image_helper.py
-  * refactor(dbus): Parameterize `picontrol_device` and `config_rsc`
-  * feat: Add session bus option for local testing and development
-  * feat(dbus): Add import for BusProvider in dbus_middleware1 module
-  * feat(dbus): Add `running` property to `BusProvider`
-  * refactor(cli): D-Bus helpers support session and system bus types
-  * fix(dbus): Add error handling for DBus publishing and main loop
-  * refactor(dbus): piControl driver reset with PiControlIoctl class
-  * test(dbus): Add unit test framework for dbus_middleware1 module
-  * test(dbus): Add unit tests for PiControl D-Bus interface
-  * refactor(dbus): Fix typo and remove unused thread instance
-  * refactor(dbus): D-Bus interface management with cleanup support.
-  * test(dbus): Add support for testing driver reset notification
-  * feat(deb): Add dbus for testing to build dependencies
-  * fix(deb): Skip tests because of missing SystemBus in build container
-
- -- Sven Sager <s.sager@kunbus.com>  Sat, 19 Apr 2025 16:34:20 +0200
-
-revpi-middleware (0.0.1-1+deb12+1) bookworm; urgency=medium
-
-  * docs: Start git project with python git-ignore and Readme
-  * docs: Use 'reuse' for SPDX Headers and Licenses
-  * feat: Add python base project files
-  * feat: Add proginit application basic module
-  * feat: Add the data directory for additional data files for the project
-  * test: Add tests directory with a dummy test
-  * build: Add all necessary files for the build system
-  * feat: Add dummy main application script
-  * feat: Add systemd file and data to integrate the app as a daemon
-  * chore: Update proginit to 1.4.0
-  * feat(dbus): Add ResetDriverWatchdog helper as global dbus helper
-  * feat(process_image): Add D-Bus interface for piControl driver
-  * feat(dbus): Add initial D-Bus middleware implementation
-  * feat(dbus): Add `extend_interface` function for dynamic interface naming
-  * feat(dbus): Add DBus policy configuration for revpi-middleware
-  * feat: Add MiddlewareDaemon implementation to revpi-middleware
-  * feat: Add daemon mode and signal handling to main application
-  * feat(cli): Add D-Bus helper functions for CLI commands.
-  * feat(cli): Add await_signal function to handle D-Bus signals
-  * feat(cli): Add `await-reset` to wait for piControl reset signal
-  * chore(build): Update requirements for this project
-  * feat(cli): Add new CLI tool entry point for `revpictl`
-  * feat(deb): Start packaging branch
-
- -- Sven Sager <s.sager@kunbus.com>  Fri, 18 Apr 2025 19:02:20 +0200

debian/control

@@ -1,39 +0,0 @@
-Source: revpi-middleware
-Section: python
-Priority: optional
-Maintainer: KUNBUS GmbH <support@kunbus.com>
-Rules-Requires-Root: no
-Homepage: https://revolutionpi.com/
-Vcs-Browser: https://gitlab.com/revolutionpi/revpi-middleware
-Vcs-Git: https://gitlab.com/revolutionpi/revpi-middleware.git -b debian/bookworm
-Build-Depends:
-  dbus,
-  dbus-x11,
-  debhelper-compat (= 13),
-  dh-python,
-  python3-all,
-  python3-gi (>= 3.42.2),
-  python3-pydbus (>= 0.6.0),
-  python3-setuptools,
-Standards-Version: 4.6.2
-
-Package: revpi-middleware
-Architecture: all
-Pre-Depends: ${misc:Pre-Depends}
-Depends:
-  raspi-utils-dt | libraspberrypi-bin,
-  ${python3:Depends},
-  ${misc:Depends}
-Description: Revolution Pi middleware with D-Bus interface
- The Revolution Pi middleware provides a robust communication interface for
- Revolution Pi industrial computers. It enables seamless integration between
- hardware components and applications through a D-Bus interface. The middleware
- serves as a bridge for data exchange, device configuration, and system
- monitoring.
- .
- Key features:
-  * Hardware abstraction layer for Revolution Pi I/O modules
-  * Real-time data processing and event handling
-  * Simplified API for accessing Revolution Pi hardware features
-  * Extensive configuration options for industrial automation tasks
-  * Built-in monitoring and diagnostic capabilities

debian/copyright

@@ -1,27 +0,0 @@
-Format: https://www.debian.org/doc/packaging-manuals/copyright-format/1.0/
-Source: https://gitlab.com/revolutionpi/opcua-revpi-server
-
-Files: *
-Copyright: 2025 KUNBUS GmbH
-License: GPL-2+
-
-Files: debian/*
-Copyright: 2025 KUNBUS GmbH
-License: GPL-2+
-
-License: GPL-2+
- This package is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
- .
- This package is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- GNU General Public License for more details.
- .
- You should have received a copy of the GNU General Public License
- along with this program. If not, see <https://www.gnu.org/licenses/>
- .
- On Debian systems, the complete text of the GNU General
- Public License version 2 can be found in "/usr/share/common-licenses/GPL-2".

debian/gbp.conf

@@ -1,7 +0,0 @@
-[DEFAULT]
-upstream-branch = main
-upstream-tag = v%(version)s
-debian-branch=debian/bookworm
-debian-tag = debian/%(version)s
-debian-tag-msg = %(pkg)s Debian release %(version)s
-pristine-tar = True

debian/revpi-middleware.install

@@ -1,4 +0,0 @@
-data/dbus-policy/com.revolutionpi.middleware1.conf      /usr/share/dbus-1/system.d
-data/etc/default/revpi-middleware                       /etc/default/
-data/etc/revpi-middleware/revpi-middleware.conf         /etc/revpi-middleware/
-data/systemd/before_253/revpi-middleware.service        /lib/systemd/system/

debian/revpi-middleware.links

@@ -1,2 +0,0 @@
-/usr/share/revpi-middleware/revpi-middleware	/usr/sbin/revpi-middleware
-/usr/share/revpi-middleware/revpicli	/usr/bin/revpicli

debian/rules

@@ -1,12 +0,0 @@
-#!/usr/bin/make -f
-
-export PYBUILD_NAME=revpi-middleware
-export PYBUILD_INSTALL_ARGS=--install-lib=/usr/share/$(PYBUILD_NAME)/ --install-scripts=/usr/share/$(PYBUILD_NAME)/
-
-%:
-	dh $@ --with python3 --buildsystem=pybuild
-
-override_dh_auto_test:
-	# Currently, the tests have to be skipped, because no SystemBus is
-	# available in the Docker container.
-	@echo "Skipped tests"

debian/source/format

@@ -1 +0,0 @@
-3.0 (quilt)

src/revpi_middleware/daemon.py

@@ -9,6 +9,7 @@ from time import perf_counter
 
 from . import proginit as pi
 from .dbus_middleware1.bus_provider import BusProvider
+from .ios1.bus_provider_io import BusProviderIo
 
 log = getLogger(__name__)
 
@@ -26,6 +27,7 @@ class MiddlewareDaemon:
         self._running = True
 
         self.bus_provider = None
+        self.io_bus_provider = None
 
         self._configure()
         log.debug("leave MiddlewareDaemon.__init__")
@@ -39,11 +41,16 @@ class MiddlewareDaemon:
 
     def dbus_start(self):
         log.debug("enter MiddlewareDaemon.dbus_start")
-        if self.bus_provider and self.bus_provider.is_alive():
-            return
 
-        self.bus_provider = BusProvider(use_system_bus=not pi.pargs.use_session_bus)
+        dbus_middleware_running = self.bus_provider and self.bus_provider.is_alive()
-        self.bus_provider.start()
+        if not dbus_middleware_running:
+            self.bus_provider = BusProvider(use_system_bus=not pi.pargs.use_session_bus)
+            self.bus_provider.start()
+
+        dbus_io_middleware_running = self.io_bus_provider and self.io_bus_provider.is_alive()
+        if not dbus_io_middleware_running:
+            self.io_bus_provider = BusProviderIo(use_system_bus=not pi.pargs.use_session_bus)
+            self.io_bus_provider.start()
 
         log.debug("leave MiddlewareDaemon.dbus_start")
 
@@ -56,6 +63,12 @@ class MiddlewareDaemon:
             if self.bus_provider.is_alive():
                 log.warning("dbus provider thread is still alive")
 
+        if self.io_bus_provider:
+            self.io_bus_provider.stop()
+            self.io_bus_provider.join(timeout=10.0)
+            if self.io_bus_provider.is_alive():
+                log.warning("dbus io provider thread is still alive")
+
         log.debug("leave MiddlewareDaemon.dbus_stop")
 
     def reload_config(self) -> None:

src/revpi_middleware/ios1/__init__.py

@@ -0,0 +1,5 @@
+# -*- coding: utf-8 -*-
+# SPDX-FileCopyrightText: 2025 KUNBUS GmbH
+# SPDX-License-Identifier: GPL-2.0-or-later
+"""D-Bus ios version 1 of revpi_middleware."""
+from .ios1_helper import REVPI_DBUS_BASE_PATH, REVPI_DBUS_NAME

src/revpi_middleware/ios1/bus_provider_io.py

@@ -0,0 +1,100 @@
+# -*- coding: utf-8 -*-
+# SPDX-FileCopyrightText: 2025 KUNBUS GmbH
+# SPDX-License-Identifier: GPL-2.0-or-later
+"""D-Bus bus provider for revpi_middleware."""
+from logging import getLogger
+from threading import Thread
+
+import revpimodio2
+from gi.repository import GLib
+from pydbus import SessionBus, SystemBus
+from revpimodio2 import Cycletools
+
+from . import REVPI_DBUS_NAME
+from .interface_ios import (
+    InterfaceIoManager,
+    InterfaceInpBool,
+    InterfaceOutBool,
+    InterfaceInpInt,
+    InterfaceOutInt,
+)
+
+log = getLogger(__name__)
+
+
+class BusProviderIo(Thread):
+
+    def __init__(
+        self,
+        picontrol_device="/dev/piControl0",
+        config_rsc="/etc/revpi/config.rsc",
+        use_system_bus=True,
+    ):
+        log.debug("enter BusProviderIo.__init__")
+        super().__init__()
+
+        self._bus = SystemBus() if use_system_bus else SessionBus()
+        self._dc_io_interfaces = {}
+        self._loop = GLib.MainLoop()
+        self._modio = revpimodio2.RevPiModIO(
+            procimg=picontrol_device,
+            configrsc=config_rsc,
+            shared_procimg=True,
+        )
+
+        self.picontrol_device = picontrol_device
+        self.config_rsc = config_rsc
+
+    def run(self):
+        log.debug("enter BusProviderIo.run")
+
+        self._dc_io_interfaces.clear()
+
+        for io in self._modio.io:
+            interface = None
+            value_type = type(io.value)
+            if value_type is bool:
+                interface = (
+                    InterfaceInpBool(self._bus, io)
+                    if io.type == revpimodio2.INP
+                    else InterfaceOutBool(self._bus, io)
+                )
+            elif value_type is int:
+                interface = (
+                    InterfaceInpInt(self._bus, io)
+                    if io.type == revpimodio2.INP
+                    else InterfaceOutInt(self._bus, io)
+                )
+
+            if interface is not None:
+                self._dc_io_interfaces[io.name] = interface
+
+        lst_interfaces = [
+            (f"io/{io_name}", self._dc_io_interfaces[io_name]) for io_name in self._dc_io_interfaces
+        ]
+        try:
+            self._bus.publish(
+                REVPI_DBUS_NAME,
+                InterfaceIoManager(self._modio, self._dc_io_interfaces),
+                *lst_interfaces,
+            )
+        except Exception as e:
+            log.error(f"can not publish dbus {REVPI_DBUS_NAME}: {e}")
+
+        try:
+            self._loop.run()
+        except Exception as e:
+            log.error(f"can not run dbus mainloop: {e}")
+
+        self._modio.cleanup()
+
+        log.debug("leave BusProviderIo.run")
+
+    def stop(self):
+        log.debug("enter BusProviderIo.stop")
+        self._loop.quit()
+        log.debug("leave BusProviderIo.stop")
+
+    @property
+    def running(self):
+        return self._loop.is_running()

src/revpi_middleware/ios1/interface_ios.py

@@ -0,0 +1,159 @@
+# -*- coding: utf-8 -*-
+# SPDX-FileCopyrightText: 2025 KUNBUS GmbH
+# SPDX-License-Identifier: GPL-2.0-or-later
+"""D-Bus interfaces for IOs."""
+from gi.overrides.GLib import Variant
+from pydbus.generic import signal
+from revpimodio2 import RevPiModIO, Cycletools
+
+from .ios1_helper import REVPI_DBUS_BASE_PATH, DbusInterfaceIo
+
+
+class InterfaceIoManager:
+    """
+    <node>
+        <interface name="com.revolutionpi.ios1.IoManager">
+            <method name="GetAllInputs">
+                <arg type="as" direction="out"/>
+            </method>
+            <method name="GetAllOutputs">
+                <arg type="as" direction="out"/>
+            </method>
+            <method name="Get">
+                <arg name="io_name" type="s" direction="in"/>
+                <arg name="object-path" type="o" direction="out"/>
+            </method>
+            <method name="ActivateIoEvents">
+            </method>
+            <method name="DeactivateIoEvents">
+            </method>
+            <signal name="IoChanged">
+                <arg name="name" type="s" direction="out"/>
+                <arg name="value" type="v" direction="out"/>
+            </signal>
+        </interface>
+    </node>
+    """
+
+    interface_name = "com.revolutionpi.ios1.IoManager"
+    IoChanged = signal()
+
+    def __init__(self, modio: RevPiModIO, io_interfaces: dict[str, DbusInterfaceIo]):
+        self._dc_io_interfaces = io_interfaces
+        self.modio = modio
+
+        self.lst_inp = []
+        for dev in self.modio.device:
+            for io in dev.get_inputs():
+                self.lst_inp.append(self._get_io_path(io.name))
+        self.lst_out = []
+        for dev in self.modio.device:
+            for io in dev.get_outputs():
+                self.lst_out.append(self._get_io_path(io.name))
+
+    def _modio_cycle(self, ct: Cycletools) -> None:
+        for io_name in self._dc_io_interfaces:
+            interface = self._dc_io_interfaces[io_name]
+            if ct.changed(interface.io):
+                interface.emit_io_change()
+                self.IoChanged(interface.io.name, Variant("b", interface.io.value))
+
+    def _get_io_path(self, io_name: str) -> str:
+        return f"{REVPI_DBUS_BASE_PATH}/io/{io_name}"
+
+    def GetAllInputs(self) -> list[str]:
+        return self.lst_inp
+
+    def GetAllOutputs(self) -> list[str]:
+        return self.lst_out
+
+    def Get(self, io_name) -> str:
+        if io_name in self.modio.io:
+            return self._get_io_path(io_name)
+
+        raise KeyError(f"No IO with name '{io_name}' found.")
+
+    def ActivateIoEvents(self) -> None:
+        if not self.modio._looprunning:
+            self.modio.autorefresh_all()
+            self.modio.cycleloop(self._modio_cycle, cycletime=50, blocking=False)
+
+    def DeactivateIoEvents(self) -> None:
+        self.modio.exit(False)
+
+
+class InterfaceInpBool(DbusInterfaceIo):
+    """
+    <node>
+        <interface name="com.revolutionpi.ios1.InpBool">
+            <property name="bmk" type="s" access="read"/>
+            <property name="name" type="s" access="read"/>
+            <property name="value" type="b" access="read"/>
+        </interface>
+    </node>
+    """
+
+    interface_name = "com.revolutionpi.ios1.InpBool"
+
+    @property
+    def bmk(self) -> str:
+        return self.io.bmk
+
+    @property
+    def name(self) -> str:
+        return self.io.name
+
+    @property
+    def value(self) -> bool:
+        return self.io.value
+
+
+class InterfaceOutBool(InterfaceInpBool):
+    """
+    <node>
+        <interface name="com.revolutionpi.ios1.OutBool">
+            <property name="bmk" type="s" access="read"/>
+            <property name="name" type="s" access="read"/>
+            <property name="value" type="b" access="readwrite"/>
+        </interface>
+    </node>
+    """
+
+    interface_name = "com.revolutionpi.ios1.OutBool"
+
+    @property
+    def value(self) -> bool:
+        return super().value
+
+    @value.setter
+    def value(self, value: bool):
+        self.io.value = value
+        self.io._parentdevice._modio.writeprocimg()
+
+
+class InterfaceInpInt(DbusInterfaceIo):
+    """
+    <node>
+        <interface name="com.revolutionpi.ios1.InpInt">
+            <property name="bmk" type="s" access="read"/>
+            <property name="name" type="s" access="read"/>
+            <property name="value" type="i" access="read"/>
+        </interface>
+    </node>
+    """
+
+    interface_name = "com.revolutionpi.ios1.InpInt"
+
+
+class InterfaceOutInt(InterfaceInpInt):
+    """
+    <node>
+        <interface name="com.revolutionpi.ios1.OutInt">
+            <property name="bmk" type="s" access="read"/>
+            <property name="name" type="s" access="read"/>
+            <property name="value" type="i" access="readwrite"/>
+        </interface>
+    </node>
+    """
+
+    interface_name = "com.revolutionpi.ios1.OutInt"

src/revpi_middleware/ios1/ios1_helper.py

@@ -0,0 +1,37 @@
+# -*- coding: utf-8 -*-
+# SPDX-FileCopyrightText: 2025 KUNBUS GmbH
+# SPDX-License-Identifier: GPL-2.0-or-later
+"""Helper for io read and write."""
+from logging import getLogger
+
+from gi.overrides.GLib import Variant
+from pydbus import SessionBus, SystemBus
+from pydbus.generic import signal
+from revpimodio2.io import IOBase
+
+log = getLogger(__name__)
+
+REVPI_DBUS_NAME = "com.revolutionpi.ios1"
+REVPI_DBUS_BASE_PATH = "/com/revolutionpi/ios1"
+
+
+class DbusInterfaceIo:
+    interface_name = ""
+    PropertiesChanged = signal()
+
+    def __init__(self, dbus: SystemBus or SessionBus, io: IOBase):
+        self.dbus = dbus
+        self.io = io
+        self.variant_type = "b" if type(self.io.value) is bool else "i"
+
+    def emit_io_change(self):
+        if not self.interface_name:
+            return
+
+        if self.interface_name:
+            print(type(self.io.value))
+            self.PropertiesChanged(
+                self.interface_name,
+                {"value": int(self.io.value)},
+                [],
+            )