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()

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)
-        self.bus_provider.start()
+        dbus_middleware_running = self.bus_provider and self.bus_provider.is_alive()
+        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)},
+                [],
+            )