Merge branch 'main' into rsdk-9474

.gitignore

@@ -21,4 +21,5 @@
 go.work
 go.work.sum
 
-bin/
+bin/
+.codegpt

Makefile

@@ -45,7 +45,7 @@ $(TOOL_BIN)/golangci-lint:
 .PHONY: lint
 lint: $(TOOL_BIN)/golangci-lint
 	go mod tidy
-	$(TOOL_BIN)/golangci-lint run -v --fix --config=./etc/.golangci.yaml --timeout 3m
+	$(TOOL_BIN)/golangci-lint run -v --fix --config=./etc/.golangci.yaml --timeout 5m
 
 .PHONY: docker-all
 docker-all: docker-build-64 docker-build-32

README.md

@@ -2,9 +2,15 @@
 
 This module implements the [`rdk:component:board` API](https://docs.viam.com/components/board/#api) and [`rdk:component:servo` API](https://docs.viam.com/components/servo/#api)
 
-Two models are provided in this module:
-* `viam:raspberry-pi:rpi` - Configure a Raspberry Pi 4, 3 and Zero 2 W,  board to access GPIO functionality: input, output, PWM, power, serial interfaces, etc.
-* `viam:raspberry-pi:rpi-servo` - Configure a servo controlled by the GPIO pins on the board.
+The following models are provided in this module:
+* `viam:raspberry-pi:rpi5` - Configure a Raspberry Pi 5 board to access GPIO functionality: input, output, PWM, power, serial interfaces, etc.
+* `viam:raspberry-pi:rpi4` - Configure a Raspberry Pi 4 board
+* `viam:raspberry-pi:rpi3` - Configure a Raspberry Pi 3 board
+* `viam:raspberry-pi:rpi2` - Configure a Raspberry Pi 2 board
+* `viam:raspberry-pi:rpi1` - Configure a Raspberry Pi 1 board
+* `viam:raspberry-pi:rpi0` - Configure a Raspberry Pi 0 board
+* `viam:raspberry-pi:rpi0_2` - Configure a Raspberry Pi 0 2 W board
+* `viam:raspberry-pi:rpi-servo` - Configure a servo controlled by the GPIO pins on the board. Note this model is not supported on the rpi5 board.
 
 ## Requirements
 
@@ -22,7 +28,7 @@ Fill in the attributes as applicable to your board:
   "components": [
     {
       "name": "<your-pi-board-name>",
-      "model": "viam:raspberry-pi:rpi",
+      "model": "viam:raspberry-pi:<rpi-model>",
       "type": "board",
       "namespace": "rdk",
       "attributes": {
@@ -59,20 +65,20 @@ Fill in the attributes as applicable to your board:
 
 ### Attributes
 
-The following attributes are available for `viam:raspberry-pi:rpi` board:
+The following attributes are available for `viam:raspberry-pi:<raspberry-pi-model>` board:
 
 | Name | Type | Required? | Description |
 | ---- | ---- | --------- | ----------- |
 | `analogs` | object | Optional | Attributes of any pins that can be used as analog-to-digital converter (ADC) inputs. See [configuration info](#analogs). |
-| `pins` | object | Optional | Any pin's pin number and name. Used to configure gpios and interrupts. See [configuration info](#pins). |
+| `pins` | object | Optional | Any pin's pin number and name. Used to configure gpios and interrupts and setting the pull state for a pin. See [configuration info](#pins). |
 
 #### `analogs`
 
 An [analog-to-digital converter](https://www.electronics-tutorials.ws/combination/analogue-to-digital-converter.html) (ADC) takes a continuous voltage input (analog signal) and converts it to an discrete integer output (digital signal).
 
 ADCs are useful when building a robot, as they enable your board to read the analog signal output by most types of [sensors](https://docs.viam.com/components/sensor/) and other hardware components.
 
-To integrate an ADC into your machine, you must first physically connect the pins on your ADC to your board.
+To integrate an ADC into your machine, you must first physically connect the pins on your ADC to your board. The Pi 5 board does not currently support the use of analogs.
 
 Then, integrate `analogs` into the `attributes` of your board by following the **Config Builder** instructions or by adding the following to your board’s JSON configuration:
 

main.go

@@ -2,13 +2,10 @@
 package main
 
 import (
-	"context"
-
 	"go.viam.com/rdk/components/board"
 	"go.viam.com/rdk/components/servo"
-	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/module"
-	"go.viam.com/utils"
+	"go.viam.com/rdk/resource"
 	"raspberry-pi/pi5"
 	"raspberry-pi/rpi"
 	rpiservo "raspberry-pi/rpi-servo"
@@ -25,47 +22,14 @@ import (
 // }
 
 func main() {
-	utils.ContextualMain(mainWithArgs, module.NewLoggerFromArgs("raspberry-pi"))
-}
-
-func mainWithArgs(ctx context.Context, args []string, logger logging.Logger) error {
-	module, err := module.NewModuleFromArgs(ctx)
-	if err != nil {
-		return err
-	}
-
-	if err = module.AddModelFromRegistry(ctx, board.API, pi5.Model); err != nil {
-		return err
-	}
-	if err = module.AddModelFromRegistry(ctx, board.API, rpi.ModelPi4); err != nil {
-		return err
-	}
-	if err = module.AddModelFromRegistry(ctx, board.API, rpi.ModelPi3); err != nil {
-		return err
-	}
-	if err = module.AddModelFromRegistry(ctx, board.API, rpi.ModelPi2); err != nil {
-		return err
-	}
-	if err = module.AddModelFromRegistry(ctx, board.API, rpi.ModelPi1); err != nil {
-		return err
-	}
-	if err = module.AddModelFromRegistry(ctx, board.API, rpi.ModelPi0_2); err != nil {
-		return err
-	}
-	if err = module.AddModelFromRegistry(ctx, board.API, rpi.ModelPi0); err != nil {
-		return err
-	}
-
-	if err = module.AddModelFromRegistry(ctx, servo.API, rpiservo.Model); err != nil {
-		return err
-	}
-
-	err = module.Start(ctx)
-	defer module.Close(ctx)
-	if err != nil {
-		return err
-	}
-
-	<-ctx.Done()
-	return nil
+	module.ModularMain(
+		resource.APIModel{board.API, pi5.Model},
+		resource.APIModel{board.API, rpi.ModelPi},
+		resource.APIModel{board.API, rpi.ModelPi4},
+		resource.APIModel{board.API, rpi.ModelPi3},
+		resource.APIModel{board.API, rpi.ModelPi2},
+		resource.APIModel{board.API, rpi.ModelPi1},
+		resource.APIModel{board.API, rpi.ModelPi0_2},
+		resource.APIModel{board.API, rpi.ModelPi0},
+		resource.APIModel{servo.API, rpiservo.Model})
 }

meta.json

@@ -8,6 +8,34 @@
         "api": "rdk:component:board",
         "model": "viam:raspberry-pi:rpi"
       },
+      {
+        "api": "rdk:component:board",
+        "model": "viam:raspberry-pi:rpi5"
+      },
+      {
+        "api": "rdk:component:board",
+        "model": "viam:raspberry-pi:rpi4"
+      },
+      {
+        "api": "rdk:component:board",
+        "model": "viam:raspberry-pi:rpi3"
+      },
+      {
+        "api": "rdk:component:board",
+        "model": "viam:raspberry-pi:rpi2"
+      },
+      {
+        "api": "rdk:component:board",
+        "model": "viam:raspberry-pi:rpi1"
+      },
+      {
+        "api": "rdk:component:board",
+        "model": "viam:raspberry-pi:rpi0"
+      },
+      {
+        "api": "rdk:component:board",
+        "model": "viam:raspberry-pi:rpi0_2"
+      },  
       {
         "api": "rdk:component:servo",
         "model": "viam:raspberry-pi:rpi-servo"

pi5/board.go

@@ -11,6 +11,8 @@ import (
 	"sync"
 	"time"
 
+	rpiutils "raspberry-pi/utils"
+
 	"github.com/pkg/errors"
 	"github.com/viam-modules/pinctrl/pinctrl"
 	"go.uber.org/multierr"
@@ -21,7 +23,6 @@ import (
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/utils"
-	rpiutils "raspberry-pi/utils"
 )
 
 // Model is the model for a Raspberry Pi 5.
@@ -90,7 +91,7 @@ func newBoard(
 	if err != nil {
 		logging.Global().Errorw("Cannot determine raspberry pi model", "error", err)
 	}
-	isPi5 := strings.Contains(string(piModel), "5")
+	isPi5 := strings.Contains(string(piModel), "Raspberry Pi 5")
 	// ensure that we are a pi5 when not running tests
 	if !isPi5 && !testingMode {
 		return nil, rpiutils.WrongModelErr(conf.Name)

rpi/board.go

@@ -41,6 +41,7 @@ import (
 
 // Model represents a raspberry pi board model.
 var (
+	ModelPi   = rpiutils.RaspiFamily.WithModel("rpi")   // Raspberry Pi Generic model
 	ModelPi4   = rpiutils.RaspiFamily.WithModel("rpi4")   // Raspberry Pi 4 model
 	ModelPi3   = rpiutils.RaspiFamily.WithModel("rpi3")   // Raspberry Pi 3 model
 	ModelPi2   = rpiutils.RaspiFamily.WithModel("rpi2")   // Raspberry Pi 2 model
@@ -56,6 +57,12 @@ var (
 
 // init registers a pi board based on pigpio.
 func init() {
+	resource.RegisterComponent(
+		board.API,
+		ModelPi,
+		resource.Registration[board.Board, *rpiutils.Config]{
+			Constructor: newPigpio,
+		})
 	resource.RegisterComponent(
 		board.API,
 		ModelPi4,
@@ -140,7 +147,7 @@ func newPigpio(
 	if err != nil {
 		logging.Global().Errorw("Cannot determine raspberry pi model", "error", err)
 	}
-	isPi5 := strings.Contains(string(piModel), "5")
+	isPi5 := strings.Contains(string(piModel), "Raspberry Pi 5")
 	if isPi5 {
 		return nil, rpiutils.WrongModelErr(conf.Name)
 	}