feat: update GpioNode to use gpiod v2.x API for batch line requests and improved GPIO handling

src/gpio_node/gpio_node/gpio_node.py

@@ -11,6 +11,8 @@ Alur komunikasi:
 Jika gpiod tidak tersedia (misalnya di x86 dev machine), node tetap berjalan
 dalam simulation mode — hanya logging tanpa akses hardware. Ini memungkinkan
 pengembangan dan testing tanpa Pi.
+
+Menggunakan gpiod v2.x API (request_lines / LineSettings / Value).
 """
 
 import rclpy
@@ -23,6 +25,7 @@ from blockly_interfaces.msg import GpioWrite, GpioRead
 # berjalan dalam simulation mode.
 try:
     import gpiod
+    from gpiod.line import Direction, Value
     HAS_GPIOD = True
 except ImportError:
     HAS_GPIOD = False
@@ -40,10 +43,10 @@ class GpioNode(Node):
         self.declare_parameter("input_publish_rate", 10.0)  # Hz
         self.declare_parameter("gpio_chip", "/dev/gpiochip0")  # gpiod v2.x butuh path lengkap
 
-        self._output_pins = (
+        self._output_pins = list(
             self.get_parameter("output_pins").get_parameter_value().integer_array_value
         )
-        self._input_pins = (
+        self._input_pins = list(
             self.get_parameter("input_pins").get_parameter_value().integer_array_value
         )
         rate = (
@@ -53,9 +56,10 @@ class GpioNode(Node):
             self.get_parameter("gpio_chip").get_parameter_value().string_value
         )
 
-        self._chip = None
+        # gpiod v2.x: request_lines() mengembalikan LineRequest object,
-        self._output_lines: dict[int, object] = {}
+        # bukan per-line object seperti v1.x.
-        self._input_lines: dict[int, object] = {}
+        self._output_request = None
+        self._input_request = None
 
         # Instance flag — True hanya jika gpiod tersedia DAN chip berhasil dibuka.
         # Berbeda dari module-level HAS_GPIOD yang hanya cek import.
@@ -93,30 +97,41 @@ class GpioNode(Node):
             self._read_timer = self.create_timer(period, self._read_callback)
 
         self.get_logger().info(
-            f"GpioNode ready — outputs={list(self._output_pins)}, "
+            f"GpioNode ready — outputs={self._output_pins}, "
-            f"inputs={list(self._input_pins)}, "
+            f"inputs={self._input_pins}, "
             f"gpiod={'yes' if self._has_hardware else 'no (simulation)'}"
         )
 
     def _setup_gpio(self, chip_name: str) -> None:
-        """Konfigurasi GPIO lines via gpiod.
+        """Konfigurasi GPIO lines via gpiod v2.x API.
 
-        Setiap pin di-request dengan consumer name "gpio_node" agar mudah
+        gpiod v2.x menggunakan request_lines() untuk merequest semua pin
-        diidentifikasi via `gpioinfo` jika ada konflik.
+        sekaligus, berbeda dari v1.x yang per-line. LineSettings menentukan
+        direction (input/output) untuk setiap pin.
         """
-        self._chip = gpiod.Chip(chip_name)
+        # Request output lines sebagai satu batch
+        if self._output_pins:
+            out_config = {
+                pin: gpiod.LineSettings(direction=Direction.OUTPUT)
+                for pin in self._output_pins
+            }
+            self._output_request = gpiod.request_lines(
+                chip_name, consumer="gpio_node", config=out_config
+            )
+            for pin in self._output_pins:
+                self.get_logger().info(f"Configured pin {pin} as OUTPUT")
 
-        for pin in self._output_pins:
+        # Request input lines sebagai satu batch
-            line = self._chip.get_line(pin)
+        if self._input_pins:
-            line.request(consumer="gpio_node", type=gpiod.LINE_REQ_DIR_OUT)
+            in_config = {
-            self._output_lines[pin] = line
+                pin: gpiod.LineSettings(direction=Direction.INPUT)
-            self.get_logger().info(f"Configured pin {pin} as OUTPUT")
+                for pin in self._input_pins
-
+            }
-        for pin in self._input_pins:
+            self._input_request = gpiod.request_lines(
-            line = self._chip.get_line(pin)
+                chip_name, consumer="gpio_node", config=in_config
-            line.request(consumer="gpio_node", type=gpiod.LINE_REQ_DIR_IN)
+            )
-            self._input_lines[pin] = line
+            for pin in self._input_pins:
-            self.get_logger().info(f"Configured pin {pin} as INPUT")
+                self.get_logger().info(f"Configured pin {pin} as INPUT")
 
     def _write_callback(self, msg: GpioWrite) -> None:
         """Handle perintah digital output dari executor.
@@ -129,14 +144,15 @@ class GpioNode(Node):
         state = msg.state
         state_str = "HIGH" if state else "LOW"
 
-        if pin not in self._output_lines and self._has_hardware:
+        if pin not in self._output_pins and self._has_hardware:
             self.get_logger().warn(
                 f"Pin {pin} not configured as output — ignoring write"
             )
             return
 
-        if self._has_hardware:
+        if self._has_hardware and self._output_request:
-            self._output_lines[pin].set_value(1 if state else 0)
+            value = Value.ACTIVE if state else Value.INACTIVE
+            self._output_request.set_value(pin, value)
 
         self.get_logger().info(f"GPIO write: pin={pin} state={state_str}")
 
@@ -147,12 +163,12 @@ class GpioNode(Node):
         Setiap pin dipublish sebagai message terpisah agar subscriber
         bisa memfilter berdasarkan pin number.
         """
-        for pin, line in self._input_lines.items():
+        for pin in self._input_pins:
             msg = GpioRead()
             msg.pin = pin
 
-            if self._has_hardware:
+            if self._has_hardware and self._input_request:
-                msg.state = bool(line.get_value())
+                msg.state = self._input_request.get_value(pin) == Value.ACTIVE
             else:
                 msg.state = False  # simulation: selalu LOW
 
@@ -161,17 +177,14 @@ class GpioNode(Node):
     def destroy_node(self) -> None:
         """Release GPIO lines saat shutdown.
 
-        Penting untuk melepaskan line agar pin bisa digunakan kembali
+        gpiod v2.x: release() dipanggil pada LineRequest object,
-        oleh proses lain tanpa reboot. Jika tidak di-release, gpiod
+        bukan per-line seperti v1.x.
-        akan menandai pin sebagai "busy".
         """
         if self._has_hardware:
-            for line in self._output_lines.values():
+            if self._output_request:
-                line.release()
+                self._output_request.release()
-            for line in self._input_lines.values():
+            if self._input_request:
-                line.release()
+                self._input_request.release()
-            if self._chip is not None:
-                self._chip.close()
             self.get_logger().info("GPIO lines released")
         super().destroy_node()