Add digital output block and GPIO handling

- Introduced a new Blockly block for setting digital output pins (`digitalOut`).
- Implemented the corresponding handler in Python to manage digital output actions.
- Updated dummy, GPIO, and real hardware interfaces to support digital output functionality.
- Modified the workspace configuration to include the new digital output block in the Blockly environment.
- Added potential enhancements to the README for future improvements.

readme.md

@@ -18,6 +18,8 @@ Feature Task            :   Penjabaran Pekerjaan yang ready untuk dikerjakan. Ta
 
 # Potential Enhancements
 this list is short by priority
+- **Potensial inefective development**: in handlers/hardware use interface.py to all hardware (dummy, ros2, and hardware) class that posibly haavily change.
+- ** UI bug **: stop button not actualy stop execution. tried with long delay with loop and press stop button, program still continue
 - **Launch files**: `blockly_bringup` package with ROS2 launch files to start all nodes with one command
 - **Sensor integration**: Subscriber nodes for sensor data feeding back into Blockly visual feedback
 - **RealHardware implementation**: Fill in ROS2 publishers/service clients for actual Pi hardware nodes (topics TBD)

src/blockly_app/blockly_app/ui/blockly/blocks/digitalOut.js

@@ -0,0 +1,33 @@
+
+BlockRegistry.register({
+  name: 'digitalOut',              // Must match Python handler name
+  category: 'Robot',
+  categoryColor: '#5b80a5',
+  color: '#4CAF50',
+  tooltip: 'set a digital output pin to HIGH (turn on LED)',
+
+  definition: {
+    init: function () {
+      this.appendValueInput('digitalOut')
+        .appendField(' gpio:')
+        // FieldNumber(default, min, max, step)
+        .appendField(new Blockly.FieldNumbint(er(1, 0, 27, 1), 'GPIO')
+        .setCheck('Boolean')
+        .appendField(' state:');
+
+      this.setPreviousStatement(true, null);  // connect above
+      this.setNextStatement(true, null);      // connect below
+      this.setColour('#4CAF50');
+      this.setTooltip('set a digital output pin to HIGH (turn on LED)');
+    }
+  },
+
+  generator: function (block) {
+    const GPIO = block.getFieldValue('GPIO');
+    const STATE = Blockly.JavaScript.valueToCode(block, 'digitalOut', Blockly.JavaScript.ORDER_ATOMIC) || 'false';
+    return (
+      'highlightBlock(\'' + block.id + '\');\n' +
+      'await executeAction(\'digital_out\', { gpio: \'' + GPIO + '\', state: \'' + STATE + '\' });\n'
+    );
+  }
+});

src/blockly_app/blockly_app/ui/blockly/blocks/manifest.js

@@ -9,7 +9,6 @@
 
 // eslint-disable-next-line no-unused-vars
 const BLOCK_FILES = [
-  'led_on.js',
+  'digitalOut.js',
-  'led_off.js',
   'delay.js',
 ];

src/blockly_executor/blockly_executor/handlers/gpio.py

@@ -15,3 +15,11 @@ def handle_led_off(params: dict[str, str], hardware) -> tuple[bool, str]:
     pin = int(params["pin"])
     hardware.set_led(pin, False)
     return (True, f"LED on pin {pin} turned OFF")
+
+@handler("digital_out")
+def handle_digital_out(params: dict[str, str], hardware) -> tuple[bool, str]:
+    gpio = int(params["gpio"])
+    state = bool(params["state"])
+    hardware.set_digital_out(gpio, state)
+    state_str = "HIGH" if state else "LOW"
+    return (True, f"GPIO pin {gpio} set to {state_str}")

src/blockly_executor/blockly_executor/hardware/dummy_hardware.py

@@ -22,3 +22,6 @@ class DummyHardware(HardwareInterface):
     def is_ready(self) -> bool:
         self.call_log.append("is_ready()")
         return True
+
+    def set_digital_out(self, gpio: int, state: bool) -> None:
+        self.call_log.append(f"set_digital_out(gpio={gpio}, state={state})")

src/blockly_executor/blockly_executor/hardware/gpio_hardware.py

@@ -30,3 +30,9 @@ class GpioHardware(HardwareInterface):
 
     def is_ready(self) -> bool:
         return self._initialized
+    
+    def set_digital_out(self, gpio: int, state: bool) -> None:
+        if not self._initialized:
+            raise RuntimeError("GPIO not available on this platform")
+        self._gpio.setup(gpio, self._gpio.OUT)
+        self._gpio.output(gpio, self._gpio.HIGH if state else self._gpio.LOW)

src/blockly_executor/blockly_executor/hardware/interface.py

@@ -32,3 +32,14 @@ class HardwareInterface(ABC):
             True if hardware is initialized and ready.
         """
         ...
+    
+    @abstractmethod
+    def set_digital_out(self, gpio: int, state: bool) -> None:
+        """
+        Set a GPIO pin to HIGH or LOW.
+
+        Args:
+            gpio: GPIO pin number.
+            state: True for HIGH, False for LOW.
+        """
+        ...

src/blockly_executor/blockly_executor/hardware/real_hardware.py

@@ -29,3 +29,7 @@ class RealHardware(HardwareInterface):
     def is_ready(self) -> bool:
         # TODO: check if Pi hardware nodes are reachable
         return True
+    
+    def set_digital_out(self, gpio: int, state: bool) -> None:
+        # TODO: publish to Pi hardware node
+        self._logger.info(f"RealHardware.set_digital_out(gpio={gpio}, state={state}) — stub")

workspace.json

@@ -3,17 +3,75 @@
     "languageVersion": 0,
     "blocks": [
       {
-        "type": "controls_if",
+        "type": "controls_repeat_ext",
-        "id": "WLmpkq!^,rcoKGH+bQgN",
+        "id": "j+usYB.X4%o``Le;Q,LA",
-        "x": 210,
+        "x": 190,
-        "y": 70,
+        "y": 150,
         "inputs": {
-          "DO0": {
+          "TIMES": {
-            "block": {
+            "shadow": {
-              "type": "led_on",
+              "type": "math_number",
-              "id": "._%j-2DZ*BZJlyW:1#`Q",
+              "id": "cI`]|Us0+)Ol~XY0L`wE",
               "fields": {
-                "PIN": 1
+                "NUM": 3
+              }
+            }
+          },
+          "DO": {
+            "block": {
+              "type": "digitalOut",
+              "id": "3}G7M%~([nNy9YHlug!|",
+              "fields": {
+                "GPIO": 17
+              },
+              "inputs": {
+                "digitalOut": {
+                  "block": {
+                    "type": "logic_boolean",
+                    "id": "Sw__`~LvxpKyo}./q]1/",
+                    "fields": {
+                      "BOOL": "TRUE"
+                    }
+                  }
+                }
+              },
+              "next": {
+                "block": {
+                  "type": "delay",
+                  "id": "?o-l1IBd(^YR,u[;k$-|",
+                  "fields": {
+                    "DURATION_MS": 500
+                  },
+                  "next": {
+                    "block": {
+                      "type": "digitalOut",
+                      "id": "t}@.X|Ac7F?J;C4v`5ic",
+                      "fields": {
+                        "GPIO": 17
+                      },
+                      "inputs": {
+                        "digitalOut": {
+                          "block": {
+                            "type": "logic_boolean",
+                            "id": "]I]_@v6=ErAYdiolo|+n",
+                            "fields": {
+                              "BOOL": "FALSE"
+                            }
+                          }
+                        }
+                      },
+                      "next": {
+                        "block": {
+                          "type": "delay",
+                          "id": "45BA([9g7/_tItSnUwB-",
+                          "fields": {
+                            "DURATION_MS": 500
+                          }
+                        }
+                      }
+                    }
+                  }
+                }
               }
             }
           }