spacecruft
/
farmbot_os
1
0
Fork 0
Code Issues Pull Requests Releases Activity

Merge pull request #1200 from FarmBot/qa/10.0.0 

v10.0.0
remove-dnsmasq
Rick Carlino 2020-05-15 09:21:59 -05:00 committed by GitHub
parent 1bb175a387 88b440ee59
commit 1807e5c0d3
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
59 changed files with 6734 additions and 6131 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
CHANGELOG.md
View File

@ -1,5 +1,11 @@
# Changelog
# 10.0.0
* Deprecate `resource_update` RPC
* Introduce `update_resource` RPC, which allows users to modify variables from the sequence editor.
* Genesis v1.5 and Express v1.0 firmware updates.
# 9.2.2
* Fix firmware locking error ("Can't perform X in Y state")

2
VERSION
View File

@ -1 +1 @@
9.2.2
10.0.0-rc29

168
farmbot_celery_script/fixture/corpus.json
View File

@ -22,13 +22,14 @@
{
"name": "ALLOWED_MESSAGE_TYPES",
"allowed_values": [
"success",
"assertion",
"busy",
"warn",
"debug",
"error",
"info",
"fun",
"debug"
"info",
"success",
"warn"
]
},
{
@ -55,6 +56,15 @@
1
]
},
{
"name": "ALLOWED_ASSERTION_TYPES",
"allowed_values": [
"abort",
"recover",
"abort_recover",
"continue"
]
},
{
"name": "AllowedPinTypes",
"allowed_values": [
@ -89,6 +99,7 @@
"name": "LegalSequenceKind",
"allowed_values": [
"_if",
"assertion",
"calibrate",
"change_ownership",
"check_updates",
@ -109,7 +120,6 @@
"read_status",
"reboot",
"remove_farmware",
"resource_update",
"send_message",
"set_servo_angle",
"set_user_env",
@ -117,6 +127,7 @@
"take_photo",
"toggle_pin",
"update_farmware",
"update_resource",
"wait",
"write_pin",
"zero"
@ -206,7 +217,8 @@
"planned",
"planted",
"harvested",
"sprouted"
"sprouted",
"removed"
]
},
{
@ -214,24 +226,18 @@
"allowed_values": [
"GenericPointer",
"ToolSlot",
"Plant"
"Plant",
"Weed"
]
},
{
"name": "resource_type",
"allowed_values": [
"Device",
"FarmEvent",
"Image",
"Log",
"Peripheral",
"Plant",
"Point",
"Regimen",
"Sequence",
"Tool",
"Plant",
"ToolSlot",
"User",
"Weed",
"GenericPointer"
]
},
@ -261,11 +267,13 @@
"z",
"pin_type",
"pointer_id",
"point_group_id",
"pointer_type",
"pin_mode",
"sequence_id",
"lhs",
"op",
"priority",
"channel_name",
"message_type",
"tool_id",
@ -273,19 +281,22 @@
"axis",
"message",
"speed",
"resource_type"
"resource_type",
"assertion_type",
"lua",
"resource"
]
},
{
"name": "LegalKindString",
"allowed_values": [
"Assertion",
"If",
"Calibrate",
"ChangeOwnership",
"Channel",
"CheckUpdates",
"Coordinate",
"DumpInfo",
"EmergencyLock",
"EmergencyUnlock",
"ExecuteScript",
@ -331,7 +342,10 @@
"MoveAbsolute",
"WritePin",
"ReadPin",
"ResourceUpdate"
"ResourceUpdate",
"Resource",
"UpdateResource",
"PointGroup"
]
}
],
@ -394,6 +408,10 @@
{
"tag": "identifier",
"name": "identifier"
},
{
"tag": "point_group",
"name": "point_group"
}
]
},
@ -625,6 +643,15 @@
}
]
},
{
"name": "point_group_id",
"allowed_values": [
{
"tag": "integer",
"name": "Integer"
}
]
},
{
"name": "pointer_type",
"allowed_values": [
@ -674,6 +701,15 @@
}
]
},
{
"name": "priority",
"allowed_values": [
{
"tag": "integer",
"name": "Integer"
}
]
},
{
"name": "channel_name",
"allowed_values": [
@ -745,9 +781,53 @@
"name": "resource_type"
}
]
},
{
"name": "assertion_type",
"allowed_values": [
{
"tag": "ALLOWED_ASSERTION_TYPES",
"name": "ALLOWED_ASSERTION_TYPES"
}
]
},
{
"name": "lua",
"allowed_values": [
{
"tag": "string",
"name": "String"
}
]
},
{
"name": "resource",
"allowed_values": [
{
"tag": "identifier",
"name": "identifier"
},
{
"tag": "resource",
"name": "resource"
}
]
}
],
"nodes": [
{
"allowed_args": [
"assertion_type",
"_then",
"lua"
],
"allowed_body_types": [],
"name": "assertion",
"tags": [
"*"
],
"docs": ""
},
{
"allowed_args": [
"lhs",
@ -1151,9 +1231,11 @@
},
{
"allowed_args": [
"label"
"label",
"priority"
],
"allowed_body_types": [
"assertion",
"calibrate",
"change_ownership",
"check_updates",
@ -1175,7 +1257,7 @@
"read_status",
"reboot",
"remove_farmware",
"resource_update",
"update_resource",
"send_message",
"set_servo_angle",
"set_user_env",
@ -1225,6 +1307,7 @@
"locals"
],
"allowed_body_types": [
"assertion",
"calibrate",
"change_ownership",
"check_updates",
@ -1246,7 +1329,7 @@
"read_status",
"reboot",
"remove_farmware",
"resource_update",
"update_resource",
"send_message",
"set_servo_angle",
"set_user_env",
@ -1459,6 +1542,45 @@
"network_user"
],
"docs": ""
},
{
"allowed_args": [
"resource_type",
"resource_id"
],
"allowed_body_types": [],
"name": "resource",
"tags": [
"network_user"
],
"docs": ""
},
{
"allowed_args": [
"resource"
],
"allowed_body_types": [
"pair"
],
"name": "update_resource",
"tags": [
"function",
"api_writer",
"network_user"
],
"docs": ""
},
{
"allowed_args": [
"point_group_id"
],
"allowed_body_types": [],
"name": "point_group",
"tags": [
"data",
"list_like"
],
"docs": ""
}
]
}
}

24
farmbot_celery_script/lib/farmbot_celery_script/compiler.ex
View File

@ -11,17 +11,10 @@ defmodule FarmbotCeleryScript.Compiler do
Compiler.IdentifierSanitizer
}
@doc "Sets debug mode for the compiler"
def debug_mode(bool \\ true) do
old = Application.get_env(:farmbot_celery_script, __MODULE__, [])
new = Keyword.put(old, :debug, bool)
Application.put_env(:farmbot_celery_script, __MODULE__, new)
bool
end
@doc "Returns current debug mode value"
def debug_mode?() do
Application.get_env(:farmbot_celery_script, __MODULE__)[:debug] || false
# Set this to `true` when debuging.
false
end
@valid_entry_points [:sequence, :rpc_request]
@ -94,27 +87,28 @@ defmodule FarmbotCeleryScript.Compiler do
defdelegate assertion(ast, env), to: Compiler.Assertion
defdelegate calibrate(ast, env), to: Compiler.AxisControl
defdelegate coordinate(ast, env), to: Compiler.DataControl
defdelegate execute(ast, env), to: Compiler.Execute
defdelegate execute_script(ast, env), to: Compiler.Farmware
defdelegate execute(ast, env), to: Compiler.Execute
defdelegate find_home(ast, env), to: Compiler.AxisControl
defdelegate home(ast, env), to: Compiler.AxisControl
defdelegate unquote(:_if)(ast, env), to: Compiler.If
defdelegate install_first_party_farmware(ast, env), to: Compiler.Farmware
defdelegate move_absolute(ast, env), to: Compiler.AxisControl
defdelegate move_relative(ast, env), to: Compiler.AxisControl
defdelegate named_pin(ast, env), to: Compiler.DataControl
defdelegate point(ast, env), to: Compiler.DataControl
defdelegate read_pin(ast, env), to: Compiler.PinControl
defdelegate resource_update(ast, env), to: Compiler.DataControl
defdelegate resource(ast, env), to: Compiler.DataControl
defdelegate rpc_request(ast, env), to: Compiler.RPCRequest
defdelegate sequence(ast, env), to: Compiler.Sequence
defdelegate set_pin_io_mode(ast, env), to: Compiler.PinControl
defdelegate set_servo_angle(ast, env), to: Compiler.PinControl
defdelegate set_user_env(ast, env), to: Compiler.Farmware
defdelegate take_photo(ast, env), to: Compiler.Farmware
defdelegate tool(ast, env), to: Compiler.DataControl
defdelegate toggle_pin(ast, env), to: Compiler.PinControl
defdelegate tool(ast, env), to: Compiler.DataControl
defdelegate unquote(:_if)(ast, env), to: Compiler.If
defdelegate update_farmware(ast, env), to: Compiler.Farmware
defdelegate update_resource(ast, env), to: Compiler.UpdateResource
defdelegate variable_declaration(ast, env), to: Compiler.VariableDeclaration
defdelegate write_pin(ast, env), to: Compiler.PinControl
defdelegate zero(ast, env), to: Compiler.AxisControl
@ -280,13 +274,13 @@ defmodule FarmbotCeleryScript.Compiler do
end
defp print_compiled_code(compiled) do
IO.puts("========")
IO.puts("=== START ===")
compiled
|> Macro.to_string()
|> Code.format_string!()
|> IO.puts()
IO.puts("========\n\n")
IO.puts("=== END ===\n\n")
end
end

2
farmbot_celery_script/lib/farmbot_celery_script/compiler/identifier_sanitizer.ex
View File

@ -2,7 +2,7 @@ defmodule FarmbotCeleryScript.Compiler.IdentifierSanitizer do
@moduledoc """
Responsible for ensuring variable names in Sequences are clean.
This is done because identifiers are `unquote`d and the user controls
the data inside them. To prevent things like
the data inside them. To prevent things like
`"System.cmd("rm -rf /*/**")"` being evaluated, all identifiers
are sanitized by prepending a token and hashing the value.
"""

44
farmbot_celery_script/lib/farmbot_celery_script/compilers/data_control_compiler.ex
View File

@ -1,6 +1,19 @@
defmodule FarmbotCeleryScript.Compiler.DataControl do
alias FarmbotCeleryScript.Compiler
def resource(ast, _env) do
IO.puts("======")
IO.inspect(ast)
# %FarmbotCeleryScript.AST{
# args: %{resource_id: 0, resource_type: "Device"},
# body: [],
# comment: nil,
# kind: :resource,
# meta: nil
# }
raise "TODO: Pull resource from DB?"
end
# compiles coordinate
# Coordinate should return a vec3
def coordinate(%{args: %{x: x, y: y, z: z}}, env) do
@ -40,35 +53,4 @@ defmodule FarmbotCeleryScript.Compiler.DataControl do
)
end
end
def resource_update(
%{
args: %{
resource_type: kind,
resource_id: id,
label: label,
value: value
},
body: body
},
env
) do
initial = %{label => value}
# Technically now body isn't supported by this node.
extra =
Map.new(body, fn %{args: %{label: label, data_value: value}} ->
{label, value}
end)
# Make sure the initial stuff higher most priority
params = Map.merge(extra, initial)
quote do
FarmbotCeleryScript.SysCalls.resource_update(
unquote(Compiler.compile_ast(kind, env)),
unquote(Compiler.compile_ast(id, env)),
unquote(Macro.escape(params))
)
end
end
end

72
farmbot_celery_script/lib/farmbot_celery_script/compilers/sequence_compiler.ex
View File

@ -1,5 +1,6 @@
defmodule FarmbotCeleryScript.Compiler.Sequence do
import FarmbotCeleryScript.Compiler.Utils
alias FarmbotCeleryScript.Compiler.IdentifierSanitizer
@iterables [:point_group, :every_point]
@ -29,13 +30,7 @@ defmodule FarmbotCeleryScript.Compiler.Sequence do
def compile_sequence_iterable(
iterable_ast,
%{
args:
%{
locals:
%{
body: params
} = locals
} = sequence_args,
args: %{locals: %{body: _} = locals} = sequence_args,
meta: sequence_meta
} = sequence_ast,
env
@ -43,31 +38,6 @@ defmodule FarmbotCeleryScript.Compiler.Sequence do
sequence_name =
sequence_meta[:sequence_name] || sequence_args[:sequence_name]
# remove the iterable from the parameter applications,
# since it will be injected after this.
_params =
Enum.reduce(params, [], fn
# Remove point_group from parameter appls
%{
kind: :parameter_application,
args: %{data_value: %{kind: :point_group}}
},
acc ->
acc
# Remove every_point from parameter appls
%{
kind: :parameter_application,
args: %{data_value: %{kind: :every_point}}
},
acc ->
acc
# Everything else gets added back
ast, acc ->
acc ++ [ast]
end)
# will be a point_group or every_point node
group_ast = iterable_ast.args.data_value
# check if it's a point_group first, then fall back to every_point
@ -142,6 +112,37 @@ defmodule FarmbotCeleryScript.Compiler.Sequence do
end
end
def create_better_params(body, env) do
parameter_declarations =
Enum.reduce(env, %{}, fn
{key, value}, map ->
encoded_label = "#{key}"
if String.starts_with?(encoded_label, "unsafe_") do
Map.put(map, IdentifierSanitizer.to_string(encoded_label), value)
else
map
end
end)
Enum.reduce(body, parameter_declarations, fn ast, map ->
case ast do
%{kind: :parameter_application} ->
args = Map.fetch!(ast, :args)
label = Map.fetch!(args, :label)
Map.put(map, label, Map.fetch!(args, :data_value))
%{kind: :variable_declaration} ->
args = Map.fetch!(ast, :args)
label = Map.fetch!(args, :label)
Map.put(map, label, Map.fetch!(args, :data_value))
%{kind: :parameter_declaration} ->
map
end
end)
end
def compile_sequence(
%{args: %{locals: %{body: params}} = args, body: block, meta: meta},
env
@ -150,6 +151,9 @@ defmodule FarmbotCeleryScript.Compiler.Sequence do
# The `params` side gets turned into
# a keyword list. These `params` are passed in from a previous sequence.
# The `body` side declares variables in _this_ scope.
# === DON'T USE THIS IN NEW CODE.
# SCHEDULED FOR DEPRECATION.
# USE `better_params` INSTEAD.
{params_fetch, body} =
Enum.reduce(params, {[], []}, fn ast, {params, body} = _acc ->
case ast do
@ -173,6 +177,8 @@ defmodule FarmbotCeleryScript.Compiler.Sequence do
steps = add_sequence_init_and_complete_logs(steps, sequence_name)
better_params = create_better_params(params, env)
[
quote location: :keep do
fn params ->
@ -183,7 +189,7 @@ defmodule FarmbotCeleryScript.Compiler.Sequence do
# parent = Keyword.fetch!(params, :parent)
unquote_splicing(params_fetch)
unquote_splicing(assignments)
better_params = unquote(better_params)
# Unquote the remaining sequence steps.
unquote(steps)
end

62
farmbot_celery_script/lib/farmbot_celery_script/compilers/update_resource_compiler.ex 100644
View File

@ -0,0 +1,62 @@
defmodule FarmbotCeleryScript.Compiler.UpdateResource do
alias FarmbotCeleryScript.{AST, DotProps}
def update_resource(%AST{args: args, body: body}, _env) do
quote location: :keep do
me = unquote(__MODULE__)
variable = unquote(Map.fetch!(args, :resource))
update = unquote(unpair(body, %{}))
# Go easy on the API...
Process.sleep(1234)
case variable do
%AST{kind: :identifier} ->
args = Map.fetch!(variable, :args)
label = Map.fetch!(args, :label)
resource = Map.fetch!(better_params, label)
me.do_update(resource, update)
%AST{kind: :point} ->
me.do_update(variable.args, update)
%AST{kind: :resource} ->
me.do_update(variable.args, update)
res ->
raise "Resource error. Please notfiy support: #{inspect(res)}"
end
end
end
def do_update(%{pointer_id: id, pointer_type: kind}, update_params) do
FarmbotCeleryScript.SysCalls.update_resource(kind, id, update_params)
end
def do_update(%{resource_id: id, resource_type: kind}, update_params) do
FarmbotCeleryScript.SysCalls.update_resource(kind, id, update_params)
end
def do_update(%{args: %{pointer_id: id, pointer_type: k}}, update_params) do
FarmbotCeleryScript.SysCalls.update_resource(k, id, update_params)
end
def do_update(other, update) do
raise String.trim("""
MARK AS can only be used to mark resources like plants and devices.
It cannot be used on things like coordinates.
Ensure that your sequences and farm events us MARK AS on plants and not
coordinates (#{inspect(other)} / #{inspect(update)})
""")
end
defp unpair([pair | rest], acc) do
IO.puts("TODO: Need to apply handlebars to `value`s.")
key = Map.fetch!(pair.args, :label)
val = Map.fetch!(pair.args, :value)
next_acc = Map.merge(acc, DotProps.create(key, val))
unpair(rest, next_acc)
end
defp unpair([], acc) do
acc
end
end

22
farmbot_celery_script/lib/farmbot_celery_script/dot_props.ex 100644
View File

@ -0,0 +1,22 @@
defmodule FarmbotCeleryScript.DotProps do
@dot "."
@doc ~S"""
Takes a "dotted" key and val.
Returns deeply nested hash.
## Examples
iex> create("foo.bar.baz", 321)
%{"foo" => %{"bar" => %{"baz" => 321}}}
iex> create("foo", "bar")
%{"foo" => "bar"}
"""
def create(dotted, val) do
[key | list] = dotted |> String.split(@dot) |> Enum.reverse()
Enum.reduce(list, %{key => val}, fn next_key, acc ->
%{next_key => acc}
end)
end
end

12
farmbot_celery_script/lib/farmbot_celery_script/sys_calls.ex
View File

@ -57,7 +57,6 @@ defmodule FarmbotCeleryScript.SysCalls do
speed :: number()
) ::
ok_or_error
# ?
@callback named_pin(named_pin_type :: String.t(), resource_id) ::
map() | integer | error()
@callback nothing() :: any()
@ -69,7 +68,6 @@ defmodule FarmbotCeleryScript.SysCalls do
@callback toggle_pin(pin_num :: number()) :: ok_or_error
@callback read_status() :: ok_or_error
@callback reboot() :: ok_or_error
@callback resource_update(String.t(), resource_id, map()) :: ok_or_error
@callback send_message(type :: String.t(), message :: String.t(), [atom]) ::
ok_or_error
@callback set_servo_angle(pin :: number(), value :: number()) :: ok_or_error
@ -95,6 +93,8 @@ defmodule FarmbotCeleryScript.SysCalls do
@callback find_points_via_group(String.t() | resource_id) :: %{
required(:point_ids) => [resource_id]
}
@callback update_resource(kind :: String.t(), resource_id, params :: map()) ::
ok_or_error
def find_points_via_group(sys_calls \\ @sys_calls, point_group_id) do
point_group_or_error(sys_calls, :find_points_via_group, [point_group_id])
@ -297,10 +297,6 @@ defmodule FarmbotCeleryScript.SysCalls do
ok_or_error(sys_calls, :reboot, [])
end
def resource_update(sys_calls \\ @sys_calls, kind, id, params) do
ok_or_error(sys_calls, :resource_update, [kind, id, params])
end
def send_message(sys_calls \\ @sys_calls, kind, msg, channels) do
ok_or_error(sys_calls, :send_message, [kind, msg, channels])
end
@ -333,6 +329,10 @@ defmodule FarmbotCeleryScript.SysCalls do
ok_or_error(sys_calls, :zero, [axis])
end
def update_resource(sys_calls \\ @sys_calls, kind, id, params) do
ok_or_error(sys_calls, :update_resource, [kind, id, params])
end
defp ok_or_error(sys_calls, fun, args) do
case apply(sys_calls, fun, args) do
:ok -> :ok

8
farmbot_celery_script/lib/farmbot_celery_script/sys_calls/stubs.ex
View File

@ -119,10 +119,6 @@ defmodule FarmbotCeleryScript.SysCalls.Stubs do
@impl true
def reboot(), do: error(:reboot, [])
@impl true
def resource_update(kind, resource_id, data),
do: error(:resource_update, [kind, resource_id, data])
@impl true
def send_message(type, message, channels),
do: error(:send_message, [type, message, channels])
@ -147,6 +143,10 @@ defmodule FarmbotCeleryScript.SysCalls.Stubs do
def write_pin(pin_num, pin_mode, pin_value),
do: error(:write_pin, [pin_num, pin_mode, pin_value])
@impl true
def update_resource(kind, id, params),
do: error(:update_resource, [kind, id, params])
@impl true
def zero(axis), do: error(:zero, [axis])

4
farmbot_celery_script/test/dot_props_test.exs 100644
View File

@ -0,0 +1,4 @@
defmodule FarmbotCeleryScript.DotPropsTest do
use ExUnit.Case
doctest FarmbotCeleryScript.DotProps, import: true
end

71
farmbot_celery_script/test/farmbot_celery_script/compiler_test.exs
View File

@ -355,6 +355,77 @@ defmodule FarmbotCeleryScript.CompilerTest do
""")
end
test "`update_resource`: " do
compiled =
"test/fixtures/mark_variable_removed.json"
|> File.read!()
|> Jason.decode!()
|> AST.decode()
|> compile()
assert compiled ==
strip_nl("""
[
fn params ->
_ = inspect(params)
unsafe_cGFyZW50 =
Keyword.get(params, :unsafe_cGFyZW50, FarmbotCeleryScript.SysCalls.coordinate(1, 2, 3))
[
fn ->
FarmbotCeleryScript.Compiler.UpdateResource.do_update(
%FarmbotCeleryScript.AST{
args: %{label: "parent"},
body: [],
comment: nil,
kind: :identifier,
meta: nil
},
%{"plant_stage" => "removed"},
[]
)
end
]
end
]
""")
end
test "`update_resource`: Multiple fields of `resource` type." do
compiled =
"test/fixtures/update_resource_multi.json"
|> File.read!()
|> Jason.decode!()
|> AST.decode()
|> compile()
assert compiled ==
strip_nl("""
[
fn params ->
_ = inspect(params)
[
fn ->
FarmbotCeleryScript.Compiler.UpdateResource.do_update(
%FarmbotCeleryScript.AST{
args: %{resource_id: 23, resource_type: "Plant"},
body: [],
comment: nil,
kind: :resource,
meta: nil
},
%{"plant_stage" => "planted", "r" => 23},
[]
)
end
]
end
]
""")
end
defp compile(ast) do
ast
|> Compiler.compile_ast([])

2
farmbot_celery_script/test/farmbot_celery_script/corpus/node_test.exs
View File

@ -4,7 +4,7 @@ defmodule FarmbotCeleryScript.Corpus.NodeTest do
test "inspect" do
a =
"Sequence(version, locals) [calibrate, change_ownership, check_updates, emergency_lock, emergency_unlock, execute, execute_script, factory_reset, find_home, flash_firmware, home, install_farmware, install_first_party_farmware, _if, move_absolute, move_relative, power_off, read_pin, read_status, reboot, remove_farmware, resource_update, send_message, set_servo_angle, set_user_env, sync, take_photo, toggle_pin, update_farmware, wait, write_pin, zero]"
"Sequence(version, locals) [assertion, calibrate, change_ownership, check_updates, emergency_lock, emergency_unlock, execute, execute_script, factory_reset, find_home, flash_firmware, home, install_farmware, install_first_party_farmware, _if, move_absolute, move_relative, power_off, read_pin, read_status, reboot, remove_farmware, update_resource, send_message, set_servo_angle, set_user_env, sync, take_photo, toggle_pin, update_farmware, wait, write_pin, zero]"
b = inspect(Corpus.sequence())
assert a == b

48
farmbot_celery_script/test/fixtures/mark_variable_meta.json vendored 100644
View File

@ -0,0 +1,48 @@
{
"args": {
"locals": {
"args": {},
"body": [
{
"args": {
"default_value": {
"args": {
"x": 1,
"y": 2,
"z": 3
},
"kind": "coordinate"
},
"label": "parent"
},
"kind": "parameter_declaration"
}
],
"kind": "scope_declaration"
},
"version": -999
},
"body": [
{
"args": {
"resource": {
"args": {
"label": "parent"
},
"kind": "identifier"
}
},
"body": [
{
"args": {
"label": "meta.my_prop",
"value": "whatever"
},
"kind": "pair"
}
],
"kind": "update_resource"
}
],
"kind": "sequence"
}

48
farmbot_celery_script/test/fixtures/mark_variable_removed.json vendored 100644
View File

@ -0,0 +1,48 @@
{
"args": {
"locals": {
"args": {},
"body": [
{
"args": {
"default_value": {
"args": {
"x": 1,
"y": 2,
"z": 3
},
"kind": "coordinate"
},
"label": "parent"
},
"kind": "parameter_declaration"
}
],
"kind": "scope_declaration"
},
"version": -999
},
"body": [
{
"args": {
"resource": {
"args": {
"label": "parent"
},
"kind": "identifier"
}
},
"body": [
{
"args": {
"label": "plant_stage",
"value": "removed"
},
"kind": "pair"
}
],
"kind": "update_resource"
}
],
"kind": "sequence"
}

34
farmbot_celery_script/test/fixtures/set_mounted_tool_id.json vendored 100644
View File

@ -0,0 +1,34 @@
{
"args": {
"locals": {
"args": {},
"body": [],
"kind": "scope_declaration"
},
"version": -999
},
"body": [
{
"args": {
"resource": {
"args": {
"resource_id": 0,
"resource_type": "Device"
},
"kind": "resource"
}
},
"body": [
{
"args": {
"label": "mounted_tool_id",
"value": 12161
},
"kind": "pair"
}
],
"kind": "update_resource"
}
],
"kind": "sequence"
}

41
farmbot_celery_script/test/fixtures/update_resource_multi.json vendored 100644
View File

@ -0,0 +1,41 @@
{
"args": {
"locals": {
"args": {},
"body": [],
"kind": "scope_declaration"
},
"version": -999
},
"body": [
{
"args": {
"resource": {
"args": {
"resource_id": 23,
"resource_type": "Plant"
},
"kind": "resource"
}
},
"body": [
{
"args": {
"label": "plant_stage",
"value": "planted"
},
"kind": "pair"
},
{
"args": {
"label": "r",
"value": 23
},
"kind": "pair"
}
],
"kind": "update_resource"
}
],
"kind": "sequence"
}

9
farmbot_core/config/config.exs
View File

@ -46,14 +46,7 @@ config :farmbot_core, FarmbotCore.EctoMigrator,
"beta"
)
config :farmbot_core, FarmbotCore.FirmwareTTYDetector, expected_names: []
config :farmbot_core, FarmbotCore.FirmwareOpenTask, attempt_threshold: 5
config :farmbot_firmware, FarmbotFirmware, reset: FarmbotFirmware.NullReset
config :farmbot_core, FarmbotCore.AssetWorker.FarmbotCore.Asset.FbosConfig,
firmware_flash_attempt_threshold: 5
config :farmbot_firmware, FarmbotFirmware, reset: FarmbotCore.FirmwareResetter
import_config "ecto.exs"
import_config "logger.exs"

5
farmbot_core/config/dev.exs
View File

@ -2,8 +2,3 @@ use Mix.Config
config :farmbot_celery_script, FarmbotCeleryScript.SysCalls,
sys_calls: FarmbotCeleryScript.SysCalls.Stubs
config :farmbot_core, FarmbotCore.FirmwareOpenTask, attempt_threshold: 5
config :farmbot_core, FarmbotCore.AssetWorker.FarmbotCore.Asset.FbosConfig,
firmware_flash_attempt_threshold: 5

5
farmbot_core/lib/farmbot_core.ex
View File

@ -27,7 +27,10 @@ defmodule FarmbotCore do
FarmbotCore.FirmwareOpenTask,
FarmbotCore.FirmwareEstopTimer,
# Also error handling for a transport not starting ?
{FarmbotFirmware, transport: FarmbotFirmware.StubTransport, side_effects: FarmbotCore.FirmwareSideEffects},
{FarmbotFirmware,
transport: FarmbotFirmware.StubTransport,
side_effects: FarmbotCore.FirmwareSideEffects,
reset: FarmbotCore.FirmwareResetter},
FarmbotCeleryScript.Scheduler
]
config = (Application.get_env(:farmbot_ext, __MODULE__) || [])

20
farmbot_core/lib/farmbot_core/asset.ex
View File

@ -251,8 +251,24 @@ defmodule FarmbotCore.Asset do
end
def update_point(point, params) do
point
|> Point.changeset(params)
# TODO: RC 8 MAY 20202 - We need to hard refresh the point.
# The CSVM appears to be caching resources. This leads
# to problems when a user runs a sequence that has two
# MARK AS steps.
# NOTE: Updating the `meta` attribute is a _replace_ action
# by default, not a merge action.
# MORE NOTES: Mixed keys (symbol vs. string) will crash this FN.
# Let's just stringify everything...
new_meta = params[:meta] || params["meta"] || %{}
old_meta = point.meta || %{}
updated_meta = Map.merge(old_meta, new_meta)
clean_params = params
|> Map.merge(%{meta: updated_meta})
|> Enum.map(fn {k, v} -> {"#{k}", v} end)
|> Map.new()
Repo.get_by(Point, id: point.id)
|> Point.changeset(clean_params)
|> Repo.update()
end

11
farmbot_core/lib/farmbot_core/asset/criteria_retriever.ex
View File

@ -132,15 +132,14 @@ defmodule FarmbotCore.Asset.CriteriaRetriever do
end
defp stage_1_day_field({pg, accum}) do
day_criteria = pg.criteria["day"] || %{}
days = day_criteria["days_ago"] || 0
day_criteria = pg.criteria["day"] || pg.criteria[:day] || %{}
days = day_criteria["days_ago"] || day_criteria[:days_ago] || 0
op = day_criteria["op"] || day_criteria[:op] || "<"
time = Timex.shift(Timex.now(), days: -1 * days)
if days == 0 do
{ pg, accum }
else
op = day_criteria["op"] || "<"
time = Timex.shift(Timex.now(), days: -1 * days)
inverted_op = if op == ">" do "<" else ">" end
{ pg, accum ++ [{"created_at", inverted_op, time}] }

1
farmbot_core/lib/farmbot_core/asset/point.ex
View File

@ -37,6 +37,7 @@ defmodule FarmbotCore.Asset.Point do
meta: point.meta,
name: point.name,
plant_stage: point.plant_stage,
created_at: point.created_at,
planted_at: point.planted_at,
pointer_type: point.pointer_type,
radius: point.radius,

18
farmbot_core/lib/farmbot_core/asset/private.ex
View File

@ -40,17 +40,19 @@ defmodule FarmbotCore.Asset.Private do
# Because sqlite can't test unique constraints before a transaction, if this function gets called for
# the same asset more than once asyncronously, the asset can be marked dirty twice at the same time
# causing the `unique constraint` error to happen in either `ecto` OR `sqlite`. I've
# caught both errors here as they are both essentially the same thing, and can be safely
# caught both errors here as they are both essentially the same thing, and can be safely
# discarded. Doing an `insert_or_update/1` (without the bang) can still result in the sqlite
# error being thrown.
# error being thrown.
changeset = LocalMeta.changeset(local_meta, Map.merge(params, %{table: table, status: "dirty"}))
try do
Repo.insert_or_update!(changeset)
result = Repo.insert_or_update!(changeset)
%FarmbotCore.Asset.Private.LocalMeta{} = result
result
catch
:error, %Sqlite.DbConnection.Error{
message: "UNIQUE constraint failed: local_metas.table, local_metas.asset_local_id",
message: "UNIQUE constraint failed: local_metas.table, local_metas.asset_local_id",
sqlite: %{code: :constraint}
} ->
} ->
Logger.warn """
Caught race condition marking data as dirty (sqlite)
table: #{inspect(table)}
@ -59,10 +61,10 @@ defmodule FarmbotCore.Asset.Private do
Ecto.Changeset.apply_changes(changeset)
:error, %Ecto.InvalidChangesetError{
changeset: %{
action: :insert,
action: :insert,
errors: [
table: {"LocalMeta already exists.", [
validation: :unsafe_unique,
validation: :unsafe_unique,
fields: [:table, :asset_local_id]
]}
]}
@ -73,7 +75,7 @@ defmodule FarmbotCore.Asset.Private do
id: #{inspect(asset.local_id)}
"""
Ecto.Changeset.apply_changes(changeset)
type, reason ->
type, reason ->
FarmbotCore.Logger.error 1, """
Caught unexpected error marking data as dirty
table: #{inspect(table)}

9
farmbot_core/lib/farmbot_core/asset_workers/fbos_config_worker.ex
View File

@ -11,16 +11,9 @@ defimpl FarmbotCore.AssetWorker, for: FarmbotCore.Asset.FbosConfig do
alias FarmbotCore.{Asset.FbosConfig, BotState, Config}
import FarmbotFirmware.PackageUtils, only: [package_to_string: 1]
@firmware_flash_attempt_threshold Application.get_env(:farmbot_core, __MODULE__)[:firmware_flash_attempt_threshold]
@firmware_flash_attempt_threshold Application.get_env(:farmbot_core, __MODULE__)[:firmware_flash_attempt_threshold] || 5
@firmware_flash_timeout Application.get_env(:farmbot_core, __MODULE__)[:firmware_flash_timeout] || 5000
@disable_firmware_io_logs_timeout Application.get_env(:farmbot_core, __MODULE__)[:disable_firmware_io_logs_timeout] || 300000
@firmware_flash_attempt_threshold || Mix.raise """
Firmware open attempt threshold not configured:
config :farmbot_core, #{__MODULE__}, [
firmware_flash_attempt_threshold: :infinity
]
"""
@impl FarmbotCore.AssetWorker
def preload(%FbosConfig{}), do: []

18
farmbot_core/lib/farmbot_core/firmware_open_task.ex
View File

@ -9,14 +9,7 @@ defmodule FarmbotCore.FirmwareOpenTask do
require FarmbotCore.Logger
alias FarmbotFirmware.{UARTTransport, StubTransport}
alias FarmbotCore.{Asset, Config}
@attempt_threshold Application.get_env(:farmbot_core, __MODULE__)[:attempt_threshold]
@attempt_threshold || Mix.raise """
Firmware open attempt threshold not configured:
config :farmbot_core, FarmbotCore.FirmwareOpenTask, [
attempt_threshold: 10
]
"""
@attempt_threshold Application.get_env(:farmbot_core, __MODULE__)[:attempt_threshold] || 5
@doc false
def start_link(args, opts \\ [name: __MODULE__]) do
@ -25,7 +18,10 @@ defmodule FarmbotCore.FirmwareOpenTask do
@doc false
def swap_transport(tty) do
Application.put_env(:farmbot_firmware, FarmbotFirmware, transport: UARTTransport, device: tty)
Application.put_env(:farmbot_firmware, FarmbotFirmware,
transport: UARTTransport,
device: tty,
reset: FarmbotCore.FirmwareResetter)
# Swap transport on FW module.
# Close tranpsort if it is open currently.
_ = FarmbotFirmware.close_transport()
@ -33,7 +29,9 @@ defmodule FarmbotCore.FirmwareOpenTask do
end
def unswap_transport() do
Application.put_env(:farmbot_firmware, FarmbotFirmware, transport: StubTransport)
Application.put_env(:farmbot_firmware, FarmbotFirmware,
transport: StubTransport,
reset: FarmbotCore.FirmwareResetter)
# Swap transport on FW module.
# Close tranpsort if it is open currently.
_ = FarmbotFirmware.close_transport()

46
farmbot_core/lib/farmbot_core/firmware_resetter.ex 100644
View File

@ -0,0 +1,46 @@
defmodule FarmbotCore.FirmwareResetter do
if Code.ensure_compiled?(Circuits.GPIO) do
@gpio Circuits.GPIO
else
@gpio nil
end
alias FarmbotCore.Asset
require FarmbotCore.Logger
def reset(package \\ nil) do
pkg = package || Asset.fbos_config(:firmware_hardware)
FarmbotCore.Logger.debug(3, "Attempting to retrieve #{pkg} reset function.")
{:ok, fun} = find_reset_fun(pkg)
fun.()
end
def find_reset_fun("express_k10") do
FarmbotCore.Logger.debug(3, "Using special express reset function")
{:ok, fn -> express_reset_fun() end}
end
def find_reset_fun(_) do
FarmbotCore.Logger.debug(3, "Using default reset function")
{:ok, fn -> :ok end}
end
def express_reset_fun() do
try do
gpio_module = @gpio
FarmbotCore.Logger.debug(3, "Begin MCU reset")
{:ok, gpio} = gpio_module.open(19, :output)
:ok = gpio_module.write(gpio, 0)
:ok = gpio_module.write(gpio, 1)
Process.sleep(1000)
:ok = gpio_module.write(gpio, 0)
FarmbotCore.Logger.debug(3, "Finish MCU Reset")
:ok
rescue
ex ->
message = Exception.message(ex)
msg = "Express reset failed #{message}"
FarmbotCore.Logger.error(3, msg)
{:error, msg}
end
end
end

16
farmbot_core/lib/farmbot_core/firmware_tty_detector.ex
View File

@ -3,17 +3,14 @@ defmodule FarmbotCore.FirmwareTTYDetector do
require Logger
alias Circuits.UART
@expected_names Application.get_env(:farmbot_core, __MODULE__)[:expected_names]
@expected_names ||
Mix.raise("""
Please configure `expected_names` for TTYDetector.
config :farmbot_core, FarmbotCore.FirmwareTTYDetector,
expected_names: ["ttyS0", "ttyNotReal"]
""")
@error_retry_ms 5_000
if System.get_env("FARMBOT_TTY") do
@expected_names ["ttyUSB0", "ttyAMA0", "ttyACM0", System.get_env("FARMBOT_TTY")]
else
@expected_names ["ttyUSB0", "ttyAMA0", "ttyACM0"]
end
@doc "Gets the detected TTY"
def tty(server \\ __MODULE__) do
GenServer.call(server, :tty)
@ -53,7 +50,6 @@ defmodule FarmbotCore.FirmwareTTYDetector do
if farmbot_tty?(name) do
{:noreply, name}
else
# Logger.warn("#{name} is not an expected Farmbot Firmware TTY")
{:noreply, state, {:continue, rest}}
end
end

33
farmbot_core/test/asset/criteria_retriever_test.exs
View File

@ -124,8 +124,6 @@ defmodule FarmbotCore.Asset.CriteriaRetrieverTest do
expect(Timex, :now, fn -> @now end)
pg = point_group_with_fake_points()
# This one is _almost_ a perfect match,
# but the meta field is a miss.
point!(%{
id: 888,
created_at: @five_days_ago,
@ -525,6 +523,37 @@ defmodule FarmbotCore.Asset.CriteriaRetrieverTest do
assert Enum.count(ids) == 1
end
test "edge case: Retrieves by `day` criteria only" do
Repo.delete_all(PointGroup)
Repo.delete_all(Point)
days_ago4 = Timex.shift(@now, days: -4)
days_ago2 = Timex.shift(@now, days: -2)
expect(Timex, :now, fn -> @now end)
point!(%{id: 1, pointer_type: "Plant", created_at: days_ago4})
p2 = point!(%{id: 2, pointer_type: "Plant", created_at: days_ago2})
pg1 = %PointGroup{
id: 212,
created_at: Timex.shift(@now, hours: -1),
updated_at: Timex.shift(@now, hours: -1),
name: "Less than 2 days ago",
point_ids: [],
sort_type: "yx_descending",
criteria: %{
day: %{"op" => "<", "days_ago" => 3},
string_eq: %{},
number_eq: %{},
number_lt: %{},
number_gt: %{}
}
}
ids = CriteriaRetriever.run(pg1) |> Enum.map(fn p -> p.id end)
assert Enum.count(ids) == 1
assert Enum.member?(ids, p2.id)
end
test "edge case: Filter by slot direction" do
Repo.delete_all(PointGroup)
Repo.delete_all(Point)

2
farmbot_ext/config/config.exs
View File

@ -2,8 +2,6 @@ use Mix.Config
config :logger, handle_otp_reports: true, handle_sasl_reports: true
config :farmbot_firmware, FarmbotFirmware, reset: FarmbotFirmware.NullReset
# TODO(Rick) We probably don't need to use this anymore now that Mox is a thing.
config :farmbot_celery_script, FarmbotCeleryScript.SysCalls,
sys_calls: FarmbotCeleryScript.SysCalls.Stubs

2
farmbot_ext/config/farmbot_core.exs
View File

@ -39,8 +39,6 @@ config :farmbot_core, FarmbotCore.EctoMigrator,
default_currently_on_beta:
String.contains?(to_string(:os.cmd('git rev-parse --abbrev-ref HEAD')), "beta")
config :farmbot_core, FarmbotCore.FirmwareTTYDetector, expected_names: []
config :farmbot_core, FarmbotCore.FirmwareOpenTask, attempt_threshold: 0
config :farmbot_core, FarmbotCore.AssetWorker.FarmbotCore.Asset.FbosConfig,

30
farmbot_ext/lib/farmbot_ext/api/dirty_worker.ex
View File

@ -7,7 +7,7 @@ defmodule FarmbotExt.API.DirtyWorker do
require Logger
use GenServer
@timeout 10000
@timeout 4700
# these resources can't be accessed by `id`.
@singular [
@ -34,10 +34,10 @@ defmodule FarmbotExt.API.DirtyWorker do
@impl GenServer
def init(args) do
# Logger.disable(self())
module = Keyword.fetch!(args, :module)
timeout = Keyword.get(args, :timeout, @timeout)
{:ok, %{module: module, timeout: timeout}, timeout}
timer = Process.send_after(self(), :timeout, timeout)
{:ok, %{module: module, timeout: timeout, timer: timer}}
end
@impl GenServer
@ -49,27 +49,18 @@ defmodule FarmbotExt.API.DirtyWorker do
@impl GenServer
def handle_continue([], state) do
{:noreply, state, state.timeout}
timer = Process.send_after(self(), :timeout, state.timeout)
{:noreply, %{state | timer: timer}}
end
def handle_continue([dirty | rest], %{module: module} = state) do
# Logger.info("[#{module} #{dirty.local_id} #{inspect(self())}] Handling dirty data")
case http_request(dirty, state) do
# Valid data
{:ok, %{status: s, body: body}} when s > 199 and s < 300 ->
# Logger.debug(
# "[#{module} #{dirty.local_id} #{inspect(self())}] HTTP request complete: #{s} ok"
# )
dirty |> module.changeset(body) |> handle_changeset(rest, state)
# Invalid data
{:ok, %{status: s, body: %{} = body}} when s > 399 and s < 500 ->
# Logger.debug(
# "[#{module} #{dirty.local_id} #{inspect(self())}] HTTP request complete: #{s} error+body"
# )
changeset = module.changeset(dirty)
Enum.reduce(body, changeset, fn {key, val}, changeset ->
@ -79,10 +70,6 @@ defmodule FarmbotExt.API.DirtyWorker do
# Invalid data, but the API didn't say why
{:ok, %{status: s, body: _body}} when s > 399 and s < 500 ->
# Logger.debug(
# "[#{module} #{dirty.local_id} #{inspect(self())}] HTTP request complete: #{s} error"
# )
module.changeset(dirty)
|> Map.put(:valid?, false)
|> handle_changeset(rest, state)
@ -101,16 +88,12 @@ defmodule FarmbotExt.API.DirtyWorker do
# If the changeset was valid, update the record.
def handle_changeset(%{valid?: true} = changeset, rest, state) do
# Logger.info("Successfully synced: #{state.module}")
Repo.update!(changeset)
|> Private.mark_clean!()
{:noreply, state, {:continue, rest}}
end
# If the changeset was invalid, delete the record.
# TODO(Connor) - Update the dirty field here, upload to rollbar?
def handle_changeset(%{valid?: false, data: data} = changeset, rest, state) do
message =
Enum.map(changeset.errors, fn
@ -125,21 +108,18 @@ defmodule FarmbotExt.API.DirtyWorker do
end
defp http_request(%{id: nil} = dirty, state) do
# Logger.debug("#{state.module} clean request (post)")
path = state.module.path()
data = render(state.module, dirty)
API.post(API.client(), path, data)
end
defp http_request(dirty, %{module: module} = state) when module in @singular do
# Logger.debug("#{state.module} dirty request (patch)")
path = path = state.module.path()
data = render(state.module, dirty)
API.patch(API.client(), path, data)
end
defp http_request(dirty, state) do
# Logger.debug("#{state.module} dirty request (patch)")
path = Path.join(state.module.path(), to_string(dirty.id))
data = render(state.module, dirty)
API.patch(API.client(), path, data)

8
farmbot_ext/test/test_helper.exs
View File

@ -21,12 +21,12 @@ timeout = System.get_env("EXUNIT_TIMEOUT") || "5000"
System.put_env("LOG_SILENCE", "true")
ExUnit.start(assert_receive_timeout: String.to_integer(timeout))
# Use this to stub out calls to `state.reset.reset()` in firmware.
defmodule StubReset do
def reset(), do: :ok
end
defmodule Helpers do
# Maybe I don't need this?
# Maybe I could use `start_supervised`?
# https://hexdocs.pm/ex_unit/ExUnit.Callbacks.html#start_supervised/2
@wait_time 180
# Base case: We have a pid
def wait_for(pid) when is_pid(pid), do: check_on_mbox(pid)

36
farmbot_firmware/lib/farmbot_firmware.ex
View File

@ -107,8 +107,7 @@ defmodule FarmbotFirmware do
:command_queue,
:caller_pid,
:current,
:reset,
:reset_pid
:reset
]
@type state :: %State{
@ -123,8 +122,7 @@ defmodule FarmbotFirmware do
command_queue: [{pid(), GCODE.t()}],
caller_pid: nil | pid,
current: nil | GCODE.t(),
reset: module(),
reset_pid: nil | pid()
reset: module()
}
@doc """
@ -202,16 +200,7 @@ defmodule FarmbotFirmware do
args = Keyword.merge(args, global)
transport = Keyword.fetch!(args, :transport)
side_effects = Keyword.get(args, :side_effects)
# This is probably the cause of
# https://github.com/FarmBot/farmbot_os/issues/1111
# FarmbotFirmware.NullReset (RPi3? Safe default?)
# -OR-
# FarmbotOS.Platform.Target.FirmwareReset.GPIO (RPi0, RPi)
# -OR-
# Use Application.get_env to find target?
# probably?
reset = Keyword.get(args, :reset) || FarmbotFirmware.NullReset
reset = Keyword.fetch!(args, :reset)
# Add an anon function that transport implementations should call.
fw = self()
fun = fn {_, _} = code -> GenServer.cast(fw, code) end
@ -225,7 +214,6 @@ defmodule FarmbotFirmware do
side_effects: side_effects,
status: :transport_boot,
reset: reset,
reset_pid: nil,
command_queue: [],
configuration_queue: []
}
@ -242,24 +230,6 @@ defmodule FarmbotFirmware do
GenServer.stop(state.transport_pid)
end
def handle_info(:timeout, %{status: :transport_boot, reset_pid: nil} = state) do
case GenServer.start_link(state.reset, state.transport_args,
name: state.reset
) do
{:ok, pid} ->
{:noreply, %{state | reset_pid: pid}}
# TODO(Rick): I have no idea what's going on here.
{:error, {:already_started, pid}} ->
{:noreply, %{state | reset_pid: pid}}
error ->
Logger.error("Error starting Firmware Reset: #{inspect(error)}")
Process.send_after(self(), :timeout, @transport_init_error_retry_ms)
{:noreply, state}
end
end
# This will be the first message received right after `init/1`
# It should try to open a transport every `transport_init_error_retry_ms`
# until success.

15
farmbot_firmware/lib/farmbot_firmware/null_reset.ex
View File

@ -1,15 +0,0 @@
defmodule FarmbotFirmware.NullReset do
@moduledoc """
Does nothing in reference to resetting the firmware port
"""
@behaviour FarmbotFirmware.Reset
use GenServer
@impl FarmbotFirmware.Reset
def reset(), do: :ok
@impl GenServer
def init(_args) do
{:ok, %{}}
end
end

4
farmbot_firmware/lib/farmbot_firmware/param.ex
View File

@ -553,6 +553,6 @@ defmodule FarmbotFirmware.Param do
def format_bool(val) when val == 1, do: true
def format_bool(val) when val == 0, do: false
def format_high_low_inverted(val) when val == 0, do: "HIGH"
def format_high_low_inverted(val) when val == 1, do: "LOW"
def format_high_low_inverted(val) when val == 0, do: "ON"
def format_high_low_inverted(val) when val == 1, do: "OFF"
end

8
farmbot_firmware/lib/farmbot_firmware/reset.ex
View File

@ -1,8 +0,0 @@
defmodule FarmbotFirmware.Reset do
@moduledoc """
Behaviour to reset the UART connection into
bootloader mode for firmware upgrades.
"""
@callback reset :: :ok | {:error, Stirng.t()}
end

2
farmbot_firmware/lib/farmbot_firmware/transports/uart_transport.ex
View File

@ -13,7 +13,7 @@ defmodule FarmbotFirmware.UARTTransport do
def init(args) do
device = Keyword.fetch!(args, :device)
handle_gcode = Keyword.fetch!(args, :handle_gcode)
reset = Keyword.get(args, :reset)
reset = Keyword.fetch!(args, :reset)
{:ok, uart} = UartDefaultAdapter.start_link()
{:ok,

5693
farmbot_firmware/priv/express_k10.hex
View File

File diff suppressed because it is too large Load Diff

5938
farmbot_firmware/priv/farmduino_k15.hex
View File

File diff suppressed because it is too large Load Diff

14
farmbot_firmware/test/farmbot_firmware/command_test.exs
View File

@ -6,12 +6,16 @@ defmodule FarmbotFirmware.CommandTest do
import ExUnit.CaptureLog
@subject FarmbotFirmware.Command
@tag :capture_log
test "command() runs RPCs" do
arg = [transport: FarmbotFirmware.StubTransport]
def fake_pid() do
arg = [transport: FarmbotFirmware.StubTransport, reset: StubReset]
{:ok, pid} = FarmbotFirmware.start_link(arg, [])
send(pid, :timeout)
pid
end
@tag :capture_log
test "command() runs RPCs" do
pid = fake_pid()
assert {:error, :emergency_lock} ==
FarmbotFirmware.command(pid, {:command_emergency_lock, []})
@ -22,9 +26,7 @@ defmodule FarmbotFirmware.CommandTest do
@tag :capture_log
test "command() refuses to run RPCs in :boot state" do
arg = [transport: FarmbotFirmware.StubTransport]
{:ok, pid} = FarmbotFirmware.start_link(arg, [])
send(pid, :timeout)
pid = fake_pid()
{:error, message} = @subject.command(pid, {:a, {:b, :c}})
assert "Can't send command when in :boot state" == message
end

2
farmbot_firmware/test/farmbot_firmware/transports/uart_transport_test.exs
View File

@ -14,7 +14,7 @@ defmodule FarmbotFirmware.UARTTransportTest do
init_args = [
device: :FAKE_DEVICE,
handle_gcode: :FAKE_GCODE_HANDLER,
reset: :FAKE_RESETER
reset: StubReset
]
{:ok, state, 0} = UARTTransport.init(init_args)

2
farmbot_firmware/test/farmbot_firmware_test.exs
View File

@ -11,7 +11,7 @@ defmodule FarmbotFirmwareTest do
end
def firmware_server do
arg = [transport: FarmbotFirmware.StubTransport]
arg = [transport: FarmbotFirmware.StubTransport, reset: StubReset]
{:ok, pid} = FarmbotFirmware.start_link(arg, [])
send(pid, :timeout)
try_command(pid, {nil, {:command_emergency_lock, []}})

2
farmbot_os/config/config.exs
View File

@ -80,8 +80,6 @@ config :farmbot, FarmbotOS.Platform.Supervisor,
FarmbotOS.Platform.Host.Configurator
]
config :farmbot_firmware, FarmbotFirmware, reset: FarmbotFirmware.NullReset
config :logger,
handle_sasl_reports: false,
handle_otp_reports: false,

8
farmbot_os/config/host/dev.exs
View File

@ -36,15 +36,7 @@ config :farmbot,
FarmbotCore.Asset.Repo
]
config :farmbot_core, FarmbotCore.FirmwareTTYDetector,
expected_names: [
System.get_env("FARMBOT_TTY")
]
config :farmbot_core, FarmbotCore.FirmwareOpenTask, attempt_threshold: 5
config :farmbot_core, FarmbotCore.AssetWorker.FarmbotCore.Asset.FbosConfig,
firmware_flash_attempt_threshold: 5
config :logger,
backends: [:console]

2
farmbot_os/config/host/test.exs
View File

@ -35,8 +35,6 @@ config :farmbot, FarmbotOS.Configurator,
data_layer: FarmbotOS.Configurator.ConfigDataLayer,
network_layer: FarmbotOS.Configurator.FakeNetworkLayer
config :farmbot_core, FarmbotCore.FirmwareTTYDetector, expected_names: []
config :farmbot_core, FarmbotCore.FirmwareOpenTask, attempt_threshold: 0
config :farmbot_core, FarmbotCore.AssetWorker.FarmbotCore.Asset.FbosConfig,

3
farmbot_os/config/target/dev.exs
View File

@ -116,9 +116,6 @@ config :farmbot, FarmbotOS.System,
config :farmbot_core, FarmbotCore.FirmwareOpenTask, attempt_threshold: 5
config :farmbot_core, FarmbotCore.AssetWorker.FarmbotCore.Asset.FbosConfig,
firmware_flash_attempt_threshold: 5
config :logger, backends: [RingLogger]
config :logger, RingLogger,

10
farmbot_os/config/target/rpi.exs
View File

@ -1,16 +1,6 @@
use Mix.Config
config :farmbot_core, FarmbotCore.FirmwareTTYDetector,
expected_names: ["ttyUSB0", "ttyAMA0"]
config :farmbot_firmware, FarmbotFirmware,
reset: FarmbotOS.Platform.Target.FirmwareReset.GPIO
config :farmbot, FarmbotOS.Init.Supervisor,
init_children: [
FarmbotOS.Platform.Target.RTCWorker
]
# :farmbot_firmware, FarmbotFirmware changes too much.
# Needed one that would stay stable, so I duplicated it here:
config :farmbot, FarmbotOS.SysCalls.FlashFirmware, gpio: Circuits.GPIO

10
farmbot_os/config/target/rpi0.exs
View File

@ -1,17 +1,7 @@
use Mix.Config
config :farmbot_core, FarmbotCore.FirmwareTTYDetector,
expected_names: ["ttyUSB0", "ttyAMA0"]
config :farmbot_core, FarmbotCore.FirmwareOpenTask, attempt_threshold: 50
config :farmbot_firmware, FarmbotFirmware,
reset: FarmbotOS.Platform.Target.FirmwareReset.GPIO
# :farmbot_firmware, FarmbotFirmware changes too much.
# Needed one that would stay stable, so I duplicated it here:
config :farmbot, FarmbotOS.SysCalls.FlashFirmware, gpio: Circuits.GPIO
config :farmbot, FarmbotOS.Init.Supervisor,
init_children: [
FarmbotOS.Platform.Target.RTCWorker

5
farmbot_os/config/target/rpi3.exs
View File

@ -1,9 +1,6 @@
use Mix.Config
config :farmbot_core, FarmbotCore.FirmwareTTYDetector,
expected_names: ["ttyUSB0", "ttyACM0"]
config :farmbot_firmware, FarmbotFirmware, reset: FarmbotFirmware.NullReset
config :farmbot_firmware, FarmbotFirmware, reset: FarmbotCore.FirmwareResetter
config :farmbot, FarmbotOS.Init.Supervisor,
init_children: [

5
farmbot_os/lib/farmbot_os/sys_calls.ex
View File

@ -84,7 +84,7 @@ defmodule FarmbotOS.SysCalls do
defdelegate set_servo_angle(pin, angle), to: PinControl
@impl true
defdelegate resource_update(kind, id, params), to: ResourceUpdate
defdelegate update_resource(kind, id, params), to: ResourceUpdate
@impl true
defdelegate get_current_x(), to: Movement
@ -184,6 +184,7 @@ defmodule FarmbotOS.SysCalls do
@impl true
def firmware_reboot do
FarmbotCore.Logger.info(1, "Restarting firmware...")
GenServer.stop(FarmbotFirmware, :reboot)
end
@ -204,12 +205,14 @@ defmodule FarmbotOS.SysCalls do
@impl true
def emergency_lock do
_ = FarmbotFirmware.command({:command_emergency_lock, []})
FarmbotCore.Logger.error(1, "E-stopped")
:ok
end
@impl true
def emergency_unlock do
_ = FarmbotFirmware.command({:command_emergency_unlock, []})
FarmbotCore.Logger.busy(1, "Unlocked")
:ok
end

60
farmbot_os/lib/farmbot_os/sys_calls/flash_firmware.ex
View File

@ -1,29 +1,10 @@
Application.get_env(:farmbot, FarmbotOS.SysCalls.FlashFirmware, [])[:gpio]
defmodule FarmbotOS.SysCalls.FlashFirmware do
@moduledoc false
alias FarmbotCore.{Asset, Asset.Private}
alias FarmbotCore.{Asset, Asset.Private, FirmwareResetter}
alias FarmbotFirmware
alias FarmbotCore.FirmwareTTYDetector
defmodule Stub do
require FarmbotCore.Logger
def fail do
m = "No express function found. Please notify support."
FarmbotCore.Logger.error(3, m)
{:error, m}
end
def open(_, _), do: fail()
def write(_, _), do: fail()
end
# This only matter for express.
# When it's an express, use Circuits.GPIO.
@gpio Application.get_env(:farmbot, __MODULE__, [])[:gpio] || Stub
import FarmbotFirmware.PackageUtils,
only: [find_hex_file: 1, package_to_string: 1]
@ -40,11 +21,11 @@ defmodule FarmbotOS.SysCalls.FlashFirmware do
{:ok, tty} <- find_tty(),
_ <-
FarmbotCore.Logger.debug(3, "found tty: #{tty} for firmware flash"),
{:ok, fun} <- find_reset_fun(package),
{:ok, fun} <- FirmwareResetter.find_reset_fun(package),
_ <-
FarmbotCore.Logger.debug(
3,
"closing firmware transport before flash"
"Closing the firmware transport before flash"
),
:ok <- FarmbotFirmware.close_transport(),
_ <- FarmbotCore.Logger.debug(3, "starting firmware flash"),
@ -64,14 +45,17 @@ defmodule FarmbotOS.SysCalls.FlashFirmware do
end
def finish_flashing({_result, 0}) do
FarmbotCore.Logger.success(2, "Firmware flashed successfully!")
FarmbotCore.Logger.success(
1,
"Firmware flashed successfully. Unlock FarmBot to finish initialization."
)
end
def finish_flashing(result) do
FarmbotCore.Logger.debug(2, "AVR flash returned #{inspect(result)}")
end
defp find_tty() do
def find_tty() do
case FirmwareTTYDetector.tty() do
nil ->
{:error,
@ -83,32 +67,4 @@ defmodule FarmbotOS.SysCalls.FlashFirmware do
{:ok, tty}
end
end
defp find_reset_fun("express_k10") do
FarmbotCore.Logger.debug(3, "Using special express reset function")
{:ok, fn -> express_reset_fun() end}
end
defp find_reset_fun(_) do
FarmbotCore.Logger.debug(3, "Using default reset function")
{:ok, &FarmbotFirmware.NullReset.reset/0}
end
def express_reset_fun() do
try do
FarmbotCore.Logger.debug(3, "Begin MCU reset")
{:ok, gpio} = @gpio.open(19, :output)
:ok = @gpio.write(gpio, 0)
:ok = @gpio.write(gpio, 1)
Process.sleep(1000)
:ok = @gpio.write(gpio, 0)
FarmbotCore.Logger.debug(3, "Finish MCU Reset")
:ok
rescue
ex ->
message = Exception.message(ex)
Logger.error("Could not flash express firmware: #{message}")
:express_reset_error
end
end
end

6
farmbot_os/lib/farmbot_os/sys_calls/movement.ex
View File

@ -98,6 +98,12 @@ defmodule FarmbotOS.SysCalls.Movement do
# TODO(Rick): Figure out source of Error: {:ok, "ok"} logs.
def handle_movement_error({:ok, _}), do: :ok
def handle_movement_error(:emergency_lock) do
msg = "Cannot execute commands while E-stopped"
FarmbotCore.Logger.busy(1, msg)
{:error, msg}
end
def handle_movement_error(reason) do
msg = "Movement failed. #{inspect(reason)}"
FarmbotCore.Logger.error(1, msg)

17
farmbot_os/lib/farmbot_os/sys_calls/point_lookup.ex
View File

@ -8,8 +8,21 @@ defmodule FarmbotOS.SysCalls.PointLookup do
def point(kind, id) do
case Asset.get_point(id: id) do
nil -> {:error, "#{kind} not found"}
%{name: name, x: x, y: y, z: z} -> %{name: name, x: x, y: y, z: z}
nil ->
{:error, "#{kind || "point"} #{id} not found"}
%{name: name, x: x, y: y, z: z, pointer_type: type} ->
%{
name: name,
resource_type: type,
resource_id: id,
x: x,
y: y,
z: z
}
other ->
Logger.debug("Point error: Please notify support #{inspect(other)}")
end
end

62
farmbot_os/lib/farmbot_os/sys_calls/resource_update.ex
View File

@ -2,6 +2,7 @@ defmodule FarmbotOS.SysCalls.ResourceUpdate do
@moduledoc false
require Logger
require FarmbotCore.Logger
alias FarmbotCore.{
Asset,
@ -10,9 +11,39 @@ defmodule FarmbotOS.SysCalls.ResourceUpdate do
alias FarmbotOS.SysCalls.SendMessage
@point_kinds ~w(Plant GenericPointer)
@point_kinds ~w(Plant GenericPointer ToolSlot Weed)
@friendly_names %{
"gantry_mounted" => "`gantry mounted` property",
"mounted_tool_id" => "mounted tool ID",
"openfarm_slug" => "Openfarm slug",
"ota_hour" => "OTA hour",
"plant_stage" => "plant stage",
"planted_at" => "planted at time",
"pullout_direction" => "pullout direction",
"tool_id" => "tool ID",
"tz_offset_hrs" => "timezone offset hours",
"x" => "X axis",
"y" => "Y axis",
"z" => "Z axis",
"Device" => "device",
"Plant" => "plant",
"GenericPointer" => "map point",
"ToolSlot" => "tool slot",
"Weed" => "weed"
}
def notify_user_of_updates(kind, params) do
Enum.map(params, fn {k, v} ->
name = @friendly_names[kind] || kind
property = @friendly_names["#{k}"] || k
msg = "Setting #{name} #{property} to #{inspect(v)}"
FarmbotCore.Logger.info(3, msg)
end)
end
def update_resource("Device" = kind, _, params) do
notify_user_of_updates(kind, params)
def resource_update("Device", 0, params) do
params
|> do_handlebars()
|> Asset.update_device!()
@ -21,12 +52,13 @@ defmodule FarmbotOS.SysCalls.ResourceUpdate do
:ok
end
def resource_update(kind, id, params) when kind in @point_kinds do
def update_resource(kind, id, params) when kind in @point_kinds do
notify_user_of_updates(kind, params)
params = do_handlebars(params)
point_resource_update(kind, id, params)
point_update_resource(kind, id, params)
end
def resource_update(kind, id, _params) do
def update_resource(kind, id, _params) do
{:error,
"""
Unknown resource: #{kind}.#{id}
@ -34,18 +66,26 @@ defmodule FarmbotOS.SysCalls.ResourceUpdate do
end
@doc false
def point_resource_update(type, id, params) do
with %{} = point <- Asset.get_point(pointer_type: type, id: id),
def point_update_resource(type, id, params) do
with %{} = point <- Asset.get_point(id: id),
{:ok, point} <- Asset.update_point(point, params) do
_ = Private.mark_dirty!(point)
:ok
else
nil ->
{:error,
"#{type}.#{id} is not currently synced, so it could not be updated"}
msg = "#{type}.#{id} is not currently synced. Please re-sync."
FarmbotCore.Logger.error(3, msg)
{:error, msg}
{:error, _changeset} ->
{:error, "Failed to update #{type}.#{id}"}
msg =
"Failed update (#{type}.#{id}): Ensure the data is properly formatted"
FarmbotCore.Logger.error(3, msg)
{:error, msg}
err ->
{:error, "Unknown error. Please notify support. #{inspect(err)}"}
end
end
@ -59,7 +99,7 @@ defmodule FarmbotOS.SysCalls.ResourceUpdate do
_ ->
Logger.warn(
"failed to render #{key} => #{value} for resource_update"
"failed to render #{key} => #{value} for update_resource"
)
{key, value}

34
farmbot_os/platform/target/firmware_reset/gpio.ex
View File

@ -1,34 +0,0 @@
defmodule FarmbotOS.Platform.Target.FirmwareReset.GPIO do
@moduledoc """
Uses GPIO pin 19 to reset the firmware.
"""
@behaviour FarmbotFirmware.Reset
use GenServer
require Logger
@impl FarmbotFirmware.Reset
def reset(server \\ __MODULE__) do
Logger.debug("calling gpio reset/0")
GenServer.call(server, :reset)
end
@impl GenServer
def init(_args) do
Logger.debug("initializing gpio thing for firmware reset")
{:ok, gpio} = Circuits.GPIO.open(19, :output)
{:ok, %{gpio: gpio}}
end
@impl GenServer
def handle_call(:reset, _from, state) do
Logger.warn("doing firmware gpio reset")
with :ok <- Circuits.GPIO.write(state.gpio, 1),
:ok <- Circuits.GPIO.write(state.gpio, 0) do
{:reply, :ok, state}
else
error -> {:reply, error, state}
end
end
end

6
farmbot_os/test/farmbot_os/syscalls/point_lookup_test.exs
View File

@ -17,7 +17,7 @@ defmodule FarmbotOS.SysCalls.PointLookupTest do
test "failure cases" do
err1 = PointLookup.point("GenericPointer", 24)
assert {:error, "GenericPointer not found"} == err1
assert {:error, "GenericPointer 24 not found"} == err1
err2 = PointLookup.get_toolslot_for_tool(24)
assert {:error, "Could not find point for tool by id: 24"} == err2
@ -33,7 +33,9 @@ defmodule FarmbotOS.SysCalls.PointLookupTest do
name: "test suite III",
x: 1.2,
y: 3.4,
z: 5.6
z: 5.6,
resource_id: 555,
resource_type: "GenericPointer"
}
p = point(expected)

18
farmbot_os/test/farmbot_os/syscalls/resource_update_test.exs
View File

@ -14,14 +14,14 @@ defmodule FarmbotOS.SysCalls.ResourceUpdateTest do
end)
end
test "resource_update/3 - Device" do
test "update_resource/3 - Device" do
fake_coords!()
params = %{name: "X is {{ x }}"}
assert :ok == ResourceUpdate.resource_update("Device", 0, params)
assert :ok == ResourceUpdate.update_resource("Device", 0, params)
assert "X is 1.2" == FarmbotCore.Asset.device().name
end
test "resource_update/3 - Point" do
test "update_resource/3 - Point" do
Repo.delete_all(Point)
%Point{id: 555, pointer_type: "Plant"}
@ -29,17 +29,17 @@ defmodule FarmbotOS.SysCalls.ResourceUpdateTest do
|> Repo.insert!()
params = %{name: "Updated to {{ x }}"}
assert :ok == ResourceUpdate.resource_update("Plant", 555, params)
assert :ok == ResourceUpdate.update_resource("Plant", 555, params)
next_plant = PointLookup.point("Plant", 555)
assert "Updated to " == next_plant.name
assert String.contains?(next_plant.name, "Updated to ")
bad_result1 = ResourceUpdate.resource_update("Plant", 0, params)
error = "Plant.0 is not currently synced, so it could not be updated"
bad_result1 = ResourceUpdate.update_resource("Plant", 0, params)
error = "Plant.0 is not currently synced. Please re-sync."
assert {:error, error} == bad_result1
end
test "resource_update/3 - unknown" do
{:error, error} = ResourceUpdate.resource_update("Foo", 0, nil)
test "update_resource/3 - unknown" do
{:error, error} = ResourceUpdate.update_resource("Foo", 0, nil)
assert error == "Unknown resource: Foo.0\n"
end
end