Merge branch 'error_codes' of github.com:FarmBot/farmbot_os into firmware_fix
commit
23f668a321
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@ -31,6 +31,36 @@ defmodule FarmbotCore.FirmwareSideEffects do
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:noop
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end
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@impl FarmbotFirmware.SideEffects
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def handle_stall_detected() do
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FarmbotCore.Logger.error(1, "Movement failed: stall detected")
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:noop
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end
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@impl FarmbotFirmware.SideEffects
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def handle_calibration_error() do
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FarmbotCore.Logger.error(1, "Calibration failed")
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:noop
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end
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@impl FarmbotFirmware.SideEffects
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def handle_invalid_command() do
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FarmbotCore.Logger.error(1, "Invalid command")
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:noop
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end
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@impl FarmbotFirmware.SideEffects
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def handle_no_configuration() do
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FarmbotCore.Logger.error(1, "No configuration")
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:noop
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end
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@impl FarmbotFirmware.SideEffects
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def handle_unknown_error(err) do
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FarmbotCore.Logger.error(1, "Unknown error: #{inspect(err)}")
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:noop
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end
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@impl FarmbotFirmware.SideEffects
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def handle_home_complete(_) do
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:noop
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@ -729,6 +729,51 @@ defmodule FarmbotFirmware do
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{:noreply, goto(state, :busy)}
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end
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def handle_report({:report_error, [:no_error]}, state) do
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Logger.error("Error: no error")
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handle_report({:report_error, []}, state)
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end
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def handle_report({:report_error, [:emergency_lock]}, state) do
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Logger.error("Error: emergency lock")
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handle_report({:report_error, []}, state)
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end
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def handle_report({:report_error, [:timeout]}, state) do
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Logger.error("Error: timeout")
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handle_report({:report_error, []}, state)
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end
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def handle_report({:report_error, [:stall_detected]}, state) do
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Logger.error("Error: stall detected")
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side_effects(state, :handle_stall_detected, [])
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handle_report({:report_error, []}, state)
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end
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def handle_report({:report_error, [:calibration_error]}, state) do
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Logger.error("Error: calibration error")
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side_effects(state, :handle_calibration_error, [])
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handle_report({:report_error, []}, state)
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end
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def handle_report({:report_error, [:invalid_command]}, state) do
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Logger.error("Error: invalid command")
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side_effects(state, :handle_invalid_command, [])
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handle_report({:report_error, []}, state)
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end
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def handle_report({:report_error, [:no_config]}, state) do
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Logger.error("Error: no configuration")
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side_effects(state, :handle_no_configuration, [])
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handle_report({:report_error, []}, state)
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end
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def handle_report({:report_error, [unk]}, state) do
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Logger.error("Error: #{inspect(unk)}")
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side_effects(state, :handle_unknown_error, [unk])
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handle_report({:report_error, []}, state)
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end
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def handle_report(
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{:report_error, _} = code,
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%{status: :configuration} = state
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@ -49,9 +49,14 @@ defmodule FarmbotFirmware.Command do
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debug_log("#{GCODE.encode(code)} position change")
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wait_for_command_result(tag, code, retries, error)
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{_, {:report_error, _}} ->
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debug_log("#{GCODE.encode(code)} firmware error")
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if err, do: {:error, err}, else: {:error, :firmware_error}
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{_, {:report_error, [error_code]}} ->
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if err do
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debug_log("#{GCODE.encode(code)} error: #{inspect(err)}")
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{:error, err}
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else
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debug_log("#{GCODE.encode(code)} #{inspect(error_code)}")
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{:error, "firmware error: #{inspect(error_code)}"}
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end
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{_, {:report_invalid, []}} ->
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debug_log("#{GCODE.encode(code)} invalid command")
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@ -9,7 +9,7 @@ defmodule FarmbotFirmware.GCODE.Decoder do
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def do_decode("R01", []), do: {:report_begin, []}
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def do_decode("R02", []), do: {:report_success, []}
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def do_decode("R03", []), do: {:report_error, [:no_error]}
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def do_decode("R03", error), do: {:report_error, decode_error(error)}
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def do_decode("R03", v), do: {:report_error, decode_v(v)}
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def do_decode("R04", []), do: {:report_busy, []}
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def do_decode("R05", xyz), do: {:report_axis_state, decode_axis_state(xyz)}
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@ -99,17 +99,20 @@ defmodule FarmbotFirmware.GCODE.Decoder do
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{:unknown, [kind | args]}
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end
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def decode_error(["V0"]), do: [:no_error]
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def decode_error(["V1"]), do: [:emergency_lock]
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def decode_error(["V2"]), do: [:timeout]
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def decode_error(["V3"]), do: [:stall_detected]
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def decode_error(["V14"]), do: [:invalid_command]
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def decode_error(["V15"]), do: [:no_config]
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def decode_error([unk]), do: [unknown_error: unk]
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# TODO(Rick): This is a guess. Can be removed if
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# better solution is found.
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# FarmBot/farmbot_os/issues/1105#issuecomment-572381069
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def decode_error(unk), do: [unknown_error: [unk]]
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def decode_v(["V" <> value]) do
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{value, ""} = Float.parse(value)
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case value do
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0.0 -> [:no_error]
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1.0 -> [:emergency_lock]
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2.0 -> [:timeout]
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3.0 -> [:stall_detected]
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4.0 -> [:calibration_error]
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14.0 -> [:invalid_command]
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15.0 -> [:no_config]
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unk -> [unknown_error: unk]
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end
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end
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defp decode_floats(list, acc \\ [])
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@ -8,10 +8,8 @@ defmodule FarmbotFirmware.GCODE.Encoder do
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def do_encode(:report_idle, []), do: "R00"
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def do_encode(:report_begin, []), do: "R01"
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def do_encode(:report_success, []), do: "R02"
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# TODO(Rick): Why are some `:report_error`s sending
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# tuples instead of lists??
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# https://github.com/FarmBot/farmbot_os/issues/1105#issuecomment-572381069
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def do_encode(:report_error, _), do: "R03"
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def do_encode(:report_error, []), do: "R03"
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def do_encode(:report_error, error), do: "R03 " <> encode_error(error)
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def do_encode(:report_busy, []), do: "R04"
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def do_encode(:report_axis_state, xyz), do: "R05 " <> encode_axis_state(xyz)
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@ -158,6 +156,19 @@ defmodule FarmbotFirmware.GCODE.Encoder do
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"P#{param_id} V#{binary_float}"
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end
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defp encode_error(error) do
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case error do
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:no_error -> "V0"
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:emergency_lock -> "V1"
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:timeout -> "V2"
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:stall_detected -> "V3"
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:calibration_error -> "V4"
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:invalid_command -> "V14"
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:no_config -> "V15"
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_ -> ""
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end
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end
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defp encode_ints(args) do
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Enum.map(args, fn {key, val} ->
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String.upcase(to_string(key)) <> to_string(val)
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@ -74,8 +74,10 @@ defmodule FarmbotFirmware.Request do
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do: {:ok, {tag, result}},
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else: wait_for_request_result(tag, code, result)
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{_, {:report_error, _}} ->
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{:error, :firmware_error}
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{_, {:report_error, error_code}} ->
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if error_code,
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do: {:error, error_code},
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else: {:error, :firmware_error}
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{_, {:report_invalid, []}} ->
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{:error, :invalid_command}
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@ -40,11 +40,17 @@ defmodule FarmbotFirmware.GCODETest do
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test "error" do
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assert {nil, {:report_error, [:no_error]}} = GCODE.decode("R03")
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assert {nil, {:report_error, [:no_error]}} = GCODE.decode("R03 V0")
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assert {"1", {:report_error, [:no_error]}} = GCODE.decode("R03 V0 Q1")
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assert {nil, {:report_error, [:emergency_lock]}} = GCODE.decode("R03 V1")
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assert {nil, {:report_error, [:timeout]}} = GCODE.decode("R03 V2")
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assert {nil, {:report_error, [:stall_detected]}} = GCODE.decode("R03 V3")
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assert {nil, {:report_error, [unknown_error: 987.0]}} =
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GCODE.decode("R03 V987")
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assert {nil, {:report_error, [:calibration_error]}} =
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GCODE.decode("R03 V4")
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assert {nil, {:report_error, [:invalid_command]}} =
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GCODE.decode("R03 V14")
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@ -52,6 +58,13 @@ defmodule FarmbotFirmware.GCODETest do
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assert {"100", {:report_error, [:no_error]}} = GCODE.decode("R03 Q100")
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assert "R03" = GCODE.encode({nil, {:report_error, []}})
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assert "R03 V0" = GCODE.encode({nil, {:report_error, :no_error}})
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assert "R03 V1" = GCODE.encode({nil, {:report_error, :emergency_lock}})
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assert "R03 V2" = GCODE.encode({nil, {:report_error, :timeout}})
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assert "R03 V3" = GCODE.encode({nil, {:report_error, :stall_detected}})
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assert "R03 V4" = GCODE.encode({nil, {:report_error, :calibration_error}})
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assert "R03 V14" = GCODE.encode({nil, {:report_error, :invalid_command}})
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assert "R03 V15" = GCODE.encode({nil, {:report_error, :no_config}})
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assert "R03 Q100" = GCODE.encode({"100", {:report_error, []}})
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end
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