Add new field to bot state

bot_state.location_data.axis_states now contains a vec3 of strings of
current axis states

farmbot_core/lib/farmbot_core/bot_state.ex

@@ -34,16 +34,20 @@ defmodule FarmbotCore.BotState do
     GenServer.call(bot_state_server, {:set_encoders_scaled, x, y, z})
   end
 
-  @doc "Sets pins.pin.value"
-  def set_pin_value(bot_state_server \\ __MODULE__, pin, value) do
-    GenServer.call(bot_state_server, {:set_pin_value, pin, value})
-  end
-
   @doc "Sets the location_data.encoders_raw"
   def set_encoders_raw(bot_state_server \\ __MODULE__, x, y, z) do
     GenServer.call(bot_state_server, {:set_encoders_raw, x, y, z})
   end
 
+  def set_axis_state(bot_state_server \\ __MODULE__, axis, state) do
+    GenServer.call(bot_state_server, {:set_axis_state, axis, state})
+  end
+
+  @doc "Sets pins.pin.value"
+  def set_pin_value(bot_state_server \\ __MODULE__, pin, value) do
+    GenServer.call(bot_state_server, {:set_pin_value, pin, value})
+  end
+
   @doc "Sets mcu_params[param] = value"
   def set_firmware_config(bot_state_server \\ __MODULE__, param, value) do
     GenServer.call(bot_state_server, {:set_firmware_config, param, value})
@@ -220,6 +224,22 @@ defmodule FarmbotCore.BotState do
     {:reply, reply, state}
   end
 
+  def handle_call({:set_axis_state, axis, axis_state}, _from, state) do
+    change = %{
+      location_data: %{
+        axis_states: %{
+          state.location_data.axis_states | axis => to_string(axis_state)
+        }
+      }
+    }
+
+    {reply, state} =
+      BotStateNG.changeset(state.tree, change)
+      |> dispatch_and_apply(state)
+
+    {:reply, reply, state}
+  end
+
   def handle_call({:set_pin_value, pin, value}, _from, state) do
     {reply, state} =
       BotStateNG.add_or_update_pin(state.tree, pin, -1, value)

farmbot_core/lib/farmbot_core/bot_state_ng/location_data.ex

@@ -1,48 +1,17 @@
 defmodule FarmbotCore.BotStateNG.LocationData do
   @moduledoc false
   alias FarmbotCore.BotStateNG.LocationData
+  alias LocationData.{Vec3, Vec3String}
   use Ecto.Schema
   import Ecto.Changeset
 
   @primary_key false
 
-  defmodule Vec3 do
-    @moduledoc false
-    use Ecto.Schema
-    import Ecto.Changeset
-
-    @primary_key false
-
-    embedded_schema do
-      field(:x, :float)
-      field(:y, :float)
-      field(:z, :float)
-    end
-
-    def new do
-      %__MODULE__{}
-      |> changeset(%{x: -1, y: -1, z: -1})
-      |> apply_changes()
-    end
-
-    def view(vec3) do
-      %{
-        x: vec3.x,
-        y: vec3.y,
-        z: vec3.z
-      }
-    end
-
-    def changeset(vec3, params \\ %{}) do
-      vec3
-      |> cast(params, [:x, :y, :z])
-    end
-  end
-
   embedded_schema do
     embeds_one(:scaled_encoders, Vec3, on_replace: :update)
     embeds_one(:raw_encoders, Vec3, on_replace: :update)
     embeds_one(:position, Vec3, on_replace: :update)
+    embeds_one(:axis_states, Vec3String, on_replace: :update)
   end
 
   def new do
@@ -51,6 +20,7 @@ defmodule FarmbotCore.BotStateNG.LocationData do
     |> put_embed(:scaled_encoders, Vec3.new(), [])
     |> put_embed(:raw_encoders, Vec3.new(), [])
     |> put_embed(:position, Vec3.new(), [])
+    |> put_embed(:axis_states, Vec3String.new(), [])
     |> apply_changes()
   end
 
@@ -58,7 +28,8 @@ defmodule FarmbotCore.BotStateNG.LocationData do
     %{
       scaled_encoders: Vec3.view(location_data.scaled_encoders),
       raw_encoders: Vec3.view(location_data.raw_encoders),
-      position: Vec3.view(location_data.position)
+      position: Vec3.view(location_data.position),
+      axis_states: Vec3String.view(location_data.axis_states)
     }
   end
 
@@ -68,5 +39,6 @@ defmodule FarmbotCore.BotStateNG.LocationData do
     |> cast_embed(:scaled_encoders)
     |> cast_embed(:raw_encoders)
     |> cast_embed(:position)
+    |> cast_embed(:axis_states)
   end
 end

farmbot_core/lib/farmbot_core/bot_state_ng/location_data/vec3.ex

@@ -0,0 +1,32 @@
+defmodule FarmbotCore.BotStateNG.LocationData.Vec3 do
+  @moduledoc false
+  use Ecto.Schema
+  import Ecto.Changeset
+
+  @primary_key false
+
+  embedded_schema do
+    field(:x, :float)
+    field(:y, :float)
+    field(:z, :float)
+  end
+
+  def new do
+    %__MODULE__{}
+    |> changeset(%{x: -1, y: -1, z: -1})
+    |> apply_changes()
+  end
+
+  def view(vec3) do
+    %{
+      x: vec3.x,
+      y: vec3.y,
+      z: vec3.z
+    }
+  end
+
+  def changeset(vec3, params \\ %{}) do
+    vec3
+    |> cast(params, [:x, :y, :z])
+  end
+end

farmbot_core/lib/farmbot_core/bot_state_ng/location_data/vec3_string.ex

@@ -0,0 +1,32 @@
+defmodule FarmbotCore.BotStateNG.LocationData.Vec3String do
+  @moduledoc false
+  use Ecto.Schema
+  import Ecto.Changeset
+
+  @primary_key false
+
+  embedded_schema do
+    field(:x, :string)
+    field(:y, :string)
+    field(:z, :string)
+  end
+
+  def new do
+    %__MODULE__{}
+    |> changeset(%{x: "unknown", y: "unknown", z: "unknown"})
+    |> apply_changes()
+  end
+
+  def view(vec3) do
+    %{
+      x: vec3.x,
+      y: vec3.y,
+      z: vec3.z
+    }
+  end
+
+  def changeset(vec3, params \\ %{}) do
+    vec3
+    |> cast(params, [:x, :y, :z])
+  end
+end

farmbot_core/lib/farmbot_core/firmware_side_effects.ex

@@ -16,8 +16,8 @@ defmodule FarmbotCore.FirmwareSideEffects do
   end
 
   @impl FarmbotFirmware.SideEffects
-  def handle_axis_state([{_axis, _state}]) do
-    :noop
+  def handle_axis_state([{axis, state}]) do
+    BotState.set_axis_state(axis, state)
   end
 
   @impl FarmbotFirmware.SideEffects