Change if and read_pin to function the same as v7

this prevents the possibility of reading a sensor and it changing
by the time an if statement is executed

farmbot_celery_script/lib/farmbot_celery_script/compiler.ex

@@ -267,23 +267,26 @@ defmodule FarmbotCeleryScript.Compiler do
     lhs =
       case lhs_ast do
         "x" ->
-          quote [location: :keep], do: FarmbotCeleryScript.SysCalls.get_current_x()
+          quote [location: :keep],
+            do: FarmbotCeleryScript.SysCalls.get_cached_x()
 
         "y" ->
-          quote [location: :keep], do: FarmbotCeleryScript.SysCalls.get_current_y()
+          quote [location: :keep],
+            do: FarmbotCeleryScript.SysCalls.get_cached_y()
 
         "z" ->
-          quote [location: :keep], do: FarmbotCeleryScript.SysCalls.get_current_z()
+          quote [location: :keep],
+            do: FarmbotCeleryScript.SysCalls.get_cached_z()
 
         "pin" <> pin ->
           quote [location: :keep],
-            do: FarmbotCeleryScript.SysCalls.read_pin(unquote(String.to_integer(pin)), nil)
+            do: FarmbotCeleryScript.SysCalls.read_cached_pin(unquote(String.to_integer(pin)))
 
         # Named pin has two intents here
         # in this case we want to read the named pin.
         %AST{kind: :named_pin} = ast ->
           quote [location: :keep],
-            do: FarmbotCeleryScript.SysCalls.read_pin(unquote(compile_ast(ast)), nil)
+            do: FarmbotCeleryScript.SysCalls.read_cached_pin(unquote(compile_ast(ast)))
 
         %AST{} = ast ->
           compile_ast(ast)

farmbot_celery_script/lib/farmbot_celery_script/sys_calls.ex

@@ -38,6 +38,11 @@ defmodule FarmbotCeleryScript.SysCalls do
   @callback get_current_x() :: number() | error()
   @callback get_current_y() :: number() | error()
   @callback get_current_z() :: number() | error()
+
+  @callback get_cached_x() :: number() | error()
+  @callback get_cached_y() :: number() | error()
+  @callback get_cached_z() :: number() | error()
+
   @callback get_sequence(resource_id) :: FarmbotCeleryScript.AST.t() | error()
   @callback get_toolslot_for_tool(resource_id) ::
               %{x: number(), y: number(), z: number()} | error()
@@ -51,6 +56,7 @@ defmodule FarmbotCeleryScript.SysCalls do
   @callback point(point_type :: String.t(), resource_id) :: number() | error()
   @callback power_off() :: ok_or_error
   @callback read_pin(pin_num :: number(), pin_mode :: number()) :: number | error()
+  @callback read_cached_pin(pin_num :: number()) :: number | error()
   @callback toggle_pin(pin_num :: number()) :: ok_or_error
   @callback read_status() :: ok_or_error
   @callback reboot() :: ok_or_error
@@ -184,6 +190,18 @@ defmodule FarmbotCeleryScript.SysCalls do
     number_or_error(sys_calls, :get_current_z, [])
   end
 
+  def get_cached_x(sys_calls \\ @sys_calls) do
+    number_or_nil_or_error(sys_calls, :get_cached_x, [])
+  end
+
+  def get_cached_y(sys_calls \\ @sys_calls) do
+    number_or_nil_or_error(sys_calls, :get_cached_y, [])
+  end
+
+  def get_cached_z(sys_calls \\ @sys_calls) do
+    number_or_nil_or_error(sys_calls, :get_cached_z, [])
+  end
+
   def get_sequence(sys_calls \\ @sys_calls, sequence_id) do
     case sys_calls.get_sequence(sequence_id) do
       %AST{} = ast -> ast
@@ -236,6 +254,10 @@ defmodule FarmbotCeleryScript.SysCalls do
     number_or_error(sys_calls, :read_pin, [pin_num, pin_mode])
   end
 
+  def read_cached_pin(sys_calls \\ @sys_calls, pin_num) do
+    number_or_nil_or_error(sys_calls, :read_cached_pin, [pin_num])
+  end
+
   def toggle_pin(sys_calls \\ @sys_calls, pun_num) do
     ok_or_error(sys_calls, :toggle_pin, [pun_num])
   end
@@ -298,6 +320,14 @@ defmodule FarmbotCeleryScript.SysCalls do
     end
   end
 
+  defp number_or_nil_or_error(sys_calls, fun, args) do
+    case apply(sys_calls, fun, args) do
+      result when is_number(result) -> result
+      nil -> nil
+      error -> or_error(sys_calls, fun, args, error)
+    end
+  end
+
   defp coord_or_error(sys_calls, fun, args) do
     case apply(sys_calls, fun, args) do
       %{x: x, y: y, z: z} = coord when is_number(x) when is_number(y) when is_number(z) -> coord

farmbot_celery_script/lib/farmbot_celery_script/sys_calls/stubs.ex

@@ -64,6 +64,15 @@ defmodule FarmbotCeleryScript.SysCalls.Stubs do
   @impl true
   def get_current_z(), do: error(:get_current_z, [])
 
+  @impl true
+  def get_cached_x(), do: error(:get_cached_x, [])
+
+  @impl true
+  def get_cached_y(), do: error(:get_cached_y, [])
+
+  @impl true
+  def get_cached_z(), do: error(:get_cached_z, [])
+
   @impl true
   def get_sequence(resource_id), do: error(:get_sequence, [resource_id])
 
@@ -94,6 +103,9 @@ defmodule FarmbotCeleryScript.SysCalls.Stubs do
   @impl true
   def read_pin(pin_num, pin_mode), do: error(:read_pin, [pin_num, pin_mode])
 
+  @impl true
+  def read_cached_pin(pin_num), do: error(:read_cached_pin, [pin_num])
+
   @impl true
   def toggle_pin(pin_num), do: error(:toggle_pin, [pin_num])
 

farmbot_os/lib/farmbot_os/sys_calls.ex

@@ -66,6 +66,9 @@ defmodule FarmbotOS.SysCalls do
   @impl true
   defdelegate read_pin(number, mode), to: PinControl
 
+  @impl true
+  defdelegate read_cached_pin(number), to: PinControl
+
   @impl true
   defdelegate write_pin(number, mode, value), to: PinControl
 
@@ -171,6 +174,21 @@ defmodule FarmbotOS.SysCalls do
     get_position(:z)
   end
 
+  @impl true
+  def get_cached_x do
+    get_cached_position(:x)
+  end
+
+  @impl true
+  def get_cached_y do
+    get_cached_position(:y)
+  end
+
+  @impl true
+  def get_cached_z do
+    get_cached_position(:z)
+  end
+
   @impl true
   def zero(axis) do
     axis = assert_axis!(axis)
@@ -211,6 +229,16 @@ defmodule FarmbotOS.SysCalls do
     end
   end
 
+  def get_cached_position() do
+    %{x: x, y: y, z: z} = FarmbotCore.BotState.fetch().location_data.position
+    [x: x, y: y, z: z]
+  end
+
+  def get_cached_position(axis) do
+    axis = assert_axis!(axis)
+    Keyword.fetch!(get_cached_position(), axis)
+  end
+
   @impl true
   def move_absolute(x, y, z, speed) do
     do_move_absolute(x, y, z, speed, max_retries())

farmbot_os/lib/farmbot_os/sys_calls/pin_control.ex

@@ -9,6 +9,14 @@ defmodule FarmbotOS.SysCalls.PinControl do
 
   require FarmbotCore.Logger
 
+  def read_cached_pin(%_{pin: number}) do
+    read_cached_pin(number)
+  end
+
+  def read_cached_pin(pin_number) do
+    FarmbotCore.BotState.fetch().pins()[pin_number][:value]
+  end
+
   def toggle_pin(pin_number) when is_number(pin_number) do
     peripheral = Asset.get_peripheral_by_pin(pin_number)
 
@@ -198,19 +206,16 @@ defmodule FarmbotOS.SysCalls.PinControl do
   end
 
   # Peripheral digital
-  def write_pin(%Peripheral{pin: pin, label: label}, 0, 1) do
+  def write_pin(%Peripheral{pin: pin, label: _label}, 0, 1) do
-    FarmbotCore.Logger.info(2, "Turning the #{label} ON (digital)")
     do_write_pin(pin, 0, 1)
   end
 
-  def write_pin(%Peripheral{pin: pin, label: label}, 0, 0) do
+  def write_pin(%Peripheral{pin: pin, label: _label}, 0, 0) do
-    FarmbotCore.Logger.info(2, "Turning the #{label} OFF (digital)")
     do_write_pin(pin, 0, 0)
   end
 
   # Peripheral analog
-  def write_pin(%Peripheral{pin: pin, label: label}, 1, value) do
+  def write_pin(%Peripheral{pin: pin, label: _label}, 1, _value) do
-    FarmbotCore.Logger.info(2, "Setting the #{label} to #{value} (analog)")
     do_write_pin(pin, 0, 0)
   end
 
@@ -248,17 +253,14 @@ defmodule FarmbotOS.SysCalls.PinControl do
 
   # Generic pin digital
   def write_pin(pin, 0, 1) do
-    FarmbotCore.Logger.info(2, "Turning pin #{pin} ON (digital)")
     do_write_pin(pin, 0, 1)
   end
 
   def write_pin(pin, 0, 0) do
-    FarmbotCore.Logger.info(2, "Turning pin #{pin} OFF (digital)")
     do_write_pin(pin, 0, 0)
   end
 
   def write_pin(pin, 1, value) do
-    FarmbotCore.Logger.info(2, "Setting pin #{pin} to #{value} (analog)")
     do_write_pin(pin, 1, value)
   end
 

farmbot_os/lib/farmbot_os/sys_calls/send_message.ex

@@ -22,7 +22,7 @@ defmodule FarmbotOS.SysCalls.SendMessage do
 
   def render(templ) do
     with {:ok, pos} <- pos(),
-         {:ok, pins} <- pins(Enum.to_list(0..69)),
+         {:ok, pins} <- pins(),
          env <- Keyword.merge(pos, pins) do
       env = Map.new(env, fn {k, v} -> {to_string(k), to_string(v)} end)
 
@@ -44,33 +44,22 @@ defmodule FarmbotOS.SysCalls.SendMessage do
   end
 
   def pos do
-    case FarmbotFirmware.request({:position_read, []}) do
+    [x: x, y: y, z: z] = FarmbotOS.SysCalls.get_cached_position()
-      {:ok, {_, {:report_position, [x: x, y: y, z: z]}}} ->
-        {:ok,
-         [
-           x: FarmbotCeleryScript.FormatUtil.format_float(x),
-           y: FarmbotCeleryScript.FormatUtil.format_float(y),
-           z: FarmbotCeleryScript.FormatUtil.format_float(z)
-         ]}
 
-      {:error, reason} ->
+    {:ok,
-        {:error, inspect(reason)}
+     [
-    end
+       x: FarmbotCeleryScript.FormatUtil.format_float(x),
+       y: FarmbotCeleryScript.FormatUtil.format_float(y),
+       z: FarmbotCeleryScript.FormatUtil.format_float(z)
+     ]}
   end
 
-  def pins(nums, acc \\ [])
+  def pins() do
-
+    {:ok,
-  def pins([p | rest], acc) do
+     FarmbotCore.BotState.fetch().pins
-    case FarmbotFirmware.request({:pin_read, [p: p]}) do
+     |> Map.new()
-      {:ok, {_, {:report_pin_value, [p: ^p, v: v]}}} ->
+     |> Enum.map(fn {p, %{value: v}} ->
-        v = FarmbotCeleryScript.FormatUtil.format_float(v)
+       {:"pin#{p}", FarmbotCeleryScript.FormatUtil.format_float(v)}
-        acc = Keyword.put(acc, :"pin#{p}", v)
+     end)}
-        pins(rest, acc)
-
-      er ->
-        er
-    end
   end
-
-  def pins([], acc), do: {:ok, acc}
 end

test/support/celery_script/test_sys_calls.ex

@@ -106,6 +106,21 @@ defmodule Farmbot.TestSupport.CeleryScript.TestSysCalls do
     call({:get_current_z, []})
   end
 
+  @impl true
+  def get_cached_x do
+    call({:get_cached_x, []})
+  end
+
+  @impl true
+  def get_cached_y do
+    call({:get_cached_y, []})
+  end
+
+  @impl true
+  def get_cached_z do
+    call({:get_cached_z, []})
+  end
+
   @impl true
   def write_pin(pin_number, mode, value) do
     call({:write_pin, [pin_number, mode, value]})
@@ -121,6 +136,11 @@ defmodule Farmbot.TestSupport.CeleryScript.TestSysCalls do
     call({:read_pin, [number, mode]})
   end
 
+  @impl true
+  def read_cached_pin(number) do
+    call({:read_cached_pin, [number]})
+  end
+
   @impl true
   def toggle_pin(number) do
     call({:toggle_pin, [number]})