Add handler for axis load for express boards

farmbot_core/lib/farmbot_core/bot_state.ex

@@ -28,6 +28,11 @@ defmodule FarmbotCore.BotState do
   def set_position(bot_state_server \\ __MODULE__, x, y, z) do
     GenServer.call(bot_state_server, {:set_position, x, y, z})
   end
+  
+  @doc "Sets the location_data.load"
+  def set_load(bot_state_server \\ __MODULE__, x, y, z) do
+    GenServer.call(bot_state_server, {:set_load, x, y, z})
+  end
 
   @doc "Sets the location_data.encoders_scaled"
   def set_encoders_scaled(bot_state_server \\ __MODULE__, x, y, z) do
@@ -217,6 +222,16 @@ defmodule FarmbotCore.BotState do
     {:reply, reply, state}
   end
 
+  def handle_call({:set_load, x, y, z}, _from, state) do
+    change = %{location_data: %{load: %{x: x, y: y, z: z}}}
+
+    {reply, state} =
+      BotStateNG.changeset(state.tree, change)
+      |> dispatch_and_apply(state)
+
+    {:reply, reply, state}
+  end
+
   def handle_call({:set_encoders_scaled, x, y, z}, _from, state) do
     change = %{location_data: %{scaled_encoders: %{x: x, y: y, z: z}}}
 

farmbot_core/lib/farmbot_core/bot_state_ng/location_data.ex

@@ -11,6 +11,7 @@ defmodule FarmbotCore.BotStateNG.LocationData 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(:load, Vec3, on_replace: :update)
     embeds_one(:axis_states, Vec3String, on_replace: :update)
   end
 
@@ -20,6 +21,7 @@ defmodule FarmbotCore.BotStateNG.LocationData do
     |> put_embed(:scaled_encoders, Vec3.new(), [])
     |> put_embed(:raw_encoders, Vec3.new(), [])
     |> put_embed(:position, Vec3.new(), [])
+    |> put_embed(:load, Vec3.new(), [])
     |> put_embed(:axis_states, Vec3String.new(), [])
     |> apply_changes()
   end
@@ -29,6 +31,7 @@ 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),
+      load: Vec3.view(location_data.load),
       axis_states: Vec3String.view(location_data.axis_states)
     }
   end
@@ -39,6 +42,7 @@ defmodule FarmbotCore.BotStateNG.LocationData do
     |> cast_embed(:scaled_encoders)
     |> cast_embed(:raw_encoders)
     |> cast_embed(:position)
+    |> cast_embed(:load)
     |> cast_embed(:axis_states)
   end
 end

farmbot_core/lib/farmbot_core/firmware_side_effects.ex

@@ -10,6 +10,11 @@ defmodule FarmbotCore.FirmwareSideEffects do
     :ok = BotState.set_position(x, y, z)
   end
 
+  @impl FarmbotFirmware.SideEffects
+  def handle_load(x: x, y: y, z: z) do
+    :ok = BotState.set_load(x, y, z)
+  end
+
   @impl FarmbotFirmware.SideEffects
   def handle_position_change([{_axis, _value}]) do
     :noop

farmbot_firmware/lib/farmbot_firmware.ex

@@ -675,6 +675,14 @@ defmodule FarmbotFirmware do
     {:noreply, state}
   end
 
+  def handle_report({:report_load, load} = code, state) do
+    if state.caller_pid, do: send(state.caller_pid, {state.tag, code})
+    for {pid, _code} <- state.command_queue, do: send(pid, {state.tag, {:report_busy, []}})
+
+    side_effects(state, :handle_load, [load])
+    {:noreply, state}
+  end
+
   def handle_report({:report_axis_state, axis_state} = code, state) do
     if state.caller_pid, do: send(state.caller_pid, {state.tag, code})
     for {pid, _code} <- state.command_queue, do: send(pid, {state.tag, {:report_busy, []}})

farmbot_firmware/lib/farmbot_firmware/gcode.ex

@@ -23,6 +23,7 @@ defmodule FarmbotFirmware.GCODE do
           | :report_invalid
           | :report_home_complete
           | :report_position
+          | :report_load
           | :report_position_change
           | :report_parameters_complete
           | :report_parameter_value

farmbot_firmware/lib/farmbot_firmware/gcode/decoder.ex

@@ -47,6 +47,7 @@ defmodule FarmbotFirmware.GCODE.Decoder do
 
   def do_decode("R87", []), do: {:report_emergency_lock, []}
   def do_decode("R88", []), do: {:report_no_config, []}
+  def do_decode("R89", xyz), do: {:report_load, decode_floats(xyz)}
   def do_decode("R99", debug), do: {:report_debug_message, [Enum.join(debug, " ")]}
 
   def do_decode("G00", xyzs), do: {:command_movement, decode_floats(xyzs)}

farmbot_firmware/lib/farmbot_firmware/gcode/encoder.ex

@@ -46,6 +46,7 @@ defmodule FarmbotFirmware.GCODE.Encoder do
 
   def do_encode(:report_emergency_lock, []), do: "R87"
   def do_encode(:report_no_config, []), do: "R88"
+  def do_encode(:report_load, xyz), do: "R89 " <> encode_floats(xyz)
   def do_encode(:report_debug_message, [message]), do: "R99 " <> message
 
   def do_encode(:command_movement, xyzs), do: "G00 " <> encode_floats(xyzs)

farmbot_firmware/lib/farmbot_firmware/side_effects.ex

@@ -11,6 +11,7 @@ defmodule FarmbotFirmware.SideEffects do
   @callback load_params :: [{Param.t(), float() | nil}]
 
   @callback handle_position(x: float(), y: float(), z: float()) :: any()
+  @callback handle_load(x: float(), y: float(), z: float()) :: any()
   @callback handle_position_change([{axis(), float()}]) :: any()
   @callback handle_encoders_scaled(x: float(), y: float(), z: float()) :: any()
   @callback handle_encoders_raw(x: float(), y: float(), z: float()) :: any()

farmbot_firmware/lib/farmbot_firmware/stub_side_effects.ex

@@ -105,6 +105,9 @@ defmodule FarmbotFirmware.StubSideEffects do
   @impl SideEffects
   def handle_position(_), do: :noop
 
+  @impl SideEffects
+  def handle_load(_), do: :noop
+
   @impl SideEffects
   def handle_position_change(_), do: :noop