Merge pull request #54 from RickCarlino/websocket-fixes

Re-enable MOVE_REL

farmbot.rb

@@ -1,5 +1,5 @@
 # FarmBot Controller
-
+require 'pry'
 require_relative 'settings.rb'
 
 system('clear')
@@ -10,7 +10,7 @@ puts '---------'
 puts ' FarmBot '
 puts '---------'
 puts '   \/    '
-puts ''
+puts '========='
 
 require_relative 'lib/status'
 $status = Status.new
@@ -41,7 +41,6 @@ puts 'OK'
 
 puts "uuid            #{$info_uuid}"
 puts "token           #{$info_token}"
-
 if $controller_disable == 0
   print 'controller      '
   require_relative 'lib/controller'

lib/controller.rb

@@ -2,7 +2,6 @@ require 'active_record'
 require 'date'
 require_relative 'database/dbaccess'
 require_relative 'controller_command_proc'
-
 # FarmBot Controller: This module executes the schedule. It reads the next
 # command and sends it to the hardware implementation
 class Controller
@@ -30,7 +29,7 @@ class Controller
         get_next_command
         check_and_execute_command
 
-      rescue Exception => e
+      rescue => e
         puts("Error in controller\n#{e.message}\n#{e.backtrace.inspect}")
         @bot_dbaccess.write_to_log(1,"Error in controller\n#{e.message}\n#{e.backtrace.inspect}")
       end
@@ -60,7 +59,7 @@ class Controller
 
     $status.info_status = 'starting'
     puts 'OK'
- 
+
     print 'arduino         '
     sleep 1
     $bot_hardware.read_device_version() if $hardware_sim == 0
@@ -126,7 +125,7 @@ class Controller
 
     wait_start_time = Time.now
 
-    # wait until the scheduled time has arrived, or wait for a minute or 
+    # wait until the scheduled time has arrived, or wait for a minute or
     # until a refresh it set in the database as a sign new data has arrived
 
     while Time.now < wait_start_time + 60 and @command.scheduled_time > Time.now - 1 and refresh_received == false
@@ -159,9 +158,7 @@ class Controller
       # new data has arrived
 
       while  Time.now < wait_start_time + 60 and refresh_received == false
-
         sleep 0.1
-
         check_hardware()
 
         refresh_received = true if @bot_dbaccess.check_refresh

lib/controller_command_proc.rb

@@ -7,12 +7,13 @@ class ControllerCommandProc
     @bot_dbaccess        = $bot_dbaccess
   end
 
-  def whitelist
-    ['move_absolute','move_relative','home_x','home_y','home_z','calibrate_x','calibrate_y','calibrate_z','dose_water','set_speed','pin_write','pin_read','pin_mode','pin_pulse','servo_move']
-  end
+  WHITELIST = ['move_absolute','move_relative','home_x','home_y','home_z',
+               'calibrate_x','calibrate_y','calibrate_z','dose_water',
+               'set_speed','pin_write','pin_read','pin_mode','pin_pulse',
+               'servo_move']
 
   def check_whitelist(function)
-    raise "UNAUTHORIZED" unless whitelist.include?(function.downcase)
+    raise "UNAUTHORIZED" unless WHITELIST.include?(function.downcase)
   end
 
   def process_command( cmd )
@@ -36,7 +37,7 @@ class ControllerCommandProc
     if $hardware_sim == 0
       send(function, command_line)
     else
-      #$status.info_movement = 
+      #$status.info_movement =
       @info_movement = "#{command_line.action.downcase} xyz=#{command_line.coord_x} #{command_line.coord_y} #{command_line.coord_z} amt=#{command_line.amount} spd=#{command_line.speed} pin=#{command_line.pin_nr}"
       puts "simulating: #{@info_movement}"
       #@bot_dbaccess.write_to_log(1,@info_movement)
@@ -98,7 +99,7 @@ class ControllerCommandProc
   end
 
   def pin_pulse(command_line)
-    $bot_hardware.pin_std_pulse(command_line.pin_nr, command_line.pin_value_1, 
+    $bot_hardware.pin_std_pulse(command_line.pin_nr, command_line.pin_value_1,
                 command_line.pin_value_2, command_line.pin_time, command_line.pin_mode)
   end
 

lib/messaging/messagehandler.rb

@@ -9,7 +9,13 @@ require_relative 'messagehandler_message.rb'
 require_relative 'messagehandler_parameters.rb'
 require_relative 'messagehandler_schedule.rb'
 require_relative 'messagehandler_status.rb'
+require_relative 'messagehandler_message'
 
+class NullDatabase
+  def method_missing(*)
+    self
+  end
+end
 
 # Get the JSON command, received through skynet, and send it to the farmbot
 # command queue Parses JSON messages received through SkyNet.
@@ -22,7 +28,7 @@ class MessageHandler
 
   def initialize
     #@dbaccess = DbAccess.new
-    @dbaccess = $dbaccess
+    @dbaccess = $dbaccess || NullDatabase.new
     @last_time_stamp  = ''
 
     @message_handlers = Array.new
@@ -32,13 +38,14 @@ class MessageHandler
     @message_handlers << MessageHandlerParameter.new
     @message_handlers << MessageHandlerSchedule.new
     @message_handlers << MessageHandlerStatus.new
+    @message_handlers << MessageHandlerMessage.new
 
   end
 
   # Handle the message received from skynet
   #
   def handle_message(message)
-
+    puts "WebSocket Message"
     sender     = ""
     time_stamp = nil
 
@@ -61,6 +68,7 @@ class MessageHandler
       check_if_message_handled(message_obj)
 
     rescue Exception => e
+      puts e.message, e.backtrace.first
       err_snd = true
       err_msg = e.message
       err_trc = e.backtrace.inspect
@@ -70,6 +78,7 @@ class MessageHandler
     begin
       handle_message_error(err_snd, sender, time_stamp, err_msg, err_trc)
     rescue  Exception => e
+      puts e.message, e.backtrace.first
       puts "Error while sending error message: #{e.message}"
     end
   end
@@ -144,13 +153,13 @@ class MessageHandler
       if message_obj.handled == false
         handler.handle_message( message_obj )
       end
-    end     
+    end
   end
 
   def check_if_message_handled(message_obj)
     if message_obj.handled == false
       @dbaccess.write_to_log(2,'message could not be handled')
-      send_error(sender, '', 'message could not be handled')
+      send_error(message_obj.sender, '', 'message could not be handled')
     end
   end
 

lib/messaging/messagehandler_message.rb

@@ -10,4 +10,109 @@ class MessageHandlerMessage
     handled = false
   end
 
+  # Handle the message received from skynet
+  #
+  def handle_message(message)
+    if authorized?(message)
+      self.send(translate_action_name(message), message)
+      message.handled = true
+    end
+  end
+
+  # Ensure that the attempted command is allowed and also implemented.
+  def authorized?(message)
+    cmd = translate_action_name(message)
+    is_command = ControllerCommandProc::WHITELIST.include?(cmd)
+    is_method  = self.respond_to?(cmd)
+    is_command && is_method
+  end
+
+  # PROBLEM: There are numerous spelling of commands and names for commands
+  # throughout the application. Sometimes it is move_rel, other times it is
+  # "MOVE RELATIVE". Sometimes we call it a message, other times an action.
+  # This method is a quick fix. Maybe we should make a uniform naming convention
+  def translate_action_name(message)
+    (message.payload["command"]["action"] || '').downcase.gsub(' ', '_')
+  end
+
+  def move_absolute(*)
+    raise 'Not implemented yet.'
+  end
+
+  def move_relative(message)
+    inputs = message.payload["command"] || {}
+    # {"action"=>"MOVE RELATIVE", "x"=>0, "y"=>0, "z"=>0, "speed"=>100, "delay"=>0}
+    args = [
+      'MOVE RELATIVE', # action
+      inputs['x'] || 0, # x
+      inputs['y'] || 0, # y
+      inputs['z'] || 0, # z
+      inputs['speed'] || 100, # speed
+      0, # amount
+      0, # pin_nr
+      0, # value1
+      0, # value2
+      0, # mode
+      0, # time
+      0, # external_info
+    ]
+    $bot_dbaccess.create_new_command(Time.now,'menu')
+    $bot_dbaccess.add_command_line(*args)
+    $bot_dbaccess.save_new_command
+    $bot_dbaccess.increment_refresh
+  rescue => e
+    puts e.message, e.backtrace.first
+  end
+
+  def home_x(*)
+    raise 'Not implemented yet.'
+  end
+
+  def home_y(*)
+    raise 'Not implemented yet.'
+  end
+
+  def home_z(*)
+    raise 'Not implemented yet.'
+  end
+
+  def calibrate_x(*)
+    raise 'Not implemented yet.'
+  end
+
+  def calibrate_y(*)
+    raise 'Not implemented yet.'
+  end
+
+  def calibrate_z(*)
+    raise 'Not implemented yet.'
+  end
+
+  def dose_water(*)
+    raise 'Not implemented yet.'
+  end
+
+  def set_speed(*)
+    raise 'Not implemented yet.'
+  end
+
+  def pin_write(*)
+    raise 'Not implemented yet.'
+  end
+
+  def pin_read
+    raise 'Not implemented yet.'
+  end
+
+  def pin_mode
+    raise 'Not implemented yet.'
+  end
+
+  def pin_pulse
+    raise 'Not implemented yet.'
+  end
+
+  def servo_move
+    raise 'Not implemented yet.'
+  end
 end