Refactor all movement sys_calls into their own file

farmbot_os/lib/farmbot_os/sys_calls.ex

@@ -20,7 +20,8 @@ defmodule FarmbotOS.SysCalls do
     SendMessage,
     SetPinIOMode,
     PinControl,
-    ResourceUpdate
+    ResourceUpdate,
+    Movement
   }
 
   alias FarmbotOS.Lua
@@ -79,6 +80,47 @@ defmodule FarmbotOS.SysCalls do
   @impl true
   defdelegate resource_update(kind, id, params), to: ResourceUpdate
 
+  @impl true
+  defdelegate get_current_x(), to: Movement
+
+  @impl true
+  defdelegate get_current_y(), to: Movement
+
+  @impl true
+  defdelegate get_current_z(), to: Movement
+
+  @impl true
+  defdelegate get_cached_x(), to: Movement
+
+  @impl true
+  defdelegate get_cached_y(), to: Movement
+
+  @impl true
+  defdelegate get_cached_z(), to: Movement
+
+  @impl true
+  defdelegate zero(axis), to: Movement
+
+  defdelegate get_position(), to: Movement
+
+  defdelegate get_position(axis), to: Movement
+
+  defdelegate get_cached_position(), to: Movement
+
+  defdelegate get_cached_position(axis), to: Movement
+
+  @impl true
+  defdelegate move_absolute(x, y, z, speed), to: Movement
+
+  @impl true
+  defdelegate calibrate(axis), to: Movement
+
+  @impl true
+  defdelegate find_home(axis), to: Movement
+
+  @impl true
+  defdelegate home(axis, speed), to: Movement
+
   @impl true
   def log(message, force?) do
     if force? || FarmbotCore.Asset.fbos_config(:sequence_body_log) do
@@ -140,49 +182,6 @@ defmodule FarmbotOS.SysCalls do
     end
   end
 
-  @impl true
-  def get_current_x do
-    get_position(:x)
-  end
-
-  @impl true
-  def get_current_y do
-    get_position(:y)
-  end
-
-  @impl true
-  def get_current_z 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)
-
-    case FarmbotFirmware.command({:position_write_zero, [axis]}) do
-      :ok ->
-        :ok
-
-      {:error, reason} ->
-        {:error, "Firmware error: #{inspect(reason)}"}
-    end
-  end
-
   @impl true
   def point(kind, id) do
     case Asset.get_point(id: id) do
@@ -191,123 +190,6 @@ defmodule FarmbotOS.SysCalls do
     end
   end
 
-  def get_position() do
-    case FarmbotFirmware.request({nil, {:position_read, []}}) do
-      {:ok, {_, {:report_position, params}}} ->
-        params
-
-      {:error, reason} ->
-        {:error, "Firmware error: #{inspect(reason)}"}
-    end
-  end
-
-  def get_position(axis) do
-    axis = assert_axis!(axis)
-
-    case get_position() do
-      {:error, _} = error -> error
-      position -> Keyword.fetch!(position, axis)
-    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())
-  end
-
-  defp do_move_absolute(x, y, z, speed, retries, errors \\ [])
-
-  defp do_move_absolute(x, y, z, speed, 0, errors) do
-    params = [x: x / 1.0, y: y / 1.0, z: z / 1.0, s: speed / 1.0]
-
-    case FarmbotFirmware.command({nil, {:command_movement, params}}) do
-      :ok ->
-        :ok
-
-      {:error, reason} ->
-        errors =
-          [reason | errors]
-          |> Enum.reverse()
-          |> Enum.map(&inspect/1)
-          |> Enum.join(", ")
-
-        {:error, "movement error(s): #{errors}"}
-    end
-  end
-
-  defp do_move_absolute(x, y, z, speed, retries, errors) do
-    params = [x: x / 1.0, y: y / 1.0, z: z / 1.0, s: speed / 1.0]
-
-    case FarmbotFirmware.command({nil, {:command_movement, params}}) do
-      :ok ->
-        :ok
-
-      {:error, :emergency_lock} ->
-        {:error, "emergency_lock"}
-
-      {:error, reason} ->
-        FarmbotCore.Logger.error(1, "Movement failed. Retrying up to #{retries} more time(s)")
-        do_move_absolute(x, y, z, speed, retries - 1, [reason | errors])
-    end
-  end
-
-  defp max_retries do
-    case FarmbotFirmware.request({:parameter_read, [:param_mov_nr_retry]}) do
-      {:ok, {_, {:report_parameter_value, [param_mov_nr_retry: nr]}}} -> floor(nr)
-      _ -> 3
-    end
-  end
-
-  @impl true
-  def calibrate(axis) do
-    axis = assert_axis!(axis)
-
-    case FarmbotFirmware.command({:command_movement_calibrate, [axis]}) do
-      :ok ->
-        :ok
-
-      {:error, reason} ->
-        {:error, "Firmware error: #{inspect(reason)}"}
-    end
-  end
-
-  @impl true
-  def find_home(axis) do
-    axis = assert_axis!(axis)
-
-    case FarmbotFirmware.command({:command_movement_find_home, [axis]}) do
-      :ok ->
-        :ok
-
-      {:error, reason} ->
-        {:error, "Firmware error: #{inspect(reason)}"}
-    end
-  end
-
-  @impl true
-  def home(axis, _speed) do
-    # TODO(Connor) fix speed
-    axis = assert_axis!(axis)
-
-    case FarmbotFirmware.command({:command_movement_home, [axis]}) do
-      :ok ->
-        :ok
-
-      {:error, reason} ->
-        {:error, "Firmware error: #{inspect(reason)}"}
-    end
-  end
-
   @impl true
   def emergency_lock do
     _ = FarmbotFirmware.command({:command_emergency_lock, []})
@@ -320,17 +202,6 @@ defmodule FarmbotOS.SysCalls do
     :ok
   end
 
-  defp assert_axis!(axis) when is_atom(axis),
-    do: axis
-
-  defp assert_axis!(axis) when axis in ~w(x y z),
-    do: String.to_existing_atom(axis)
-
-  defp assert_axis!(axis) do
-    # {:error, "unknown axis #{axis}"}
-    raise("unknown axis #{axis}")
-  end
-
   @impl true
   def wait(ms) do
     Process.sleep(ms)

farmbot_os/lib/farmbot_os/sys_calls/movement.ex

@@ -0,0 +1,170 @@
+defmodule FarmbotOS.SysCalls.Movement do
+  require FarmbotCore.Logger
+
+  def get_current_x do
+    get_position(:x)
+  end
+
+  def get_current_y do
+    get_position(:y)
+  end
+
+  def get_current_z do
+    get_position(:z)
+  end
+
+  def get_cached_x do
+    get_cached_position(:x)
+  end
+
+  def get_cached_y do
+    get_cached_position(:y)
+  end
+
+  def get_cached_z do
+    get_cached_position(:z)
+  end
+
+  def zero(axis) do
+    axis = assert_axis!(axis)
+
+    case FarmbotFirmware.command({:position_write_zero, [axis]}) do
+      :ok ->
+        :ok
+
+      {:error, reason} ->
+        {:error, "Firmware error: #{inspect(reason)}"}
+    end
+  end
+
+  def get_position() do
+    case FarmbotFirmware.request({nil, {:position_read, []}}) do
+      {:ok, {_, {:report_position, params}}} ->
+        params
+
+      {:error, reason} ->
+        {:error, "Firmware error: #{inspect(reason)}"}
+    end
+  end
+
+  def get_position(axis) do
+    axis = assert_axis!(axis)
+
+    case get_position() do
+      {:error, _} = error -> error
+      position -> Keyword.fetch!(position, axis)
+    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
+
+  def move_absolute(x, y, z, speed) do
+    do_move_absolute(x, y, z, speed, max_retries())
+  end
+
+  defp do_move_absolute(x, y, z, speed, retries, errors \\ [])
+
+  defp do_move_absolute(x, y, z, speed, 0, errors) do
+    params = [x: x / 1.0, y: y / 1.0, z: z / 1.0, s: speed / 1.0]
+
+    case FarmbotFirmware.command({nil, {:command_movement, params}}) do
+      :ok ->
+        :ok
+
+      {:error, reason} ->
+        errors =
+          [reason | errors]
+          |> Enum.reverse()
+          |> Enum.map(&inspect/1)
+          |> Enum.join(", ")
+
+        {:error, "movement error(s): #{errors}"}
+    end
+  end
+
+  defp do_move_absolute(x, y, z, speed, retries, errors) do
+    params = [x: x / 1.0, y: y / 1.0, z: z / 1.0, s: speed / 1.0]
+
+    case FarmbotFirmware.command({nil, {:command_movement, params}}) do
+      :ok ->
+        :ok
+
+      {:error, :emergency_lock} ->
+        {:error, "emergency_lock"}
+
+      {:error, reason} ->
+        FarmbotCore.Logger.error(1, "Movement failed. Retrying up to #{retries} more time(s)")
+        do_move_absolute(x, y, z, speed, retries - 1, [reason | errors])
+    end
+  end
+
+  def calibrate(axis) do
+    axis = assert_axis!(axis)
+
+    case FarmbotFirmware.command({:command_movement_calibrate, [axis]}) do
+      :ok ->
+        :ok
+
+      {:error, reason} ->
+        {:error, "Firmware error: #{inspect(reason)}"}
+    end
+  end
+
+  def find_home(axis) do
+    axis = assert_axis!(axis)
+
+    case FarmbotFirmware.command({:command_movement_find_home, [axis]}) do
+      :ok ->
+        :ok
+
+      {:error, reason} ->
+        {:error, "Firmware error: #{inspect(reason)}"}
+    end
+  end
+
+  def home(axis, _speed) do
+    # TODO(Connor) fix speed
+    axis = assert_axis!(axis)
+
+    case FarmbotFirmware.command({:command_movement_home, [axis]}) do
+      :ok ->
+        :ok
+
+      {:error, reason} ->
+        {:error, "Firmware error: #{inspect(reason)}"}
+    end
+  end
+
+  defp param_read(param) do
+    case FarmbotFirmware.request({:parameter_read, [param]}) do
+      {:ok, {_, {:report_parameter_value, [{^param, value}]}}} -> {:ok, value}
+      {:error, reason} -> {:error, reason}
+    end
+  end
+
+  defp max_retries do
+    case param_read(:param_mov_nr_retry) do
+      {:ok, nr} -> floor(nr)
+      _ -> 3
+    end
+  end
+
+  defp assert_axis!(axis) when is_atom(axis),
+    do: axis
+
+  defp assert_axis!(axis) when axis in ~w(x y z),
+    do: String.to_existing_atom(axis)
+
+  defp assert_axis!(axis) do
+    # {:error, "unknown axis #{axis}"}
+    raise("unknown axis #{axis}")
+  end
+end