Merge pull request #1191 from FarmBot/beta_rc

Beta RC

VERSION

@@ -1 +1 @@
-9.2.1
+9.2.2-rc7

farmbot_firmware/lib/farmbot_firmware.ex

@@ -541,7 +541,7 @@ defmodule FarmbotFirmware do
 
   # If not in an acceptable state, return an error immediately.
   def handle_command(_, _, %{status: s} = state)
-      when s in [:transport_boot, :boot, :no_config, :configuration] do
+      when s in [:boot, :no_config] do
     {:reply, {:error, "Can't send command when in #{inspect(s)} state"}, state}
   end
 

farmbot_os/lib/farmbot_os/lua/ext/firmware.ex

@@ -1,6 +1,6 @@
 defmodule FarmbotOS.Lua.Ext.Firmware do
   @moduledoc """
-  Lua extensions for interacting with the Firmware  
+  Lua extensions for interacting with the Firmware
   """
 
   alias FarmbotCeleryScript.SysCalls

farmbot_os/platform/target/gpio/circuits_gpio_handler.ex

@@ -23,7 +23,7 @@ defmodule FarmbotOS.Platform.Target.PinBindingWorker.CircuitsGPIOHandler do
     {:ok, pin} = GPIO.open(pin_number, :input)
     :ok = GPIO.set_interrupts(pin, :rising)
     # this has been checked on v1.3 and v1.5 hardware
-    # and it seems to be fine. 
+    # and it seems to be fine.
     :ok = GPIO.set_pull_mode(pin, :pulldown)
     {:ok, %{pin_number: pin_number, pin: pin, fun: fun, debounce: nil}}
   end

farmbot_os/test/farmbot_os/lua/ext/firmware_test.exs

@@ -0,0 +1,75 @@
+defmodule FarmbotOS.Lua.Ext.FirmwareTest do
+  alias FarmbotOS.Lua.Ext.Firmware
+  use ExUnit.Case
+  use Mimic
+  setup :verify_on_exit!
+
+  test "calibrate/2" do
+    msg = "expected stub error"
+    lua = "return"
+
+    expect(FarmbotCeleryScript.SysCalls, :calibrate, 2, fn
+      "x" -> :ok
+      _ -> {:error, msg}
+    end)
+
+    assert {[true], ^lua} = Firmware.calibrate(["x"], lua)
+    assert {[nil, ^msg], ^lua} = Firmware.calibrate(["y"], lua)
+  end
+
+  test "move_absolute/2" do
+    msg = "expected stub error"
+    lua = "return"
+
+    expect(FarmbotCeleryScript.SysCalls, :move_absolute, 4, fn
+      (1, _, _, _) -> :ok
+      (_, _, _, _) -> {:error, msg}
+    end)
+
+    assert {[true], ^lua} = Firmware.move_absolute([1,2,3,4], lua)
+    assert {[nil, ^msg], ^lua} = Firmware.move_absolute([5,6,7,8], lua)
+    assert {[true], ^lua} = Firmware.move_absolute([1,2,3], lua)
+    assert {[nil, ^msg], ^lua} = Firmware.move_absolute([5,6,7], lua)
+  end
+
+  test "find_home/2" do
+    msg = "expected stub error"
+    lua = "return"
+
+    expect(FarmbotCeleryScript.SysCalls, :find_home, 2, fn
+      "x" -> :ok
+      _ -> {:error, msg}
+    end)
+
+    assert {[true], ^lua} = Firmware.find_home(["x"], lua)
+    assert {[nil, ^msg], ^lua} = Firmware.find_home(["y"], lua)
+  end
+
+  test "emergency_lock/2" do
+    msg = "expected stub error"
+    lua = "return"
+
+    expect(FarmbotCeleryScript.SysCalls, :emergency_lock, 1, fn -> :ok end)
+    assert {[true], ^lua} = Firmware.emergency_lock(:ok, lua)
+
+    expect(FarmbotCeleryScript.SysCalls, :emergency_lock, 1, fn ->
+      {:error, msg}
+    end)
+
+    assert {[nil, ^msg], ^lua} = Firmware.emergency_lock(nil, lua)
+  end
+
+  test "emergency_unlock/2" do
+    msg = "expected stub error"
+    lua = "return"
+
+    expect(FarmbotCeleryScript.SysCalls, :emergency_unlock, 1, fn -> :ok end)
+    assert {[true], ^lua} = Firmware.emergency_unlock(:ok, lua)
+
+    expect(FarmbotCeleryScript.SysCalls, :emergency_unlock, 1, fn ->
+      {:error, msg}
+    end)
+
+    assert {[nil, ^msg], ^lua} = Firmware.emergency_unlock(nil, lua)
+  end
+end

farmbot_os/test/farmbot_os/syscalls/pin_control_test.exs

@@ -75,15 +75,14 @@ defmodule FarmbotOS.SysCalls.PinControlTest do
   end
 
   test "set_servo_angle" do
-    expect(FarmbotFirmware, :command, 1, fn
+    expect(FarmbotFirmware, :command, 2, fn
       {:servo_write, [p: 20, v: 90]} -> {:error, "opps"}
       {:servo_write, [p: 40, v: 180]} -> :ok
     end)
 
     assert :ok = PinControl.set_servo_angle(40, 180)
 
-    message =
-      "Firmware error @ \"set_servo_angle\": \"Can't send command when in :transport_boot state\""
+    message = "Firmware error @ \"set_servo_angle\": \"opps\""
 
     assert {:error, ^message} = PinControl.set_servo_angle(20, 90)
   end

farmbot_os/test/test_helper.exs

@@ -1,20 +1,26 @@
 Application.ensure_all_started(:mimic)
-Mimic.copy(FarmbotCore.Asset.Device)
-Mimic.copy(FarmbotCore.Asset.FbosConfig)
-Mimic.copy(FarmbotCore.Asset.FirmwareConfig)
-Mimic.copy(FarmbotCore.Asset)
-Mimic.copy(FarmbotCore.BotState)
-Mimic.copy(FarmbotCore.Config)
-Mimic.copy(FarmbotCore.FarmwareRuntime)
-Mimic.copy(FarmbotCore.LogExecutor)
-Mimic.copy(FarmbotExt.API.Reconciler)
-Mimic.copy(FarmbotExt.API)
-Mimic.copy(FarmbotFirmware)
-Mimic.copy(FarmbotOS.Configurator.ConfigDataLayer)
-Mimic.copy(FarmbotOS.Configurator.DetsTelemetryLayer)
-Mimic.copy(FarmbotOS.Configurator.FakeNetworkLayer)
-Mimic.copy(FarmbotOS.SysCalls.Movement)
-Mimic.copy(FarmbotOS.SysCalls)
-Mimic.copy(File)
-Mimic.copy(MuonTrap)
+
+[
+  FarmbotCore.Asset.Device,
+  FarmbotCore.Asset.FbosConfig,
+  FarmbotCore.Asset.FirmwareConfig,
+  FarmbotCore.Asset,
+  FarmbotCore.BotState,
+  FarmbotCore.Config,
+  FarmbotCore.FarmwareRuntime,
+  FarmbotCore.LogExecutor,
+  FarmbotExt.API.Reconciler,
+  FarmbotExt.API,
+  FarmbotFirmware,
+  FarmbotOS.Configurator.ConfigDataLayer,
+  FarmbotOS.Configurator.DetsTelemetryLayer,
+  FarmbotOS.Configurator.FakeNetworkLayer,
+  FarmbotOS.SysCalls.Movement,
+  FarmbotOS.SysCalls,
+  File,
+  MuonTrap,
+  FarmbotCeleryScript.SysCalls
+]
+|> Enum.map(&Mimic.copy/1)
+
 ExUnit.start()