fixing issue with refreshes

lib/controller.rb

@@ -63,21 +63,24 @@ class Controller
  
     print 'arduino         '
     sleep 1
-    $bot_hardware.read_device_version()
+    $bot_hardware.read_device_version() if $hardware_sim == 0
     puts  $status.device_version
 
     $status.info_status = 'synchronizing arduino parameters'
     print 'parameters      '
-    $bot_hardware.check_parameters    
-    $bot_hardware.check_parameters
+    $bot_hardware.check_parameters if $hardware_sim == 0
+    $bot_hardware.check_parameters if $hardware_sim == 0
 
-    if $bot_hardware.ramps_param.params_in_sync
-      puts 'OK'
+    if $hardware_sim == 0
+      if  $bot_hardware.ramps_param.params_in_sync
+        puts 'OK'
+      else
+        puts 'ERROR'
+      end
     else
-      puts 'ERROR'
+      puts "SIM"
     end
 
-
     #$bot_hardware.read_end_stops()
     #$bot_hardware.read_postition()
     read_hw_status()
@@ -105,6 +108,7 @@ class Controller
     $status.info_status = 'executing command'
     #show_info()
 
+
     $status.info_nr_of_commands = $status.info_nr_of_commands + 1
 
     process_command( @command )
@@ -123,7 +127,7 @@ class Controller
     wait_start_time = Time.now
 
     # 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
+    # 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
 
@@ -160,7 +164,8 @@ class Controller
 
         check_hardware()
 
-        refresh_received = check_refresh or @bot_dbaccess.check_refresh
+        refresh_received = true if @bot_dbaccess.check_refresh
+        refresh_received = true if check_refresh
 
       end
     end
@@ -176,7 +181,7 @@ class Controller
 
   def check_hardware()
 
-    if (Time.now - @last_hw_check) > 0.5
+    if (Time.now - @last_hw_check) > 0.5 and $hardware_sim == 0
       $bot_hardware.check_parameters
       $bot_hardware.read_end_stops()
       $bot_hardware.read_postition()
@@ -240,7 +245,7 @@ class Controller
       refreshed = true
       @cmd_last_refresh = $status.command_refresh
     else
-      refreshed = false;
+      refreshed = false
     end
     refreshed
   end

lib/controller_command_proc.rb

@@ -19,8 +19,6 @@ class ControllerCommandProc
 
     if cmd != nil
       cmd.command_lines.each do |command_line|
-        #$status.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}"
-        @bot_dbaccess.write_to_log(1,@info_movement)
         send_command(command_line)
       end
     else
@@ -32,13 +30,18 @@ class ControllerCommandProc
   end
 
   def send_command(command_line)
+    function = command_line.action.downcase.sub(' ','_')
+    check_whitelist(function)
+
     if $hardware_sim == 0
-      function = command_line.action.downcase.sub(' ','_')
-      check_whitelist(function)
       send(function, command_line)
     else
-      @bot_dbaccess.write_to_log(1,'>simulating hardware<')
-      sleep 2
+      #$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)
+      #@bot_dbaccess.write_to_log(1,"simulating hardware: #{function}")
+      sleep 0.1
     end
   end
 
@@ -78,9 +81,9 @@ class ControllerCommandProc
     $bot_hardware.dose_water(command_line.amount)
   end
 
-  def set_speed(command_line)
-    $bot_hardware.set_speed(command_line.speed)
-  end
+#  def set_speed(command_line)
+#    $bot_hardware.set_speed(command_line.speed)
+#  end
 
   def pin_write(command_line)
     $bot_hardware.pin_std_set_value(command_line.pin_nr, command_line.pin_value_1, command_line.pin_mode)

lib/database/dbaccess.rb

@@ -15,16 +15,20 @@ require_relative 'dbaccess_measurements.rb'
 
 class DbAccess
 
+  attr_accessor :max_nr_log_lines
+
   def initialize(environment)
     config = YAML::load(File.open('./config/database.yml'))
     ActiveRecord::Base.establish_connection(config[environment])
 
     @commands     = DbAccessCommands.new
     @refreshes    = DbAccessRefreshes.new
-    @logs         = DbAccessLogs.new
+    @logs         = DbAccessLogs.new(self)
     @parameters   = DbAccessParameters.new
     @measurements = DbAccessMeasurements.new
 
+    @max_nr_log_lines = 1000
+
   end
 
   ## parameters

lib/database/dbaccess_logs.rb

@@ -12,10 +12,11 @@ require_relative '../../app/models/log.rb'
 class DbAccessLogs
 
   attr_writer   :dbaccess
-  attr_accessor :log_to_screen
 
-  def initialize
+  def initialize(db)
+    @dbaccess = db
     @log_to_screen = true
+    @max_nr_log_lines = 10000
   end
 
   ## logs
@@ -24,9 +25,7 @@ class DbAccessLogs
   #
   def write_to_log(module_id,text)
 
-    if @log_to_screen
-      puts "[LOG] #{text}"
-    end
+    puts "[LOG] #{text}" if @log_to_screen
 
     log           = Log.new
     log.text      = text
@@ -37,11 +36,13 @@ class DbAccessLogs
     end
 
     # clean up old logs
-    Log.where("created_at < (?)", 2.days.ago).find_each do |log|
+
+    if Log.count > @dbaccess.max_nr_log_lines
       $db_write_sync.synchronize do
-        log.delete
+        Log.delete(Log.order("created_at asc").first(Log.count - @dbaccess.max_nr_log_lines))
       end
     end
+
   end
 
   # read all logs from the log file

lib/database/dbaccess_refreshes.rb

@@ -23,7 +23,7 @@ class DbAccessRefreshes
   def check_refresh
     r = Refresh.find_or_create_by(name: 'FarmBotControllerSchedule')
     @refresh_value_new = (r == nil ? 0 : r.value.to_i)
-    return @refresh_value_new != @refresh_value
+    @refresh_value_new != @refresh_value
   end
 
   def save_refresh

lib/hardware/gcode/ramps_param.rb

@@ -216,7 +216,7 @@ class HardwareInterfaceParam
       @params_in_sync = true
     end
   end
-puts @params_in_sync
+
   def parameters_different
     differences_found_total = false
     params.each do |p|

lib/messaging/messagehandler_base.rb

@@ -18,7 +18,7 @@ class MessageHandlerBase
   # A list of MessageHandler methods (as strings) that a Skynet User may access.
   #
   def whitelist
-    []
+    ['test']
   end
 
   # Handle the message received from skynet
@@ -32,4 +32,7 @@ class MessageHandlerBase
 
   end
 
+  def test(message)
+  end
+
 end

lib/messaging/messagehandler_parameters.rb

@@ -62,7 +62,7 @@ class MessageHandlerParameter < MessageHandlerBase
       end
       message.handler.send_confirmation(message.sender, message.time_stamp)
     else
-      message.handler.send_error(sender, time_stamp, 'no paramer list in message')                           
+      message.handler.send_error(message.sender, message.time_stamp, 'no paramer list in message')                           
     end      
   end
 

lib/messaging/messagehandler_schedule.rb

@@ -30,7 +30,7 @@ class MessageHandlerSchedule < MessageHandlerBase
 
     else
 
-      message.handler.send_error(sender, time_stamp, 'no command in message')
+      message.handler.send_error(message.sender, message.time_stamp, 'no command in message')
 
     end
 
@@ -40,6 +40,7 @@ class MessageHandlerSchedule < MessageHandlerBase
       @dbaccess.create_new_command(Time.now + delay.to_i,'single_command')
       save_command_line(command)
       @dbaccess.save_new_command
+      @dbaccess.increment_refresh
   end
 
   def save_command_line(command)
@@ -81,6 +82,7 @@ class MessageHandlerSchedule < MessageHandlerBase
       end
 
       @dbaccess.save_new_command
+      @dbaccess.increment_refresh
   end
 
 end

menu.rb

@@ -94,59 +94,72 @@ while $shutdown == 0 do
       $bot_dbaccess.create_new_command(Time.now + $command_delay,'menu')
       $bot_dbaccess.add_command_line('CALIBRATE X', 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
       $bot_dbaccess.save_new_command
-
+      $bot_dbaccess.increment_refresh
     when "K" # Move Servo
       $bot_dbaccess.create_new_command(Time.now + $command_delay,'menu')
       $bot_dbaccess.add_command_line('SERVO MOVE', 0, 0, 0, 0, 0, $pin_nr, $servo_angle, 0, 0, 0)
       $bot_dbaccess.save_new_command
+      $bot_dbaccess.increment_refresh
     when "I" # Set Pin Off
       $bot_dbaccess.create_new_command(Time.now + $command_delay,'menu')
       $bot_dbaccess.add_command_line('PIN WRITE', 0, 0, 0, 0, 0, $pin_nr, 0, 0, 0, 0)
       $bot_dbaccess.save_new_command
+      $bot_dbaccess.increment_refresh
     when "U" # Set Pin On
       $bot_dbaccess.create_new_command(Time.now + $command_delay,'menu')
       $bot_dbaccess.add_command_line('PIN WRITE', 0, 0, 0, 0, 0, $pin_nr, 1, 0, 0, 0)
       $bot_dbaccess.save_new_command
+      $bot_dbaccess.increment_refresh
     when "Y" # Dose water
       $bot_dbaccess.create_new_command(Time.now + $command_delay,'menu')
       $bot_dbaccess.add_command_line('DOSE WATER', 0, 0, 0, 0, 15, 0,0,0,0,0)
       $bot_dbaccess.save_new_command
+      $bot_dbaccess.increment_refresh
     when "Z" # Move to home
       $bot_dbaccess.create_new_command(Time.now + $command_delay,'menu')
       $bot_dbaccess.add_command_line('HOME Z', 0, 0, 0, 0, 0, 0,0,0,0,0)
       $bot_dbaccess.save_new_command
+      $bot_dbaccess.increment_refresh
     when "X" # Move to home
       $bot_dbaccess.create_new_command(Time.now + $command_delay,'menu')
       $bot_dbaccess.add_command_line('HOME X', 0, 0, 0, 0, 0, 0,0,0,0,0)
       $bot_dbaccess.save_new_command
+      $bot_dbaccess.increment_refresh
     when "C" # Move to home
       $bot_dbaccess.create_new_command(Time.now + $command_delay,'menu')
       $bot_dbaccess.add_command_line('HOME Y',0 ,0 ,-$move_size, 0, 0, 0,0,0,0,0)
       $bot_dbaccess.save_new_command
+      $bot_dbaccess.increment_refresh
     when "W" # Move forward
       $bot_dbaccess.create_new_command(Time.now + $command_delay,'menu')
       $bot_dbaccess.add_command_line('MOVE RELATIVE',0,$move_size, 0, 0, 0, 0,0,0,0,0)
       $bot_dbaccess.save_new_command
+      $bot_dbaccess.increment_refresh
     when "S" # Move back
       $bot_dbaccess.create_new_command(Time.now + $command_delay,'menu')
       $bot_dbaccess.add_command_line('MOVE RELATIVE',0,-$move_size, 0, 0, 0, 0,0,0,0,0)
       $bot_dbaccess.save_new_command
+      $bot_dbaccess.increment_refresh
     when "A" # Move left
       $bot_dbaccess.create_new_command(Time.now + $command_delay,'menu')
       $bot_dbaccess.add_command_line('MOVE RELATIVE', -$move_size, 0, 0, 0, 0, 0,0,0,0,0)
       $bot_dbaccess.save_new_command
+      $bot_dbaccess.increment_refresh
     when "D" # Move right
       $bot_dbaccess.create_new_command(Time.now + $command_delay,'menu')
       $bot_dbaccess.add_command_line('MOVE RELATIVE', $move_size, 0, 0, 0, 0, 0,0,0,0,0)
       $bot_dbaccess.save_new_command
+      $bot_dbaccess.increment_refresh
     when "R" # Move up
       $bot_dbaccess.create_new_command(Time.now + $command_delay,'menu')
       $bot_dbaccess.add_command_line('MOVE RELATIVE', 0, 0, $move_size, 0, 0, 0,0,0,0,0)
       $bot_dbaccess.save_new_command
+      $bot_dbaccess.increment_refresh
     when "F" # Move down
       $bot_dbaccess.create_new_command(Time.now + $command_delay,'menu')
       $bot_dbaccess.add_command_line("MOVE RELATIVE", 0, 0, -$move_size, 0, 0, 0,0,0,0,0)
       $bot_dbaccess.save_new_command
+      $bot_dbaccess.increment_refresh
     end
 
 end

settings.rb

@@ -1,7 +1,7 @@
 $status_debug_msg   = false
 $hardware_sim       = 0
 #$hardware_type     = "lib/hardware/firmata/ramps"
-$hardware_type      = "lib/hardware/gcode/ramps"
-#$hardware_type     = nil
+#$hardware_type      = "lib/hardware/gcode/ramps"
+$hardware_type     = nil
 
 $controller_disable = 0

spec/controller/controller_command_proc_spec.rb

@@ -263,6 +263,14 @@ describe ControllerCommandProc do
     @controller.send_command(command_line)
 
     expect(@ramps.ramps_arduino.test_serial_write).to eq("F61 P#{pin} V#{value}\n")
+
+    $hardware_sim = 1
+
+    @ramps.ramps_arduino.test_serial_write = ""
+    @controller.send_command(command_line)
+    expect(@ramps.ramps_arduino.test_serial_write).to eq("")
+
+    $hardware_sim = 0
   end
 
 #  def process_command( cmd )
@@ -285,6 +293,12 @@ describe ControllerCommandProc do
     expect(@ramps.ramps_arduino.test_serial_write).to eq("F61 P#{pin} V#{value}\n")
   end
 
+#  def process_command( cmd )
+
+  it "process command when command is nil" do
+    @controller.process_command( nil )
+  end
+
 #  def set_speed(command_line)
 
 end

spec/dbaccess/db_logs_spec.rb

@@ -4,8 +4,9 @@ require './lib/database/dbaccess.rb'
 describe DbAccess do
 
   before do
-    $db_write_sync = Mutex.new
-    @db = DbAccess.new('development')
+    $db_write_sync        = Mutex.new
+    @db                   = DbAccess.new('development')
+    #@db.max_nr_log_lines  = 10
   end
 
   ## logs
@@ -20,6 +21,30 @@ describe DbAccess do
     expect(logs.count).to eq(1)
   end
 
+  it "write to log and clean log" do
+
+    @db.disable_log_to_screen()    
+
+    # write 15 lines
+
+    # fill up the logging db if not filled to capacity
+
+    while Log.count < @db.max_nr_log_lines
+      log_text = rand(9999999).to_s
+      @db.write_to_log(99,log_text)
+    end
+
+    # add a couple more
+
+    15.times do
+      log_text = rand(9999999).to_s
+      @db.write_to_log(99,log_text)
+    end
+
+    # check if there are eventually just enough log lines still in the database
+    expect(Log.count).to eq(@db.max_nr_log_lines)
+  end
+
   it "read_logs_all" do
     log_text = rand(9999999).to_s
     return_list = @db.read_logs_all

spec/dbaccess/db_parameters_spec.rb

@@ -304,97 +304,33 @@ describe DbAccess do
     param_name  = 'TEST_VALUE_0'
     param_value = 432
 
+    @db.write_parameter_with_type(param_name, 1, param_value)
+
     return_val = @db.read_parameter_with_default(param_name, param_value)
 
     expect(return_val).to eq(param_value)
   end
 
+  it "read parameter with default, value is nil" do
+    # write a parameter of type int
+    param_name  = 'TEST_VALUE_0'
+    param_value = 0
 
-  ## measurements
+    param = Parameter.find_or_create_by(name: param_name)
+    param.valuetype = 1
 
-#  def write_measurements(value, external_info)
-#    @measurements.write_measurements(value, external_info)
-#  end
+    param.valueint    = nil;
+    param.valuefloat  = nil;
+    param.valuestring = nil;
+    param.valuebool   = nil;
 
-#  def read_measurement_list()
-#    @measurements.read_measurement_list()
-#  end
-
-#  def delete_measurement(id)
-#    @measurements.delete_measurement(id)
-#  end
-
-  ## logs
-
-#  def write_to_log(module_id,text)
-#    @logs.write_to_log(module_id,text)
-#  end
-
-#  def read_logs_all()
-#    @logs.read_logs_all()
-#  end
-
-#  def retrieve_log(module_id, nr_of_lines)
-#    @logs.retrieve_log(module_id, nr_of_lines)
-#  end
-
-  ## commands
-
-#  def create_new_command(scheduled_time, crop_id)
-#    @commands.create_new_command(scheduled_time, crop_id)
-#  end
-
-#  def add_command_line(action, x = 0, y = 0, z = 0, speed = 0, amount = 0, pin_nr = 0, value1 = 0, value2 = 0, mode = 0, time = 0, external_info = "")
-#    @commands.add_command_line(action, x, y, z, speed, amount, pin_nr, value1, value2, mode, time, external_info)
-#  end
-
-#  def fill_in_command_line_coordinates(line, action, x, y, z, speed)
-#    @commands.fill_in_command_line_coordinates(line, action, x, y, z, speed)
-#  end
-
-#  def fill_in_command_line_pins(line, pin_nr, value1, value2, mode, time)
-#    @commands.fill_in_command_line_pins(line, pin_nr, value1, value2, mode, time)
-#  end
-
-#  def fill_in_command_line_extra(line, amount = 0, external_info = "")
-#    @commands.fill_in_command_line_extra(line, amount = 0, external_info = "")
-#  end
-
-#  def save_new_command
-#    @commands.save_new_command
-#    @refreshes.increment_refresh
-#  end
-
-#  def clear_schedule
-#    @commands.clear_schedule
-#  end
-
-#  def clear_crop_schedule(crop_id)
-#    @commands.clear_crop_schedule(crop_id)
-#  end
-
-#  def get_command_to_execute
-#    @commands.get_command_to_execute
-#  end
-
-#  def set_command_to_execute_status(new_status)
-#    @commands.set_command_to_execute_status(new_status)
-#  end
-
-  ## refreshes
-
-#  def check_refresh
-#    @refreshes.check_refresh
-#  end
-
-#  def save_refresh
-#    @refresh_value = @refresh_value_new
-#  end
-
-#  def increment_refresh
-#    @refreshes.increment_refresh
-#  end
+    $db_write_sync.synchronize do
+      param.save
+    end
 
+    return_val = @db.read_parameter_with_default(param_name, param_value)
 
+    expect(return_val).to eq(param_value)
+  end
 
 end

spec/hardware/ramps_param_spec.rb

@@ -96,6 +96,9 @@ describe HardwareInterfaceArduino do
     expect(param['id']).to eq(id)
     expect(param['default']).to eq(default)
 
+    # repeat again so the part where the param already exists is ran too
+    @ramps_param.param_name_add(name, id, default)
+
   end
 
 #  def get_param_by_name(name) 
@@ -408,6 +411,32 @@ describe HardwareInterfaceArduino do
     expect(@ramps_param.params_in_sync).to eq(true)
   end
 
+  it "compare and write paramters, different version, all parameters identical" do
+
+    name = 'TESTING'
+    id   = 1
+
+    value  = rand(9999999).to_i
+
+    @ramps_param.params.each do |p|
+        p['value_ar'] = p['value_db']
+    end
+
+    @ramps_param.param_version_db = value
+    @ramps_param.param_version_ar = value - 1
+
+    $bot_dbaccess.write_parameter('PARAM_VERSION',@ramps_param.param_version_db)
+
+    @ramps.test_serial_write = ""
+    @ramps.test_serial_read  = ""
+
+    @ramps_param.compare_and_write_parameters()
+
+    expect(@ramps.test_serial_write).to eq("F22 P0 V#{value}\n")
+    expect(@ramps_param.params_in_sync).to eq(true)
+  end
+
+
 #  def check_parameters
 
   it "check parameter, no difference" do

spec/messaging/messagehandler_base_spec.rb

@@ -16,4 +16,13 @@ describe MessageHandlerBase do
     expect(message.handled).to eq(false)        
   end
 
+  it "hanlde message test message" do
+    message = MessageHandlerMessage.new
+    message.message_type = 'test'
+    message.handled = false
+    @handler.handle_message(message)
+    expect(message.handled).to eq(true)        
+  end
+
+
 end

spec/messaging/messagehandler_emergency_stop_spec.rb

@@ -27,6 +27,10 @@ describe MessageHandlerEmergencyStop do
 
   ## messaging
 
+  it "white list" do
+    list = @handler.whitelist
+    expect(list.count).to eq(2)
+  end
   
   it "message handler emergency stop" do
     message = MessageHandlerMessage.new
@@ -39,8 +43,6 @@ describe MessageHandlerEmergencyStop do
     expect($messaging.message[:message_type]).to eq('confirmation')
   end
 
-
-
   it "message handler emergency stop reset" do
     message = MessageHandlerMessage.new
     message.handled = false

spec/messaging/messagehandler_log_spec.rb

@@ -23,6 +23,11 @@ describe MessageHandlerLog do
 
   ## logs
   
+  it "white list" do
+    list = @handler.whitelist
+    expect(list.count).to eq(1)
+  end
+
   it "read logs" do
 
     # write a few lines in the log

spec/messaging/messagehandler_measurements_spec.rb

@@ -23,6 +23,10 @@ describe MessageHandlerMeasurement do
 
   ## measurements
 
+  it "white list" do
+    list = @handler.whitelist
+    expect(list.count).to eq(2)
+  end
   
   it "read measurements" do
 

spec/messaging/messagehandler_parameters_spec.rb

@@ -23,7 +23,11 @@ describe MessageHandlerParameter do
 
   ## measurements
 
-  
+  it "white list" do
+    list = @handler.whitelist
+    expect(list.count).to eq(2)
+  end
+
   it "read parameters" do
 
     # write a few parameters
@@ -66,7 +70,6 @@ describe MessageHandlerParameter do
     expect($messaging.message[:message_type]).to eq('read_parameters_response')
   end
 
-
   it "write parameters" do
 
     # write a few parameters
@@ -106,5 +109,18 @@ describe MessageHandlerParameter do
 
   end
 
+  it "write parameters empty command" do
+
+
+    message = MessageHandlerMessage.new
+    message.handled = false
+    message.handler = @main_handler
+    message.payload = {}
+
+    @handler.write_parameters(message)
+
+    expect($messaging.message[:message_type]).to eq('error')
+
+  end
 
 end

spec/messaging/messagehandler_schedule_spec.rb

@@ -26,11 +26,11 @@ describe MessageHandlerSchedule do
 
   ## commands / scheduling
   
-#def single_command(message)
-#def save_single_command(command, delay)
-#def save_command_line(command)
-#def crop_schedule_update(message)
-#def save_command_with_lines(command)
+  it "white list" do
+    list = @handler.whitelist
+    expect(list.count).to eq(2)
+  end
+
 
   it "save command line" do
 
@@ -239,6 +239,25 @@ describe MessageHandlerSchedule do
     
   end
 
+  it "handle empty command" do
+
+    # create a message
+
+    message = MessageHandlerMessage.new
+    message.handled = false
+    message.handler = @main_handler
+    message.payload = {}
+
+    # execute the message
+
+    @handler.single_command(message)
+
+    # do the checks
+
+    expect($messaging.message[:message_type]).to eq('error')
+    
+  end
+
 # save_command_with_lines
 
   it "save command with lines" do

spec/messaging/messagehandler_status_spec.rb

@@ -31,6 +31,12 @@ describe MessageHandlerStatus do
     @main_handler = MessageHandler.new
   end
 
+  it "white list" do
+    list = @handler.whitelist
+    expect(list.count).to eq(1)
+  end
+
+
   it "read status" do
 
     # create new status data