fix hardware params persistance, and tool offests in sequences

apps/farmbot/lib/bot_state/trackers/hardware_tracker.ex

@@ -5,6 +5,7 @@ defmodule Farmbot.BotState.Hardware do
 
   require Logger
   alias Farmbot.StateTracker
+
   @behaviour StateTracker
   use StateTracker,
       name: __MODULE__,
@@ -27,6 +28,45 @@ defmodule Farmbot.BotState.Hardware do
   @type pins :: map
   @type end_stops :: {integer,integer,integer,integer,integer,integer}
 
+  # Callback that happens when this module comes up
+  def load([]) do
+    {:ok, p} = get_config("params")
+    initial_state = %State{mcu_params: p}
+    # BUG: THIS CAN'T BE HERE BECAUSE IT TRIES TO CALL THIS GENSERVER DERP
+
+    spawn fn() ->
+      case set_initial_params(initial_state) do
+        {:ok, :no_params} ->
+          Logger.debug ">> is reading default Hardware params."
+          Farmbot.CeleryScript.Command.read_all_params(%{}, [])
+        :ok ->
+          Logger.debug ">> Hardware Params set"
+        {:error, reason} ->
+          Logger.error(">> Error setting Hardware Params: #{inspect reason}")
+      end
+    end
+
+    {:ok, initial_state}
+  end
+
+  @doc """
+    Takes a Hardware State object, and makes it happen
+  """
+  @spec set_initial_params(State.t) :: {:ok, :no_params} | :ok | {:error, term}
+  def set_initial_params(%State{} = state) do
+    if Enum.empty?(state.mcu_params) do
+      {:ok, :no_params}
+    else
+      # iterate over mcu_params and read each one
+      config_pairs = Enum.map(state.mcu_params, fn({param, val}) ->
+        %Farmbot.CeleryScript.Ast{kind: "pair",
+            args: %{label: param, value: val}, body: []}
+      end)
+      Farmbot.CeleryScript.Command.config_update(%{package: "arduino_firmware"},
+        config_pairs)
+    end
+  end
+
   def handle_call({:get_pin, pin_number}, _from, %State{} = state) do
     dispatch Map.get(state.pins, Integer.to_string(pin_number)), state
   end
@@ -80,6 +120,7 @@ defmodule Farmbot.BotState.Hardware do
 
   def handle_cast({:set_param, {param_string, value}}, %State{} = state) do
     new_params = Map.put(state.mcu_params, param_string, value)
+    put_config("params", new_params)
     dispatch %State{state | mcu_params: new_params}
   end
 

apps/farmbot/lib/camera.ex

@@ -0,0 +1,54 @@
+defmodule Farmbot.Camera do
+  @moduledoc """
+    Test module for taking photos with the rpi camera.
+  """
+  @params ["-o", "/tmp/image.jpg", "-e", "jpg", "-t", "1",
+  "-w","1024", "-h", "1024"
+]
+  @command "raspistill"
+  require Logger
+
+  def ls do
+    {f, _} = System.cmd("ls", ["-lah", "/tmp"])
+    IO.puts f
+  end
+
+  def capture, do: System.cmd(@command, @params)
+
+  def get_form_data_auth do
+    req = Farmbot.HTTP.get "/api/storage_auth"
+    req.body |> Poison.decode!
+  end
+
+  def blah do
+    req = Farmbot.HTTP.get("/api/storage_auth")
+    f = Poison.decode!(req.body)
+    url = "https:" <> f["url"]
+    form_data = f["form_data"]
+    binary = File.read!("/tmp/image.jpg")
+    payload =
+      Enum.map(form_data, fn({key, value}) ->
+        if key == "file", do: {"file", binary}, else:  {key, value}
+      end)
+
+    headers = [
+      {"Content-Type", "multipart/form-data"},
+      {"User-Agent", "FarmbotOS"}
+    ]
+    Logger.debug "URL: #{url}"
+    Logger.debug "Payload: #{inspect payload}"
+    Logger.debug "Headers: #{inspect headers}"
+
+    blah = HTTPoison.post(url, {:multipart, payload}, headers)
+    Logger.debug "THIS THING HERE: #{inspect blah}"
+    attachment_url = url<>form_data["key"]
+    Logger.debug "here: #{attachment_url}"
+
+    # json = Poison.encode!(
+    #   %{"attachment_url" => attachment_url, "meta" => %{x: 1, y: 1, z: 1}}
+    #   )
+    #
+    # Farmbot.HTTP.post "/api/images", json
+  end
+
+end

apps/farmbot/lib/celery_script/command.ex

@@ -89,20 +89,19 @@ defmodule Farmbot.CeleryScript.Command do
                         args: %{x: _x, y: _y, z: _z},
                         body: []} = already_done), do: already_done
 
-  def ast_to_coord(%Ast{kind: "tool", args: %{tool_id: id}, body: []}) do
-    blah =
-      Amnesia.transaction do
-        [asdf] =
-          ToolSlot.where(tool_id == id)
-          |> Amnesia.Selection.values
-          asdf
-      end
-
-    if blah do
-      coordinate(%{x: blah.x, y: blah.y, z: blah.z}, [])
-    else
-      Logger.error ">> could not find tool_slot with tool_id: #{id}"
-      :error
+  # NOTE(connor): don't change `tool_id_` back to `tool_id` what was happening
+  # Amnesia builds local variables by the name of "tool_id", so it was looking
+  # fortool_id == tool_id, which returned
+  # all of them, because every toolslots tool_id
+  # always equals that toolslots tool id lol
+  def ast_to_coord(%Ast{kind: "tool", args: %{tool_id: tool_id_}, body: []}) do
+    blah = Amnesia.transaction do
+      ToolSlot.where(tool_id == tool_id_) |> Amnesia.Selection.values
+    end
+    case blah do
+      [ts] -> coordinate(%{x: ts.x, y: ts.y, z: ts.z}, [])
+      _ -> Logger.error ">> could not find tool_slot with tool_id: #{tool_id_}"
+        :error
     end
   end
 
@@ -301,6 +300,7 @@ defmodule Farmbot.CeleryScript.Command do
        32,33,41,42,43,51,52,53,
        61,62,63,71,72,73,101,102,103]
    for param <- magic_numbers do
+     Process.sleep(10) # Makes this a bit more stable 
      GHan.block_send("F21 P#{param}")
    end
   end

apps/farmbot/lib/serial/gcode/handler.ex

@@ -100,10 +100,14 @@ defmodule Farmbot.Serial.Gcode.Handler do
     Sends a message and blocks until it completes, or times out.
     The default timeout is ten seconds.
   """
-  @spec block_send(binary, integer) :: atom
+  @spec block_send(binary, integer) :: {:error, :no_serial} | atom
   def block_send(str, timeout \\ 10_000) do
-    GenServer.cast(Farmbot.Serial.Gcode.Handler,{:send, str, self()})
-    __MODULE__.block(timeout)
+    if Farmbot.Serial.Handler.available? do
+      GenServer.cast(Farmbot.Serial.Gcode.Handler,{:send, str, self()})
+      __MODULE__.block(timeout) # is there a reason why i did this?
+    else
+      {:error, :no_serial}
+    end
   end
 
   @doc """

apps/farmbot/lib/serial/handler.ex

@@ -43,6 +43,12 @@ defmodule Farmbot.Serial.Handler do
     GenServer.call(__MODULE__, :resume)
   end
 
+  def available?, do: GenServer.call(__MODULE__, :available?)
+
+  def handle_call(:available?, _, nil), do: {:reply, false, nil}
+  def handle_call(:available?, _, {nerves, tty, handler}),
+    do: {:reply, true, {nerves, tty, handler}}
+
   def handle_call(:e_stop, _from, {nerves, tty, handler}) do
     UART.write(nerves, "E")
     UART.close(nerves)

apps/farmbot/lib/transport/gen_mqtt/gen_mqtt_client.ex

@@ -34,6 +34,7 @@ defmodule Farmbot.Transport.GenMqtt.Client do
   end
 
   def handle_cast(%Ser{} = ser, %Token{} = token) do
+    IO.puts "!!! sending state"
     json = Poison.encode!(ser)
     GenMQTT.publish(self(), status_topic(token), json, 1, false)
     {:ok, token}
@@ -46,6 +47,7 @@ defmodule Farmbot.Transport.GenMqtt.Client do
   end
 
   def handle_cast({:emit, msg}, %Token{} = token) do
+    # IO.puts "[!!! sending message]"
     json = Poison.encode! msg
     GenMQTT.publish(self(), frontend_topic(token), json, 1, false)
     {:noreply, token}

apps/farmbot_configurator/package.json

@@ -11,7 +11,7 @@
     "axios": "^0.15.3",
     "bootstrap": "^3.3.7",
     "css-loader": "^0.26.1",
-    "farmbot": "2.5.0-rc12",
+    "farmbot": "2.6.0",
     "file-loader": "^0.9.0",
     "font-awesome": "^4.7.0",
     "lodash": "^4.17.2",

mix.lock

@@ -21,7 +21,8 @@
   "gen_mqtt": {:hex, :gen_mqtt, "0.3.1", "6ce6af7c2bcb125d5b4125c67c5ab1f29bcec2638236509bcc6abf510a6661ed", [:mix], [{:vmq_commons, "1.0.0", [hex: :vmq_commons, optional: false]}]},
   "gen_stage": {:hex, :gen_stage, "0.10.0", "ce1eb93a3f9708f2e215f70b3d3c7f55dea4a4ed7e9615195e28d543c9086656", [:mix], []},
   "gettext": {:hex, :gettext, "0.13.0", "daafbddc5cda12738bb93b01d84105fe75b916a302f1c50ab9fb066b95ec9db4", [:mix], []},
-  "hackney": {:hex, :hackney, "1.6.3", "d489d7ca2d4323e307bedc4bfe684323a7bf773ecfd77938f3ee8074e488e140", [:mix, :rebar3], [{:certifi, "0.7.0", [hex: :certifi, optional: false]}, {:idna, "1.2.0", [hex: :idna, optional: false]}, {:metrics, "1.0.1", [hex: :metrics, optional: false]}, {:mimerl, "1.0.2", [hex: :mimerl, optional: false]}, {:ssl_verify_fun, "1.1.1", [hex: :ssl_verify_fun, optional: false]}]},
+  "hackney": {:hex, :hackney, "1.6.5", "8c025ee397ac94a184b0743c73b33b96465e85f90a02e210e86df6cbafaa5065", [:rebar3], [{:certifi, "0.7.0", [hex: :certifi, optional: false]}, {:idna, "1.2.0", [hex: :idna, optional: false]}, {:metrics, "1.0.1", [hex: :metrics, optional: false]}, {:mimerl, "1.0.2", [hex: :mimerl, optional: false]}, {:ssl_verify_fun, "1.1.1", [hex: :ssl_verify_fun, optional: false]}]},
+  "httpoison": {:hex, :httpoison, "0.10.0", "4727b3a5e57e9a4ff168a3c2883e20f1208103a41bccc4754f15a9366f49b676", [:mix], [{:hackney, "~> 1.6.3", [hex: :hackney, optional: false]}]},
   "httpotion": {:hex, :httpotion, "3.0.2", "525b9bfeb592c914a61a8ee31fdde3871e1861dfe805f8ee5f711f9f11a93483", [:mix], [{:ibrowse, "~> 4.2", [hex: :ibrowse, optional: false]}]},
   "ibrowse": {:hex, :ibrowse, "4.2.2", "b32b5bafcc77b7277eff030ed32e1acc3f610c64e9f6aea19822abcadf681b4b", [:rebar3], []},
   "idna": {:hex, :idna, "1.2.0", "ac62ee99da068f43c50dc69acf700e03a62a348360126260e87f2b54eced86b2", [:rebar3], []},