Implement estop and eunlock syscalls

farmbot_celery_script/lib/farmbot_celery_script/sys_calls.ex

@@ -72,6 +72,17 @@ defmodule FarmbotCeleryScript.SysCalls do
   @callback flash_firmware(package) :: :ok | error
   @callback firmware_reboot() :: :ok | error
 
+  @callback emergency_lock() :: :ok | error
+  @callback emergency_unlock() :: :ok | error
+
+  def emergency_lock(module \\ @sys_call_implementation) do
+    _ = module.emergency_lock()
+  end
+
+  def emergency_unlock(module \\ @sys_call_implementation) do
+    _ = module.emergency_unlock()
+  end
+
   def power_off(module \\ @sys_call_implementation) do
     _ = module.factory_reset()
     :ok

farmbot_firmware/lib/farmbot_firmware.ex

@@ -215,6 +215,10 @@ defmodule FarmbotFirmware do
 
   def terminate(reason, state) do
     for {pid, _code} <- state.command_queue, do: send(pid, reason)
+
+    state.transport_pid &&
+      Process.alive?(state.transport_pid) &&
+      GenServer.stop(state.transport_pid)
   end
 
   # This will be the first message received right after `init/1`

farmbot_os/lib/farmbot_os/sys_calls.ex

@@ -160,6 +160,16 @@ defmodule FarmbotOS.SysCalls do
     end
   end
 
+  def emergency_lock do
+    _ = FarmbotFirmware.command({:command_emergency_lock, []})
+    :ok
+  end
+
+  def emergency_unlock do
+    _ = FarmbotFirmware.command({:command_emergency_unlock, []})
+    :ok
+  end
+
   defp assert_axis!(axis) when is_atom(axis),
     do: axis