update R89 handler (load)

CHANGELOG.md

@@ -1,5 +1,9 @@
 # Changelog
 
+# 10.0.1
+
+ * Genesis v1.5 and Express v1.0 firmware updates.
+
 # 10.0.0
 
  * Deprecate `resource_update` RPC

VERSION

@@ -1 +1 @@
-10.0.0
+10.0.1-rc2

farmbot_core/lib/farmbot_core/firmware_side_effects.ex

@@ -11,7 +11,7 @@ defmodule FarmbotCore.FirmwareSideEffects do
   end
 
   @impl FarmbotFirmware.SideEffects
-  def handle_load(x: x, y: y, z: z) do
+  def handle_load([u, x, v, y, w, z]) do
     :ok = BotState.set_load(x, y, z)
   end
 

farmbot_firmware/lib/farmbot_firmware/gcode/decoder.ex

@@ -57,7 +57,7 @@ defmodule FarmbotFirmware.GCODE.Decoder do
 
   def do_decode("R87", []), do: {:report_emergency_lock, []}
   def do_decode("R88", []), do: {:report_no_config, []}
-  def do_decode("R89", xyz), do: {:report_load, decode_floats(xyz)}
+  def do_decode("R89", uxvywz), do: {:report_load, decode_uxvywz(uxvywz)}
 
   def do_decode("R99", debug),
     do: {:report_debug_message, [Enum.join(debug, " ")]}
@@ -200,6 +200,23 @@ defmodule FarmbotFirmware.GCODE.Decoder do
     [{param, value}]
   end
 
+  def decode_uxvywz([
+        "U" <> u_value,
+        "X" <> x_value,
+        "V" <> v_value,
+        "Y" <> y_value,
+        "W" <> w_value,
+        "Z" <> z_value
+      ]) do
+    {u, ""} = Integer.parse(u_value)
+    {x, ""} = Integer.parse(x_value)
+    {v, ""} = Integer.parse(v_value)
+    {y, ""} = Integer.parse(y_value)
+    {w, ""} = Integer.parse(w_value)
+    {z, ""} = Integer.parse(z_value)
+    [u, x, v, y, w, z]
+  end
+
   def decode_ints(pvm, acc \\ [])
 
   def decode_ints([<<arg::binary-1, val::binary>> | rest], acc) do

farmbot_firmware/lib/farmbot_firmware/gcode/encoder.ex

@@ -59,7 +59,7 @@ defmodule FarmbotFirmware.GCODE.Encoder do
 
   def do_encode(:report_emergency_lock, []), do: "R87"
   def do_encode(:report_no_config, []), do: "R88"
-  def do_encode(:report_load, xyz), do: "R89 " <> encode_floats(xyz)
+  def do_encode(:report_load, uxvywz), do: "R89 " <> encode_uxvywz(uxvywz)
   def do_encode(:report_debug_message, [message]), do: "R99 " <> message
 
   def do_encode(:command_movement, xyzs), do: "G00 " <> encode_floats(xyzs)
@@ -156,6 +156,16 @@ defmodule FarmbotFirmware.GCODE.Encoder do
     "P#{param_id} V#{binary_float}"
   end
 
+  def encode_uxvywz([u_value, x_value, v_value, y_value, w_value, z_value]) do
+    u_int = to_string(u_value)
+    x_int = to_string(x_value)
+    v_int = to_string(v_value)
+    y_int = to_string(y_value)
+    w_int = to_string(w_value)
+    z_int = to_string(z_value)
+    "U#{u_int} X#{x_int} V#{v_int} Y#{y_int} W#{w_int} Z#{z_int}"
+  end
+
   defp encode_error(error) do
     case error do
       :no_error -> "V0"

farmbot_firmware/test/farmbot_firmware/gcode/decoder_test.exs

@@ -12,11 +12,15 @@ defmodule FarmbotFirmware.GCODE.DecoderTest do
     assert [param_config_ok: 3.0] == Decoder.decode_pv(["P2", "V3"])
   end
 
+  test "Decoder.decode_uxvywz" do
+    assert [1, 2, 3, 4, 5, 6] ==
+             Decoder.decode_uxvywz(["U1", "X2", "V3", "Y4", "W5", "Z6"])
+  end
+
   # NOTE: Theese values are totally random and may
   # not represent real-world use of the GCode.
   test "Decoder.decode_floats" do
     assert {:command_movement, []} == Decoder.do_decode("G00", ["XA0.0"])
-    assert {:report_load, [x: 0.0]} == Decoder.do_decode("R89", ["X0.0"])
     assert {:report_encoders_raw, [x: 0.0]} == Decoder.do_decode("R85", ["X0"])
     assert {:report_encoders_scaled, []} == Decoder.do_decode("R84", ["XA-0.0"])
     assert {:report_position, []} == Decoder.do_decode("R82", ["XA-0"])
@@ -29,7 +33,6 @@ defmodule FarmbotFirmware.GCODE.DecoderTest do
 
     assert {:report_position_change, []} == Decoder.do_decode("R16", ["YA1"])
     assert {:command_movement, []} == Decoder.do_decode("G00", ["YB1"])
-    assert {:report_load, []} == Decoder.do_decode("R89", ["ZA1"])
     assert {:report_position, []} == Decoder.do_decode("R82", ["ZB1"])
   end
 end

farmbot_firmware/test/farmbot_firmware/gcode/encoder_test.exs

@@ -0,0 +1,11 @@
+defmodule FarmbotFirmware.GCODE.EncoderTest do
+  use ExUnit.Case
+  use Mimic
+  setup :verify_on_exit!
+  alias FarmbotFirmware.GCODE.Encoder
+
+  test "Encoder.encode_uxvywz" do
+    assert "U1 X2 V3 Y4 W5 Z6" ==
+             Encoder.encode_uxvywz([1, 2, 3, 4, 5, 6])
+  end
+end

farmbot_firmware/test/gcode_test.exs

@@ -448,9 +448,9 @@ defmodule FarmbotFirmware.GCODETest do
       assert "R85 X1.40 Y2.30 Z3.20" ==
                GCODE.encode({nil, {:report_encoders_raw, params}})
 
-      params = [x: 1.4, y: 2.3, z: 3.2]
+      params = [1, 2, 3, 4, 5, 6]
 
-      assert "R89 X1.40 Y2.30 Z3.20" ==
+      assert "R89 U1 X2 V3 Y4 W5 Z6" ==
                GCODE.encode({nil, {:report_load, params}})
 
       assert "G00 X0.00" ==