128 lines
3.3 KiB
Elixir
128 lines
3.3 KiB
Elixir
defmodule FarmbotOS.SysCalls do
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require FarmbotCore.Logger
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alias FarmbotCeleryScript.AST
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alias FarmbotFirmware
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alias FarmbotOS.SysCalls.{SendMessage, ExecuteScript, FlashFirmware}
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alias FarmbotCore.{Asset, Asset.Repo, Asset.Sync, BotState}
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alias FarmbotExt.{API, API.Reconciler, API.SyncGroup}
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alias Ecto.{Changeset, Multi}
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@behaviour FarmbotCeleryScript.SysCalls
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defdelegate send_message(level, message, channels), to: SendMessage
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defdelegate execute_script(name, env), to: ExecuteScript
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defdelegate flash_firmware(package), to: FlashFirmware
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def read_status do
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:ok = FarmbotExt.AMQP.BotStateNGChannel.force()
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end
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def set_user_env(key, value) do
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FarmbotCore.BotState.set_user_env(key, value)
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end
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def get_current_x do
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get_position(:x)
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end
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def get_current_y do
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get_position(:y)
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end
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def get_current_z do
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get_position(:z)
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end
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def read_pin(pin_number, mode) do
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case FarmbotFirmware.request({nil, {:pin_read, [p: pin_number, m: mode]}}) do
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{:ok, {_, {:report_pin_value, [p: _, v: val]}}} ->
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val
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{:error, reason} ->
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{:error, reason}
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end
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end
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def write_pin(pin_number, mode, value) do
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case FarmbotFirmware.command({:pin_write, [p: pin_number, v: value, m: mode]}) do
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:ok -> :ok
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{:error, reason} -> {:error, reason}
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end
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end
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def point(kind, id) do
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case Asset.get_point(id: id) do
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nil -> {:error, "#{kind} not found"}
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%{x: x, y: y, z: z} -> %{x: x, y: y, z: z}
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end
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end
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defp get_position(axis) do
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case FarmbotFirmware.request({nil, {:position_read, []}}) do
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{:ok, {_, {:report_position, params}}} ->
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Keyword.fetch!(params, axis)
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{:error, reason} ->
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{:error, reason}
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end
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end
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def move_absolute(x, y, z, speed) do
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params = [x: x / 1.0, y: y / 1.0, z: z / 1.0, s: speed / 1.0]
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case FarmbotFirmware.command({nil, {:command_movement, params}}) do
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:ok ->
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:ok
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{:error, reason} ->
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{:error, to_string(reason)}
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end
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end
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def calibrate(axis) do
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case FarmbotFirmware.command({:command_movement_calibrate, axis}) do
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:ok ->
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:ok
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{:error, reason} ->
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{:error, reason}
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end
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end
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def get_sequence(id) do
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case Asset.get_sequence(id: id) do
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nil -> {:error, "sequence not found"}
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%{} = sequence -> AST.decode(sequence)
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end
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end
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def sync() do
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FarmbotCore.Logger.busy(3, "Syncing")
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sync_changeset = API.get_changeset(Sync)
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sync = Changeset.apply_changes(sync_changeset)
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multi = Multi.new()
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:ok = BotState.set_sync_status("syncing")
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with {:ok, multi} <- Reconciler.sync_group(multi, sync, SyncGroup.group_0()),
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{:ok, multi} <- Reconciler.sync_group(multi, sync, SyncGroup.group_1()),
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{:ok, multi} <- Reconciler.sync_group(multi, sync, SyncGroup.group_2()),
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{:ok, multi} <- Reconciler.sync_group(multi, sync, SyncGroup.group_3()),
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{:ok, multi} <- Reconciler.sync_group(multi, sync, SyncGroup.group_4()) do
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Multi.insert(multi, :syncs, sync_changeset)
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|> Repo.transaction()
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FarmbotCore.Logger.success(3, "Synced")
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:ok = BotState.set_sync_status("synced")
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:ok
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else
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error ->
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:ok = BotState.set_sync_status("sync_error")
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{:error, inspect(error)}
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end
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end
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end
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