447 lines
10 KiB
Elixir
447 lines
10 KiB
Elixir
defmodule FarmbotOS.SysCalls do
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require FarmbotCore.Logger
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require Logger
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alias FarmbotCeleryScript.AST
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alias FarmbotFirmware
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alias FarmbotCore.Asset.{
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BoxLed,
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Private
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}
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alias FarmbotOS.SysCalls.{
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ChangeOwnership,
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CheckUpdate,
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DumpInfo,
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Farmware,
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FactoryReset,
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FlashFirmware,
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SendMessage,
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SetPinIOMode,
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PinControl
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}
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alias FarmbotOS.Lua
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alias FarmbotCore.{Asset, Asset.Repo, Asset.Private, Asset.Sync, BotState, Leds}
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alias FarmbotExt.{API, API.Reconciler, API.SyncGroup}
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@behaviour FarmbotCeleryScript.SysCalls
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@impl true
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defdelegate send_message(level, message, channels), to: SendMessage
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@impl true
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defdelegate execute_script(name, env), to: Farmware
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@impl true
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defdelegate update_farmware(name), to: Farmware
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@impl true
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defdelegate flash_firmware(package), to: FlashFirmware
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@impl true
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defdelegate change_ownership(email, secret, server), to: ChangeOwnership
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@impl true
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defdelegate dump_info(), to: DumpInfo
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@impl true
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defdelegate check_update(), to: CheckUpdate
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@impl true
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defdelegate read_status(), to: FarmbotExt.AMQP.BotStateChannel
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@impl true
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defdelegate factory_reset(package), to: FactoryReset
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@impl true
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defdelegate set_pin_io_mode(pin, mode), to: SetPinIOMode
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@impl true
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defdelegate eval_assertion(comment, expression), to: Lua
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defdelegate log_assertion(passed?, type, message), to: Lua
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@impl true
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defdelegate read_pin(number, mode), to: PinControl
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@impl true
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defdelegate read_cached_pin(number), to: PinControl
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@impl true
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defdelegate write_pin(number, mode, value), to: PinControl
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@impl true
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defdelegate toggle_pin(number), to: PinControl
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@impl true
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def log(message, force?) do
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if force? || FarmbotCore.Asset.fbos_config(:sequence_body_log) do
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FarmbotCore.Logger.info(2, message)
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:ok
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else
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:ok
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end
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end
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@impl true
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def sequence_init_log(message) do
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if FarmbotCore.Asset.fbos_config(:sequence_init_log) do
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FarmbotCore.Logger.info(2, message)
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:ok
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else
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:ok
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end
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end
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@impl true
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def sequence_complete_log(message) do
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if FarmbotCore.Asset.fbos_config(:sequence_complete_log) do
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FarmbotCore.Logger.info(2, message)
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:ok
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else
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:ok
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end
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end
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@impl true
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def reboot do
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FarmbotOS.System.reboot("Reboot requested by Sequence or frontend")
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:ok
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end
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@impl true
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def power_off do
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FarmbotOS.System.shutdown("Shut down requested by Sequence or frontend")
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:ok
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end
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@impl true
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def firmware_reboot do
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GenServer.stop(FarmbotFirmware, :reboot)
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end
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@impl true
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def resource_update(kind, id, params) do
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module = Module.concat(Asset, kind)
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with true <- Code.ensure_loaded?(module),
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%{} = orig <- Repo.get_by(module, [id: id], preload: [:local_meta]),
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%{valid?: true} = change <- module.changeset(orig, params),
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{:ok, new} <- Repo.update(change),
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new <- Repo.preload(new, [:local_meta]) do
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Private.mark_dirty!(new, %{})
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:ok
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else
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false ->
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{:error, "unknown asset kind: #{kind}"}
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nil ->
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{:error, "Could not find asset by kind: #{kind} and id: #{id}"}
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%{valid?: false} = changeset ->
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{:error, "failed to update #{kind}: #{inspect(changeset.errors)}"}
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end
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end
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@impl true
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def set_user_env(key, value) do
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with {:ok, fwe} <- Asset.new_farmware_env(%{key: key, value: value}),
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_ <- Private.mark_dirty!(fwe) do
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:ok
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else
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{:error, reason} ->
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{:error, inspect(reason)}
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error ->
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{:error, inspect(error)}
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end
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end
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@impl true
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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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@impl true
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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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@impl true
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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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@impl true
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def get_cached_x do
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get_cached_position(:x)
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end
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@impl true
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def get_cached_y do
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get_cached_position(:y)
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end
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@impl true
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def get_cached_z do
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get_cached_position(:z)
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end
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@impl true
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def zero(axis) do
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axis = assert_axis!(axis)
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case FarmbotFirmware.command({:position_write_zero, [axis]}) do
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:ok ->
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:ok
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{:error, reason} ->
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{:error, "Firmware error: #{inspect(reason)}"}
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end
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end
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@impl true
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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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def get_position() do
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case FarmbotFirmware.request({nil, {:position_read, []}}) do
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{:ok, {_, {:report_position, params}}} ->
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params
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{:error, reason} ->
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{:error, "Firmware error: #{inspect(reason)}"}
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end
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end
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def get_position(axis) do
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axis = assert_axis!(axis)
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case get_position() do
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{:error, _} = error -> error
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position -> Keyword.fetch!(position, axis)
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end
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end
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def get_cached_position() do
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%{x: x, y: y, z: z} = FarmbotCore.BotState.fetch().location_data.position
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[x: x, y: y, z: z]
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end
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def get_cached_position(axis) do
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axis = assert_axis!(axis)
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Keyword.fetch!(get_cached_position(), axis)
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end
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@impl true
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def move_absolute(x, y, z, speed) do
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do_move_absolute(x, y, z, speed, max_retries())
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end
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defp do_move_absolute(x, y, z, speed, retries, errors \\ [])
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defp do_move_absolute(x, y, z, speed, 0, errors) 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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errors =
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[reason | errors]
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|> Enum.reverse()
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|> Enum.map(&inspect/1)
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|> Enum.join(", ")
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{:error, "movement error(s): #{errors}"}
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end
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end
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defp do_move_absolute(x, y, z, speed, retries, errors) 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, :emergency_lock} ->
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{:error, "emergency_lock"}
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{:error, reason} ->
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FarmbotCore.Logger.error(1, "Movement failed. Retrying up to #{retries} more time(s)")
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do_move_absolute(x, y, z, speed, retries - 1, [reason | errors])
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end
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end
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defp max_retries do
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case FarmbotFirmware.request({:parameter_read, [:param_mov_nr_retry]}) do
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{:ok, {_, {:report_parameter_value, [param_mov_nr_retry: nr]}}} -> floor(nr)
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_ -> 3
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end
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end
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@impl true
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def calibrate(axis) do
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axis = assert_axis!(axis)
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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, "Firmware error: #{inspect(reason)}"}
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end
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end
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@impl true
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def find_home(axis) do
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axis = assert_axis!(axis)
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case FarmbotFirmware.command({:command_movement_find_home, [axis]}) do
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:ok ->
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:ok
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{:error, reason} ->
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{:error, "Firmware error: #{inspect(reason)}"}
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end
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end
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@impl true
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def home(axis, _speed) do
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# TODO(Connor) fix speed
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axis = assert_axis!(axis)
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case FarmbotFirmware.command({:command_movement_home, [axis]}) do
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:ok ->
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:ok
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{:error, reason} ->
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{:error, "Firmware error: #{inspect(reason)}"}
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end
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end
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@impl true
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def emergency_lock do
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_ = FarmbotFirmware.command({:command_emergency_lock, []})
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:ok
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end
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@impl true
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def emergency_unlock do
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_ = FarmbotFirmware.command({:command_emergency_unlock, []})
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:ok
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end
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defp assert_axis!(axis) when is_atom(axis),
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do: axis
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defp assert_axis!(axis) when axis in ~w(x y z),
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do: String.to_existing_atom(axis)
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defp assert_axis!(axis) do
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# {:error, "unknown axis #{axis}"}
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raise("unknown axis #{axis}")
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end
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@impl true
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def wait(ms) do
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Process.sleep(ms)
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:ok
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end
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@impl true
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def named_pin("Peripheral", id) do
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case Asset.get_peripheral(id: id) do
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%{} = peripheral -> peripheral
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nil -> {:error, "Could not find peripheral by id: #{id}"}
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end
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end
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def named_pin("Sensor", id) do
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case Asset.get_sensor(id) do
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%{} = sensor -> sensor
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nil -> {:error, "Could not find peripheral by id: #{id}"}
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end
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end
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def named_pin("BoxLed" <> id, _) do
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%BoxLed{id: String.to_integer(id)}
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end
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def named_pin(kind, id) do
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{:error, "unknown pin kind: #{kind} of id: #{id}"}
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end
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@impl true
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def get_sequence(id) do
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case Asset.get_sequence(id) do
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nil ->
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{:error, "sequence not found"}
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%{} = sequence ->
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ast = AST.decode(sequence)
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args = Map.put(ast.args, :sequence_name, sequence.name)
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%{%{ast | args: args} | meta: %{sequence_name: sequence.name}}
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end
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end
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@impl true
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def get_toolslot_for_tool(id) do
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with %{id: ^id} <- Asset.get_tool(id: id),
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%{x: x, y: y, z: z} <- Asset.get_point(tool_id: id) do
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%{x: x, y: y, z: z}
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else
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nil -> {:error, "Could not find point for tool by id: #{id}"}
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end
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end
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@impl true
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def sync() do
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FarmbotCore.Logger.busy(3, "Syncing")
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with {:ok, sync_changeset} <- API.get_changeset(Sync),
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:ok <- BotState.set_sync_status("syncing"),
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_ <- Leds.green(:fast_blink),
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sync_changeset <- Reconciler.sync_group(sync_changeset, SyncGroup.group_0()),
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sync_changeset <- Reconciler.sync_group(sync_changeset, SyncGroup.group_1()),
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sync_changeset <- Reconciler.sync_group(sync_changeset, SyncGroup.group_2()),
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sync_changeset <- Reconciler.sync_group(sync_changeset, SyncGroup.group_3()),
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_sync_changeset <- Reconciler.sync_group(sync_changeset, SyncGroup.group_4()) do
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FarmbotCore.Logger.success(3, "Synced")
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:ok = BotState.set_sync_status("synced")
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_ = Leds.green(:solid)
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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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_ = Leds.green(:slow_blink)
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{:error, inspect(error)}
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end
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end
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@impl true
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def coordinate(x, y, z) do
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%{x: x, y: y, z: z}
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end
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@impl true
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def set_servo_angle(_pin, _angle) do
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{:error, "set_servo_angle not yet supported"}
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end
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@impl true
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def install_first_party_farmware() do
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{:error, "install_first_party_farmware not yet supported"}
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end
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@impl true
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def nothing(), do: nil
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end
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