From 767c1b8e882b82530319535652d7ba54531a297d Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Thu, 26 Jun 2025 13:18:47 -0700 Subject: [PATCH 01/54] upgrade deps (bp6) --- Gemfile.lock | 34 +++++------ frontend/__test_support__/fake_state/app.ts | 1 - frontend/__tests__/hotkeys_test.tsx | 11 ++-- frontend/__tests__/reducer_test.ts | 10 --- frontend/app.tsx | 4 +- frontend/constants.ts | 1 - .../__tests__/missed_step_indicator_test.tsx | 2 +- .../move/__tests__/take_photo_button_test.tsx | 2 +- frontend/css/_blueprint_overrides.scss | 61 ++++++++++++------- frontend/css/app/navbar.scss | 6 +- frontend/css/app/status_ticker.scss | 2 +- frontend/css/components/go_button.scss | 2 +- frontend/css/components/image_flipper.scss | 8 +-- frontend/css/components/widgets.scss | 2 +- frontend/css/farm_designer/farm_designer.scss | 10 +-- .../farm_designer/farm_designer_panels.scss | 12 ++-- frontend/css/global/global.scss | 10 +-- frontend/css/global/inputs.scss | 22 +++---- frontend/css/global/saucers.scss | 6 +- frontend/css/global/sliders.scss | 16 ++--- frontend/css/global/tooltips.scss | 2 +- frontend/css/panels/connectivity.scss | 2 +- frontend/css/panels/controls.scss | 30 ++++----- frontend/css/panels/curves.scss | 8 +-- frontend/css/panels/events.scss | 2 +- frontend/css/panels/help.scss | 6 +- frontend/css/panels/jobs.scss | 4 +- frontend/css/panels/location_info.scss | 2 +- frontend/css/panels/logs.scss | 2 +- frontend/css/panels/peripherals.scss | 2 +- frontend/css/panels/photos.scss | 2 +- frontend/css/panels/plants.scss | 2 +- frontend/css/panels/sequence_steps.scss | 2 +- frontend/css/panels/sequences.scss | 34 +++++------ frontend/css/panels/settings.scss | 8 +-- frontend/css/panels/setup_wizard.scss | 6 +- frontend/css/panels/tools.scss | 8 +-- frontend/help/header.tsx | 3 +- frontend/hotkeys.tsx | 12 ++-- frontend/nav/mobile_menu.tsx | 7 ++- frontend/photos/images/photos.tsx | 3 +- frontend/reducer.ts | 6 -- frontend/routes.tsx | 6 +- .../__tests__/tile_write_pin_test.tsx | 2 +- frontend/ui/__tests__/overlay_test.tsx | 10 +++ frontend/ui/index.ts | 1 + frontend/ui/overlay.tsx | 11 ++++ frontend/ui/popover.tsx | 8 +-- frontend/util/__tests__/pwa_test.ts | 12 ++-- frontend/util/pwa.ts | 1 - lib/tasks/fe.rake | 8 +-- package.json | 44 ++++++------- 52 files changed, 246 insertions(+), 232 deletions(-) create mode 100644 frontend/ui/__tests__/overlay_test.tsx create mode 100644 frontend/ui/overlay.tsx diff --git a/Gemfile.lock b/Gemfile.lock index 1261d23699..9f0be8ea4c 100644 --- a/Gemfile.lock +++ b/Gemfile.lock @@ -68,10 +68,10 @@ GEM addressable (2.8.7) public_suffix (>= 2.0.2, < 7.0) amq-protocol (2.3.4) - base64 (0.2.0) + base64 (0.3.0) bcrypt (3.1.20) - benchmark (0.4.0) - bigdecimal (3.1.9) + benchmark (0.4.1) + bigdecimal (3.2.2) builder (3.3.0) bunny (2.24.0) amq-protocol (~> 2.3) @@ -113,11 +113,11 @@ GEM drb (2.2.3) e2mmap (0.1.0) erubi (1.13.1) - factory_bot (6.5.1) + factory_bot (6.5.4) activesupport (>= 6.1.0) - factory_bot_rails (6.4.4) + factory_bot_rails (6.5.0) factory_bot (~> 6.5) - railties (>= 5.0.0) + railties (>= 6.1.0) faker (3.5.1) i18n (>= 1.8.11, < 2) faraday (2.13.1) @@ -126,7 +126,7 @@ GEM logger faraday-follow_redirects (0.3.0) faraday (>= 1, < 3) - faraday-net_http (3.4.0) + faraday-net_http (3.4.1) net-http (>= 0.5.0) globalid (1.2.1) activesupport (>= 6.1) @@ -140,7 +140,7 @@ GEM retriable (>= 2.0, < 4.a) google-apis-iamcredentials_v1 (0.24.0) google-apis-core (>= 0.15.0, < 2.a) - google-apis-storage_v1 (0.51.0) + google-apis-storage_v1 (0.53.0) google-apis-core (>= 0.15.0, < 2.a) google-cloud-core (1.8.0) google-cloud-env (>= 1.0, < 3.a) @@ -213,7 +213,7 @@ GEM mutex_m (0.3.0) net-http (0.6.0) uri - net-imap (0.5.8) + net-imap (0.5.9) date net-protocol net-pop (0.1.2) @@ -229,7 +229,7 @@ GEM racc (~> 1.4) orm_adapter (0.5.0) os (1.1.4) - ostruct (0.6.1) + ostruct (0.6.2) passenger (6.0.27) rack (>= 1.6.13) rackup (>= 1.0.1) @@ -248,7 +248,7 @@ GEM hashie (~> 4.1) multi_json (~> 1.15) racc (1.8.1) - rack (2.2.16) + rack (2.2.17) rack-attack (6.7.0) rack (>= 1.0, < 4) rack-cors (2.0.2) @@ -291,7 +291,7 @@ GEM method_source rake (>= 12.2) thor (~> 1.0) - rake (13.2.1) + rake (13.3.0) rbtree (0.4.6) redis (4.8.1) representable (3.2.0) @@ -306,16 +306,16 @@ GEM retriable (3.1.2) rexml (3.4.1) rollbar (3.6.2) - rspec (3.13.0) + rspec (3.13.1) rspec-core (~> 3.13.0) rspec-expectations (~> 3.13.0) rspec-mocks (~> 3.13.0) - rspec-core (3.13.3) + rspec-core (3.13.5) rspec-support (~> 3.13.0) - rspec-expectations (3.13.4) + rspec-expectations (3.13.5) diff-lcs (>= 1.2.0, < 2.0) rspec-support (~> 3.13.0) - rspec-mocks (3.13.4) + rspec-mocks (3.13.5) diff-lcs (>= 1.2.0, < 2.0) rspec-support (~> 3.13.0) rspec-rails (6.1.5) @@ -326,7 +326,7 @@ GEM rspec-expectations (~> 3.13) rspec-mocks (~> 3.13) rspec-support (~> 3.13) - rspec-support (3.13.3) + rspec-support (3.13.4) rspec_junit_formatter (0.6.0) rspec-core (>= 2, < 4, != 2.12.0) scenic (1.8.0) diff --git a/frontend/__test_support__/fake_state/app.ts b/frontend/__test_support__/fake_state/app.ts index 93249750d4..0f4bf5251f 100644 --- a/frontend/__test_support__/fake_state/app.ts +++ b/frontend/__test_support__/fake_state/app.ts @@ -27,5 +27,4 @@ export const app: AppState = { controls: controlsState(), jobs: jobsState(), popups: popUpsState(), - hotkeyGuide: false, }; diff --git a/frontend/__tests__/hotkeys_test.tsx b/frontend/__tests__/hotkeys_test.tsx index 1794c6f00d..af786860d6 100644 --- a/frontend/__tests__/hotkeys_test.tsx +++ b/frontend/__tests__/hotkeys_test.tsx @@ -91,18 +91,17 @@ describe("hotkeysWithActions()", () => { describe("toggleHotkeyHelpOverlay()", () => { it("opens overlay", () => { - const dispatch = jest.fn(); - toggleHotkeyHelpOverlay(dispatch)(); - expect(dispatch).toHaveBeenCalledWith({ - type: Actions.TOGGLE_HOTKEY_GUIDE, payload: undefined, - }); + document.dispatchEvent = jest.fn(); + toggleHotkeyHelpOverlay(); + expect(document.dispatchEvent).toHaveBeenCalledWith( + new KeyboardEvent("keydown", { key: "?", shiftKey: true, bubbles: true }), + ); }); }); describe("", () => { const fakeProps = (): HotKeysProps => ({ dispatch: jest.fn(), - hotkeyGuide: false, designer: fakeDesignerState(), }); diff --git a/frontend/__tests__/reducer_test.ts b/frontend/__tests__/reducer_test.ts index 4e8b1ee32b..2524d59510 100644 --- a/frontend/__tests__/reducer_test.ts +++ b/frontend/__tests__/reducer_test.ts @@ -179,16 +179,6 @@ describe("resource reducer", () => { expect(newState.popups.connectivity).toBeFalsy(); }); - it("toggle hotkey guide", () => { - const state = app; - expect(state.hotkeyGuide).toBeFalsy(); - const newState = appReducer(state, { - type: Actions.TOGGLE_HOTKEY_GUIDE, - payload: undefined, - }); - expect(newState.hotkeyGuide).toBeTruthy(); - }); - it("adds toast", () => { const newState = appReducer(app, { type: Actions.CREATE_TOAST, diff --git a/frontend/app.tsx b/frontend/app.tsx index a4211f8f45..26b9a26477 100644 --- a/frontend/app.tsx +++ b/frontend/app.tsx @@ -185,9 +185,7 @@ export class RawApp extends React.Component { {(Path.equals("") || Path.equals(Path.app())) && isString(landingPage) && } {!syncLoaded && } - + {syncLoaded && ", () => { p.missedSteps = missedSteps; const wrapper = mount(); wrapper.setState({ history }); - wrapper.find(".bp5-popover-target").simulate("click"); + wrapper.find(".bp6-popover-target").simulate("click"); ["motor load", latest, max, average].map(string => expect(wrapper.text().toLowerCase()).toContain(string.toLowerCase())); }); diff --git a/frontend/controls/move/__tests__/take_photo_button_test.tsx b/frontend/controls/move/__tests__/take_photo_button_test.tsx index b48ab55c85..962cca4587 100644 --- a/frontend/controls/move/__tests__/take_photo_button_test.tsx +++ b/frontend/controls/move/__tests__/take_photo_button_test.tsx @@ -53,7 +53,7 @@ describe("", () => { const p = fakeProps(); p.botOnline = false; const jogButtons = mount(); - expect(jogButtons.html()).toContain("bp5-popover-target"); + expect(jogButtons.html()).toContain("bp6-popover-target"); }); it("shows as taken", () => { diff --git a/frontend/css/_blueprint_overrides.scss b/frontend/css/_blueprint_overrides.scss index a11678493e..c3cbf07e3f 100644 --- a/frontend/css/_blueprint_overrides.scss +++ b/frontend/css/_blueprint_overrides.scss @@ -2,24 +2,24 @@ @use "sass:color"; // Padding for the popups. -.bp5-popover-content { +.bp6-popover-content { z-index: 999; padding: 1rem; color: var(--text-color) !important; background: unset !important; } -.bp5-popover { +.bp6-popover { font-size: 1.3rem; border-radius: 0.5rem; overflow: hidden; background: unset !important; - .bp5-popover-arrow { + .bp6-popover-arrow { display: none !important; } } -.bp5-popover-transition-container { +.bp6-popover-transition-container { backdrop-filter: var(--blur); border-radius: 0.75rem; overflow: hidden; @@ -28,55 +28,55 @@ } // Arrow is slightly off by default in the popup menu. -.bp5-tether-element-attached-left.bp5-tether-target-attached-right>.bp5-popover>.bp5-popover-arrow { +.bp6-tether-element-attached-left.bp6-tether-target-attached-right>.bp6-popover>.bp6-popover-arrow { left: -1rem; } -.bp5-overlay-content.bp5-tether-abutted.bp5-tether-abutted-top.bp5-tether-element.bp5-tether-element-attached-left.bp5-tether-element-attached-top.bp5-tether-enabled.bp5-tether-target-attached-bottom.bp5-tether-target-attached-left.bp5-transition-container { +.bp6-overlay-content.bp6-tether-abutted.bp6-tether-abutted-top.bp6-tether-element.bp6-tether-element-attached-left.bp6-tether-element-attached-top.bp6-tether-enabled.bp6-tether-target-attached-bottom.bp6-tether-target-attached-left.bp6-transition-container { top: 2rem !important; } -.bp5-portal { +.bp6-portal { z-index: 99; } -.bp5-menu { +.bp6-menu { max-height: 20rem !important; overflow-y: scroll; } -.bp5-input { +.bp6-input { box-shadow: none; border-radius: 0; } -.bp5-input-group { +.bp6-input-group { border-bottom: 1.5px solid var(--border-color); - .bp5-icon { + .bp6-icon { top: 0.6rem; } } -.bp5-popover.help { - .bp5-popover-content { +.bp6-popover.help { + .bp6-popover-content { width: 32rem; } } -.bp5-slider { +.bp6-slider { margin: 0 2.5rem 0 1.5rem; width: initial; } -.bp5-slider-progress { +.bp6-slider-progress { background: var(--secondary-bg); } -.bp5-control { +.bp6-control { margin: 0; } -.bp5-button:not(.bp5-minimal) { +.bp6-button:not(.bp6-minimal) { font-weight: normal; text-transform: none; border-radius: 3px; @@ -100,14 +100,14 @@ } } -.bp5-icon-standard.bp5-align-right { +.bp6-icon-standard.bp6-align-right { float: right !important; margin-top: 0.6rem !important; margin-left: 0 !important; font-size: 1.6rem !important; } -.nav-right .bp5-popover-wrapper { +.nav-right .bp6-popover-wrapper { transition: all 0.2s ease; text-transform: uppercase; color: $gray; @@ -120,18 +120,33 @@ } } -.bp5-collapse { +.bp6-collapse { scrollbar-width: none; } -.bp5-collapse::-webkit-scrollbar, -.bp5-collapse-body::-webkit-scrollbar { +.bp6-collapse::-webkit-scrollbar, +.bp6-collapse-body::-webkit-scrollbar { display: none !important; width: 0px !important; background-color: transparent !important; } -*[class*=bp5-] { +.bp6-hotkey-dialog { + background: var(--main-bg) !important; + .bp6-heading { + display: none; + } + .bp6-hotkey-label { + color: var(--text-color) !important; + font-size: 1.4rem !important; + } + .bp6-key { + background: var(--secondary-bg) !important; + color: var(--text-color) !important; + } +} + +*[class*=bp6-] { &:focus { outline: none; } diff --git a/frontend/css/app/navbar.scss b/frontend/css/app/navbar.scss index a921e79656..052899fed5 100644 --- a/frontend/css/app/navbar.scss +++ b/frontend/css/app/navbar.scss @@ -270,7 +270,7 @@ nav { } .menu-popover { - .bp5-popover-content { + .bp6-popover-content { position: relative; width: 22rem; padding: 0; @@ -312,7 +312,7 @@ nav { } } } - .bp5-popover-arrow { + .bp6-popover-arrow { visibility: hidden; } .fa-user { @@ -328,7 +328,7 @@ nav { body:has(.app.dark) { .menu-popover { - .bp5-popover-content { + .bp6-popover-content { img { filter: invert(0.75); } diff --git a/frontend/css/app/status_ticker.scss b/frontend/css/app/status_ticker.scss index 3efcd37411..3971dbd4bf 100644 --- a/frontend/css/app/status_ticker.scss +++ b/frontend/css/app/status_ticker.scss @@ -14,7 +14,7 @@ label { cursor: pointer; } - .bp5-collapse { + .bp6-collapse { width: 100% !important; overflow-y: scroll !important; max-height: 20rem !important; diff --git a/frontend/css/components/go_button.scss b/frontend/css/components/go_button.scss index 4a65e02a07..7942ca3213 100644 --- a/frontend/css/components/go_button.scss +++ b/frontend/css/components/go_button.scss @@ -30,7 +30,7 @@ } .go-button-axes-popover { - .bp5-popover-content { + .bp6-popover-content { color: $off_white; background: $dark_gray; .go-axes { diff --git a/frontend/css/components/image_flipper.scss b/frontend/css/components/image_flipper.scss index 6a9684e4ae..7de5fb42d9 100644 --- a/frontend/css/components/image_flipper.scss +++ b/frontend/css/components/image_flipper.scss @@ -7,7 +7,7 @@ overflow: hidden; } -.bp5-overlay { +.bp6-overlay { .image-flipper { z-index: 20; width: 100%; @@ -146,7 +146,7 @@ body:has(.app.darl) { font-weight: bold; font-size: 1.3rem; } - .bp5-popover-wrapper { + .bp6-popover-wrapper { display: inline; } } @@ -158,7 +158,7 @@ body:has(.app.darl) { } .image-show-menu-popover { - .bp5-popover-content { + .bp6-popover-content { padding: 0; } } @@ -313,7 +313,7 @@ body:has(.app.darl) { } } } - .bp5-slider { + .bp6-slider { margin-left: 2rem; width: 90%; } diff --git a/frontend/css/components/widgets.scss b/frontend/css/components/widgets.scss index 10f4bbfa1e..44d6f40a10 100644 --- a/frontend/css/components/widgets.scss +++ b/frontend/css/components/widgets.scss @@ -96,7 +96,7 @@ margin: 0; text-transform: uppercase; } - .bp5-popover-wrapper { + .bp6-popover-wrapper { display: inline; } } diff --git a/frontend/css/farm_designer/farm_designer.scss b/frontend/css/farm_designer/farm_designer.scss index 89b4b8f0ae..cd3f8bd42b 100644 --- a/frontend/css/farm_designer/farm_designer.scss +++ b/frontend/css/farm_designer/farm_designer.scss @@ -580,13 +580,13 @@ } .sliders { height: 98%; - .bp5-slider { + .bp6-slider { height: 100%; margin-left: 1rem; } .input-slider { pointer-events: none; - .bp5-slider-handle { + .bp6-slider-handle { left: 3.8px; height: 8px; width: 9px; @@ -594,20 +594,20 @@ box-shadow: none; border: 1px solid $dark_gray; border-radius: 2px; - .bp5-slider-label { + .bp6-slider-label { margin-left: -6px; margin-top: -14px; } } } .data-slider { - .bp5-start { + .bp6-start { height: 5px; &:first-of-type { display: unset; } } - .bp5-slider-label { + .bp6-slider-label { margin-left: -6rem; opacity: 1; } diff --git a/frontend/css/farm_designer/farm_designer_panels.scss b/frontend/css/farm_designer/farm_designer_panels.scss index 0685929ba8..7999514caf 100644 --- a/frontend/css/farm_designer/farm_designer_panels.scss +++ b/frontend/css/farm_designer/farm_designer_panels.scss @@ -328,7 +328,7 @@ } .dark-portal { - .bp5-popover-content { + .bp6-popover-content { background: $dark_gray; color: $off_white; } @@ -394,7 +394,7 @@ .grid-and-row-planting { position: relative; - .bp5-collapse-body { + .bp6-collapse-body { display: grid; gap: 1rem; } @@ -437,7 +437,7 @@ .move-to-form { display: grid; gap: 1rem; - .bp5-popover-wrapper { + .bp6-popover-wrapper { display: inline; margin-left: 0.5rem; } @@ -526,7 +526,7 @@ font-weight: bold; } } - .bp5-popover-wrapper { + .bp6-popover-wrapper { float: right; } .criteria-checkbox-list { @@ -612,14 +612,14 @@ } } .advanced { - .bp5-popover-wrapper { + .bp6-popover-wrapper { display: inline-block; float: none; margin-left: 1rem; font-size: 1.4rem; } .filter-search { - .bp5-popover-wrapper { + .bp6-popover-wrapper { margin-left: 0; } } diff --git a/frontend/css/global/global.scss b/frontend/css/global/global.scss index 70eda9db00..61c955cf38 100644 --- a/frontend/css/global/global.scss +++ b/frontend/css/global/global.scss @@ -8,7 +8,7 @@ body { .panel-container::before, .menu-content::before, -.bp5-popover-transition-container::before, +.bp6-popover-transition-container::before, .ticker-list::before { content: ""; position: absolute; @@ -22,7 +22,7 @@ body { } .app, -.bp5-portal { +.bp6-portal { background: var(--main-bg); color: var(--text-color); } @@ -371,8 +371,8 @@ a { position: relative; margin-right: 1rem; } - .bp5-popover-wrapper, - .bp5-popover-target { + .bp6-popover-wrapper, + .bp6-popover-target { margin-left: 1rem; } } @@ -398,7 +398,7 @@ a { button { float: none !important; } - .bp5-popover-wrapper { + .bp6-popover-wrapper { display: inline; margin-left: 0.5rem; font-size: 1.3rem; diff --git a/frontend/css/global/inputs.scss b/frontend/css/global/inputs.scss index 297f13a72f..83bbdfb799 100644 --- a/frontend/css/global/inputs.scss +++ b/frontend/css/global/inputs.scss @@ -88,17 +88,17 @@ input[type="checkbox"] { .input { position: relative; - .bp5-popover-wrapper { + .bp6-popover-wrapper { position: unset; } } .input-error-wrapper { height: 0; - .bp5-popover-content { + .bp6-popover-content { min-width: 120px; } - .bp5-overlay { + .bp6-overlay { display: inline-block; } } @@ -139,7 +139,7 @@ select { width: 100%; color: $dark_gray; } - .bp5-popover-target { + .bp6-popover-target { position: relative; } i { @@ -174,19 +174,19 @@ select { } .filter-search-popover { - .bp5-popover-content { + .bp6-popover-content { max-width: 40rem; padding: 0; - .bp5-menu { + .bp6-menu { padding-left: 0; padding-right: 0; } - .bp5-input { + .bp6-input { height: auto !important; } } &.few-items { - .bp5-input-group { + .bp6-input-group { display: none; } } @@ -195,7 +195,7 @@ select { .filter-search-item { padding-left: 1rem; font-weight: normal !important; - .bp5-text-overflow-ellipsis { + .bp6-text-overflow-ellipsis { white-space: normal; padding-left: 1rem; text-indent: -1rem; @@ -310,9 +310,9 @@ fieldset { .modified { box-shadow: 0 0 0px 3px $yellow !important; border-radius: 3px; - &.bp5-slider { + &.bp6-slider { box-shadow: none !important; - .bp5-slider-handle { + .bp6-slider-handle { box-shadow: 0 0 0px 3px $yellow; } } diff --git a/frontend/css/global/saucers.scss b/frontend/css/global/saucers.scss index 9d5c75b714..80f26304dc 100644 --- a/frontend/css/global/saucers.scss +++ b/frontend/css/global/saucers.scss @@ -53,14 +53,14 @@ .colorpicker-menu { padding: 0; - .bp5-popover-arrow-fill { + .bp6-popover-arrow-fill { fill: $dark_gray; } - .bp5-popover-content { + .bp6-popover-content { width: 13rem; background: $dark_gray; } - .bp5-popover-content, + .bp6-popover-content, .color-picker-cluster, .color-picker-item-wrapper, .saucer { diff --git a/frontend/css/global/sliders.scss b/frontend/css/global/sliders.scss index ef0980b951..fff237090e 100644 --- a/frontend/css/global/sliders.scss +++ b/frontend/css/global/sliders.scss @@ -7,17 +7,17 @@ width: 100%; margin-bottom: 3rem; margin-top: 1rem; - .bp5-slider { + .bp6-slider { margin-left: 3rem; margin-top: 1rem; width: 80%; } &.vertical { - .bp5-slider { + .bp6-slider { margin-top: 0; } } - .bp5-slider-label { + .bp6-slider-label { white-space: nowrap; text-align: center; &:empty { @@ -26,14 +26,14 @@ } .data-slider { pointer-events: none; - .bp5-slider-axis, - .bp5-slider-track { + .bp6-slider-axis, + .bp6-slider-track { display: none; } - .bp5-slider-label { + .bp6-slider-label { box-shadow: none; } - .bp5-start { + .bp6-start { top: 0.53rem; width: 0.5px; background: color.adjust($dark_gray, $alpha: -0.75); @@ -45,7 +45,7 @@ } } &.vertical { - .bp5-start { + .bp6-start { top: unset; left: 0.53rem; height: 0.5px; diff --git a/frontend/css/global/tooltips.scss b/frontend/css/global/tooltips.scss index 31f97e811d..a2e16fcb16 100644 --- a/frontend/css/global/tooltips.scss +++ b/frontend/css/global/tooltips.scss @@ -28,7 +28,7 @@ width: 250px; } } - .bp5-popover-content { + .bp6-popover-content { max-height: 20rem; overflow-y: auto; } diff --git a/frontend/css/panels/connectivity.scss b/frontend/css/panels/connectivity.scss index e17e48973d..7ae52dc507 100644 --- a/frontend/css/panels/connectivity.scss +++ b/frontend/css/panels/connectivity.scss @@ -30,7 +30,7 @@ } .connectivity-popover-portal { - .bp5-transition-container { + .bp6-transition-container { z-index: 999; } .connectivity-popover { diff --git a/frontend/css/panels/controls.scss b/frontend/css/panels/controls.scss index 5ed17fc032..1542ffd683 100644 --- a/frontend/css/panels/controls.scss +++ b/frontend/css/panels/controls.scss @@ -2,7 +2,7 @@ @use "sass:color"; .controls-popover-portal { - .bp5-transition-container { + .bp6-transition-container { z-index: 999; } .controls-popover { @@ -30,7 +30,7 @@ display: inline-block; } } - .move-settings.bp5-popover-wrapper { + .move-settings.bp6-popover-wrapper { position: absolute; top: 10rem; right: 2rem; @@ -89,17 +89,17 @@ margin-top: 15px; width: auto; border: 0; - .bp5-popover-wrapper { + .bp6-popover-wrapper { line-height: 0; } .fa-camera { - .bp5-popover-wrapper { + .bp6-popover-wrapper { z-index: 1; width: 4rem; height: 4rem; margin-top: -3rem; margin-left: -1rem; - .bp5-popover-target { + .bp6-popover-target { width: 100%; height: 100%; } @@ -139,16 +139,16 @@ label { color: $off_white; } - .bp5-popover-wrapper { + .bp6-popover-wrapper { display: inline; margin-left: 0.5rem; color: $off_white; } - .bp5-popover-content { + .bp6-popover-content { width: 310px; background: $dark_gray; } - .bp5-popover-arrow-fill { + .bp6-popover-arrow-fill { fill: $dark_gray; } .fa-anchor { @@ -201,7 +201,7 @@ .camera-message, .movement-message { - .bp5-popover-content { + .bp6-popover-content { width: unset !important; } } @@ -247,21 +247,21 @@ font-style: normal; } } - .bp5-popover-wrapper { - .bp5-popover-target { + .bp6-popover-wrapper { + .bp6-popover-target { display: block; } } - .bp5-popover { - .bp5-popover-arrow { + .bp6-popover { + .bp6-popover-arrow { svg { transform: rotate(-90deg) translate(1px) !important; - .bp5-popover-arrow-fill { + .bp6-popover-arrow-fill { fill: $dark_gray; } } } - .bp5-popover-content { + .bp6-popover-content { background: $dark_gray; } } diff --git a/frontend/css/panels/curves.scss b/frontend/css/panels/curves.scss index b7fa375010..3aa80d6187 100644 --- a/frontend/css/panels/curves.scss +++ b/frontend/css/panels/curves.scss @@ -2,18 +2,18 @@ @use "sass:color"; .curve-svg-wrapper { - .bp5-popover-target { + .bp6-popover-target { width: 100%; } } .warning-line-text-popover { border-radius: 5px; - .bp5-popover-content { + .bp6-popover-content { background: $dark_gray; border-radius: 5px; } - .bp5-popover-arrow { + .bp6-popover-arrow { display: none; } p { @@ -147,7 +147,7 @@ label { margin-top: 0 !important; } - .bp5-popover-wrapper { + .bp6-popover-wrapper { display: inline; margin-left: 1rem; } diff --git a/frontend/css/panels/events.scss b/frontend/css/panels/events.scss index f6502f820e..be847e876f 100644 --- a/frontend/css/panels/events.scss +++ b/frontend/css/panels/events.scss @@ -65,7 +65,7 @@ overflow-x: hidden; padding: 1rem 1rem 0; } - .bp5-popover-wrapper { + .bp6-popover-wrapper { display: inline-block; margin-left: 0.5rem; &.input-error-wrapper { diff --git a/frontend/css/panels/help.scss b/frontend/css/panels/help.scss index e5b8fd672f..81116d2d63 100644 --- a/frontend/css/panels/help.scss +++ b/frontend/css/panels/help.scss @@ -41,11 +41,11 @@ body:has(.app.dark) { padding: 1rem; font-size: 1.25rem; } - .bp5-collapse { + .bp6-collapse { overflow: visible; grid-column: span 2; } - .bp5-collapse-body { + .bp6-collapse-body { position: relative; z-index: 1; margin: -1rem; @@ -115,7 +115,7 @@ body:has(.app.dark) { button { float: none; } - .bp5-popover-wrapper { + .bp6-popover-wrapper { margin-left: 1rem; } } diff --git a/frontend/css/panels/jobs.scss b/frontend/css/panels/jobs.scss index 9d79d1d65e..f61ff803e7 100644 --- a/frontend/css/panels/jobs.scss +++ b/frontend/css/panels/jobs.scss @@ -18,7 +18,7 @@ .jobs-tab { overflow-y: scroll; max-height: 26rem; - &.bp5-popover { + &.bp6-popover { margin-top: 1.5rem; } table { @@ -68,7 +68,7 @@ } .jobs-panel-portal { - .bp5-popover-content { + .bp6-popover-content { padding: 0; width: min(500px, 100vw - 1rem); max-height: calc(100vh - 10rem); diff --git a/frontend/css/panels/location_info.scss b/frontend/css/panels/location_info.scss index 447abb962b..c96538ff48 100644 --- a/frontend/css/panels/location_info.scss +++ b/frontend/css/panels/location_info.scss @@ -72,7 +72,7 @@ } .photos-footer { margin-top: 1rem; - .bp5-popover-wrapper { + .bp6-popover-wrapper { margin-top: 3px; } } diff --git a/frontend/css/panels/logs.scss b/frontend/css/panels/logs.scss index b0a4d2f664..2ef734e984 100644 --- a/frontend/css/panels/logs.scss +++ b/frontend/css/panels/logs.scss @@ -78,7 +78,7 @@ font-family: monospace; } } - .bp5-slider-unlabeled { + .bp6-slider-unlabeled { margin: 0 1rem; } } diff --git a/frontend/css/panels/peripherals.scss b/frontend/css/panels/peripherals.scss index e1737d6d5d..ebc396c292 100644 --- a/frontend/css/panels/peripherals.scss +++ b/frontend/css/panels/peripherals.scss @@ -76,7 +76,7 @@ .slider-container { padding-left: 0.5rem; padding-right: 1rem; - .bp5-slider { + .bp6-slider { min-width: 100%; } } diff --git a/frontend/css/panels/photos.scss b/frontend/css/panels/photos.scss index d7d18138a4..bd907613cb 100644 --- a/frontend/css/panels/photos.scss +++ b/frontend/css/panels/photos.scss @@ -92,7 +92,7 @@ float: none; } } - .weed-detection-grid .bp5-slider { + .weed-detection-grid .bp6-slider { grid-column: span 2; } } diff --git a/frontend/css/panels/plants.scss b/frontend/css/panels/plants.scss index 20daa3b673..b0649d1537 100644 --- a/frontend/css/panels/plants.scss +++ b/frontend/css/panels/plants.scss @@ -64,7 +64,7 @@ font-family: "Inknut Antiqua"; font-weight: bold; } - .bp5-popover-wrapper { + .bp6-popover-wrapper { position: absolute; right: 0; } diff --git a/frontend/css/panels/sequence_steps.scss b/frontend/css/panels/sequence_steps.scss index 9a3ffb4117..5b558671a3 100644 --- a/frontend/css/panels/sequence_steps.scss +++ b/frontend/css/panels/sequence_steps.scss @@ -388,7 +388,7 @@ .expandable-header { font-size: 1.6rem; } - .bp5-collapse { + .bp6-collapse { overflow: hidden; } p { diff --git a/frontend/css/panels/sequences.scss b/frontend/css/panels/sequences.scss index e72b210aee..729b49d137 100644 --- a/frontend/css/panels/sequences.scss +++ b/frontend/css/panels/sequences.scss @@ -72,7 +72,7 @@ h3 { margin-top: 1rem; } - .bp5-popover-target .saucer { + .bp6-popover-target .saucer { float: left; } @media screen and (max-width: 767px) { @@ -187,10 +187,10 @@ label { cursor: pointer; } - .bp5-popover-wrapper { + .bp6-popover-wrapper { display: inline; } - .bp5-button-text, + .bp6-button-text, p { display: inline-block; width: max-content; @@ -224,10 +224,10 @@ line-height: 2.25rem; color: $white; } - .bp5-button { + .bp6-button { padding-left: 0.5rem; } - .bp5-button-text { + .bp6-button-text { margin-left: 0; padding-left: 0; line-height: 1.5rem; @@ -419,7 +419,7 @@ font-size: 2rem; margin-right: 0.5rem; } - .bp5-popover-wrapper { + .bp6-popover-wrapper { display: contents; } } @@ -500,7 +500,7 @@ margin: 0 3.5rem; } .location-form-content { - .bp5-popover-wrapper { + .bp6-popover-wrapper { display: inline-block; margin-left: 1rem; } @@ -545,7 +545,7 @@ &.read-only { margin-top: 1rem; margin-bottom: 1rem; - .bp5-control, + .bp6-control, .filter-search, textarea, .input, @@ -626,7 +626,7 @@ margin-left: -1rem; color: $white; } - .bp5-popover-wrapper { + .bp6-popover-wrapper { display: inline; margin-left: 1rem; i { @@ -906,10 +906,10 @@ .folder-list-item, .sequence-list-item { padding-left: 3rem; - .bp5-popover-wrapper.color-picker { + .bp6-popover-wrapper.color-picker { position: absolute; line-height: 0; - .bp5-popover-target { + .bp6-popover-target { width: 2rem; height: 3.5rem; } @@ -924,7 +924,7 @@ } .folder-list-item { padding-left: 0; - .bp5-popover-wrapper.color-picker { + .bp6-popover-wrapper.color-picker { margin-left: 2.5rem; } .color-picker { @@ -974,13 +974,13 @@ .folder-settings-icon, .sequence-item-action-menu { - .bp5-popover-content { + .bp6-popover-content { padding: 0.5rem; } } .sequence-item-description { - .bp5-popover-content { + .bp6-popover-content { max-height: 20rem; overflow-y: auto; width: 32rem; @@ -1102,7 +1102,7 @@ } } &.last { - .bp5-collapse { + .bp6-collapse { margin-top: 1rem; margin-right: 2.5rem; } @@ -1168,7 +1168,7 @@ display: inline-block; padding-left: 1rem; } - .bp5-popover-wrapper { + .bp6-popover-wrapper { display: inline-block; margin-left: 1rem; } @@ -1295,7 +1295,7 @@ $border_width: 1.4px; .versions-table { margin-top: 2rem; text-align: left; - .bp5-popover-wrapper { + .bp6-popover-wrapper { display: inline-block; margin-left: 1rem; } diff --git a/frontend/css/panels/settings.scss b/frontend/css/panels/settings.scss index 7d1cfab18e..8ed2274b1e 100644 --- a/frontend/css/panels/settings.scss +++ b/frontend/css/panels/settings.scss @@ -17,10 +17,10 @@ &.setting { gap: 0.5rem; } - .bp5-collapse { + .bp6-collapse { grid-column: span 2; } - .bp5-collapse-body { + .bp6-collapse-body { display: grid; gap: 1rem; } @@ -200,7 +200,7 @@ animation: fade-out 1s 0.4s forwards; } .save-error { - .bp5-popover-content { + .bp6-popover-content { background: $dark_gray; min-width: 200px; p { @@ -208,7 +208,7 @@ color: $off_white; } } - .bp5-popover-arrow-fill { + .bp6-popover-arrow-fill { fill: $dark_gray; } } diff --git a/frontend/css/panels/setup_wizard.scss b/frontend/css/panels/setup_wizard.scss index a3da1d964b..8d6ca38c44 100644 --- a/frontend/css/panels/setup_wizard.scss +++ b/frontend/css/panels/setup_wizard.scss @@ -64,12 +64,12 @@ h2 { margin-top: 0; } - .bp5-collapse-body { + .bp6-collapse-body { margin-bottom: 2rem; } } .wizard-step { - .bp5-collapse-body { + .bp6-collapse-body { margin-bottom: 0; } img { @@ -264,7 +264,7 @@ } } .filter-search { - .bp5-popover-wrapper { + .bp6-popover-wrapper { display: unset; margin-left: unset; } diff --git a/frontend/css/panels/tools.scss b/frontend/css/panels/tools.scss index c033c588f2..829660c20f 100644 --- a/frontend/css/panels/tools.scss +++ b/frontend/css/panels/tools.scss @@ -10,7 +10,7 @@ .tool-search-item, .tool-slot-search-item { .filter-search { - .bp5-button { + .bp6-button { min-height: 2.5rem; max-height: 2.5rem; span { @@ -43,7 +43,7 @@ label { margin: 0; } - .bp5-popover-wrapper { + .bp6-popover-wrapper { display: inline; } .help-icon { @@ -52,7 +52,7 @@ font-size: 1.4rem; } } - button:not(.bp5-button) { + button:not(.bp6-button) { display: block; margin-left: auto; float: none; @@ -157,7 +157,7 @@ } .flow-rate-input { - .bp5-popover-wrapper { + .bp6-popover-wrapper { display: inline; margin-left: 0.5rem; } diff --git a/frontend/help/header.tsx b/frontend/help/header.tsx index f173722d8c..3b9a06f48b 100644 --- a/frontend/help/header.tsx +++ b/frontend/help/header.tsx @@ -4,7 +4,6 @@ import { NavigateFunction, useNavigate } from "react-router"; import { toggleHotkeyHelpOverlay } from "../hotkeys"; import { t } from "../i18next_wrapper"; import { FilePath, Icon, Path } from "../internal_urls"; -import { store } from "../redux/store"; import { isMobile } from "../screen_size"; interface Page { @@ -57,7 +56,7 @@ const maybeAddHotkeysMenuItem = (): [string, Page][] => ? [["hotkeys", { title: t("Hotkeys"), fa_icon: "fa-keyboard-o", - onClick: toggleHotkeyHelpOverlay(store.dispatch), + onClick: toggleHotkeyHelpOverlay, }]] : []; diff --git a/frontend/hotkeys.tsx b/frontend/hotkeys.tsx index 4c7f681d35..3534b33a80 100644 --- a/frontend/hotkeys.tsx +++ b/frontend/hotkeys.tsx @@ -1,7 +1,7 @@ import React from "react"; import { getLinks } from "./nav/nav_links"; import { sync } from "./devices/actions"; -import { HotkeyConfig, useHotkeys, HotkeysDialog2 } from "@blueprintjs/core"; +import { HotkeyConfig, useHotkeys } from "@blueprintjs/core"; import { getPanelPath, PANEL_BY_SLUG, setPanelOpen, } from "./farm_designer/panel_header"; @@ -9,7 +9,6 @@ import { t } from "./i18next_wrapper"; import { store } from "./redux/store"; import { save } from "./api/crud"; import { Path } from "./internal_urls"; -import { Actions } from "./constants"; import { NavigateFunction, useNavigate } from "react-router"; import { DesignerState } from "./farm_designer/interfaces"; import { isUndefined } from "lodash"; @@ -19,7 +18,6 @@ type HotkeyConfigs = Record; export interface HotKeysProps { dispatch: Function; - hotkeyGuide: boolean; designer: DesignerState; } @@ -130,8 +128,9 @@ export const hotkeysWithActions = (props: HotkeysWithActionsProps) => { return list; }; -export const toggleHotkeyHelpOverlay = (dispatch: Function) => () => - dispatch({ type: Actions.TOGGLE_HOTKEY_GUIDE, payload: undefined }); +export const toggleHotkeyHelpOverlay = () => + document.dispatchEvent(new KeyboardEvent("keydown", + { key: "?", shiftKey: true, bubbles: true })); export const HotKeys = (props: HotKeysProps) => { const navigate = useNavigate(); @@ -147,8 +146,5 @@ export const HotKeys = (props: HotKeysProps) => { { showDialogKeyCombo: undefined }); return
-
; }; diff --git a/frontend/nav/mobile_menu.tsx b/frontend/nav/mobile_menu.tsx index 0ff11961d8..3429619c34 100644 --- a/frontend/nav/mobile_menu.tsx +++ b/frontend/nav/mobile_menu.tsx @@ -1,14 +1,15 @@ import React from "react"; -import { Overlay2, Classes } from "@blueprintjs/core"; +import { Classes } from "@blueprintjs/core"; import { NavLinks } from "./nav_links"; import { MobileMenuProps } from "./interfaces"; +import { Overlay } from "../ui"; const classes = [Classes.CARD, Classes.ELEVATION_4, "mobile-menu"]; export const MobileMenu = (props: MobileMenuProps) => { const isActive = props.mobileMenuOpen ? "active" : "inactive"; return
-
{ alertCount={props.alertCount} helpState={props.helpState} />
- +
; }; diff --git a/frontend/photos/images/photos.tsx b/frontend/photos/images/photos.tsx index 7e94eeb458..adbe29ef9b 100644 --- a/frontend/photos/images/photos.tsx +++ b/frontend/photos/images/photos.tsx @@ -13,11 +13,10 @@ import { destroy } from "../../api/crud"; import { isNumber, isUndefined, round } from "lodash"; import { isBotOnline } from "../../devices/must_be_online"; import { t } from "../../i18next_wrapper"; -import { Overlay } from "@blueprintjs/core"; import { ImageShowMenu, ImageShowMenuTarget } from "./image_show_menu"; import { setShownMapImages } from "./actions"; import { TaggedImage } from "farmbot"; -import { MarkedSlider, Popover } from "../../ui"; +import { MarkedSlider, Popover, Overlay } from "../../ui"; import { botPositionLabel, } from "../../farm_designer/map/layers/farmbot/bot_position_label"; diff --git a/frontend/reducer.ts b/frontend/reducer.ts index 2da1c134c0..8d6149b06d 100644 --- a/frontend/reducer.ts +++ b/frontend/reducer.ts @@ -29,7 +29,6 @@ export interface AppState { jobs: JobsAndLogsState; controls: ControlsState; popups: PopupsState; - hotkeyGuide: boolean; } export const emptyState = (): AppState => { @@ -104,7 +103,6 @@ export const emptyState = (): AppState => { jobs: false, connectivity: false, }, - hotkeyGuide: false, }; }; @@ -206,10 +204,6 @@ export const appReducer = s.popups.connectivity = false; return s; }) - .add(Actions.TOGGLE_HOTKEY_GUIDE, (s) => { - s.hotkeyGuide = !s.hotkeyGuide; - return s; - }) .add(Actions.CREATE_TOAST, (s, { payload }) => { s.toasts = { ...s.toasts, [payload.id]: payload }; return s; diff --git a/frontend/routes.tsx b/frontend/routes.tsx index 89050d8146..e1905a524a 100644 --- a/frontend/routes.tsx +++ b/frontend/routes.tsx @@ -8,7 +8,7 @@ import { ErrorBoundary } from "./error_boundary"; import { Route, BrowserRouter, Routes } from "react-router"; import { ROUTE_DATA } from "./route_config"; import { Provider } from "react-redux"; -import { HotkeysProvider } from "@blueprintjs/core"; +import { BlueprintProvider } from "@blueprintjs/core"; import { Provider as RollbarProvider } from "@rollbar/react"; import { NavigationProvider } from "./routes_helpers"; import { App } from "./app"; @@ -55,7 +55,7 @@ export class RootComponent return - + @@ -78,7 +78,7 @@ export class RootComponent - + ; diff --git a/frontend/sequences/step_tiles/__tests__/tile_write_pin_test.tsx b/frontend/sequences/step_tiles/__tests__/tile_write_pin_test.tsx index bf73fec56d..7fda0c80ce 100644 --- a/frontend/sequences/step_tiles/__tests__/tile_write_pin_test.tsx +++ b/frontend/sequences/step_tiles/__tests__/tile_write_pin_test.tsx @@ -30,7 +30,7 @@ describe("", () => { expect(labels.at(1).text()).toEqual("Mode"); expect(buttons.at(0).text()).toEqual("Pin 3"); expect(labels.at(2).text()).toEqual("set to"); - const sliderLabels = wrapper.find(".bp5-slider-label"); + const sliderLabels = wrapper.find(".bp6-slider-label"); [0, 255, 2].map((value, index) => expect(sliderLabels.at(index).text()).toEqual("" + value)); }); diff --git a/frontend/ui/__tests__/overlay_test.tsx b/frontend/ui/__tests__/overlay_test.tsx new file mode 100644 index 0000000000..1bab92dc20 --- /dev/null +++ b/frontend/ui/__tests__/overlay_test.tsx @@ -0,0 +1,10 @@ +import React from "react"; +import { render, screen } from "@testing-library/react"; +import { Overlay } from "../overlay"; + +describe("", () => { + it("renders overlay", () => { + render(Overlay content); + expect(screen.getByText("Overlay content")).toBeInTheDocument(); + }); +}); diff --git a/frontend/ui/index.ts b/frontend/ui/index.ts index d0ca7d2aa7..b37989aa66 100644 --- a/frontend/ui/index.ts +++ b/frontend/ui/index.ts @@ -13,6 +13,7 @@ export * from "./input_error"; export * from "./markdown"; export * from "./marked_slider"; export * from "./new_fb_select"; +export * from "./overlay"; export * from "./page"; export * from "./popover"; export * from "./row"; diff --git a/frontend/ui/overlay.tsx b/frontend/ui/overlay.tsx new file mode 100644 index 0000000000..58e9daeb6e --- /dev/null +++ b/frontend/ui/overlay.tsx @@ -0,0 +1,11 @@ +import React from "react"; +import { + Overlay2 as BlueprintOverlay, + OverlayProps, +} from "@blueprintjs/core"; + +export const Overlay = (props: OverlayProps) => { + return + {props.children} + ; +}; diff --git a/frontend/ui/popover.tsx b/frontend/ui/popover.tsx index 28d38cd50d..5aa40c9174 100644 --- a/frontend/ui/popover.tsx +++ b/frontend/ui/popover.tsx @@ -1,6 +1,6 @@ import React from "react"; import { - Popover as Popover2, + Popover as BlueprintPopover, PopoverProps as BasePopoverProps, } from "@blueprintjs/core"; @@ -9,9 +9,9 @@ export interface PopoverProps extends BasePopoverProps { } export const Popover = (props: PopoverProps) => { - return - + return + {props.target} - + ; }; diff --git a/frontend/util/__tests__/pwa_test.ts b/frontend/util/__tests__/pwa_test.ts index 0463282635..e75ceef9b1 100644 --- a/frontend/util/__tests__/pwa_test.ts +++ b/frontend/util/__tests__/pwa_test.ts @@ -19,10 +19,12 @@ describe("registerServiceWorker()", () => { configurable: true, }); registerServiceWorker(); - expect(window.addEventListener).toHaveBeenCalledWith("load", expect.any(Function)); + expect(window.addEventListener).toHaveBeenCalledWith( + "load", expect.any(Function)); const loadCallback = (window.addEventListener as jest.Mock).mock.calls[0][1]; loadCallback(); - expect(register).toHaveBeenCalledWith(new URL("/service-worker.js", location.href)); + expect(register).toHaveBeenCalledWith( + new URL("/service-worker.js", location.href)); }); it("fails to register", () => { @@ -33,7 +35,8 @@ describe("registerServiceWorker()", () => { configurable: true, }); registerServiceWorker(); - expect(window.addEventListener).toHaveBeenCalledWith("load", expect.any(Function)); + expect(window.addEventListener).toHaveBeenCalledWith( + "load", expect.any(Function)); const loadCallback = (window.addEventListener as jest.Mock).mock.calls[0][1]; loadCallback(); expect(register).toHaveBeenCalled(); @@ -83,7 +86,8 @@ describe("initPWA", () => { value: { register }, configurable: true, }); initPWA(); - expect(window.addEventListener).toHaveBeenCalledWith("load", expect.any(Function)); + expect(window.addEventListener).toHaveBeenCalledWith( + "load", expect.any(Function)); const loadCallback = (window.addEventListener as jest.Mock).mock.calls .find(c => c[0] === "load")[1]; loadCallback(); diff --git a/frontend/util/pwa.ts b/frontend/util/pwa.ts index 169aff53c2..a100cb3c12 100644 --- a/frontend/util/pwa.ts +++ b/frontend/util/pwa.ts @@ -10,4 +10,3 @@ export const registerServiceWorker = () => { export const initPWA = () => { registerServiceWorker(); }; - diff --git a/lib/tasks/fe.rake b/lib/tasks/fe.rake index 9c7c0e0f1b..baecc9abb4 100644 --- a/lib/tasks/fe.rake +++ b/lib/tasks/fe.rake @@ -38,10 +38,10 @@ EXCLUDE = [ version: "19", }, { - packages: ["three"], - reason: "not working:", - version: "0.175.0", - }, + packages: ["jest", "jest-cli", "jest-environment-jsdom"], + reason: "breaking changes (jsdom window.location) in", + version: "30", + } ] # Load package.json as JSON. diff --git a/package.json b/package.json index 1175679a6f..1827a243a1 100644 --- a/package.json +++ b/package.json @@ -37,26 +37,26 @@ "@parcel/watcher": "2.1.0" }, "dependencies": { - "@blueprintjs/core": "5.19.0", - "@blueprintjs/select": "5.3.20", + "@blueprintjs/core": "6.0.0", + "@blueprintjs/select": "6.0.0", "@monaco-editor/react": "4.7.0", - "@parcel/transformer-sass": "2.15.2", - "@parcel/transformer-typescript-tsc": "2.15.2", + "@parcel/transformer-sass": "2.15.4", + "@parcel/transformer-typescript-tsc": "2.15.4", "@react-spring/three": "10.0.1", "@react-three/drei": "9.122.0", "@react-three/fiber": "8.18.0", "@rollbar/react": "0.12.1", - "@types/lodash": "4.17.17", + "@types/lodash": "4.17.19", "@types/markdown-it": "14.1.2", - "@types/node": "22.15.21", + "@types/node": "24.0.4", "@types/promise-timeout": "1.3.3", - "@types/react": "19.1.5", + "@types/react": "19.1.8", "@types/react-color": "3.0.13", - "@types/react-dom": "19.1.5", - "@types/three": "0.176.0", + "@types/react-dom": "19.1.6", + "@types/three": "0.177.0", "@types/ws": "8.18.1", "@xterm/xterm": "5.5.0", - "axios": "1.9.0", + "axios": "1.10.0", "bowser": "2.11.0", "browser-speech": "1.1.1", "delaunator": "5.0.1", @@ -68,9 +68,9 @@ "markdown-it-emoji": "3.0.0", "moment": "2.30.1", "monaco-editor": "0.52.2", - "mqtt": "5.13.0", - "npm": "11.4.1", - "parcel": "2.15.2", + "mqtt": "5.13.1", + "npm": "11.4.2", + "parcel": "2.15.4", "process": "0.11.10", "promise-timeout": "1.3.0", "punycode": "1.4.1", @@ -79,14 +79,14 @@ "react-color": "2.19.3", "react-dom": "18.3.1", "react-redux": "9.2.0", - "react-router": "7.6.1", + "react-router": "7.6.2", "redux": "5.0.1", "redux-immutable-state-invariant": "2.1.0", "redux-thunk": "3.1.0", - "rollbar": "2.26.4", + "rollbar": "3.0.0-alpha.1", "suncalc": "1.9.0", "takeme": "0.12.0", - "three": "0.174.0", + "three": "0.177.0", "typescript": "5.8.3", "url": "0.11.4" }, @@ -98,8 +98,8 @@ "@testing-library/user-event": "14.6.1", "@types/delaunator": "5.0.3", "@types/enzyme": "3.10.12", - "@types/jest": "29.5.14", - "@types/readable-stream": "4.0.19", + "@types/jest": "30.0.0", + "@types/readable-stream": "4.0.21", "@types/suncalc": "1.9.2", "@typescript-eslint/eslint-plugin": "7.15.0", "@typescript-eslint/parser": "7.15.0", @@ -107,8 +107,8 @@ "enzyme": "3.11.0", "eslint": "8.57.0", "eslint-plugin-eslint-comments": "3.2.0", - "eslint-plugin-import": "2.31.0", - "eslint-plugin-jest": "28.11.0", + "eslint-plugin-import": "2.32.0", + "eslint-plugin-jest": "29.0.1", "eslint-plugin-no-null": "1.0.2", "eslint-plugin-promise": "7.2.1", "eslint-plugin-react": "7.37.5", @@ -125,9 +125,9 @@ "raf": "3.4.1", "react-addons-test-utils": "15.6.2", "react-test-renderer": "18.3.1", - "sass": "1.89.0", + "sass": "1.89.2", "sass-lint": "1.13.1", - "ts-jest": "29.3.4", + "ts-jest": "29.4.0", "tslint": "5.20.1" } } From bba871de1986144eef0323304180868b26494c2c Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Thu, 26 Jun 2025 22:38:29 -0700 Subject: [PATCH 02/54] clear parcel assets before building --- lib/tasks/api.rake | 1 + 1 file changed, 1 insertion(+) diff --git a/lib/tasks/api.rake b/lib/tasks/api.rake index 68593587fe..7bac1be148 100644 --- a/lib/tasks/api.rake +++ b/lib/tasks/api.rake @@ -105,6 +105,7 @@ namespace :api do desc "Don't call this directly. Use `rake assets:precompile`." task parcel_compile: :environment do + clean_assets add_monaco parcel "build" end From ccc4559e777b78201dcba81694f2234b834a9d61 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Sat, 28 Jun 2025 21:41:06 -0700 Subject: [PATCH 03/54] fix csp_reports error --- app/controllers/dashboard_controller.rb | 13 ++++++--- spec/controllers/dashboard_spec.rb | 36 ++++++++++++++++++++----- 2 files changed, 40 insertions(+), 9 deletions(-) diff --git a/app/controllers/dashboard_controller.rb b/app/controllers/dashboard_controller.rb index 62a145ef8d..4a4bdae8c3 100644 --- a/app/controllers/dashboard_controller.rb +++ b/app/controllers/dashboard_controller.rb @@ -1,5 +1,6 @@ class DashboardController < ApplicationController before_action :set_global_config + skip_before_action :verify_authenticity_token, only: [:csp_reports] layout "dashboard" # === THESE CONSTANTS ARE CONFIGURABLE: === @@ -102,10 +103,16 @@ def csp_reports payload = request.body.read || "" begin report = JSON.parse(payload) - rescue - report = { problem: "Crashed while parsing report" } + rescue JSON::ParserError => e + report = { + error: "CSP report parse error", + exception: e.message, + raw: payload, + } end - render json: report + + Rollbar.info("CSP Violation Report", report) + head :no_content end # (for self hosted users) Direct image upload endpoint. diff --git a/spec/controllers/dashboard_spec.rb b/spec/controllers/dashboard_spec.rb index 19fceee7a0..67715bd394 100644 --- a/spec/controllers/dashboard_spec.rb +++ b/spec/controllers/dashboard_spec.rb @@ -24,14 +24,38 @@ expect { get :main_app, params: { path: "nope.jpg" } }.to raise_error(ActionController::RoutingError) end - it "receives CSP violation reports (malformed JSON)" do - post :csp_reports, body: "NOT JSON ! ! !" - expect(json).to eq(problem: "Crashed while parsing report") + it "receives CSP violation reports: success" do + json_payload = { "csp-report" => { "blocked-uri" => "http://malicious.com" } } + expect(Rollbar).to receive(:info).with("CSP Violation Report", json_payload) + post :csp_reports, body: json_payload.to_json, params: { format: :json } + expect(response).to have_http_status(:no_content) end - it "receives CSP violation reports (JSON)" do - post :csp_reports, body: {}.to_json, params: { format: :json } - expect(json).to eq({}) + it "receives CSP violation reports: JSON parse error" do + malformed_json = "{ this is not valid json" + expect(Rollbar).to receive(:info).with( + "CSP Violation Report", + hash_including( + error: "CSP report parse error", + exception: kind_of(String), + raw: malformed_json + ) + ) + post :csp_reports, body: malformed_json + expect(response).to have_http_status(:no_content) + end + + it "receives CSP violation reports: empty body" do + expect(Rollbar).to receive(:info).with( + "CSP Violation Report", + hash_including( + error: "CSP report parse error", + exception: kind_of(String), + raw: "" + ) + ) + post :csp_reports, body: "" + expect(response).to have_http_status(:no_content) end it "creates a new user" do From 0ace7182c6e4458c55dc75f639a7c471b078bb08 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Mon, 30 Jun 2025 12:14:21 -0700 Subject: [PATCH 04/54] add commit SHAs to release info --- lib/tasks/hook.rake | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/lib/tasks/hook.rake b/lib/tasks/hook.rake index 750e0dbc51..9cda2d9a8b 100644 --- a/lib/tasks/hook.rake +++ b/lib/tasks/hook.rake @@ -34,10 +34,10 @@ def commits_since_last_deploy deploy_commit_found = true break end - commits.push(commit["commit"]["message"].gsub("\n", " ")) + commits.push([commit["commit"]["message"].gsub("\n", " "), commit["sha"]]) end if !deploy_commit_found - commits.push("[LAST DEPLOY COMMIT NOT FOUND]") + commits.push(["[LAST DEPLOY COMMIT NOT FOUND]", "0000000"]) end commits end @@ -50,7 +50,7 @@ def details(environment) web_compare_url = "#{COMPARE_URL_WEB}#{last_deploy_commit}...#{COMMIT_SHA}" output += "<#{web_compare_url}|compare>\n" messages = commits_since_last_deploy.reverse.map do |commit| - output += "\n + #{commit}" + output += "\n + #{commit[0]} | ##{commit[1][0..5]}" end output += "\n" pre = environment == "production" ? "my" : environment From d668a84537258aef33d5e5057275cce05d96c0c3 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Mon, 30 Jun 2025 13:20:05 -0700 Subject: [PATCH 05/54] upgrade deps (postgres:17) --- Gemfile.lock | 4 ++-- docker-compose.yml | 2 +- package.json | 10 +++++----- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/Gemfile.lock b/Gemfile.lock index 9f0be8ea4c..f6dfac13b1 100644 --- a/Gemfile.lock +++ b/Gemfile.lock @@ -175,7 +175,7 @@ GEM concurrent-ruby (~> 1.0) json (2.12.2) jsonapi-renderer (0.2.2) - jwt (2.10.1) + jwt (2.10.2) base64 kaminari (1.2.2) activesupport (>= 4.1.0) @@ -329,7 +329,7 @@ GEM rspec-support (3.13.4) rspec_junit_formatter (0.6.0) rspec-core (>= 2, < 4, != 2.12.0) - scenic (1.8.0) + scenic (1.9.0) activerecord (>= 4.0.0) railties (>= 4.0.0) secure_headers (7.1.0) diff --git a/docker-compose.yml b/docker-compose.yml index 2f2344f564..0fa93825b5 100644 --- a/docker-compose.yml +++ b/docker-compose.yml @@ -36,7 +36,7 @@ services: db: env_file: ".env" - image: postgres:16 + image: postgres:17 restart: always volumes: ["./docker_volumes/db:/var/lib/postgresql/data"] diff --git a/package.json b/package.json index 1827a243a1..8ce40d62be 100644 --- a/package.json +++ b/package.json @@ -48,7 +48,7 @@ "@rollbar/react": "0.12.1", "@types/lodash": "4.17.19", "@types/markdown-it": "14.1.2", - "@types/node": "24.0.4", + "@types/node": "24.0.7", "@types/promise-timeout": "1.3.3", "@types/react": "19.1.8", "@types/react-color": "3.0.13", @@ -62,7 +62,7 @@ "delaunator": "5.0.1", "events": "3.3.0", "farmbot": "15.8.11", - "i18next": "25.2.1", + "i18next": "25.3.0", "lodash": "4.17.21", "markdown-it": "14.1.0", "markdown-it-emoji": "3.0.0", @@ -79,14 +79,14 @@ "react-color": "2.19.3", "react-dom": "18.3.1", "react-redux": "9.2.0", - "react-router": "7.6.2", + "react-router": "7.6.3", "redux": "5.0.1", "redux-immutable-state-invariant": "2.1.0", "redux-thunk": "3.1.0", - "rollbar": "3.0.0-alpha.1", + "rollbar": "3.0.0-alpha.2", "suncalc": "1.9.0", "takeme": "0.12.0", - "three": "0.177.0", + "three": "0.178.0", "typescript": "5.8.3", "url": "0.11.4" }, From b16ef3427ed2e2251a63792d8539fe73b3f340a3 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Mon, 30 Jun 2025 16:29:38 -0700 Subject: [PATCH 06/54] add menu configs and sun angle debugger --- frontend/promo/tools.ts | 6 +- .../__tests__/config_overlays_test.tsx | 2 +- frontend/three_d_garden/config_overlays.tsx | 7 +- frontend/three_d_garden/constants.ts | 2 - .../garden/__tests__/sun_test.tsx | 1 + frontend/three_d_garden/garden/sun.tsx | 79 +++++++++++++++---- frontend/three_d_garden/helpers.ts | 2 +- 7 files changed, 74 insertions(+), 25 deletions(-) diff --git a/frontend/promo/tools.ts b/frontend/promo/tools.ts index ec350a09e3..f7ccd57560 100644 --- a/frontend/promo/tools.ts +++ b/frontend/promo/tools.ts @@ -2,7 +2,7 @@ import { ToolPulloutDirection } from "farmbot/dist/resources/api_resources"; import { ToolName } from "../farm_designer/map/tool_graphics/all_tools"; import { Config } from "../three_d_garden/config"; import { ThreeDTool } from "../three_d_garden/bot/components"; -import { zZero } from "../three_d_garden/helpers"; +import { zDir, zZero } from "../three_d_garden/helpers"; export const PROMO_TOOLS = (config: Config): ThreeDTool[] => { @@ -11,7 +11,7 @@ export const PROMO_TOOLS = (config: Config): ThreeDTool[] => { const promoToolOffset = { x: 110 + config.bedWallThickness - config.bedXOffset, y: config.bedWidthOuter / 2 - config.bedYOffset, - z: zZero(config) - 60, + z: zDir(config) * (zZero(config) - 60), }; return [ @@ -53,7 +53,7 @@ export const PROMO_TOOLS = (config: Config): ThreeDTool[] => { { x: config.x - config.bedXOffset + 140, y: -config.bedYOffset + 15, - z: zZero(config) - 100, + z: zDir(config) * (zZero(config) - 100), toolName: ToolName.seedTrough, toolPulloutDirection: ToolPulloutDirection.NONE, firstTrough: true, diff --git a/frontend/three_d_garden/__tests__/config_overlays_test.tsx b/frontend/three_d_garden/__tests__/config_overlays_test.tsx index d3d5b318e1..f5b160d42f 100644 --- a/frontend/three_d_garden/__tests__/config_overlays_test.tsx +++ b/frontend/three_d_garden/__tests__/config_overlays_test.tsx @@ -125,7 +125,7 @@ describe("", () => { it("changes value: radio", () => { const p = fakeProps(); const wrapper = mount(); - wrapper.find({ type: "radio" }).at(2).simulate("change", + wrapper.find({ type: "radio" }).at(7).simulate("change", { target: { value: "Jr" } }); expect(p.setConfig).toHaveBeenCalledWith({ ...p.config, diff --git a/frontend/three_d_garden/config_overlays.tsx b/frontend/three_d_garden/config_overlays.tsx index 4ebee0711b..e8aee3ca58 100644 --- a/frontend/three_d_garden/config_overlays.tsx +++ b/frontend/three_d_garden/config_overlays.tsx @@ -293,8 +293,10 @@ export const PrivateOverlay = (props: OverlayProps) => { + + options={["v1.8", "v1.7", "v1000"]} /> { + @@ -359,6 +362,7 @@ export const PrivateOverlay = (props: OverlayProps) => { + { + diff --git a/frontend/three_d_garden/constants.ts b/frontend/three_d_garden/constants.ts index 36d33b74fb..a873749c45 100644 --- a/frontend/three_d_garden/constants.ts +++ b/frontend/three_d_garden/constants.ts @@ -132,8 +132,6 @@ export enum PartName { toolbay1Logo = "mesh0_mesh_1", seeder = "Seeder_Brass_Insert", weeder = "Weeder_Blade_(medium)", - rotaryToolBase = "rotary_tool", - rotaryToolImplement = "rotary_tool001", vacuumPump = "Lower_Vacuum_Tube", wateringNozzle = "M5_x_30mm_Screw", seedBin = "Seed_Bin", diff --git a/frontend/three_d_garden/garden/__tests__/sun_test.tsx b/frontend/three_d_garden/garden/__tests__/sun_test.tsx index c1b37ab97a..1bbc965b9e 100644 --- a/frontend/three_d_garden/garden/__tests__/sun_test.tsx +++ b/frontend/three_d_garden/garden/__tests__/sun_test.tsx @@ -83,6 +83,7 @@ describe("", () => { .mockImplementationOnce(() => mock4Ref) .mockImplementationOnce(() => mock1Ref) .mockImplementationOnce(() => mock1Ref) + .mockImplementationOnce(() => mock1Ref) .mockImplementationOnce(() => mock0Ref) .mockImplementationOnce(() => mockMaterialRef); jest.spyOn(React, "useState").mockReturnValue([[], jest.fn()]); diff --git a/frontend/three_d_garden/garden/sun.tsx b/frontend/three_d_garden/garden/sun.tsx index 442913c4c4..9b358676e5 100644 --- a/frontend/three_d_garden/garden/sun.tsx +++ b/frontend/three_d_garden/garden/sun.tsx @@ -10,14 +10,14 @@ import { BufferAttribute, BufferGeometry, Group, MeshBasicMaterial, PointLight, Points, PointsMaterial, } from "../components"; -import { Line, Sphere, Trail } from "@react-three/drei"; +import { Billboard, Line, Sphere, Text3D, Trail } from "@react-three/drei"; import { useFrame } from "@react-three/fiber"; import SunCalc from "suncalc"; import { range } from "lodash"; import moment from "moment"; import { SEASON_DURATIONS } from "../../promo/constants"; import { Line2 } from "three/examples/jsm/lines/Line2"; -import { BigDistance } from "../constants"; +import { ASSETS, BigDistance } from "../constants"; const sunDecay = 0; const shadowNormalBias = 100; @@ -60,19 +60,29 @@ export const calcSunCoordinate = ( }; }; +const toRad = (degrees: number) => degrees * Math.PI / 180; +const polarToCartesian = ( + radius: number, + thetaDegrees: number, + phiDegrees: number, +): [number, number, number] => { + const theta = toRad(thetaDegrees); + const phi = toRad(phiDegrees); + const x = radius * Math.sin(phi) * Math.cos(theta); + const y = radius * Math.sin(phi) * Math.sin(theta); + const z = radius * Math.cos(phi); + return [x, y, z]; +}; + export const sunPosition = ( sunInclination: number, sunAzimuth: number, distance: number, ): Vector3 => { - const toRad = (degrees: number) => degrees * Math.PI / 180; - const azimuth = toRad(sunAzimuth); - const inclination = toRad(sunInclination); - return new Vector3( - distance * Math.cos(inclination) * Math.sin(azimuth), - distance * Math.cos(inclination) * Math.cos(azimuth), - distance * Math.sin(inclination), - ); + const theta = 90 - sunAzimuth; + const phi = 90 - sunInclination; + const position = polarToCartesian(distance, theta, phi); + return new Vector3(...position); }; const convertColor = @@ -132,6 +142,8 @@ export const Sun = (props: SunProps) => { // eslint-disable-next-line no-null/no-null const sunRef = React.useRef(null); // eslint-disable-next-line no-null/no-null + const sunFlatRef = React.useRef(null); + // eslint-disable-next-line no-null/no-null const lineRef = React.useRef(null); const [points, setPoints] = React.useState( range(4).map(index => new Vector3(...offsetSunPos(sunPos, index))), @@ -184,6 +196,8 @@ export const Sun = (props: SunProps) => { const visualPos = sunPosition(inclination, azimuth, BigDistance.sunVisual); sunRef.current?.position?.set(visualPos.x, visualPos.y, visualPos.z); + const flatPos = sunPosition(0, azimuth, BigDistance.ground); + sunFlatRef.current?.position?.set(flatPos.x, flatPos.y, flatPos.z); if (lineRef.current) { // eslint-disable-next-line @react-three/no-new-in-loop @@ -233,21 +247,25 @@ export const Sun = (props: SunProps) => { + {config.lightsDebug && } + {config.lightsDebug && + + } ; }; const generateOtherSuns = () => { const points = []; - const maxPhi = Math.PI / 2 - (10 * Math.PI / 180); + const maxPhi = 80; const r = BigDistance.sunVisual; for (let i = 0; i < 1000; i++) { - const theta = Math.random() * 2 * Math.PI; + const theta = Math.random() * 360; const phi = Math.random() * maxPhi; - - const x = r * Math.sin(phi) * Math.cos(theta); - const y = r * Math.sin(phi) * Math.sin(theta); - const z = r * Math.cos(phi); - points.push(x, y, z); + const position = polarToCartesian(r, theta, phi); + points.push(...position); } return new Float32Array(points); }; @@ -272,3 +290,30 @@ const OtherSuns = ({ starsRef }: { starsRef: React.RefObject }) depthWrite={false} /> ; }; + +interface SkyGridProps { + config: Config; +} + +const SkyGrid = (props: SkyGridProps) => { + const radius = BigDistance.ground; + return + {range(0, 360, 15).map((angle, index) => { + const newAngle = (angle + props.config.heading) % 360; + const [x, y, z] = polarToCartesian(radius, newAngle, 90); + return + + + + {`${360 - angle}°`} + + + + ; + })} + ; +}; diff --git a/frontend/three_d_garden/helpers.ts b/frontend/three_d_garden/helpers.ts index 7ef534c7b0..739205f33f 100644 --- a/frontend/three_d_garden/helpers.ts +++ b/frontend/three_d_garden/helpers.ts @@ -35,7 +35,7 @@ export const zero = (config: Config): Record<"x" | "y" | "z", number> => ({ export const extents = (config: Config): Record<"x" | "y" | "z", number> => ({ x: threeSpace(config.bedXOffset + config.botSizeX, config.bedLengthOuter), y: threeSpace(config.bedYOffset + config.botSizeY, config.bedWidthOuter), - z: zZero(config) + zDir(config) * config.botSizeZ, + z: zZero(config) - config.botSizeZ, }); export const easyCubicBezierCurve3 = ( From 6f7eeeb8f1b4b1eb03583eb9f9f1abfbdbb22f4c Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Wed, 2 Jul 2025 21:53:25 -0700 Subject: [PATCH 07/54] add demo account lua runner --- frontend/constants.ts | 3 + frontend/demo/__tests__/lua_runner_test.ts | 199 ++++++++++++ frontend/demo/lua_runner.ts | 339 +++++++++++++++++++++ frontend/devices/__tests__/actions_test.ts | 20 ++ frontend/devices/__tests__/reducer_test.ts | 36 +++ frontend/devices/actions.ts | 5 + frontend/devices/reducer.ts | 14 + frontend/hacks.d.ts | 2 + frontend/util/__tests__/location_test.ts | 7 +- frontend/util/location.ts | 6 +- package.json | 4 +- 11 files changed, 627 insertions(+), 8 deletions(-) create mode 100644 frontend/demo/__tests__/lua_runner_test.ts create mode 100644 frontend/demo/lua_runner.ts diff --git a/frontend/constants.ts b/frontend/constants.ts index b887727f33..d61a27aace 100644 --- a/frontend/constants.ts +++ b/frontend/constants.ts @@ -2436,6 +2436,9 @@ export enum Actions { SET_NEEDS_VERSION_CHECK = "SET_NEEDS_VERSION_CHECK", SET_MALFORMED_NOTIFICATION_SENT = "SET_MALFORMED_NOTIFICATION_SENT", DEMO_TOGGLE_PIN = "DEMO_TOGGLE_PIN", + DEMO_WRITE_PIN = "DEMO_WRITE_PIN", + DEMO_SET_POSITION = "DEMO_SET_POSITION", + DEMO_SET_JOB_PROGRESS = "DEMO_SET_JOB_PROGRESS", // Draggable PUT_DATA_XFER = "PUT_DATA_XFER", diff --git a/frontend/demo/__tests__/lua_runner_test.ts b/frontend/demo/__tests__/lua_runner_test.ts new file mode 100644 index 0000000000..95d91cfbbf --- /dev/null +++ b/frontend/demo/__tests__/lua_runner_test.ts @@ -0,0 +1,199 @@ +import { buildResourceIndex } from "../../__test_support__/resource_index_builder"; +import { + fakeSequence, fakeToolSlot, +} from "../../__test_support__/fake_state/resources"; +jest.mock("../../redux/store", () => ({ + store: { + dispatch: jest.fn(), + getState: () => ({ + resources: buildResourceIndex([fakeToolSlot()]), + bot: { hardware: { location_data: undefined } }, + }), + }, +})); + +import { ParameterApplication, TaggedSequence } from "farmbot"; +import { Actions } from "../../constants"; +import { store } from "../../redux/store"; +import { info } from "../../toast/toast"; +import { runDemoSequence } from "../lua_runner"; + +const code = ` + n = variable("Number") + print(n) + api{method = "GET", url = "/api/points"} + api{method = "POST", url = "/api/points"} + api{method = "GET", url = "/api/tools"} + pairs({}) + os.time() + move_absolute(0, 0, 0) + wait(1000) + move_absolute(300, 0, 0) + move_absolute(350, 0, 0) + write_pin(8, "digital", 1) + wait(1000) + write_pin(8, "digital", 0) + send_message("info", "msg", "toast") + send_message("success", "msg", "toast") + set_job_progress("job", { + percent = 50, + status = "working", + time = os.time() * 1000 + }) + set_job_progress("job", { + percent = 100, + status = "Complete", + time = os.time() * 1000 + }) + `; + +describe("runDemoSequence()", () => { + beforeEach(() => { + localStorage.setItem("myBotIs", "online"); + }); + + it("runs sequence", () => { + const sequence = fakeSequence(); + sequence.body.body = [{ kind: "lua", args: { lua: code } }]; + sequence.body.id = 1; + const point = fakeToolSlot(); + const ri = buildResourceIndex([sequence, point]).index; + const variables: ParameterApplication[] = [{ + kind: "parameter_application", + args: { + label: "Number", + data_value: { kind: "numeric", args: { number: 1 } }, + }, + }]; + console.log = jest.fn(); + console.error = jest.fn(); + jest.useFakeTimers(); + runDemoSequence(ri, sequence.body.id, variables); + jest.runAllTimers(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 0, y: 0, z: 0 }, + }); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 0, y: 0, z: 0 }, + }); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 100, y: 0, z: 0 }, + }); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 200, y: 0, z: 0 }, + }); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 300, y: 0, z: 0 }, + }); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 350, y: 0, z: 0 }, + }); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_WRITE_PIN, + payload: { pin: 8, value: 1 }, + }); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_WRITE_PIN, + payload: { pin: 8, value: 0 }, + }); + expect(info).toHaveBeenCalledWith("msg"); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_JOB_PROGRESS, + payload: ["job", { + unit: "percent", + percent: 50, + status: "working", + type: "", + file_type: "", + updated_at: expect.any(Number), + time: expect.any(Number), + }], + }); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_JOB_PROGRESS, + payload: ["job", { + unit: "percent", + percent: 100, + status: "Complete", + type: "", + file_type: "", + updated_at: expect.any(Number), + time: undefined, + }], + }); + expect(console.error).not.toHaveBeenCalled(); + }); + + it("handles missing variables", () => { + const sequence = fakeSequence(); + sequence.body.body = [{ kind: "lua", args: { lua: code } }]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + console.log = jest.fn(); + console.error = jest.fn(); + jest.useFakeTimers(); + runDemoSequence(ri, sequence.body.id, undefined); + jest.runAllTimers(); + expect(info).toHaveBeenCalledWith("msg"); + expect(console.log).toHaveBeenCalled(); + expect(console.error).not.toHaveBeenCalled(); + }); + + it("handles missing sequence body", () => { + const sequence = fakeSequence(); + sequence.body.body = undefined; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + if (ri.references[0]) { + (ri.references[0] as TaggedSequence).body.body = undefined; + } + console.log = jest.fn(); + console.error = jest.fn(); + jest.useFakeTimers(); + runDemoSequence(ri, sequence.body.id, undefined); + jest.runAllTimers(); + expect(console.log).not.toHaveBeenCalled(); + expect(console.error).not.toHaveBeenCalled(); + }); + + it("handles load error", () => { + const sequence = fakeSequence(); + sequence.body.body = [{ kind: "lua", args: { lua: "!" } }]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + console.log = jest.fn(); + console.error = jest.fn(); + jest.useFakeTimers(); + runDemoSequence(ri, sequence.body.id, undefined); + jest.runAllTimers(); + expect(console.log).not.toHaveBeenCalled(); + expect(console.error).toHaveBeenCalledWith( + "Lua load error:", + "[string \"!\"]:1: unexpected symbol near '!'", + ); + }); + + it("handles call error", () => { + const sequence = fakeSequence(); + sequence.body.body = [{ kind: "lua", args: { lua: "return blah + 5" } }]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + console.log = jest.fn(); + console.error = jest.fn(); + jest.useFakeTimers(); + runDemoSequence(ri, sequence.body.id, undefined); + jest.runAllTimers(); + expect(console.log).not.toHaveBeenCalled(); + expect(console.error).toHaveBeenCalledWith( + "Lua call error:", + "[string \"return blah + 5\"]:1: attempt to perform arithmetic " + + "on a nil value (global 'blah')", + ); + }); +}); diff --git a/frontend/demo/lua_runner.ts b/frontend/demo/lua_runner.ts new file mode 100644 index 0000000000..fb3502e8fa --- /dev/null +++ b/frontend/demo/lua_runner.ts @@ -0,0 +1,339 @@ +import { lua, lauxlib, lualib, to_jsstring, to_luastring } from "fengari-web"; +import { findSequenceById, selectAllPoints } from "../resources/selectors"; +import { ResourceIndex } from "../resources/interfaces"; +import { + ParameterApplication, PercentageProgress, SequenceBodyItem, Xyz, +} from "farmbot"; +import { info } from "../toast/toast"; +import { store } from "../redux/store"; +import { Actions } from "../constants"; +import { sortGroupBy } from "../point_groups/point_group_sort"; +import { validBotLocationData } from "../util/location"; + +const runLua = + (luaCode: string, variables: ParameterApplication[]): Action[] => { + const actions: Action[] = []; + const L = lauxlib.luaL_newstate(); // stack: [] + + lua.lua_newtable(L); // stack: [env] + + lauxlib.luaL_requiref(L, to_luastring("_G"), lualib.luaopen_base, 1); + + lua.lua_getfield(L, -1, to_luastring("print")); + lua.lua_setfield(L, -3, to_luastring("print")); + + lua.lua_getfield(L, -1, to_luastring("pairs")); + lua.lua_setfield(L, -3, to_luastring("pairs")); + + lua.lua_pop(L, 1); // stack: [env] + + lauxlib.luaL_requiref(L, to_luastring("math"), lualib.luaopen_math, 1); + lua.lua_setfield(L, -2, to_luastring("math")); + + lauxlib.luaL_requiref(L, to_luastring("table"), lualib.luaopen_table, 1); + lua.lua_setfield(L, -2, to_luastring("table")); + + lua.lua_pushjsfunction(L, () => { + const variableName = to_jsstring(lua.lua_tostring(L, 1)); + const n = variables + .filter(variable => variable.args.label === variableName) + .map(variable => variable.args.data_value)[0]; + if (n?.kind === "numeric") { + lua.lua_pushnumber(L, n.args.number); + } + return 1; + }); + lua.lua_setfield(L, -2, to_luastring("variable")); + + lua.lua_newtable(L); // stack: [env, os] + + lua.lua_pushjsfunction(L, () => { + const now = Math.floor(Date.now() / 1000); + lua.lua_pushnumber(L, now); + return 1; + }); + lua.lua_setfield(L, -2, to_luastring("time")); // stack: [env, os] + lua.lua_setfield(L, -2, to_luastring("os")); // stack: [env] + + lua.lua_pushjsfunction(L, () => { + lua.lua_getfield(L, 1, to_luastring("method")); + const method = to_jsstring(lua.lua_tostring(L, -1)); + lua.lua_pop(L, 1); + + lua.lua_getfield(L, 1, to_luastring("url")); + const url = to_jsstring(lua.lua_tostring(L, -1)); + lua.lua_pop(L, 1); + + if (!(method == "GET" && url == "/api/points")) { return 0; } + + const points = selectAllPoints(store.getState().resources.index); + const results = sortGroupBy("yx_alternating", points).map(p => p.body); + lua.lua_newtable(L); + results.forEach((result, i) => { + lua.lua_newtable(L); + Object.entries(result).forEach(([k, v]) => { + lua.lua_pushstring(L, to_luastring(k)); + + if (typeof v === "string") { + lua.lua_pushstring(L, to_luastring(v)); + } else if (typeof v === "number") { + lua.lua_pushnumber(L, v); + } else if (typeof v === "boolean") { + lua.lua_pushboolean(L, v); + } else { + lua.lua_pushnil(L); + } + lua.lua_settable(L, -3); + }); + lua.lua_rawseti(L, -2, i + 1); + }); + return 1; + }); + lua.lua_setfield(L, -2, to_luastring("api")); + + lua.lua_pushjsfunction(L, () => { + const n = lua.lua_gettop(L); + const args = []; + for (let i = 1; i <= n; i++) { + args.push(to_jsstring(lua.lua_tostring(L, i))); + } + actions.push({ type: "send_message", args: args }); + return 0; + }); + lua.lua_setfield(L, -2, to_luastring("send_message")); + + lua.lua_pushjsfunction(L, () => { + const jobName = to_jsstring(lua.lua_tostring(L, 1)); + + lua.lua_getfield(L, 2, to_luastring("percent")); + const percent = lua.lua_tonumber(L, -1); + lua.lua_pop(L, 1); + + lua.lua_getfield(L, 2, to_luastring("status")); + const status = to_jsstring(lua.lua_tostring(L, -1)); + lua.lua_pop(L, 1); + + lua.lua_getfield(L, 2, to_luastring("time")); + const time = lua.lua_tonumber(L, -1); + lua.lua_pop(L, 1); + + actions.push({ + type: "set_job_progress", + args: [jobName, percent, status, time], + }); + return 0; + }); + lua.lua_setfield(L, -2, to_luastring("set_job_progress")); + + lua.lua_pushjsfunction(L, () => { + const n = lua.lua_gettop(L); + const args = []; + for (let i = 1; i <= n; i++) { + args.push(lua.lua_tonumber(L, i)); + } + actions.push({ type: "move_absolute", args: args }); + return 0; + }); + lua.lua_setfield(L, -2, to_luastring("move_absolute")); + + lua.lua_pushjsfunction(L, () => { + const ms = lua.lua_tonumber(L, 1); + actions.push({ type: "wait", args: [ms] }); + return 0; + }); + lua.lua_setfield(L, -2, to_luastring("wait")); + + lua.lua_pushjsfunction(L, () => { + const pin = lua.lua_tonumber(L, 1); + const value = lua.lua_tonumber(L, 3); + actions.push({ type: "write_pin", args: [pin, value] }); + return 0; + }); + lua.lua_setfield(L, -2, to_luastring("write_pin")); + + const statusLoad = lauxlib.luaL_loadstring(L, to_luastring(luaCode)); + if (statusLoad !== lua.LUA_OK) { + const error = to_jsstring(lua.lua_tostring(L, -1)); + console.error("Lua load error:", error); + return []; + } + + lua.lua_pushvalue(L, -2); + lua.lua_setupvalue(L, -2, 1); + + const statusCall = lua.lua_pcall(L, 0, lua.LUA_MULTRET, 0); + if (statusCall !== lua.LUA_OK) { + const errorVal = lua.lua_tostring(L, -1); + const error = to_jsstring(errorVal); + console.error("Lua call error:", error); + return []; + } + return actions; + }; + +export const runDemoSequence = ( + resources: ResourceIndex, + sequenceId: number, + variables: ParameterApplication[] | undefined, +) => { + const sequence = findSequenceById(resources, sequenceId); + const actions: Action[] = []; + (sequence.body.body as SequenceBodyItem[]).map(step => { + if (step.kind === "lua") { + const stepActions = runLua(step.args.lua, variables || []); + actions.push(...stepActions); + } + }); + runActions(actions); +}; + +interface Action { + type: "move_absolute" + | "send_message" + | "wait" + | "write_pin" + | "set_job_progress"; + args: (number | string)[]; +} + +const almostEqual = (a: Record, b: Record) => { + const epsilon = 0.01; + return Math.abs(a.x - b.x) < epsilon && + Math.abs(a.y - b.y) < epsilon && + Math.abs(a.z - b.z) < epsilon; +}; + +const movementChunks = ( + current: Record, + target: Record, +): Record[] => { + const dx = target.x - current.x; + const dy = target.y - current.y; + const dz = target.z - current.z; + + const length = Math.sqrt(dx * dx + dy * dy + dz * dz); + if (length === 0) { return [target]; } + const direction = { + x: dx / length, + y: dy / length, + z: dz / length, + }; + const steps = Math.floor(length / 100); + const chunks: Record[] = []; + for (let i = 0; i <= steps; i++) { + const step = { + x: current.x + direction.x * 100 * i, + y: current.y + direction.y * 100 * i, + z: current.z + direction.z * 100 * i, + }; + chunks.push(step); + } + if (!almostEqual(chunks[chunks.length - 1], target)) { + chunks.push(target); + } + return chunks; +}; + +const expandActions = (actions: Action[]): Action[] => { + const expanded: Action[] = []; + const { position } = validBotLocationData( + store.getState().bot.hardware.location_data); + const current = { + x: position.x as number, + y: position.y as number, + z: position.z as number, + }; + actions.map(action => { + switch (action.type) { + case "move_absolute": + const x = action.args[0] as number; + const y = action.args[1] as number; + const z = action.args[2] as number; + const target = { x, y, z }; + const steps = movementChunks(current, target); + steps.map(position => { + expanded.push({ + type: "wait", + args: [500], + }); + expanded.push({ + type: "move_absolute", + args: [position.x, position.y, position.z], + }); + }); + current.x = target.x; + current.y = target.y; + current.z = target.z; + break; + default: + expanded.push(action); + break; + } + }); + return expanded; +}; + +const runActions = (actions: Action[]) => { + let delay = 0; + expandActions(actions).map(action => { + const getFunc = () => { + switch (action.type) { + case "wait": + const ms = action.args[0] as number; + delay += ms; + return undefined; + case "send_message": + const type = "" + action.args[0]; + const msg = "" + action.args[1]; + if (type == "info") { + return () => { + info(msg); + }; + } + return undefined; + case "move_absolute": + const x = action.args[0] as number; + const y = action.args[1] as number; + const z = action.args[2] as number; + const position = { x, y, z }; + return () => { + store.dispatch({ + type: Actions.DEMO_SET_POSITION, + payload: position, + }); + }; + case "write_pin": + const pin = action.args[0] as number; + const value = action.args[1] as number; + return () => { + store.dispatch({ + type: Actions.DEMO_WRITE_PIN, + payload: { pin, value }, + }); + }; + case "set_job_progress": + const job = "" + action.args[0]; + const percent = action.args[1] as number; + const status = "" + action.args[2]; + const time = action.args[3]; + const progress: PercentageProgress = { + unit: "percent", + percent, + status: status as "working", + type: "", + file_type: "", + updated_at: (new Date()).valueOf() / 1000, + time: (status == "Complete" ? undefined : time) as string, + }; + return () => { + store.dispatch({ + type: Actions.DEMO_SET_JOB_PROGRESS, + payload: [job, progress], + }); + }; + } + }; + const func = getFunc(); + func && setTimeout(func, delay); + }); +}; diff --git a/frontend/devices/__tests__/actions_test.ts b/frontend/devices/__tests__/actions_test.ts index 31aa73a86b..5d9d4a4b21 100644 --- a/frontend/devices/__tests__/actions_test.ts +++ b/frontend/devices/__tests__/actions_test.ts @@ -42,6 +42,10 @@ jest.mock("../../redux/store", () => ({ }, })); +jest.mock("../../demo/lua_runner", () => ({ + runDemoSequence: jest.fn(), +})); + import * as actions from "../actions"; import { fakeFirmwareConfig, fakeFbosConfig, @@ -54,6 +58,7 @@ import { edit, save } from "../../api/crud"; import { DeepPartial } from "../../redux/interfaces"; import { Farmbot } from "farmbot"; import { Path } from "../../internal_urls"; +import { runDemoSequence } from "../../demo/lua_runner"; const replaceDeviceWith = async (d: DeepPartial, cb: Function) => { jest.clearAllMocks(); @@ -194,6 +199,10 @@ describe("sync()", () => { }); describe("execSequence()", () => { + afterEach(() => { + localStorage.removeItem("myBotIs"); + }); + it("handles normal errors", () => { const errorThrower: DeepPartial = { execSequence: jest.fn(() => Promise.reject(new Error("yolo"))) @@ -230,6 +239,17 @@ describe("execSequence()", () => { expect(success).toHaveBeenCalled(); }); + it("calls execSequence on demo accounts", async () => { + localStorage.setItem("myBotIs", "online"); + await actions.execSequence(1); + expect(mockDevice.current.execSequence).not.toHaveBeenCalled(); + expect(success).not.toHaveBeenCalled(); + expect(runDemoSequence).toHaveBeenCalledWith( + expect.any(Object), + 1, + undefined); + }); + it("implodes when executing unsaved sequences", () => { expect(() => actions.execSequence(undefined)).toThrow(); expect(mockDevice.current.execSequence).not.toHaveBeenCalled(); diff --git a/frontend/devices/__tests__/reducer_test.ts b/frontend/devices/__tests__/reducer_test.ts index 178fbd1120..d5b15eb38a 100644 --- a/frontend/devices/__tests__/reducer_test.ts +++ b/frontend/devices/__tests__/reducer_test.ts @@ -180,4 +180,40 @@ describe("botReducer", () => { const r = botReducer(state, action); expect(r.hardware.pins).toEqual({ 13: { value: 0, mode: 0 } }); }); + + it("writes demo pin", () => { + const state = initialState(); + const action = { + type: Actions.DEMO_WRITE_PIN, + payload: { pin: 13, value: 1 }, + }; + const r = botReducer(state, action); + expect(r.hardware.pins).toEqual({ 13: { value: 1, mode: 0 } }); + }); + + it("sets position", () => { + const state = initialState(); + const action = { + type: Actions.DEMO_SET_POSITION, + payload: { x: 1, y: 2, z: 3 }, + }; + const r = botReducer(state, action); + expect(r.hardware.location_data.position).toEqual({ x: 1, y: 2, z: 3 }); + }); + + it("set job progress", () => { + const state = initialState(); + const action = { + type: Actions.DEMO_SET_JOB_PROGRESS, + payload: ["job", { percent: 1, status: "working", time: 50 }], + }; + const r = botReducer(state, action); + expect(r.hardware.jobs).toEqual({ + job: { + percent: 1, + status: "working", + time: 50, + } + }); + }); }); diff --git a/frontend/devices/actions.ts b/frontend/devices/actions.ts index 32db3a0fc9..8730555844 100644 --- a/frontend/devices/actions.ts +++ b/frontend/devices/actions.ts @@ -35,6 +35,7 @@ import { ToastOptions } from "../toast/interfaces"; import { forceOnline } from "./must_be_online"; import { store } from "../redux/store"; import { linkToSetting } from "../settings/maybe_highlight"; +import { runDemoSequence } from "../demo/lua_runner"; const ON = 1, OFF = 0; export type ConfigKey = keyof McuParams; @@ -205,6 +206,10 @@ export function execSequence( ) { const noun = t("Sequence execution"); if (sequenceId) { + if (forceOnline()) { + runDemoSequence(store.getState().resources.index, sequenceId, bodyVariables); + return; + } commandOK(noun)(); return getDevice() .execSequence(sequenceId, bodyVariables) diff --git a/frontend/devices/reducer.ts b/frontend/devices/reducer.ts index 8e04e5b998..d8039e3cc4 100644 --- a/frontend/devices/reducer.ts +++ b/frontend/devices/reducer.ts @@ -13,6 +13,7 @@ import { } from "../connectivity/reducer"; import { versionOK } from "../util"; import { updateMotorHistoryArray } from "../controls/move/motor_position_plot"; +import { PercentageProgress, Xyz } from "farmbot"; const afterEach = (state: BotState, a: ReduxAction<{}>) => { state.connectivity = connectivityReducer(state.connectivity, a); @@ -136,6 +137,19 @@ export const botReducer = generateReducer(initialState()) pin.value = Number(!pin.value); return s; }) + .add<{ pin: number, value: number }>(Actions.DEMO_WRITE_PIN, (s, { payload }) => { + s.hardware.pins[payload.pin] = { mode: 0, value: payload.value }; + return s; + }) + .add>(Actions.DEMO_SET_POSITION, (s, { payload }) => { + s.hardware.location_data.position = payload; + return s; + }) + .add<[string, PercentageProgress]>(Actions.DEMO_SET_JOB_PROGRESS, + (s, { payload }) => { + s.hardware.jobs[payload[0]] = payload[1]; + return s; + }) .add(Actions.PING_OK, (s) => { // Going from "down" to "up" const currentState = s.connectivity.uptime["bot.mqtt"]; diff --git a/frontend/hacks.d.ts b/frontend/hacks.d.ts index 5bc9e62cf6..abad41ba85 100644 --- a/frontend/hacks.d.ts +++ b/frontend/hacks.d.ts @@ -29,3 +29,5 @@ declare namespace jest { } declare var mockNavigate: jest.Mock; + +declare module 'fengari-web'; diff --git a/frontend/util/__tests__/location_test.ts b/frontend/util/__tests__/location_test.ts index 391a1d6b6e..a8247a33ad 100644 --- a/frontend/util/__tests__/location_test.ts +++ b/frontend/util/__tests__/location_test.ts @@ -3,6 +3,7 @@ jest.mock("../../devices/must_be_online", () => ({ forceOnline: () => mockDemo, })); +import { BotLocationData } from "../../devices/interfaces"; import { validBotLocationData } from "../location"; import { LocationData } from "farmbot"; @@ -44,10 +45,8 @@ describe("validBotLocationData()", () => { it("returns location for demo accounts", () => { mockDemo = true; - localStorage.x = "1"; - localStorage.y = "2"; - localStorage.z = "3"; - const result = validBotLocationData(undefined); + const result = validBotLocationData( + { position: { x: 1, y: 2, z: 3 } } as BotLocationData); expect(result).toEqual({ position: { x: 1, y: 2, z: 3 }, scaled_encoders: { x: 0, y: 0, z: 0 }, diff --git a/frontend/util/location.ts b/frontend/util/location.ts index 65817e41d1..1ad6892e38 100644 --- a/frontend/util/location.ts +++ b/frontend/util/location.ts @@ -18,9 +18,9 @@ export function validBotLocationData( return forceOnline() ? { position: { - x: localStorage.x ? parseFloat("" + localStorage.x) : 0, - y: localStorage.y ? parseFloat("" + localStorage.y) : 0, - z: localStorage.z ? parseFloat("" + localStorage.z) : 0, + x: botLocationData?.position.x ?? 0, + y: botLocationData?.position.y ?? 0, + z: botLocationData?.position.z ?? 0, }, scaled_encoders: { x: 0, y: 0, z: 0 }, raw_encoders: { x: 0, y: 0, z: 0 }, diff --git a/package.json b/package.json index 8ce40d62be..f981f223c3 100644 --- a/package.json +++ b/package.json @@ -15,7 +15,7 @@ "scripts": { "test-very-slow": "node --expose-gc ./node_modules/.bin/jest -i --colors --coverage", "test-slow": "node scripts/run.js ./node_modules/.bin/jest -w 3 --colors", - "test": "node scripts/run.js ./node_modules/.bin/jest -w 3 --no-coverage", + "test": "node scripts/run.js ./node_modules/.bin/jest -w 3 --colors --no-coverage", "graph-modules-dot": "./node_modules/.bin/madge --dot ./frontend > module_graph.dot", "graph-modules-svg": "dot -Tsvg module_graph.dot -o module_graph.svg", "typecheck": "node scripts/run.js ./node_modules/typescript/bin/tsc --noEmit", @@ -62,6 +62,8 @@ "delaunator": "5.0.1", "events": "3.3.0", "farmbot": "15.8.11", + "fengari": "0.1.4", + "fengari-web": "0.1.4", "i18next": "25.3.0", "lodash": "4.17.21", "markdown-it": "14.1.0", From e79a1583baad264f17055a9f3b977793561747d3 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Thu, 3 Jul 2025 16:31:22 -0700 Subject: [PATCH 08/54] add more demo account bot controls --- frontend/controls/interfaces.ts | 2 +- .../controls/peripherals/peripheral_list.tsx | 2 +- frontend/demo/__tests__/lua_runner_test.ts | 291 ++++++++++++++++-- frontend/demo/lua_runner.ts | 195 ++++++++++-- frontend/devices/__tests__/actions_test.ts | 61 +++- frontend/devices/actions.ts | 45 +-- 6 files changed, 527 insertions(+), 69 deletions(-) diff --git a/frontend/controls/interfaces.ts b/frontend/controls/interfaces.ts index 0601d7b558..7e39d01a95 100644 --- a/frontend/controls/interfaces.ts +++ b/frontend/controls/interfaces.ts @@ -36,7 +36,7 @@ export interface AxisProps { } export interface AxisInputBoxGroupProps { - onCommit: (v: Vector3) => Promise; + onCommit: (v: Vector3) => Promise | undefined; position: BotPosition; disabled: boolean | undefined; locked: boolean; diff --git a/frontend/controls/peripherals/peripheral_list.tsx b/frontend/controls/peripherals/peripheral_list.tsx index 54e02ae541..7d3e1c0114 100644 --- a/frontend/controls/peripherals/peripheral_list.tsx +++ b/frontend/controls/peripherals/peripheral_list.tsx @@ -29,7 +29,7 @@ export const PeripheralList = (props: PeripheralListProps) => : { - peripheral.body.pin && props.dispatch(pinToggle(peripheral.body.pin)); + peripheral.body.pin && pinToggle(peripheral.body.pin); }} title={t(`Toggle ${peripheral.body.label}`)} customText={{ textFalse: t("off"), textTrue: t("on") }} diff --git a/frontend/demo/__tests__/lua_runner_test.ts b/frontend/demo/__tests__/lua_runner_test.ts index 95d91cfbbf..d3d8657ff2 100644 --- a/frontend/demo/__tests__/lua_runner_test.ts +++ b/frontend/demo/__tests__/lua_runner_test.ts @@ -1,13 +1,26 @@ import { buildResourceIndex } from "../../__test_support__/resource_index_builder"; import { + fakeFirmwareConfig, fakeSequence, fakeToolSlot, } from "../../__test_support__/fake_state/resources"; +let mockPosition = { x: 0, y: 0, z: 0 }; +const firmwareConfig = fakeFirmwareConfig(); +firmwareConfig.body.movement_axis_nr_steps_x = 5000; +firmwareConfig.body.movement_axis_nr_steps_y = 10000; +firmwareConfig.body.movement_axis_nr_steps_z = 12500; jest.mock("../../redux/store", () => ({ store: { dispatch: jest.fn(), getState: () => ({ - resources: buildResourceIndex([fakeToolSlot()]), - bot: { hardware: { location_data: undefined } }, + resources: buildResourceIndex([ + fakeToolSlot(), + firmwareConfig, + ]), + bot: { + hardware: { + location_data: { position: mockPosition }, + } + }, }), }, })); @@ -16,7 +29,7 @@ import { ParameterApplication, TaggedSequence } from "farmbot"; import { Actions } from "../../constants"; import { store } from "../../redux/store"; import { info } from "../../toast/toast"; -import { runDemoSequence } from "../lua_runner"; +import { runDemoLuaCode, runDemoSequence } from "../lua_runner"; const code = ` n = variable("Number") @@ -50,6 +63,9 @@ const code = ` describe("runDemoSequence()", () => { beforeEach(() => { localStorage.setItem("myBotIs", "online"); + console.log = jest.fn(); + console.error = jest.fn(); + jest.useFakeTimers(); }); it("runs sequence", () => { @@ -65,9 +81,6 @@ describe("runDemoSequence()", () => { data_value: { kind: "numeric", args: { number: 1 } }, }, }]; - console.log = jest.fn(); - console.error = jest.fn(); - jest.useFakeTimers(); runDemoSequence(ri, sequence.body.id, variables); jest.runAllTimers(); expect(store.dispatch).toHaveBeenCalledWith({ @@ -135,9 +148,6 @@ describe("runDemoSequence()", () => { sequence.body.body = [{ kind: "lua", args: { lua: code } }]; sequence.body.id = 1; const ri = buildResourceIndex([sequence]).index; - console.log = jest.fn(); - console.error = jest.fn(); - jest.useFakeTimers(); runDemoSequence(ri, sequence.body.id, undefined); jest.runAllTimers(); expect(info).toHaveBeenCalledWith("msg"); @@ -153,9 +163,6 @@ describe("runDemoSequence()", () => { if (ri.references[0]) { (ri.references[0] as TaggedSequence).body.body = undefined; } - console.log = jest.fn(); - console.error = jest.fn(); - jest.useFakeTimers(); runDemoSequence(ri, sequence.body.id, undefined); jest.runAllTimers(); expect(console.log).not.toHaveBeenCalled(); @@ -167,9 +174,6 @@ describe("runDemoSequence()", () => { sequence.body.body = [{ kind: "lua", args: { lua: "!" } }]; sequence.body.id = 1; const ri = buildResourceIndex([sequence]).index; - console.log = jest.fn(); - console.error = jest.fn(); - jest.useFakeTimers(); runDemoSequence(ri, sequence.body.id, undefined); jest.runAllTimers(); expect(console.log).not.toHaveBeenCalled(); @@ -184,9 +188,6 @@ describe("runDemoSequence()", () => { sequence.body.body = [{ kind: "lua", args: { lua: "return blah + 5" } }]; sequence.body.id = 1; const ri = buildResourceIndex([sequence]).index; - console.log = jest.fn(); - console.error = jest.fn(); - jest.useFakeTimers(); runDemoSequence(ri, sequence.body.id, undefined); jest.runAllTimers(); expect(console.log).not.toHaveBeenCalled(); @@ -197,3 +198,257 @@ describe("runDemoSequence()", () => { ); }); }); + +describe("runDemoLuaCode()", () => { + beforeEach(() => { + localStorage.setItem("myBotIs", "online"); + console.log = jest.fn(); + console.error = jest.fn(); + jest.useFakeTimers(); + }); + + it("runs print", () => { + runDemoLuaCode("print(\"Hello, world!\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("Hello, world!"); + }); + + it("runs print: all", () => { + runDemoLuaCode("local a = 2 + 2\nprint(a, false, true, nil)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("4 false true "); + }); + + it("runs garden_size", () => { + runDemoLuaCode( + "print(garden_size().x)\n" + + "print(garden_size().y)\n" + + "print(garden_size().z)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("1000.0"); + expect(console.log).toHaveBeenCalledWith("2000.0"); + expect(console.log).toHaveBeenCalledWith("500.0"); + }); + + it("runs toast", () => { + runDemoLuaCode("toast(\"info\", \"test\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(info).toHaveBeenCalledWith("test"); + }); + + it("runs send_message", () => { + runDemoLuaCode("send_message(\"info\", \"test\", \"toast\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(info).toHaveBeenCalledWith("test"); + }); + + it("runs find_home: all", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("find_home(\"all\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 0, y: 0, z: 0 }, + }); + }); + + it("runs go_to_home: all", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("go_to_home(\"all\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 0, y: 0, z: 0 }, + }); + }); + + it("runs go_to_home: x", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("go_to_home(\"x\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 0, y: 2, z: 3 }, + }); + }); + + it("runs go_to_home: y", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("go_to_home(\"y\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 1, y: 0, z: 3 }, + }); + }); + + it("runs toggle_pin", () => { + runDemoLuaCode("toggle_pin(5)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_TOGGLE_PIN, + payload: 5, + }); + }); + + it("runs write_pin", () => { + runDemoLuaCode("write_pin(5, \"digital\", 1)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_WRITE_PIN, + payload: { pin: 5, value: 1 }, + }); + }); + + it("runs on", () => { + runDemoLuaCode("on(5)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_WRITE_PIN, + payload: { pin: 5, value: 1 }, + }); + }); + + it("runs off", () => { + runDemoLuaCode("off(5)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_WRITE_PIN, + payload: { pin: 5, value: 0 }, + }); + }); + + it("runs move_relative", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("move_relative(1, 0, 0)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 2, y: 2, z: 3 }, + }); + }); + + it("runs move_absolute", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("move_absolute(1, 0, 0)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 1, y: 0, z: 0 }, + }); + }); +}); + +/** + * Lua functions available in the demo runner + * + * builtins/lib: + * [ y ] print + * [ y ] pairs + * [ y ] ipairs + * [ y ] os.time + * [ y ] math. + * [ y ] table. + * + * Other: + * [ y ] move_relative + * + * FBOS: + * [ y ] variable (numeric only) + * [ ] auth_token + * [ y ] api (GET /api/points only) + * [ ] base64.decode + * [ ] base64.encode + * [ ] calibrate_camera + * [ ] check_position + * [ ] complete_job + * [ ] coordinate + * [ ] cs_eval + * [ ] current_hour + * [ ] current_minute + * [ ] current_month + * [ ] current_second + * [ ] detect_weeds + * [ ] dispense + * [ ] emergency_lock + * [ ] emergency_unlock + * [ ] env + * [ ] fbos_version + * [ ] find_axis_length + * [ y ] find_home + * [ ] firmware_version + * [ y ] garden_size + * [ ] gcode + * [ ] get_curve + * [ ] get_device + * [ ] get_fbos_config + * [ ] get_firmware_config + * [ ] get_job + * [ ] get_job_progress + * [ ] get_position + * [ ] get_seed_tray_cell + * [ ] get_xyz + * [ ] get_tool + * [ y ] go_to_home + * [ ] grid + * [ ] group + * [ ] http + * [ ] inspect + * [ ] json.decode + * [ ] json.encode + * [ ] measure_soil_height + * [ ] mount_tool + * [ ] dismount_tool + * [ y ] move_absolute + * [ ] move + * [ ] new_sensor_reading + * [ ] photo_grid + * [ ] read_pin + * [ ] read_status + * [ ] rpc + * [ ] sequence + * [ y ] send_message (info only) + * [ ] debug + * [ y ] toast (info only) + * [ ] safe_z + * [ ] set_job + * [ y ] set_job_progress + * [ ] set_pin_io_mode + * [ ] soft_stop + * [ ] soil_height + * [ ] sort + * [ ] take_photo_raw + * [ ] take_photo + * [ y ] toggle_pin + * [ ] uart.open + * [ ] uart.list + * [ ] update_device + * [ ] update_fbos_config + * [ ] update_firmware_config + * [ ] utc + * [ ] local_time + * [ ] to_unix + * [ ] verify_tool + * [ ] wait_ms + * [ y ] wait + * [ ] water + * [ ] watch_pin + * [ y ] on + * [ y ] off + * [ y ] write_pin (digital only) + */ diff --git a/frontend/demo/lua_runner.ts b/frontend/demo/lua_runner.ts index fb3502e8fa..1eb19b5b02 100644 --- a/frontend/demo/lua_runner.ts +++ b/frontend/demo/lua_runner.ts @@ -2,13 +2,16 @@ import { lua, lauxlib, lualib, to_jsstring, to_luastring } from "fengari-web"; import { findSequenceById, selectAllPoints } from "../resources/selectors"; import { ResourceIndex } from "../resources/interfaces"; import { - ParameterApplication, PercentageProgress, SequenceBodyItem, Xyz, + ParameterApplication, PercentageProgress, SequenceBodyItem, + TaggedFirmwareConfig, Xyz, } from "farmbot"; import { info } from "../toast/toast"; import { store } from "../redux/store"; import { Actions } from "../constants"; import { sortGroupBy } from "../point_groups/point_group_sort"; import { validBotLocationData } from "../util/location"; +import { calculateAxialLengths } from "../controls/move/direction_axes_props"; +import { getFirmwareConfig } from "../resources/getters"; const runLua = (luaCode: string, variables: ParameterApplication[]): Action[] => { @@ -19,12 +22,12 @@ const runLua = lauxlib.luaL_requiref(L, to_luastring("_G"), lualib.luaopen_base, 1); - lua.lua_getfield(L, -1, to_luastring("print")); - lua.lua_setfield(L, -3, to_luastring("print")); - lua.lua_getfield(L, -1, to_luastring("pairs")); lua.lua_setfield(L, -3, to_luastring("pairs")); + lua.lua_getfield(L, -1, to_luastring("ipairs")); + lua.lua_setfield(L, -3, to_luastring("ipairs")); + lua.lua_pop(L, 1); // stack: [env] lauxlib.luaL_requiref(L, to_luastring("math"), lualib.luaopen_math, 1); @@ -33,6 +36,24 @@ const runLua = lauxlib.luaL_requiref(L, to_luastring("table"), lualib.luaopen_table, 1); lua.lua_setfield(L, -2, to_luastring("table")); + lua.lua_pushjsfunction(L, () => { + let output = ""; + const n = lua.lua_gettop(L); + for (let i = 1; i <= n; i++) { + if (i > 1) { output += "\t"; } + if (lua.lua_isstring(L, i)) { + output += to_jsstring(lua.lua_tostring(L, i)); + } else if (lua.lua_isboolean(L, i)) { + output += lua.lua_toboolean(L, i) ? "true" : "false"; + } else { + output += ""; + } + } + actions.push({ type: "print", args: [output] }); + return 0; + }); + lua.lua_setfield(L, -2, to_luastring("print")); + lua.lua_pushjsfunction(L, () => { const variableName = to_jsstring(lua.lua_tostring(L, 1)); const n = variables @@ -102,6 +123,17 @@ const runLua = }); lua.lua_setfield(L, -2, to_luastring("send_message")); + lua.lua_pushjsfunction(L, () => { + const n = lua.lua_gettop(L); + const args = []; + for (let i = 1; i <= n; i++) { + args.push(to_jsstring(lua.lua_tostring(L, i))); + } + actions.push({ type: "toast", args: args }); + return 0; + }); + lua.lua_setfield(L, -2, to_luastring("toast")); + lua.lua_pushjsfunction(L, () => { const jobName = to_jsstring(lua.lua_tostring(L, 1)); @@ -136,6 +168,31 @@ const runLua = }); lua.lua_setfield(L, -2, to_luastring("move_absolute")); + lua.lua_pushjsfunction(L, () => { + const n = lua.lua_gettop(L); + const args = []; + for (let i = 1; i <= n; i++) { + args.push(lua.lua_tonumber(L, i)); + } + actions.push({ type: "move_relative", args: args }); + return 0; + }); + lua.lua_setfield(L, -2, to_luastring("move_relative")); + + lua.lua_pushjsfunction(L, () => { + const axis = to_jsstring(lua.lua_tostring(L, -1)); + actions.push({ type: "find_home", args: [axis] }); + return 0; + }); + lua.lua_setfield(L, -2, to_luastring("find_home")); + + lua.lua_pushjsfunction(L, () => { + const axis = to_jsstring(lua.lua_tostring(L, -1)); + actions.push({ type: "go_to_home", args: [axis] }); + return 0; + }); + lua.lua_setfield(L, -2, to_luastring("go_to_home")); + lua.lua_pushjsfunction(L, () => { const ms = lua.lua_tonumber(L, 1); actions.push({ type: "wait", args: [ms] }); @@ -151,6 +208,45 @@ const runLua = }); lua.lua_setfield(L, -2, to_luastring("write_pin")); + lua.lua_pushjsfunction(L, () => { + const pin = lua.lua_tonumber(L, 1); + actions.push({ type: "toggle_pin", args: [pin] }); + return 0; + }); + lua.lua_setfield(L, -2, to_luastring("toggle_pin")); + + lua.lua_pushjsfunction(L, () => { + const pin = lua.lua_tonumber(L, 1); + actions.push({ type: "on", args: [pin] }); + return 0; + }); + lua.lua_setfield(L, -2, to_luastring("on")); + + lua.lua_pushjsfunction(L, () => { + const pin = lua.lua_tonumber(L, 1); + actions.push({ type: "off", args: [pin] }); + return 0; + }); + lua.lua_setfield(L, -2, to_luastring("off")); + + lua.lua_pushjsfunction(L, () => { + const fwConfig = getFirmwareConfig(store.getState().resources.index); + const firmwareSettings = (fwConfig as TaggedFirmwareConfig).body; + const { x, y, z } = calculateAxialLengths({ firmwareSettings }); + lua.lua_newtable(L); + lua.lua_pushstring(L, to_luastring("x")); + lua.lua_pushnumber(L, x); + lua.lua_settable(L, -3); + lua.lua_pushstring(L, to_luastring("y")); + lua.lua_pushnumber(L, y); + lua.lua_settable(L, -3); + lua.lua_pushstring(L, to_luastring("z")); + lua.lua_pushnumber(L, z); + lua.lua_settable(L, -3); + return 1; + }); + lua.lua_setfield(L, -2, to_luastring("garden_size")); + const statusLoad = lauxlib.luaL_loadstring(L, to_luastring(luaCode)); if (statusLoad !== lua.LUA_OK) { const error = to_jsstring(lua.lua_tostring(L, -1)); @@ -171,6 +267,11 @@ const runLua = return actions; }; +export const runDemoLuaCode = (luaCode: string) => { + const actions = runLua(luaCode, []); + runActions(actions); +}; + export const runDemoSequence = ( resources: ResourceIndex, sequenceId: number, @@ -189,7 +290,15 @@ export const runDemoSequence = ( interface Action { type: "move_absolute" + | "move_relative" + | "toggle_pin" + | "on" + | "off" + | "find_home" + | "go_to_home" + | "toast" | "send_message" + | "print" | "wait" | "write_pin" | "set_job_progress"; @@ -243,27 +352,57 @@ const expandActions = (actions: Action[]): Action[] => { y: position.y as number, z: position.z as number, }; + const addPosition = (position: Record) => { + expanded.push({ + type: "wait", + args: [500], + }); + expanded.push({ + type: "move_absolute", + args: [position.x, position.y, position.z], + }); + }; + const setCurrent = (position: Record) => { + current.x = position.x; + current.y = position.y; + current.z = position.z; + }; actions.map(action => { switch (action.type) { case "move_absolute": - const x = action.args[0] as number; - const y = action.args[1] as number; - const z = action.args[2] as number; - const target = { x, y, z }; - const steps = movementChunks(current, target); - steps.map(position => { - expanded.push({ - type: "wait", - args: [500], - }); - expanded.push({ - type: "move_absolute", - args: [position.x, position.y, position.z], - }); - }); - current.x = target.x; - current.y = target.y; - current.z = target.z; + const target = { + x: action.args[0] as number, + y: action.args[1] as number, + z: action.args[2] as number, + }; + movementChunks(current, target).map(addPosition); + setCurrent(target); + break; + case "move_relative": + const moveRelativeTarget = { + x: current.x + (action.args[0] as number), + y: current.y + (action.args[1] as number), + z: current.z + (action.args[2] as number), + }; + movementChunks(current, moveRelativeTarget).map(addPosition); + setCurrent(moveRelativeTarget); + break; + case "find_home": + case "go_to_home": + const axis = action.args[0] as string; + const homeTarget = { + x: ["all", "x"].includes(axis) ? 0 : current.x, + y: ["all", "y"].includes(axis) ? 0 : current.y, + z: ["all", "z"].includes(axis) ? 0 : current.z, + }; + movementChunks(current, homeTarget).map(addPosition); + setCurrent(homeTarget); + break; + case "on": + case "off": + const pin = action.args[0] as number; + const value = action.type === "on" ? 1 : 0; + expanded.push({ type: "write_pin", args: [pin, value] }); break; default: expanded.push(action); @@ -282,6 +421,7 @@ const runActions = (actions: Action[]) => { const ms = action.args[0] as number; delay += ms; return undefined; + case "toast": case "send_message": const type = "" + action.args[0]; const msg = "" + action.args[1]; @@ -291,6 +431,10 @@ const runActions = (actions: Action[]) => { }; } return undefined; + case "print": + return () => { + console.log(action.args[0]); + }; case "move_absolute": const x = action.args[0] as number; const y = action.args[1] as number; @@ -302,6 +446,13 @@ const runActions = (actions: Action[]) => { payload: position, }); }; + case "toggle_pin": + return () => { + store.dispatch({ + type: Actions.DEMO_TOGGLE_PIN, + payload: action.args[0] as number, + }); + }; case "write_pin": const pin = action.args[0] as number; const value = action.args[1] as number; diff --git a/frontend/devices/__tests__/actions_test.ts b/frontend/devices/__tests__/actions_test.ts index 5d9d4a4b21..3341f812e9 100644 --- a/frontend/devices/__tests__/actions_test.ts +++ b/frontend/devices/__tests__/actions_test.ts @@ -44,6 +44,7 @@ jest.mock("../../redux/store", () => ({ jest.mock("../../demo/lua_runner", () => ({ runDemoSequence: jest.fn(), + runDemoLuaCode: jest.fn(), })); import * as actions from "../actions"; @@ -58,7 +59,7 @@ import { edit, save } from "../../api/crud"; import { DeepPartial } from "../../redux/interfaces"; import { Farmbot } from "farmbot"; import { Path } from "../../internal_urls"; -import { runDemoSequence } from "../../demo/lua_runner"; +import { runDemoLuaCode, runDemoSequence } from "../../demo/lua_runner"; const replaceDeviceWith = async (d: DeepPartial, cb: Function) => { jest.clearAllMocks(); @@ -353,11 +354,25 @@ describe("updateMCU()", () => { }); describe("moveRelative()", () => { + afterEach(() => { + localStorage.removeItem("myBotIs"); + }); + it("calls moveRelative", async () => { await actions.moveRelative({ x: 1, y: 0, z: 0 }); expect(mockDevice.current.moveRelative) .toHaveBeenCalledWith({ x: 1, y: 0, z: 0 }); expect(success).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); + }); + + it("calls moveRelative on demo accounts", async () => { + localStorage.setItem("myBotIs", "online"); + await actions.moveRelative({ x: 1, y: 0, z: 0 }); + expect(mockDevice.current.moveRelative).not.toHaveBeenCalled(); + expect(success).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); + expect(runDemoLuaCode).toHaveBeenCalledWith("move_relative(1, 0, 0)"); }); it("shows lock message", () => { @@ -370,12 +385,24 @@ describe("moveRelative()", () => { }); describe("moveAbsolute()", () => { + afterEach(() => { + localStorage.removeItem("myBotIs"); + }); + it("calls moveAbsolute", async () => { await actions.moveAbsolute({ x: 1, y: 0, z: 0 }); expect(mockDevice.current.moveAbsolute) .toHaveBeenCalledWith({ x: 1, y: 0, z: 0 }); expect(success).not.toHaveBeenCalled(); }); + + it("calls moveAbsolute on demo accounts", async () => { + localStorage.setItem("myBotIs", "online"); + await actions.moveAbsolute({ x: 1, y: 0, z: 0 }); + expect(mockDevice.current.moveAbsolute).not.toHaveBeenCalled(); + expect(success).not.toHaveBeenCalled(); + expect(runDemoLuaCode).toHaveBeenCalledWith("move_absolute(1, 0, 0)"); + }); }); describe("move()", () => { @@ -514,20 +541,16 @@ describe("pinToggle()", () => { }); it("calls togglePin", async () => { - await actions.pinToggle(5)(jest.fn()); + await actions.pinToggle(5); expect(mockDevice.current.togglePin).toHaveBeenCalledWith({ pin_number: 5 }); expect(success).not.toHaveBeenCalled(); }); it("toggles demo account pin", () => { localStorage.setItem("myBotIs", "online"); - const dispatch = jest.fn(); - actions.pinToggle(5)(dispatch); + actions.pinToggle(5); expect(mockDevice.current.togglePin).not.toHaveBeenCalled(); - expect(dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_TOGGLE_PIN, - payload: 5 - }); + expect(runDemoLuaCode).toHaveBeenCalledWith("toggle_pin(5)"); }); }); @@ -552,21 +575,43 @@ describe("writePin()", () => { }); describe("moveToHome()", () => { + afterEach(() => { + localStorage.removeItem("myBotIs"); + }); + it("calls home", async () => { await actions.moveToHome("x"); expect(mockDevice.current.home) .toHaveBeenCalledWith({ axis: "x", speed: 100 }); expect(success).not.toHaveBeenCalled(); }); + + it("calls home on demo accounts", async () => { + localStorage.setItem("myBotIs", "online"); + await actions.moveToHome("x"); + expect(mockDevice.current.home).not.toHaveBeenCalled(); + expect(runDemoLuaCode).toHaveBeenCalledWith("go_to_home(\"x\")"); + }); }); describe("findHome()", () => { + afterEach(() => { + localStorage.removeItem("myBotIs"); + }); + it("calls find_home", async () => { await actions.findHome("all"); expect(mockDevice.current.findHome) .toHaveBeenCalledWith({ axis: "all", speed: 100 }); expect(success).not.toHaveBeenCalled(); }); + + it("calls find_home on demo accounts", async () => { + localStorage.setItem("myBotIs", "online"); + await actions.findHome("all"); + expect(mockDevice.current.findHome).not.toHaveBeenCalled(); + expect(runDemoLuaCode).toHaveBeenCalledWith("find_home(\"all\")"); + }); }); describe("isLog()", () => { diff --git a/frontend/devices/actions.ts b/frontend/devices/actions.ts index 8730555844..17ca76ae59 100644 --- a/frontend/devices/actions.ts +++ b/frontend/devices/actions.ts @@ -35,7 +35,7 @@ import { ToastOptions } from "../toast/interfaces"; import { forceOnline } from "./must_be_online"; import { store } from "../redux/store"; import { linkToSetting } from "../settings/maybe_highlight"; -import { runDemoSequence } from "../demo/lua_runner"; +import { runDemoLuaCode, runDemoSequence } from "../demo/lua_runner"; const ON = 1, OFF = 0; export type ConfigKey = keyof McuParams; @@ -341,7 +341,10 @@ export function settingToggle( } export function moveRelative(props: MoveRelProps) { - maybeNoop(); + if (forceOnline()) { + runDemoLuaCode(`move_relative(${props.x}, ${props.y}, ${props.z})`); + return; + } maybeAlertLocked(); return getDevice() .moveRelative(props) @@ -350,7 +353,10 @@ export function moveRelative(props: MoveRelProps) { export function moveAbsolute(props: MoveRelProps) { const noun = t("Absolute movement"); - maybeNoop(); + if (forceOnline()) { + runDemoLuaCode(`move_absolute(${props.x}, ${props.y}, ${props.z})`); + return; + } maybeAlertLocked(); return getDevice() .moveAbsolute(props) @@ -399,20 +405,15 @@ export function move(props: MoveProps) { } export function pinToggle(pin_number: number) { - return function (dispatch: Function) { - const noun = t("Toggle pin"); - if (forceOnline()) { - dispatch({ - type: Actions.DEMO_TOGGLE_PIN, - payload: pin_number, - }); - return; - } - maybeAlertLocked(); - return getDevice() - .togglePin({ pin_number }) - .then(maybeNoop, commandErr(noun)); - }; + const noun = t("Toggle pin"); + if (forceOnline()) { + runDemoLuaCode(`toggle_pin(${pin_number})`); + return; + } + maybeAlertLocked(); + return getDevice() + .togglePin({ pin_number }) + .then(maybeNoop, commandErr(noun)); } export function readPin( @@ -437,8 +438,11 @@ export function writePin( } export function moveToHome(axis: Axis) { + if (forceOnline()) { + runDemoLuaCode(`go_to_home("${axis}")`); + return; + } const noun = t("'Move To Home' command"); - maybeNoop(); maybeAlertLocked(); getDevice() .home({ axis, speed: CONFIG_DEFAULTS.speed }) @@ -447,7 +451,10 @@ export function moveToHome(axis: Axis) { export function findHome(axis: Axis) { const noun = t("'Find Home' command"); - maybeNoop(); + if (forceOnline()) { + runDemoLuaCode(`find_home("${axis}")`); + return; + } maybeAlertLocked(); getDevice() .findHome({ axis, speed: CONFIG_DEFAULTS.speed }) From 3d50b2f0c47b77de399ee0ed5bf27f0bf595a315 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Tue, 8 Jul 2025 19:09:48 -0700 Subject: [PATCH 09/54] add estop and helpers to lua runner --- frontend/constants.ts | 1 + frontend/demo/__tests__/lua_runner_test.ts | 129 +++- frontend/demo/lua_helpers.ts | 735 +++++++++++++++++++++ frontend/demo/lua_runner.ts | 162 ++++- frontend/devices/__tests__/actions_test.ts | 20 + frontend/devices/__tests__/reducer_test.ts | 16 + frontend/devices/actions.ts | 10 +- frontend/devices/reducer.ts | 4 + frontend/toast/constants.ts | 12 + frontend/toast/toast.ts | 21 +- 10 files changed, 1050 insertions(+), 60 deletions(-) create mode 100644 frontend/demo/lua_helpers.ts create mode 100644 frontend/toast/constants.ts diff --git a/frontend/constants.ts b/frontend/constants.ts index d61a27aace..d1dfe90507 100644 --- a/frontend/constants.ts +++ b/frontend/constants.ts @@ -2439,6 +2439,7 @@ export enum Actions { DEMO_WRITE_PIN = "DEMO_WRITE_PIN", DEMO_SET_POSITION = "DEMO_SET_POSITION", DEMO_SET_JOB_PROGRESS = "DEMO_SET_JOB_PROGRESS", + DEMO_SET_ESTOP = "DEMO_SET_ESTOP", // Draggable PUT_DATA_XFER = "PUT_DATA_XFER", diff --git a/frontend/demo/__tests__/lua_runner_test.ts b/frontend/demo/__tests__/lua_runner_test.ts index d3d8657ff2..b0676780d9 100644 --- a/frontend/demo/__tests__/lua_runner_test.ts +++ b/frontend/demo/__tests__/lua_runner_test.ts @@ -3,6 +3,7 @@ import { fakeFirmwareConfig, fakeSequence, fakeToolSlot, } from "../../__test_support__/fake_state/resources"; +let mockLocked = false; let mockPosition = { x: 0, y: 0, z: 0 }; const firmwareConfig = fakeFirmwareConfig(); firmwareConfig.body.movement_axis_nr_steps_x = 5000; @@ -19,7 +20,8 @@ jest.mock("../../redux/store", () => ({ bot: { hardware: { location_data: { position: mockPosition }, - } + informational_settings: { locked: mockLocked }, + }, }, }), }, @@ -30,6 +32,7 @@ import { Actions } from "../../constants"; import { store } from "../../redux/store"; import { info } from "../../toast/toast"; import { runDemoLuaCode, runDemoSequence } from "../lua_runner"; +import { TOAST_OPTIONS } from "../../toast/constants"; const code = ` n = variable("Number") @@ -115,7 +118,7 @@ describe("runDemoSequence()", () => { type: Actions.DEMO_WRITE_PIN, payload: { pin: 8, value: 0 }, }); - expect(info).toHaveBeenCalledWith("msg"); + expect(info).toHaveBeenCalledWith("msg", TOAST_OPTIONS().info); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_JOB_PROGRESS, payload: ["job", { @@ -150,7 +153,9 @@ describe("runDemoSequence()", () => { const ri = buildResourceIndex([sequence]).index; runDemoSequence(ri, sequence.body.id, undefined); jest.runAllTimers(); - expect(info).toHaveBeenCalledWith("msg"); + expect(info).toHaveBeenCalledWith( + "Variables of type other than numeric not implemented.", + TOAST_OPTIONS().error); expect(console.log).toHaveBeenCalled(); expect(console.error).not.toHaveBeenCalled(); }); @@ -193,8 +198,7 @@ describe("runDemoSequence()", () => { expect(console.log).not.toHaveBeenCalled(); expect(console.error).toHaveBeenCalledWith( "Lua call error:", - "[string \"return blah + 5\"]:1: attempt to perform arithmetic " + - "on a nil value (global 'blah')", + expect.stringContaining("attempt to perform arithmetic"), ); }); }); @@ -205,6 +209,7 @@ describe("runDemoLuaCode()", () => { console.log = jest.fn(); console.error = jest.fn(); jest.useFakeTimers(); + mockLocked = false; }); it("runs print", () => { @@ -233,18 +238,40 @@ describe("runDemoLuaCode()", () => { expect(console.log).toHaveBeenCalledWith("500.0"); }); + it("runs api: default method", () => { + runDemoLuaCode( + "local data = api{url=\"/api/points\"}\nprint(type(data), #data)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("table 1"); + }); + it("runs toast", () => { - runDemoLuaCode("toast(\"info\", \"test\")"); + runDemoLuaCode("toast(\"test\", \"info\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().info); + }); + + it("runs toast: default", () => { + runDemoLuaCode("toast(\"test\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().info); + }); + + it("runs debug", () => { + runDemoLuaCode("debug(\"test\")"); jest.runAllTimers(); expect(console.error).not.toHaveBeenCalled(); - expect(info).toHaveBeenCalledWith("test"); + expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().debug); }); it("runs send_message", () => { runDemoLuaCode("send_message(\"info\", \"test\", \"toast\")"); jest.runAllTimers(); expect(console.error).not.toHaveBeenCalled(); - expect(info).toHaveBeenCalledWith("test"); + expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().info); }); it("runs find_home: all", () => { @@ -321,6 +348,14 @@ describe("runDemoLuaCode()", () => { }); }); + it("doesn't run when estopped", () => { + mockLocked = true; + runDemoLuaCode("on(5)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).not.toHaveBeenCalled(); + }); + it("runs off", () => { runDemoLuaCode("off(5)"); jest.runAllTimers(); @@ -352,6 +387,46 @@ describe("runDemoLuaCode()", () => { payload: { x: 1, y: 0, z: 0 }, }); }); + + it("runs emergency_lock", () => { + runDemoLuaCode("emergency_lock()"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_ESTOP, + payload: true, + }); + }); + + it("runs emergency_unlock", () => { + runDemoLuaCode("emergency_unlock()"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_ESTOP, + payload: false, + }); + }); + + it("allows emergency_unlock", () => { + mockLocked = true; + runDemoLuaCode("emergency_unlock()"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_ESTOP, + payload: false, + }); + }); + + it("runs non-implemented function", () => { + runDemoLuaCode("foo.bar.baz()"); + jest.runAllTimers(); + expect(info).toHaveBeenCalledWith( + "Lua function \"foo.bar.baz\" is not implemented.", + TOAST_OPTIONS().error, + ); + }); }); /** @@ -359,6 +434,8 @@ describe("runDemoLuaCode()", () => { * * builtins/lib: * [ y ] print + * [ y ] type + * [ y ] tostring * [ y ] pairs * [ y ] ipairs * [ y ] os.time @@ -367,6 +444,12 @@ describe("runDemoLuaCode()", () => { * * Other: * [ y ] move_relative + * [ y ] round + * [ y ] angleRound + * [ y ] cropAmount + * [ y ] fwe + * [ y ] axis_overwrite + * [ y ] speed_overwrite * * FBOS: * [ y ] variable (numeric only) @@ -384,9 +467,9 @@ describe("runDemoLuaCode()", () => { * [ ] current_month * [ ] current_second * [ ] detect_weeds - * [ ] dispense - * [ ] emergency_lock - * [ ] emergency_unlock + * [ y ] dispense + * [ y ] emergency_lock + * [ y ] emergency_unlock * [ ] env * [ ] fbos_version * [ ] find_axis_length @@ -394,34 +477,34 @@ describe("runDemoLuaCode()", () => { * [ ] firmware_version * [ y ] garden_size * [ ] gcode - * [ ] get_curve + * [ y ] get_curve * [ ] get_device * [ ] get_fbos_config * [ ] get_firmware_config * [ ] get_job * [ ] get_job_progress * [ ] get_position - * [ ] get_seed_tray_cell + * [ y ] get_seed_tray_cell * [ ] get_xyz * [ ] get_tool * [ y ] go_to_home - * [ ] grid + * [ y ] grid * [ ] group * [ ] http * [ ] inspect * [ ] json.decode * [ ] json.encode * [ ] measure_soil_height - * [ ] mount_tool - * [ ] dismount_tool + * [ y ] mount_tool + * [ y ] dismount_tool * [ y ] move_absolute - * [ ] move + * [ y ] move * [ ] new_sensor_reading - * [ ] photo_grid + * [ y ] photo_grid * [ ] read_pin * [ ] read_status - * [ ] rpc - * [ ] sequence + * [ y ] rpc + * [ y ] sequence * [ y ] send_message (info only) * [ ] debug * [ y ] toast (info only) @@ -443,10 +526,10 @@ describe("runDemoLuaCode()", () => { * [ ] utc * [ ] local_time * [ ] to_unix - * [ ] verify_tool - * [ ] wait_ms + * [ y ] verify_tool + * [ y ] wait_ms * [ y ] wait - * [ ] water + * [ y ] water * [ ] watch_pin * [ y ] on * [ y ] off diff --git a/frontend/demo/lua_helpers.ts b/frontend/demo/lua_helpers.ts new file mode 100644 index 0000000000..0d521e9472 --- /dev/null +++ b/frontend/demo/lua_helpers.ts @@ -0,0 +1,735 @@ +/* eslint-disable max-len */ +export const LUA_HELPERS = ` +function grid(params) + local x_point_count = params.grid_points.x + local y_point_count = params.grid_points.y + local z_point_count = params.grid_points.z + local x_grid_max_index = x_point_count - 1 + local y_grid_max_index = y_point_count - 1 + local z_grid_max_index = z_point_count - 1 + local start_time = os.time() * 1000 + + params.start = params.start or { x = 0, y = 0, z = 0 } + params.offset = params.offset or { x = 0, y = 0, z = 0 } + + local x = function(x_index) + return (params.start.x + (params.spacing.x * x_index) - params.offset.x) + end + local y = function(y_index) + return (params.start.y + (params.spacing.y * y_index) - params.offset.y) + end + local z = function(z_index) + return (params.start.z + (params.spacing.z * z_index) - params.offset.z) + end + + local grid_max_x = x(x_grid_max_index) + local grid_max_y = y(y_grid_max_index) + local grid_max_z = z(z_grid_max_index) + local x_max = garden_size().x + local y_max = garden_size().y + local z_max = garden_size().z + + local size_exceeded = "" + if x_max > 0 and grid_max_x > x_max then + size_exceeded = size_exceeded .. math.floor(grid_max_x) .. "mm exceeds " .. x_max .. "mm x-axis length. " + end + if y_max > 0 and grid_max_y > y_max then + size_exceeded = size_exceeded .. math.floor(grid_max_y) .. "mm exceeds " .. y_max .. "mm y-axis length. " + end + if z_max > 0 and grid_max_z > z_max then + size_exceeded = size_exceeded .. math.floor(grid_max_z) .. "mm exceeds " .. z_max .. "mm z-axis length. " + end + + if not params.ignore_empty and (x_point_count <= 0 or y_point_count <= 0 or z_point_count <= 0) then + toast("Number of points must be greater than 0 for all three axes", "error") + return + elseif not params.ignore_bounds and #size_exceeded > 0 then + toast("Grid must not exceed the **AXIS LENGTH** for any axes: " .. size_exceeded, "error") + return + end + + local each = function(callback) + local count = 0 + for z_grid_index = 0, z_grid_max_index do + for x_grid_index = 0, x_grid_max_index do + for y_grid_index = 0, y_grid_max_index do + count = count + 1 + local y_grid_index_var + if (x_grid_index % 2) == 0 then + y_grid_index_var = y_grid_index + else + y_grid_index_var = y_grid_max_index - y_grid_index + end + callback({ + x = x(x_grid_index), + y = y(y_grid_index_var), + z = z(z_grid_index), + count = count, + }) + end + end + end + end + + return { + total = x_point_count * y_point_count * z_point_count, + each = each, + } +end + +function round(n) return math.floor(n + 0.5) end + +function angleRound(angle) + local remainder = math.abs(angle % 90) + if remainder > 45 then + return 90 - remainder + else + return remainder + end +end + +-- Returns an integer that we need to subtract from width/height +-- due to camera rotation issues. +function cropAmount(width, height, angle) + local absAngle = angleRound(angle or 0) + if (absAngle > 0) then + local x = (5.61 - 0.095 * math.pow(absAngle, 2) + 9.06 * absAngle) + local factor = x / 640 + local longEdge = math.max(width, height) + local result = round(longEdge * factor) + return result + end + return 0 +end + +function fwe(key) + local e = env("CAMERA_CALIBRATION_" .. key) + if e then + return tonumber(e) + else + return nil + end +end + +function photo_grid() + local cam_rotation = fwe("total_rotation_angle") or 0 + local scale = fwe("coord_scale") or 1 + local z = fwe("camera_z") or 0 + local x_offset_mm = fwe("camera_offset_x") or 0 + local y_offset_mm = fwe("camera_offset_y") or 0 + local center_pixel_location_x = fwe("center_pixel_location_x") or 320 + local center_pixel_location_y = fwe("center_pixel_location_y") or 240 + local full_grid, x_spacing_mm, y_spacing_mm, x_grid_start_mm, y_grid_start_mm + local x_grid_size_mm, y_grid_size_mm, x_grid_points, y_grid_points + if cam_rotation and scale and z and x_offset_mm and + y_offset_mm and center_pixel_location_x and center_pixel_location_y then + local raw_img_size_x_mm = center_pixel_location_x * 2 * scale + local raw_img_size_y_mm = center_pixel_location_y * 2 * scale + local margin_mm = cropAmount(raw_img_size_x_mm, raw_img_size_y_mm, cam_rotation) + local cropped_img_size_x_mm = raw_img_size_x_mm - margin_mm - 5 + local cropped_img_size_y_mm = raw_img_size_y_mm - margin_mm - 5 + if math.abs(cam_rotation) < 45 then + x_spacing_mm = cropped_img_size_x_mm + y_spacing_mm = cropped_img_size_y_mm + else + x_spacing_mm = cropped_img_size_y_mm + y_spacing_mm = cropped_img_size_x_mm + end + x_spacing_mm = math.max(10, x_spacing_mm) + y_spacing_mm = math.max(10, y_spacing_mm) + x_grid_size_mm = garden_size().x - x_spacing_mm + y_grid_size_mm = garden_size().y - y_spacing_mm + x_grid_points = math.ceil(x_grid_size_mm / x_spacing_mm) + 1 + y_grid_points = math.ceil(y_grid_size_mm / y_spacing_mm) + 1 + x_grid_start_mm = (x_spacing_mm / 2) + y_grid_start_mm = (y_spacing_mm / 2) + + full_grid = grid{ + grid_points = { + x = x_grid_points, + y = y_grid_points, + z = 1, + }, + start = { + x = x_grid_start_mm, + y = y_grid_start_mm, + z = z, + }, + spacing = { + x = x_spacing_mm, + y = y_spacing_mm, + z = 0, + }, + offset = { + x = x_offset_mm, + y = y_offset_mm, + z = 0, + }, + ignore_bounds = true, + } + else + toast("You must first run camera calibration", "error") + end + + full_grid = full_grid or grid{ + grid_points = { x = 0, y = 0, z = 0 }, + spacing = { x = 0, y = 0, z = 0 }, + ignore_empty = true, + } + + local each = function(callback) + full_grid.each(function(cell) + callback({ x = cell.x, y = cell.y, z = cell.z, count = cell.count }) + end) + end + + return { + y_spacing_mm = y_spacing_mm, + y_offset_mm = y_offset_mm, + y_grid_start_mm = y_grid_start_mm, + y_grid_size_mm = y_grid_size_mm, + y_grid_points = y_grid_points, + x_spacing_mm = x_spacing_mm, + x_offset_mm = x_offset_mm, + x_grid_start_mm = x_grid_start_mm, + x_grid_size_mm = x_grid_size_mm, + x_grid_points = x_grid_points, + z = z, + total = full_grid.total, + each = each, + } +end + +function dismount_tool() + local tool_id = get_device("mounted_tool_id") + local start_time = os.time() * 1000 + + -- Checks + if not tool_id then + toast("No tool is mounted to the UTM", "error") + return + end + if not verify_tool() then + return + end + + -- Get all points + local points = api({ url = "/api/points/" }) + if not points then + toast("API error", "error") + return + end + + -- Pluck the tool slot point where the currently mounted tool belongs + local slot + local slot_dir + for key, point in pairs(points) do + if point.tool_id == tool_id then + slot = point + slot_dir = slot.pullout_direction + end + end + + -- Get tool name + local tool_name = get_tool{id = tool_id}.name + + -- Checks + if not slot then + toast("No slot found for the currently mounted tool (" .. tool_name .. ") - check the Tools panel", "error") + return + elseif slot_dir == 0 then + toast("Tool slot must have a direction", "error") + return + elseif slot.gantry_mounted then + toast("Tool slot cannot be gantry mounted", "error") + return + end + + -- Job progress tracking + function job(percent, status) + set_job_progress( + "Dismounting " .. tool_name, + { percent = percent, status = status, time = start_time } + ) + end + + -- Safe Z move to the front of the slot + job(20, "Retracting Z") + move{z = safe_z()} + + job(40, "Moving to front of slot") + if slot_dir == 1 then + move{x = slot.x + 100, y = slot.y} + elseif slot_dir == 2 then + move{x = slot.x - 100, y = slot.y} + elseif slot_dir == 3 then + move{x = slot.x, y = slot.y + 100} + elseif slot_dir == 4 then + move{x = slot.x, y = slot.y - 100} + end + + job(60, "Lowering Z") + move{z = slot.z} + + -- Put the tool in the slot + job(80, "Putting tool in slot") + move_absolute(slot.x, slot.y, slot.z, 50) + + -- Dismount tool + job(90, "Dismounting tool") + move{z = slot.z + 50} + + -- Check verification pin + if read_pin(63) == 0 then + job(90, "Failed") + toast("Tool dismounting failed - there is still an electrical connection between UTM pins B and C.", "error") + return + else + job(100, "Complete") + update_device({mounted_tool_id = 0}) + toast(tool_name .. " dismounted", "success") + end +end + +function dispense(ml, params) + params = params or {} + local tool_name = params.tool_name or "Watering Nozzle" + local pin_number = params.pin or 8 + + -- Get flow_rate + local tool = get_tool{name = tool_name} + if not tool then + toast('Tool "' .. tool_name .. '" not found', 'error') + return + end + local flow_rate = tool.flow_rate_ml_per_s + + -- Checks + if not flow_rate then + toast('You must have a tool named "' .. tool_name .. '" to use this sequence.', 'error') + return + elseif flow_rate == 0 then + toast("**FLOW RATE (mL/s)** must be greater than 0 for the " .. tool_name .. " tool.", "error") + return + elseif ml <= 0 then + toast("Liquid volume was 0mL. Skipping.", "warn") + return + elseif ml > 10000 then + toast("Liquid volume cannot be more than 10,000mL", "error") + return + end + + local seconds = math.floor(ml / flow_rate * 10) / 10 + local status = "Dispensing" + local job_message = status .. " " .. ml .. "mL" + local log_message = job_message .. " over " .. seconds .. " seconds" + + -- Action + send_message("info", log_message) + on(pin_number) + wait(seconds * 1000, { + job = job_message, + status = status, + }) + off(pin_number) +end + +function get_curve(curve_id) + local api_curve_data = api({ url = "/api/curves/" .. curve_id }) + if not api_curve_data then + toast("API error. Is your curve ID correct?", "error") + return + end + + function get_day_value(day) + local day = tonumber(day) + local day_string = tostring(day) + local value = api_curve_data.data[day_string] + if value ~= nil then + return value + end + + local data_days = {} + local i = 0 + for day_key, _ in pairs(api_curve_data.data) do + i = i + 1 + data_days[i] = tonumber(day_key) + end + table.sort(data_days) + + local greater_days = {} + local i = 0 + for _, k in pairs(data_days) do + if k > day then + i = i + 1 + greater_days[i] = k + end + end + table.sort(greater_days) + + local lesser_days = {} + local i = 0 + for _, k in pairs(data_days) do + if k < day then + i = i + 1 + lesser_days[i] = k + end + end + table.sort(lesser_days) + + local prev_day = lesser_days[#lesser_days] + local next_day = greater_days[1] + + if prev_day == nil then + local first_day = tostring(math.floor(data_days[1])) + return api_curve_data.data[first_day] + end + + if next_day == nil then + local last_day = tostring(math.floor(data_days[#data_days])) + return api_curve_data.data[last_day] + end + + local prev_value = api_curve_data.data[tostring(math.floor(prev_day))] + local next_value = api_curve_data.data[tostring(math.floor(next_day))] + + local exact_value = (prev_value * (next_day - day) + next_value * (day - prev_day)) + / (next_day - prev_day) + return tonumber(string.format("%.2f", exact_value)) + end + + local unit + if api_curve_data.type == "water" then + unit = "mL" + else + unit = "mm" + end + + local curve = { + name = api_curve_data.name, + type = api_curve_data.type, + unit = unit, + day = get_day_value, + } + + return curve +end + +function get_seed_tray_cell(tray, tray_cell) + local cell = string.upper(tray_cell) + local seeder_needle_offset = 17.5 + local cell_spacing = 12.5 + local cells = { + A1 = {label = "A1", x = 0, y = 0}, + A2 = {label = "A2", x = 0, y = 1}, + A3 = {label = "A3", x = 0, y = 2}, + A4 = {label = "A4", x = 0, y = 3}, + B1 = {label = "B1", x = -1, y = 0}, + B2 = {label = "B2", x = -1, y = 1}, + B3 = {label = "B3", x = -1, y = 2}, + B4 = {label = "B4", x = -1, y = 3}, + C1 = {label = "C1", x = -2, y = 0}, + C2 = {label = "C2", x = -2, y = 1}, + C3 = {label = "C3", x = -2, y = 2}, + C4 = {label = "C4", x = -2, y = 3}, + D1 = {label = "D1", x = -3, y = 0}, + D2 = {label = "D2", x = -3, y = 1}, + D3 = {label = "D3", x = -3, y = 2}, + D4 = {label = "D4", x = -3, y = 3} + } + + -- Checks + if tray.pointer_type ~= "ToolSlot" then + toast("Seed Tray variable must be a seed tray in a slot", "error") + return + elseif not cells[cell] then + toast("Seed Tray Cell must be one of **A1** through **D4**", "error") + return + end + + -- Flip X offsets depending on pullout direction + local flip = 1 + if tray.pullout_direction == 1 then + flip = 1 + elseif tray.pullout_direction == 2 then + flip = -1 + else + send_message("error", "Seed Tray **SLOT DIRECTION** must be \`Positive X\` or \`Negative X\`") + return + end + + -- A1 coordinates + local A1 = { + x = tray.x - seeder_needle_offset + (1.5 * cell_spacing * flip), + y = tray.y - (1.5 * cell_spacing * flip), + z = tray.z + } + + -- Cell offset from A1 + local offset = { + x = cell_spacing * cells[cell].x * flip, + y = cell_spacing * cells[cell].y * flip + } + + -- Return cell coordinates + return { + x = A1.x + offset.x, + y = A1.y + offset.y, + z = A1.z + } +end + +function mount_tool(input) + local slot + if type(input) == "string" then + local prelim_tool + local tool_name = input + prelim_tool = get_tool{name = tool_name} + if not prelim_tool then + toast("'" .. tool_name .. "' tool not found", "error") + return + end + + local points = api({ url = "/api/points/" }) + if not points then + toast("API error", "error") + return + end + for key, point in pairs(points) do + if point.tool_id == prelim_tool.id then + slot = point + end + end + else + slot = input + end + + if not slot then + toast("Tool slot not found", "error") + return + end + + local slot_dir = slot.pullout_direction + local start_time = os.time() * 1000 + + -- Checks + if read_pin(63) == 0 then + toast("A tool is already mounted to the UTM - there is an electrical connection between UTM pins B and C.", "error") + return + elseif get_device("mounted_tool_id") then + toast("There is already a tool mounted to the UTM - check the **MOUNTED TOOL** dropdown in the Tools panel.", "error") + return + elseif slot.pointer_type ~= "ToolSlot" then + toast("Provided location must be a tool in a slot", "error") + return + elseif slot_dir == 0 then + toast("Tool slot must have a direction", "error") + return + elseif slot.gantry_mounted then + toast("Tool slot cannot be gantry mounted", "error") + return + end + + local tool = get_tool{id = slot.tool_id} + if not tool then + toast("Tool slot must have a tool", "error") + return + end + + -- Job progress tracking + function job(percent, status) + set_job_progress( + "Mounting " .. tool.name, + { percent = percent, status = status, time = start_time } + ) + end + + -- Safe Z move to above the tool + job(20, "Retracting Z") + move{z=safe_z()} + job(40, "Moving above tool") + move{x=slot.x, y=slot.y} + + -- Mount the tool + job(60, "Mounting tool") + move{z=slot.z} + + -- Pull the tool out of the slot at 50% speed + job(80, "Pulling tool out") + if slot_dir == 1 then + move_absolute(slot.x + 100, slot.y, slot.z, 50) + elseif slot_dir == 2 then + move_absolute(slot.x - 100, slot.y, slot.z, 50) + elseif slot_dir == 3 then + move_absolute(slot.x, slot.y + 100, slot.z, 50) + elseif slot_dir == 4 then + move_absolute(slot.x, slot.y - 100, slot.z, 50) + end + + -- Check verification pin + if read_pin(63) == 1 then + job(80, "Failed") + toast("Tool mounting failed - no electrical connection between UTM pins B and C.", "error") + return + else + job(100, "Complete") + update_device({mounted_tool_id = slot.tool_id}) + toast(tool.name .. " mounted", "success") + end +end + +function axis_overwrite(axis, num) + return { + kind = "axis_overwrite", + args = { + axis = axis, + axis_operand = {kind = "numeric", args = {number = num}} + } + } +end + +function speed_overwrite(axis, num) + return { + kind = "speed_overwrite", + args = { + axis = axis, + speed_setting = {kind = "numeric", args = {number = num}} + } + } +end + +function move(input) + cs_eval({ + kind = "rpc_request", + args = {label = "move_cmd_lua", priority = 500}, + body = { + { + kind = "move", + args = {}, + body = { + input.x and axis_overwrite("x", input.x), + input.y and axis_overwrite("y", input.y), + input.z and axis_overwrite("z", input.z), + input.speed and speed_overwrite("x", input.speed), + input.speed and speed_overwrite("y", input.speed), + input.speed and speed_overwrite("z", input.speed), + input.safe_z and {kind = "safe_z", args = {}} + } + } + } + }) +end + +function rpc(rpc_node) + local label = "" .. math.random() .. math.random(); + return cs_eval({ + kind = "rpc_request", + args = {label = label}, + body = {rpc_node} + }) +end + +function sequence(sequence_id, params) + if not params then + return rpc({ + kind = "execute", + args = {sequence_id = sequence_id} + }) + end + local body = {} + local i = 0 + for key, data_value in pairs(params) do + i = i + 1 + body[i] = { + kind = "parameter_application", + args = {label = key, data_value = data_value} + } + end + return rpc({ + kind = "execute", + args = {sequence_id = sequence_id}, + body = body + }) +end + +function verify_tool() + local mounted_tool_id = get_device("mounted_tool_id") + + if read_pin(63) == 1 then + toast("No tool detected on the UTM - there is no electrical connection between UTM pins B and C.", "error") + return false + end + + if not mounted_tool_id then + toast("A tool is mounted but FarmBot does not know which one - check the **MOUNTED TOOL** dropdown in the Tools panel.", "error") + return false + end + + local mounted_tool_name = get_tool{id = mounted_tool_id}.name + send_message("success", "The " .. mounted_tool_name .. " is mounted on the UTM") + return true +end + +function wait(milliseconds, params) + params = params or {} + local seconds = milliseconds / 1000 + local job = params.job or "Waiting " .. seconds .. "s" + local status = params.status or "Waiting" + local start_time = os.time() * 1000 + + if milliseconds < 1000 then + wait_ms(milliseconds) + else + for i = 1, seconds do + set_job_progress(job, { + percent = math.floor((i - 1) / seconds * 100), + status = status, + time = start_time, + }) + wait_ms(1000) + end + wait_ms(milliseconds % 1000) + set_job_progress(job, { + percent = 100, + status = "Complete", + time = start_time, + }) + end +end + +function water(plant, params) + local plant_name_xy = plant.name .. " at (" .. plant.x .. ", " .. plant.y .. ")" + local job_name = "Watering " .. plant_name_xy + + if not plant.age and not plant.planted_at then + toast(plant_name_xy .. " has not been planted yet. Skipping.", "warn") + return + end + + if plant.age then + plant_age = plant.age + else + plant_age = math.ceil((os.time() - to_unix(plant.planted_at)) / 86400) + end + + -- Get water curve and water amount in mL + local water_curve, water_ml + if plant.water_curve_id then + water_curve = get_curve(plant.water_curve_id) + water_ml = water_curve.day(plant_age) + else + toast(plant_name_xy .. " has no assigned water curve. Skipping.", "warn") + return + end + + -- Move to the plant + set_job(job_name, { status = "Moving" }) + move{ x = plant.x, y = plant.y, z = safe_z() } + + -- Water the plant + set_job(job_name, { status = "Watering", percent = 50 }) + send_message("info", "Watering " .. plant_age .. " day old " .. plant_name_xy .. " " .. water_ml .. "mL") + dispense(water_ml, params) + complete_job(job_name) +end +`; diff --git a/frontend/demo/lua_runner.ts b/frontend/demo/lua_runner.ts index 1eb19b5b02..362aac3b8e 100644 --- a/frontend/demo/lua_runner.ts +++ b/frontend/demo/lua_runner.ts @@ -12,6 +12,39 @@ import { sortGroupBy } from "../point_groups/point_group_sort"; import { validBotLocationData } from "../util/location"; import { calculateAxialLengths } from "../controls/move/direction_axes_props"; import { getFirmwareConfig } from "../resources/getters"; +import { LUA_HELPERS } from "./lua_helpers"; +import { TOAST_OPTIONS } from "../toast/constants"; + +const createRecursiveNotImplemented = ( + L: unknown, + actions: Action[], + path: string[], +) => { + lua.lua_newtable(L); + lua.lua_newtable(L); + lua.lua_pushjsfunction(L, () => { + const key: string = to_jsstring(lua.lua_tostring(L, 2)); + return createRecursiveNotImplemented(L, actions, [...path, key]); + }); + lua.lua_setfield(L, -2, to_luastring("__index")); + + lua.lua_pushjsfunction(L, () => { + const fullPath = path.join("."); + actions.push({ + type: "toast", + args: [ + `Lua function "${fullPath}" is not implemented.`, + "error", + ], + }); + lua.lua_pushboolean(L, false); + return 1; + }); + lua.lua_setfield(L, -2, to_luastring("__call")); + + lua.lua_setmetatable(L, -2); + return 1; +}; const runLua = (luaCode: string, variables: ParameterApplication[]): Action[] => { @@ -22,6 +55,12 @@ const runLua = lauxlib.luaL_requiref(L, to_luastring("_G"), lualib.luaopen_base, 1); + lua.lua_getfield(L, -1, to_luastring("type")); + lua.lua_setfield(L, -3, to_luastring("type")); + + lua.lua_getfield(L, -1, to_luastring("tostring")); + lua.lua_setfield(L, -3, to_luastring("tostring")); + lua.lua_getfield(L, -1, to_luastring("pairs")); lua.lua_setfield(L, -3, to_luastring("pairs")); @@ -61,6 +100,15 @@ const runLua = .map(variable => variable.args.data_value)[0]; if (n?.kind === "numeric") { lua.lua_pushnumber(L, n.args.number); + } else { + actions.push({ + type: "toast", + args: [ + "Variables of type other than numeric not implemented.", + "error", + ], + }); + lua.lua_pushnil(L); } return 1; }); @@ -78,14 +126,26 @@ const runLua = lua.lua_pushjsfunction(L, () => { lua.lua_getfield(L, 1, to_luastring("method")); - const method = to_jsstring(lua.lua_tostring(L, -1)); + const method = lua.lua_isnil(L, -1) + ? "GET" + : to_jsstring(lua.lua_tostring(L, -1)); lua.lua_pop(L, 1); lua.lua_getfield(L, 1, to_luastring("url")); const url = to_jsstring(lua.lua_tostring(L, -1)); lua.lua_pop(L, 1); - if (!(method == "GET" && url == "/api/points")) { return 0; } + if (!(method == "GET" && url == "/api/points")) { + actions.push({ + type: "toast", + args: [ + "API calls other than GET /api/points not implemented.", + "error", + ], + }); + lua.lua_pushboolean(L, false); + return 1; + } const points = selectAllPoints(store.getState().resources.index); const results = sortGroupBy("yx_alternating", points).map(p => p.body); @@ -124,16 +184,22 @@ const runLua = lua.lua_setfield(L, -2, to_luastring("send_message")); lua.lua_pushjsfunction(L, () => { - const n = lua.lua_gettop(L); - const args = []; - for (let i = 1; i <= n; i++) { - args.push(to_jsstring(lua.lua_tostring(L, i))); - } - actions.push({ type: "toast", args: args }); + const msg = to_jsstring(lua.lua_tostring(L, 1)); + const type = lua.lua_gettop(L) >= 2 + ? to_jsstring(lua.lua_tostring(L, 2)) + : "info"; + actions.push({ type: "toast", args: [msg, type] }); return 0; }); lua.lua_setfield(L, -2, to_luastring("toast")); + lua.lua_pushjsfunction(L, () => { + const msg = to_jsstring(lua.lua_tostring(L, 1)); + actions.push({ type: "toast", args: [msg, "debug"] }); + return 0; + }); + lua.lua_setfield(L, -2, to_luastring("debug")); + lua.lua_pushjsfunction(L, () => { const jobName = to_jsstring(lua.lua_tostring(L, 1)); @@ -195,10 +261,10 @@ const runLua = lua.lua_pushjsfunction(L, () => { const ms = lua.lua_tonumber(L, 1); - actions.push({ type: "wait", args: [ms] }); + actions.push({ type: "wait_ms", args: [ms] }); return 0; }); - lua.lua_setfield(L, -2, to_luastring("wait")); + lua.lua_setfield(L, -2, to_luastring("wait_ms")); lua.lua_pushjsfunction(L, () => { const pin = lua.lua_tonumber(L, 1); @@ -247,6 +313,31 @@ const runLua = }); lua.lua_setfield(L, -2, to_luastring("garden_size")); + lauxlib.luaL_loadstring(L, to_luastring(LUA_HELPERS)); + lua.lua_pushvalue(L, -2); + lua.lua_setupvalue(L, -2, 1); + lua.lua_pcall(L, 0, 0, 0); + + lua.lua_pushjsfunction(L, () => { + actions.push({ type: "emergency_lock", args: [] }); + return 0; + }); + lua.lua_setfield(L, -2, to_luastring("emergency_lock")); + + lua.lua_pushjsfunction(L, () => { + actions.push({ type: "emergency_unlock", args: [] }); + return 0; + }); + lua.lua_setfield(L, -2, to_luastring("emergency_unlock")); + + lua.lua_newtable(L); + lua.lua_pushjsfunction(L, () => { + const key: string = to_jsstring(lua.lua_tostring(L, 2)); + return createRecursiveNotImplemented(L, actions, [key]); + }); + lua.lua_setfield(L, -2, to_luastring("__index")); + lua.lua_setmetatable(L, -2); + const statusLoad = lauxlib.luaL_loadstring(L, to_luastring(luaCode)); if (statusLoad !== lua.LUA_OK) { const error = to_jsstring(lua.lua_tostring(L, -1)); @@ -294,12 +385,14 @@ interface Action { | "toggle_pin" | "on" | "off" + | "emergency_lock" + | "emergency_unlock" | "find_home" | "go_to_home" | "toast" | "send_message" | "print" - | "wait" + | "wait_ms" | "write_pin" | "set_job_progress"; args: (number | string)[]; @@ -354,7 +447,7 @@ const expandActions = (actions: Action[]): Action[] => { }; const addPosition = (position: Record) => { expanded.push({ - type: "wait", + type: "wait_ms", args: [500], }); expanded.push({ @@ -404,6 +497,14 @@ const expandActions = (actions: Action[]): Action[] => { const value = action.type === "on" ? 1 : 0; expanded.push({ type: "write_pin", args: [pin, value] }); break; + case "toast": + const msg = "" + action.args[0]; + const type = "" + action.args[1]; + expanded.push({ + type: "send_message", + args: [type, msg], + }); + break; default: expanded.push(action); break; @@ -412,29 +513,48 @@ const expandActions = (actions: Action[]): Action[] => { return expanded; }; +const pending = new Set>(); + const runActions = (actions: Action[]) => { let delay = 0; expandActions(actions).map(action => { + // eslint-disable-next-line complexity const getFunc = () => { + const estopped = store.getState().bot.hardware.informational_settings.locked; + if (estopped && action.type !== "emergency_unlock") { + return; + } switch (action.type) { - case "wait": + case "wait_ms": const ms = action.args[0] as number; delay += ms; return undefined; - case "toast": case "send_message": const type = "" + action.args[0]; const msg = "" + action.args[1]; - if (type == "info") { - return () => { - info(msg); - }; - } - return undefined; + return () => { + info(msg, TOAST_OPTIONS()[type]); + }; case "print": return () => { console.log(action.args[0]); }; + case "emergency_lock": + return () => { + pending.forEach(clearTimeout); + pending.clear(); + store.dispatch({ + type: Actions.DEMO_SET_ESTOP, + payload: true, + }); + }; + case "emergency_unlock": + return () => { + store.dispatch({ + type: Actions.DEMO_SET_ESTOP, + payload: false, + }); + }; case "move_absolute": const x = action.args[0] as number; const y = action.args[1] as number; @@ -485,6 +605,6 @@ const runActions = (actions: Action[]) => { } }; const func = getFunc(); - func && setTimeout(func, delay); + func && pending.add(setTimeout(func, delay)); }); }; diff --git a/frontend/devices/__tests__/actions_test.ts b/frontend/devices/__tests__/actions_test.ts index 3341f812e9..e592e17683 100644 --- a/frontend/devices/__tests__/actions_test.ts +++ b/frontend/devices/__tests__/actions_test.ts @@ -148,17 +148,37 @@ describe("flashFirmware()", () => { }); describe("emergencyLock() / emergencyUnlock", () => { + beforeEach(() => { + localStorage.removeItem("myBotIs"); + window.confirm = () => false; + }); + it("calls emergencyLock", () => { actions.emergencyLock(); expect(mockDevice.current.emergencyLock).toHaveBeenCalled(); }); + it("calls emergencyLock on demo account", () => { + localStorage.setItem("myBotIs", "online"); + actions.emergencyLock(); + expect(mockDevice.current.emergencyLock).not.toHaveBeenCalled(); + expect(runDemoLuaCode).toHaveBeenCalledWith("emergency_lock()"); + }); + it("calls emergencyUnlock", () => { window.confirm = () => true; actions.emergencyUnlock(); expect(mockDevice.current.emergencyUnlock).toHaveBeenCalled(); }); + it("calls emergencyUnlock on demo account", () => { + window.confirm = () => true; + localStorage.setItem("myBotIs", "online"); + actions.emergencyUnlock(); + expect(mockDevice.current.emergencyUnlock).not.toHaveBeenCalled(); + expect(runDemoLuaCode).toHaveBeenCalledWith("emergency_unlock()"); + }); + it("doesn't call emergencyUnlock", () => { window.confirm = () => false; actions.emergencyUnlock(); diff --git a/frontend/devices/__tests__/reducer_test.ts b/frontend/devices/__tests__/reducer_test.ts index d5b15eb38a..e32cc3d56b 100644 --- a/frontend/devices/__tests__/reducer_test.ts +++ b/frontend/devices/__tests__/reducer_test.ts @@ -216,4 +216,20 @@ describe("botReducer", () => { } }); }); + + it("sets emergency stop", () => { + const state = initialState(); + const action = { type: Actions.DEMO_SET_ESTOP, payload: true }; + const r = botReducer(state, action); + expect(r.hardware.informational_settings.locked).toEqual(true); + }); + + it("unsets emergency stop", () => { + const state = initialState(); + state.hardware.informational_settings.locked = true; + const action = { type: Actions.DEMO_SET_ESTOP, payload: false }; + const r = botReducer(state, action); + expect(r.hardware.informational_settings.locked).toEqual(false); + }); + }); diff --git a/frontend/devices/actions.ts b/frontend/devices/actions.ts index 17ca76ae59..6afb0afaa8 100644 --- a/frontend/devices/actions.ts +++ b/frontend/devices/actions.ts @@ -161,7 +161,10 @@ export function flashFirmware(firmwareName: FirmwareHardware) { export function emergencyLock() { const noun = t("Emergency stop"); - maybeNoop(); + if (forceOnline()) { + runDemoLuaCode("emergency_lock()"); + return; + } getDevice() .emergencyLock() .then(commandOK(noun), commandErr(noun)); @@ -170,7 +173,10 @@ export function emergencyLock() { export function emergencyUnlock(force = false) { const noun = t("Emergency unlock"); if (force || confirm(t("Are you sure you want to unlock the device?"))) { - maybeNoop(); + if (forceOnline()) { + runDemoLuaCode("emergency_unlock()"); + return; + } getDevice() .emergencyUnlock() .then(commandOK(noun), commandErr(noun)); diff --git a/frontend/devices/reducer.ts b/frontend/devices/reducer.ts index d8039e3cc4..7b9377b0a5 100644 --- a/frontend/devices/reducer.ts +++ b/frontend/devices/reducer.ts @@ -150,6 +150,10 @@ export const botReducer = generateReducer(initialState()) s.hardware.jobs[payload[0]] = payload[1]; return s; }) + .add(Actions.DEMO_SET_ESTOP, (s, { payload }) => { + s.hardware.informational_settings.locked = payload; + return s; + }) .add(Actions.PING_OK, (s) => { // Going from "down" to "up" const currentState = s.connectivity.uptime["bot.mqtt"]; diff --git a/frontend/toast/constants.ts b/frontend/toast/constants.ts new file mode 100644 index 0000000000..e8a66fac26 --- /dev/null +++ b/frontend/toast/constants.ts @@ -0,0 +1,12 @@ +import { t } from "../i18next_wrapper"; + +export const TOAST_OPTIONS = + (): Record => ({ + success: { title: t("Success"), color: "green" }, + info: { title: t("FYI"), color: "blue" }, + warn: { title: t("Warning"), color: "orange" }, + error: { title: t("Error"), color: "red" }, + busy: { title: t("Busy"), color: "yellow" }, + debug: { title: t("Debug"), color: "gray" }, + fun: { title: t("Did you know?"), color: "dark-blue" }, + }); diff --git a/frontend/toast/toast.ts b/frontend/toast/toast.ts index 4c8b09f428..6a5b09d2cc 100644 --- a/frontend/toast/toast.ts +++ b/frontend/toast/toast.ts @@ -1,8 +1,8 @@ import { createToastOnce } from "./toast_internal_support"; -import { t } from "../i18next_wrapper"; import { ToastOptions } from "./interfaces"; import { Actions } from "../constants"; import { store } from "../redux/store"; +import { TOAST_OPTIONS } from "./constants"; /** * Orange message with "Warning" as the default title. @@ -10,8 +10,7 @@ import { store } from "../redux/store"; export const warning = (message: string, options: ToastOptions = {}) => createToastOnce({ message, - title: t("Warning"), - color: "orange", + ...TOAST_OPTIONS().warn, ...options, fallbackLogger: console.warn, }); @@ -22,8 +21,7 @@ export const warning = (message: string, options: ToastOptions = {}) => export const error = (message: string, options: ToastOptions = {}) => createToastOnce({ message, - title: t("Error"), - color: "red", + ...TOAST_OPTIONS().error, ...options, fallbackLogger: console.error, }); @@ -32,30 +30,25 @@ export const error = (message: string, options: ToastOptions = {}) => * Green message with "Success" as the default title. */ export const success = (message: string, options: ToastOptions = {}) => - createToastOnce({ message, title: t("Success"), color: "green", ...options }); + createToastOnce({ message, ...TOAST_OPTIONS().success, ...options }); /** * Blue message with "FYI" as the default title. */ export const info = (message: string, options: ToastOptions = {}) => - createToastOnce({ message, title: t("FYI"), color: "blue", ...options }); + createToastOnce({ message, ...TOAST_OPTIONS().info, ...options }); /** * Yellow message with "Busy" as the default title. */ export const busy = (message: string, options: ToastOptions = {}) => - createToastOnce({ message, title: t("Busy"), color: "yellow", ...options }); + createToastOnce({ message, ...TOAST_OPTIONS().busy, ...options }); /** * Dark blue message with "Did you know?" as the default title. */ export const fun = (message: string, options: ToastOptions = {}) => - createToastOnce({ - message, - title: t("Did you know?"), - color: "dark-blue", - ...options, - }); + createToastOnce({ message, ...TOAST_OPTIONS().fun, ...options }); /** Remove all toast messages that match the provided id prefix. */ export const removeToast = (idPrefix: string) => { From 0f0539f149a68d901c02140de1776258a9c8af8e Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Fri, 11 Jul 2025 10:11:48 -0700 Subject: [PATCH 10/54] add more to and refactor lua runner --- frontend/constants.ts | 1 + frontend/demo/__tests__/lua_runner_test.ts | 537 ---------- frontend/demo/lua_runner.ts | 610 ------------ .../demo/lua_runner/__tests__/actions_test.ts | 14 + .../demo/lua_runner/__tests__/index_test.ts | 932 ++++++++++++++++++ .../demo/lua_runner/__tests__/lua_test.ts | 7 + .../demo/lua_runner/__tests__/run_test.ts | 18 + .../demo/lua_runner/__tests__/util_test.ts | 133 +++ frontend/demo/lua_runner/actions.ts | 229 +++++ frontend/demo/lua_runner/index.ts | 29 + frontend/demo/lua_runner/interfaces.ts | 18 + .../{lua_helpers.ts => lua_runner/lua.ts} | 89 +- frontend/demo/lua_runner/run.ts | 365 +++++++ frontend/demo/lua_runner/util.ts | 151 +++ frontend/devices/__tests__/actions_test.ts | 19 +- frontend/devices/__tests__/reducer_test.ts | 15 +- frontend/devices/actions.ts | 7 +- frontend/devices/reducer.ts | 10 +- 18 files changed, 2021 insertions(+), 1163 deletions(-) delete mode 100644 frontend/demo/__tests__/lua_runner_test.ts delete mode 100644 frontend/demo/lua_runner.ts create mode 100644 frontend/demo/lua_runner/__tests__/actions_test.ts create mode 100644 frontend/demo/lua_runner/__tests__/index_test.ts create mode 100644 frontend/demo/lua_runner/__tests__/lua_test.ts create mode 100644 frontend/demo/lua_runner/__tests__/run_test.ts create mode 100644 frontend/demo/lua_runner/__tests__/util_test.ts create mode 100644 frontend/demo/lua_runner/actions.ts create mode 100644 frontend/demo/lua_runner/index.ts create mode 100644 frontend/demo/lua_runner/interfaces.ts rename frontend/demo/{lua_helpers.ts => lua_runner/lua.ts} (93%) create mode 100644 frontend/demo/lua_runner/run.ts create mode 100644 frontend/demo/lua_runner/util.ts diff --git a/frontend/constants.ts b/frontend/constants.ts index d1dfe90507..a23d8642e4 100644 --- a/frontend/constants.ts +++ b/frontend/constants.ts @@ -2440,6 +2440,7 @@ export enum Actions { DEMO_SET_POSITION = "DEMO_SET_POSITION", DEMO_SET_JOB_PROGRESS = "DEMO_SET_JOB_PROGRESS", DEMO_SET_ESTOP = "DEMO_SET_ESTOP", + DEMO_SET_MOUNTED_TOOL_ID = "DEMO_SET_MOUNTED_TOOL_ID", // Draggable PUT_DATA_XFER = "PUT_DATA_XFER", diff --git a/frontend/demo/__tests__/lua_runner_test.ts b/frontend/demo/__tests__/lua_runner_test.ts deleted file mode 100644 index b0676780d9..0000000000 --- a/frontend/demo/__tests__/lua_runner_test.ts +++ /dev/null @@ -1,537 +0,0 @@ -import { buildResourceIndex } from "../../__test_support__/resource_index_builder"; -import { - fakeFirmwareConfig, - fakeSequence, fakeToolSlot, -} from "../../__test_support__/fake_state/resources"; -let mockLocked = false; -let mockPosition = { x: 0, y: 0, z: 0 }; -const firmwareConfig = fakeFirmwareConfig(); -firmwareConfig.body.movement_axis_nr_steps_x = 5000; -firmwareConfig.body.movement_axis_nr_steps_y = 10000; -firmwareConfig.body.movement_axis_nr_steps_z = 12500; -jest.mock("../../redux/store", () => ({ - store: { - dispatch: jest.fn(), - getState: () => ({ - resources: buildResourceIndex([ - fakeToolSlot(), - firmwareConfig, - ]), - bot: { - hardware: { - location_data: { position: mockPosition }, - informational_settings: { locked: mockLocked }, - }, - }, - }), - }, -})); - -import { ParameterApplication, TaggedSequence } from "farmbot"; -import { Actions } from "../../constants"; -import { store } from "../../redux/store"; -import { info } from "../../toast/toast"; -import { runDemoLuaCode, runDemoSequence } from "../lua_runner"; -import { TOAST_OPTIONS } from "../../toast/constants"; - -const code = ` - n = variable("Number") - print(n) - api{method = "GET", url = "/api/points"} - api{method = "POST", url = "/api/points"} - api{method = "GET", url = "/api/tools"} - pairs({}) - os.time() - move_absolute(0, 0, 0) - wait(1000) - move_absolute(300, 0, 0) - move_absolute(350, 0, 0) - write_pin(8, "digital", 1) - wait(1000) - write_pin(8, "digital", 0) - send_message("info", "msg", "toast") - send_message("success", "msg", "toast") - set_job_progress("job", { - percent = 50, - status = "working", - time = os.time() * 1000 - }) - set_job_progress("job", { - percent = 100, - status = "Complete", - time = os.time() * 1000 - }) - `; - -describe("runDemoSequence()", () => { - beforeEach(() => { - localStorage.setItem("myBotIs", "online"); - console.log = jest.fn(); - console.error = jest.fn(); - jest.useFakeTimers(); - }); - - it("runs sequence", () => { - const sequence = fakeSequence(); - sequence.body.body = [{ kind: "lua", args: { lua: code } }]; - sequence.body.id = 1; - const point = fakeToolSlot(); - const ri = buildResourceIndex([sequence, point]).index; - const variables: ParameterApplication[] = [{ - kind: "parameter_application", - args: { - label: "Number", - data_value: { kind: "numeric", args: { number: 1 } }, - }, - }]; - runDemoSequence(ri, sequence.body.id, variables); - jest.runAllTimers(); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_SET_POSITION, - payload: { x: 0, y: 0, z: 0 }, - }); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_SET_POSITION, - payload: { x: 0, y: 0, z: 0 }, - }); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_SET_POSITION, - payload: { x: 100, y: 0, z: 0 }, - }); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_SET_POSITION, - payload: { x: 200, y: 0, z: 0 }, - }); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_SET_POSITION, - payload: { x: 300, y: 0, z: 0 }, - }); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_SET_POSITION, - payload: { x: 350, y: 0, z: 0 }, - }); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_WRITE_PIN, - payload: { pin: 8, value: 1 }, - }); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_WRITE_PIN, - payload: { pin: 8, value: 0 }, - }); - expect(info).toHaveBeenCalledWith("msg", TOAST_OPTIONS().info); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_SET_JOB_PROGRESS, - payload: ["job", { - unit: "percent", - percent: 50, - status: "working", - type: "", - file_type: "", - updated_at: expect.any(Number), - time: expect.any(Number), - }], - }); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_SET_JOB_PROGRESS, - payload: ["job", { - unit: "percent", - percent: 100, - status: "Complete", - type: "", - file_type: "", - updated_at: expect.any(Number), - time: undefined, - }], - }); - expect(console.error).not.toHaveBeenCalled(); - }); - - it("handles missing variables", () => { - const sequence = fakeSequence(); - sequence.body.body = [{ kind: "lua", args: { lua: code } }]; - sequence.body.id = 1; - const ri = buildResourceIndex([sequence]).index; - runDemoSequence(ri, sequence.body.id, undefined); - jest.runAllTimers(); - expect(info).toHaveBeenCalledWith( - "Variables of type other than numeric not implemented.", - TOAST_OPTIONS().error); - expect(console.log).toHaveBeenCalled(); - expect(console.error).not.toHaveBeenCalled(); - }); - - it("handles missing sequence body", () => { - const sequence = fakeSequence(); - sequence.body.body = undefined; - sequence.body.id = 1; - const ri = buildResourceIndex([sequence]).index; - if (ri.references[0]) { - (ri.references[0] as TaggedSequence).body.body = undefined; - } - runDemoSequence(ri, sequence.body.id, undefined); - jest.runAllTimers(); - expect(console.log).not.toHaveBeenCalled(); - expect(console.error).not.toHaveBeenCalled(); - }); - - it("handles load error", () => { - const sequence = fakeSequence(); - sequence.body.body = [{ kind: "lua", args: { lua: "!" } }]; - sequence.body.id = 1; - const ri = buildResourceIndex([sequence]).index; - runDemoSequence(ri, sequence.body.id, undefined); - jest.runAllTimers(); - expect(console.log).not.toHaveBeenCalled(); - expect(console.error).toHaveBeenCalledWith( - "Lua load error:", - "[string \"!\"]:1: unexpected symbol near '!'", - ); - }); - - it("handles call error", () => { - const sequence = fakeSequence(); - sequence.body.body = [{ kind: "lua", args: { lua: "return blah + 5" } }]; - sequence.body.id = 1; - const ri = buildResourceIndex([sequence]).index; - runDemoSequence(ri, sequence.body.id, undefined); - jest.runAllTimers(); - expect(console.log).not.toHaveBeenCalled(); - expect(console.error).toHaveBeenCalledWith( - "Lua call error:", - expect.stringContaining("attempt to perform arithmetic"), - ); - }); -}); - -describe("runDemoLuaCode()", () => { - beforeEach(() => { - localStorage.setItem("myBotIs", "online"); - console.log = jest.fn(); - console.error = jest.fn(); - jest.useFakeTimers(); - mockLocked = false; - }); - - it("runs print", () => { - runDemoLuaCode("print(\"Hello, world!\")"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(console.log).toHaveBeenCalledWith("Hello, world!"); - }); - - it("runs print: all", () => { - runDemoLuaCode("local a = 2 + 2\nprint(a, false, true, nil)"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(console.log).toHaveBeenCalledWith("4 false true "); - }); - - it("runs garden_size", () => { - runDemoLuaCode( - "print(garden_size().x)\n" + - "print(garden_size().y)\n" + - "print(garden_size().z)"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(console.log).toHaveBeenCalledWith("1000.0"); - expect(console.log).toHaveBeenCalledWith("2000.0"); - expect(console.log).toHaveBeenCalledWith("500.0"); - }); - - it("runs api: default method", () => { - runDemoLuaCode( - "local data = api{url=\"/api/points\"}\nprint(type(data), #data)"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(console.log).toHaveBeenCalledWith("table 1"); - }); - - it("runs toast", () => { - runDemoLuaCode("toast(\"test\", \"info\")"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().info); - }); - - it("runs toast: default", () => { - runDemoLuaCode("toast(\"test\")"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().info); - }); - - it("runs debug", () => { - runDemoLuaCode("debug(\"test\")"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().debug); - }); - - it("runs send_message", () => { - runDemoLuaCode("send_message(\"info\", \"test\", \"toast\")"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().info); - }); - - it("runs find_home: all", () => { - mockPosition = { x: 1, y: 2, z: 3 }; - runDemoLuaCode("find_home(\"all\")"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_SET_POSITION, - payload: { x: 0, y: 0, z: 0 }, - }); - }); - - it("runs go_to_home: all", () => { - mockPosition = { x: 1, y: 2, z: 3 }; - runDemoLuaCode("go_to_home(\"all\")"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_SET_POSITION, - payload: { x: 0, y: 0, z: 0 }, - }); - }); - - it("runs go_to_home: x", () => { - mockPosition = { x: 1, y: 2, z: 3 }; - runDemoLuaCode("go_to_home(\"x\")"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_SET_POSITION, - payload: { x: 0, y: 2, z: 3 }, - }); - }); - - it("runs go_to_home: y", () => { - mockPosition = { x: 1, y: 2, z: 3 }; - runDemoLuaCode("go_to_home(\"y\")"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_SET_POSITION, - payload: { x: 1, y: 0, z: 3 }, - }); - }); - - it("runs toggle_pin", () => { - runDemoLuaCode("toggle_pin(5)"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_TOGGLE_PIN, - payload: 5, - }); - }); - - it("runs write_pin", () => { - runDemoLuaCode("write_pin(5, \"digital\", 1)"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_WRITE_PIN, - payload: { pin: 5, value: 1 }, - }); - }); - - it("runs on", () => { - runDemoLuaCode("on(5)"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_WRITE_PIN, - payload: { pin: 5, value: 1 }, - }); - }); - - it("doesn't run when estopped", () => { - mockLocked = true; - runDemoLuaCode("on(5)"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(store.dispatch).not.toHaveBeenCalled(); - }); - - it("runs off", () => { - runDemoLuaCode("off(5)"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_WRITE_PIN, - payload: { pin: 5, value: 0 }, - }); - }); - - it("runs move_relative", () => { - mockPosition = { x: 1, y: 2, z: 3 }; - runDemoLuaCode("move_relative(1, 0, 0)"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_SET_POSITION, - payload: { x: 2, y: 2, z: 3 }, - }); - }); - - it("runs move_absolute", () => { - mockPosition = { x: 1, y: 2, z: 3 }; - runDemoLuaCode("move_absolute(1, 0, 0)"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_SET_POSITION, - payload: { x: 1, y: 0, z: 0 }, - }); - }); - - it("runs emergency_lock", () => { - runDemoLuaCode("emergency_lock()"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_SET_ESTOP, - payload: true, - }); - }); - - it("runs emergency_unlock", () => { - runDemoLuaCode("emergency_unlock()"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_SET_ESTOP, - payload: false, - }); - }); - - it("allows emergency_unlock", () => { - mockLocked = true; - runDemoLuaCode("emergency_unlock()"); - jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); - expect(store.dispatch).toHaveBeenCalledWith({ - type: Actions.DEMO_SET_ESTOP, - payload: false, - }); - }); - - it("runs non-implemented function", () => { - runDemoLuaCode("foo.bar.baz()"); - jest.runAllTimers(); - expect(info).toHaveBeenCalledWith( - "Lua function \"foo.bar.baz\" is not implemented.", - TOAST_OPTIONS().error, - ); - }); -}); - -/** - * Lua functions available in the demo runner - * - * builtins/lib: - * [ y ] print - * [ y ] type - * [ y ] tostring - * [ y ] pairs - * [ y ] ipairs - * [ y ] os.time - * [ y ] math. - * [ y ] table. - * - * Other: - * [ y ] move_relative - * [ y ] round - * [ y ] angleRound - * [ y ] cropAmount - * [ y ] fwe - * [ y ] axis_overwrite - * [ y ] speed_overwrite - * - * FBOS: - * [ y ] variable (numeric only) - * [ ] auth_token - * [ y ] api (GET /api/points only) - * [ ] base64.decode - * [ ] base64.encode - * [ ] calibrate_camera - * [ ] check_position - * [ ] complete_job - * [ ] coordinate - * [ ] cs_eval - * [ ] current_hour - * [ ] current_minute - * [ ] current_month - * [ ] current_second - * [ ] detect_weeds - * [ y ] dispense - * [ y ] emergency_lock - * [ y ] emergency_unlock - * [ ] env - * [ ] fbos_version - * [ ] find_axis_length - * [ y ] find_home - * [ ] firmware_version - * [ y ] garden_size - * [ ] gcode - * [ y ] get_curve - * [ ] get_device - * [ ] get_fbos_config - * [ ] get_firmware_config - * [ ] get_job - * [ ] get_job_progress - * [ ] get_position - * [ y ] get_seed_tray_cell - * [ ] get_xyz - * [ ] get_tool - * [ y ] go_to_home - * [ y ] grid - * [ ] group - * [ ] http - * [ ] inspect - * [ ] json.decode - * [ ] json.encode - * [ ] measure_soil_height - * [ y ] mount_tool - * [ y ] dismount_tool - * [ y ] move_absolute - * [ y ] move - * [ ] new_sensor_reading - * [ y ] photo_grid - * [ ] read_pin - * [ ] read_status - * [ y ] rpc - * [ y ] sequence - * [ y ] send_message (info only) - * [ ] debug - * [ y ] toast (info only) - * [ ] safe_z - * [ ] set_job - * [ y ] set_job_progress - * [ ] set_pin_io_mode - * [ ] soft_stop - * [ ] soil_height - * [ ] sort - * [ ] take_photo_raw - * [ ] take_photo - * [ y ] toggle_pin - * [ ] uart.open - * [ ] uart.list - * [ ] update_device - * [ ] update_fbos_config - * [ ] update_firmware_config - * [ ] utc - * [ ] local_time - * [ ] to_unix - * [ y ] verify_tool - * [ y ] wait_ms - * [ y ] wait - * [ y ] water - * [ ] watch_pin - * [ y ] on - * [ y ] off - * [ y ] write_pin (digital only) - */ diff --git a/frontend/demo/lua_runner.ts b/frontend/demo/lua_runner.ts deleted file mode 100644 index 362aac3b8e..0000000000 --- a/frontend/demo/lua_runner.ts +++ /dev/null @@ -1,610 +0,0 @@ -import { lua, lauxlib, lualib, to_jsstring, to_luastring } from "fengari-web"; -import { findSequenceById, selectAllPoints } from "../resources/selectors"; -import { ResourceIndex } from "../resources/interfaces"; -import { - ParameterApplication, PercentageProgress, SequenceBodyItem, - TaggedFirmwareConfig, Xyz, -} from "farmbot"; -import { info } from "../toast/toast"; -import { store } from "../redux/store"; -import { Actions } from "../constants"; -import { sortGroupBy } from "../point_groups/point_group_sort"; -import { validBotLocationData } from "../util/location"; -import { calculateAxialLengths } from "../controls/move/direction_axes_props"; -import { getFirmwareConfig } from "../resources/getters"; -import { LUA_HELPERS } from "./lua_helpers"; -import { TOAST_OPTIONS } from "../toast/constants"; - -const createRecursiveNotImplemented = ( - L: unknown, - actions: Action[], - path: string[], -) => { - lua.lua_newtable(L); - lua.lua_newtable(L); - lua.lua_pushjsfunction(L, () => { - const key: string = to_jsstring(lua.lua_tostring(L, 2)); - return createRecursiveNotImplemented(L, actions, [...path, key]); - }); - lua.lua_setfield(L, -2, to_luastring("__index")); - - lua.lua_pushjsfunction(L, () => { - const fullPath = path.join("."); - actions.push({ - type: "toast", - args: [ - `Lua function "${fullPath}" is not implemented.`, - "error", - ], - }); - lua.lua_pushboolean(L, false); - return 1; - }); - lua.lua_setfield(L, -2, to_luastring("__call")); - - lua.lua_setmetatable(L, -2); - return 1; -}; - -const runLua = - (luaCode: string, variables: ParameterApplication[]): Action[] => { - const actions: Action[] = []; - const L = lauxlib.luaL_newstate(); // stack: [] - - lua.lua_newtable(L); // stack: [env] - - lauxlib.luaL_requiref(L, to_luastring("_G"), lualib.luaopen_base, 1); - - lua.lua_getfield(L, -1, to_luastring("type")); - lua.lua_setfield(L, -3, to_luastring("type")); - - lua.lua_getfield(L, -1, to_luastring("tostring")); - lua.lua_setfield(L, -3, to_luastring("tostring")); - - lua.lua_getfield(L, -1, to_luastring("pairs")); - lua.lua_setfield(L, -3, to_luastring("pairs")); - - lua.lua_getfield(L, -1, to_luastring("ipairs")); - lua.lua_setfield(L, -3, to_luastring("ipairs")); - - lua.lua_pop(L, 1); // stack: [env] - - lauxlib.luaL_requiref(L, to_luastring("math"), lualib.luaopen_math, 1); - lua.lua_setfield(L, -2, to_luastring("math")); - - lauxlib.luaL_requiref(L, to_luastring("table"), lualib.luaopen_table, 1); - lua.lua_setfield(L, -2, to_luastring("table")); - - lua.lua_pushjsfunction(L, () => { - let output = ""; - const n = lua.lua_gettop(L); - for (let i = 1; i <= n; i++) { - if (i > 1) { output += "\t"; } - if (lua.lua_isstring(L, i)) { - output += to_jsstring(lua.lua_tostring(L, i)); - } else if (lua.lua_isboolean(L, i)) { - output += lua.lua_toboolean(L, i) ? "true" : "false"; - } else { - output += ""; - } - } - actions.push({ type: "print", args: [output] }); - return 0; - }); - lua.lua_setfield(L, -2, to_luastring("print")); - - lua.lua_pushjsfunction(L, () => { - const variableName = to_jsstring(lua.lua_tostring(L, 1)); - const n = variables - .filter(variable => variable.args.label === variableName) - .map(variable => variable.args.data_value)[0]; - if (n?.kind === "numeric") { - lua.lua_pushnumber(L, n.args.number); - } else { - actions.push({ - type: "toast", - args: [ - "Variables of type other than numeric not implemented.", - "error", - ], - }); - lua.lua_pushnil(L); - } - return 1; - }); - lua.lua_setfield(L, -2, to_luastring("variable")); - - lua.lua_newtable(L); // stack: [env, os] - - lua.lua_pushjsfunction(L, () => { - const now = Math.floor(Date.now() / 1000); - lua.lua_pushnumber(L, now); - return 1; - }); - lua.lua_setfield(L, -2, to_luastring("time")); // stack: [env, os] - lua.lua_setfield(L, -2, to_luastring("os")); // stack: [env] - - lua.lua_pushjsfunction(L, () => { - lua.lua_getfield(L, 1, to_luastring("method")); - const method = lua.lua_isnil(L, -1) - ? "GET" - : to_jsstring(lua.lua_tostring(L, -1)); - lua.lua_pop(L, 1); - - lua.lua_getfield(L, 1, to_luastring("url")); - const url = to_jsstring(lua.lua_tostring(L, -1)); - lua.lua_pop(L, 1); - - if (!(method == "GET" && url == "/api/points")) { - actions.push({ - type: "toast", - args: [ - "API calls other than GET /api/points not implemented.", - "error", - ], - }); - lua.lua_pushboolean(L, false); - return 1; - } - - const points = selectAllPoints(store.getState().resources.index); - const results = sortGroupBy("yx_alternating", points).map(p => p.body); - lua.lua_newtable(L); - results.forEach((result, i) => { - lua.lua_newtable(L); - Object.entries(result).forEach(([k, v]) => { - lua.lua_pushstring(L, to_luastring(k)); - - if (typeof v === "string") { - lua.lua_pushstring(L, to_luastring(v)); - } else if (typeof v === "number") { - lua.lua_pushnumber(L, v); - } else if (typeof v === "boolean") { - lua.lua_pushboolean(L, v); - } else { - lua.lua_pushnil(L); - } - lua.lua_settable(L, -3); - }); - lua.lua_rawseti(L, -2, i + 1); - }); - return 1; - }); - lua.lua_setfield(L, -2, to_luastring("api")); - - lua.lua_pushjsfunction(L, () => { - const n = lua.lua_gettop(L); - const args = []; - for (let i = 1; i <= n; i++) { - args.push(to_jsstring(lua.lua_tostring(L, i))); - } - actions.push({ type: "send_message", args: args }); - return 0; - }); - lua.lua_setfield(L, -2, to_luastring("send_message")); - - lua.lua_pushjsfunction(L, () => { - const msg = to_jsstring(lua.lua_tostring(L, 1)); - const type = lua.lua_gettop(L) >= 2 - ? to_jsstring(lua.lua_tostring(L, 2)) - : "info"; - actions.push({ type: "toast", args: [msg, type] }); - return 0; - }); - lua.lua_setfield(L, -2, to_luastring("toast")); - - lua.lua_pushjsfunction(L, () => { - const msg = to_jsstring(lua.lua_tostring(L, 1)); - actions.push({ type: "toast", args: [msg, "debug"] }); - return 0; - }); - lua.lua_setfield(L, -2, to_luastring("debug")); - - lua.lua_pushjsfunction(L, () => { - const jobName = to_jsstring(lua.lua_tostring(L, 1)); - - lua.lua_getfield(L, 2, to_luastring("percent")); - const percent = lua.lua_tonumber(L, -1); - lua.lua_pop(L, 1); - - lua.lua_getfield(L, 2, to_luastring("status")); - const status = to_jsstring(lua.lua_tostring(L, -1)); - lua.lua_pop(L, 1); - - lua.lua_getfield(L, 2, to_luastring("time")); - const time = lua.lua_tonumber(L, -1); - lua.lua_pop(L, 1); - - actions.push({ - type: "set_job_progress", - args: [jobName, percent, status, time], - }); - return 0; - }); - lua.lua_setfield(L, -2, to_luastring("set_job_progress")); - - lua.lua_pushjsfunction(L, () => { - const n = lua.lua_gettop(L); - const args = []; - for (let i = 1; i <= n; i++) { - args.push(lua.lua_tonumber(L, i)); - } - actions.push({ type: "move_absolute", args: args }); - return 0; - }); - lua.lua_setfield(L, -2, to_luastring("move_absolute")); - - lua.lua_pushjsfunction(L, () => { - const n = lua.lua_gettop(L); - const args = []; - for (let i = 1; i <= n; i++) { - args.push(lua.lua_tonumber(L, i)); - } - actions.push({ type: "move_relative", args: args }); - return 0; - }); - lua.lua_setfield(L, -2, to_luastring("move_relative")); - - lua.lua_pushjsfunction(L, () => { - const axis = to_jsstring(lua.lua_tostring(L, -1)); - actions.push({ type: "find_home", args: [axis] }); - return 0; - }); - lua.lua_setfield(L, -2, to_luastring("find_home")); - - lua.lua_pushjsfunction(L, () => { - const axis = to_jsstring(lua.lua_tostring(L, -1)); - actions.push({ type: "go_to_home", args: [axis] }); - return 0; - }); - lua.lua_setfield(L, -2, to_luastring("go_to_home")); - - lua.lua_pushjsfunction(L, () => { - const ms = lua.lua_tonumber(L, 1); - actions.push({ type: "wait_ms", args: [ms] }); - return 0; - }); - lua.lua_setfield(L, -2, to_luastring("wait_ms")); - - lua.lua_pushjsfunction(L, () => { - const pin = lua.lua_tonumber(L, 1); - const value = lua.lua_tonumber(L, 3); - actions.push({ type: "write_pin", args: [pin, value] }); - return 0; - }); - lua.lua_setfield(L, -2, to_luastring("write_pin")); - - lua.lua_pushjsfunction(L, () => { - const pin = lua.lua_tonumber(L, 1); - actions.push({ type: "toggle_pin", args: [pin] }); - return 0; - }); - lua.lua_setfield(L, -2, to_luastring("toggle_pin")); - - lua.lua_pushjsfunction(L, () => { - const pin = lua.lua_tonumber(L, 1); - actions.push({ type: "on", args: [pin] }); - return 0; - }); - lua.lua_setfield(L, -2, to_luastring("on")); - - lua.lua_pushjsfunction(L, () => { - const pin = lua.lua_tonumber(L, 1); - actions.push({ type: "off", args: [pin] }); - return 0; - }); - lua.lua_setfield(L, -2, to_luastring("off")); - - lua.lua_pushjsfunction(L, () => { - const fwConfig = getFirmwareConfig(store.getState().resources.index); - const firmwareSettings = (fwConfig as TaggedFirmwareConfig).body; - const { x, y, z } = calculateAxialLengths({ firmwareSettings }); - lua.lua_newtable(L); - lua.lua_pushstring(L, to_luastring("x")); - lua.lua_pushnumber(L, x); - lua.lua_settable(L, -3); - lua.lua_pushstring(L, to_luastring("y")); - lua.lua_pushnumber(L, y); - lua.lua_settable(L, -3); - lua.lua_pushstring(L, to_luastring("z")); - lua.lua_pushnumber(L, z); - lua.lua_settable(L, -3); - return 1; - }); - lua.lua_setfield(L, -2, to_luastring("garden_size")); - - lauxlib.luaL_loadstring(L, to_luastring(LUA_HELPERS)); - lua.lua_pushvalue(L, -2); - lua.lua_setupvalue(L, -2, 1); - lua.lua_pcall(L, 0, 0, 0); - - lua.lua_pushjsfunction(L, () => { - actions.push({ type: "emergency_lock", args: [] }); - return 0; - }); - lua.lua_setfield(L, -2, to_luastring("emergency_lock")); - - lua.lua_pushjsfunction(L, () => { - actions.push({ type: "emergency_unlock", args: [] }); - return 0; - }); - lua.lua_setfield(L, -2, to_luastring("emergency_unlock")); - - lua.lua_newtable(L); - lua.lua_pushjsfunction(L, () => { - const key: string = to_jsstring(lua.lua_tostring(L, 2)); - return createRecursiveNotImplemented(L, actions, [key]); - }); - lua.lua_setfield(L, -2, to_luastring("__index")); - lua.lua_setmetatable(L, -2); - - const statusLoad = lauxlib.luaL_loadstring(L, to_luastring(luaCode)); - if (statusLoad !== lua.LUA_OK) { - const error = to_jsstring(lua.lua_tostring(L, -1)); - console.error("Lua load error:", error); - return []; - } - - lua.lua_pushvalue(L, -2); - lua.lua_setupvalue(L, -2, 1); - - const statusCall = lua.lua_pcall(L, 0, lua.LUA_MULTRET, 0); - if (statusCall !== lua.LUA_OK) { - const errorVal = lua.lua_tostring(L, -1); - const error = to_jsstring(errorVal); - console.error("Lua call error:", error); - return []; - } - return actions; - }; - -export const runDemoLuaCode = (luaCode: string) => { - const actions = runLua(luaCode, []); - runActions(actions); -}; - -export const runDemoSequence = ( - resources: ResourceIndex, - sequenceId: number, - variables: ParameterApplication[] | undefined, -) => { - const sequence = findSequenceById(resources, sequenceId); - const actions: Action[] = []; - (sequence.body.body as SequenceBodyItem[]).map(step => { - if (step.kind === "lua") { - const stepActions = runLua(step.args.lua, variables || []); - actions.push(...stepActions); - } - }); - runActions(actions); -}; - -interface Action { - type: "move_absolute" - | "move_relative" - | "toggle_pin" - | "on" - | "off" - | "emergency_lock" - | "emergency_unlock" - | "find_home" - | "go_to_home" - | "toast" - | "send_message" - | "print" - | "wait_ms" - | "write_pin" - | "set_job_progress"; - args: (number | string)[]; -} - -const almostEqual = (a: Record, b: Record) => { - const epsilon = 0.01; - return Math.abs(a.x - b.x) < epsilon && - Math.abs(a.y - b.y) < epsilon && - Math.abs(a.z - b.z) < epsilon; -}; - -const movementChunks = ( - current: Record, - target: Record, -): Record[] => { - const dx = target.x - current.x; - const dy = target.y - current.y; - const dz = target.z - current.z; - - const length = Math.sqrt(dx * dx + dy * dy + dz * dz); - if (length === 0) { return [target]; } - const direction = { - x: dx / length, - y: dy / length, - z: dz / length, - }; - const steps = Math.floor(length / 100); - const chunks: Record[] = []; - for (let i = 0; i <= steps; i++) { - const step = { - x: current.x + direction.x * 100 * i, - y: current.y + direction.y * 100 * i, - z: current.z + direction.z * 100 * i, - }; - chunks.push(step); - } - if (!almostEqual(chunks[chunks.length - 1], target)) { - chunks.push(target); - } - return chunks; -}; - -const expandActions = (actions: Action[]): Action[] => { - const expanded: Action[] = []; - const { position } = validBotLocationData( - store.getState().bot.hardware.location_data); - const current = { - x: position.x as number, - y: position.y as number, - z: position.z as number, - }; - const addPosition = (position: Record) => { - expanded.push({ - type: "wait_ms", - args: [500], - }); - expanded.push({ - type: "move_absolute", - args: [position.x, position.y, position.z], - }); - }; - const setCurrent = (position: Record) => { - current.x = position.x; - current.y = position.y; - current.z = position.z; - }; - actions.map(action => { - switch (action.type) { - case "move_absolute": - const target = { - x: action.args[0] as number, - y: action.args[1] as number, - z: action.args[2] as number, - }; - movementChunks(current, target).map(addPosition); - setCurrent(target); - break; - case "move_relative": - const moveRelativeTarget = { - x: current.x + (action.args[0] as number), - y: current.y + (action.args[1] as number), - z: current.z + (action.args[2] as number), - }; - movementChunks(current, moveRelativeTarget).map(addPosition); - setCurrent(moveRelativeTarget); - break; - case "find_home": - case "go_to_home": - const axis = action.args[0] as string; - const homeTarget = { - x: ["all", "x"].includes(axis) ? 0 : current.x, - y: ["all", "y"].includes(axis) ? 0 : current.y, - z: ["all", "z"].includes(axis) ? 0 : current.z, - }; - movementChunks(current, homeTarget).map(addPosition); - setCurrent(homeTarget); - break; - case "on": - case "off": - const pin = action.args[0] as number; - const value = action.type === "on" ? 1 : 0; - expanded.push({ type: "write_pin", args: [pin, value] }); - break; - case "toast": - const msg = "" + action.args[0]; - const type = "" + action.args[1]; - expanded.push({ - type: "send_message", - args: [type, msg], - }); - break; - default: - expanded.push(action); - break; - } - }); - return expanded; -}; - -const pending = new Set>(); - -const runActions = (actions: Action[]) => { - let delay = 0; - expandActions(actions).map(action => { - // eslint-disable-next-line complexity - const getFunc = () => { - const estopped = store.getState().bot.hardware.informational_settings.locked; - if (estopped && action.type !== "emergency_unlock") { - return; - } - switch (action.type) { - case "wait_ms": - const ms = action.args[0] as number; - delay += ms; - return undefined; - case "send_message": - const type = "" + action.args[0]; - const msg = "" + action.args[1]; - return () => { - info(msg, TOAST_OPTIONS()[type]); - }; - case "print": - return () => { - console.log(action.args[0]); - }; - case "emergency_lock": - return () => { - pending.forEach(clearTimeout); - pending.clear(); - store.dispatch({ - type: Actions.DEMO_SET_ESTOP, - payload: true, - }); - }; - case "emergency_unlock": - return () => { - store.dispatch({ - type: Actions.DEMO_SET_ESTOP, - payload: false, - }); - }; - case "move_absolute": - const x = action.args[0] as number; - const y = action.args[1] as number; - const z = action.args[2] as number; - const position = { x, y, z }; - return () => { - store.dispatch({ - type: Actions.DEMO_SET_POSITION, - payload: position, - }); - }; - case "toggle_pin": - return () => { - store.dispatch({ - type: Actions.DEMO_TOGGLE_PIN, - payload: action.args[0] as number, - }); - }; - case "write_pin": - const pin = action.args[0] as number; - const value = action.args[1] as number; - return () => { - store.dispatch({ - type: Actions.DEMO_WRITE_PIN, - payload: { pin, value }, - }); - }; - case "set_job_progress": - const job = "" + action.args[0]; - const percent = action.args[1] as number; - const status = "" + action.args[2]; - const time = action.args[3]; - const progress: PercentageProgress = { - unit: "percent", - percent, - status: status as "working", - type: "", - file_type: "", - updated_at: (new Date()).valueOf() / 1000, - time: (status == "Complete" ? undefined : time) as string, - }; - return () => { - store.dispatch({ - type: Actions.DEMO_SET_JOB_PROGRESS, - payload: [job, progress], - }); - }; - } - }; - const func = getFunc(); - func && pending.add(setTimeout(func, delay)); - }); -}; diff --git a/frontend/demo/lua_runner/__tests__/actions_test.ts b/frontend/demo/lua_runner/__tests__/actions_test.ts new file mode 100644 index 0000000000..47eb296fb5 --- /dev/null +++ b/frontend/demo/lua_runner/__tests__/actions_test.ts @@ -0,0 +1,14 @@ +import { TOAST_OPTIONS } from "../../../toast/constants"; +import { info } from "../../../toast/toast"; +import { runActions } from "../actions"; + +describe("runActions()", () => { + it("runs actions", () => { + jest.useFakeTimers(); + runActions([ + { type: "send_message", args: ["info", "Hello, world!", "toast"] }, + ]); + jest.runAllTimers(); + expect(info).toHaveBeenCalledWith("Hello, world!", TOAST_OPTIONS().info); + }); +}); diff --git a/frontend/demo/lua_runner/__tests__/index_test.ts b/frontend/demo/lua_runner/__tests__/index_test.ts new file mode 100644 index 0000000000..732080bc9c --- /dev/null +++ b/frontend/demo/lua_runner/__tests__/index_test.ts @@ -0,0 +1,932 @@ +import { + buildResourceIndex, + fakeDevice, +} from "../../../__test_support__/resource_index_builder"; +import { + fakeFirmwareConfig, + fakePoint, + fakeSequence, fakeTool, + fakeToolSlot, +} from "../../../__test_support__/fake_state/resources"; +let mockResources = buildResourceIndex([]); +let mockPosition = { x: 0, y: 0, z: 0 }; +let mockLocked = false; +jest.mock("../../../redux/store", () => ({ + store: { + dispatch: jest.fn(), + getState: () => ({ + resources: mockResources, + bot: { + hardware: { + location_data: { position: mockPosition }, + informational_settings: { locked: mockLocked }, + }, + }, + }), + }, +})); + +jest.mock("../../../api/crud", () => ({ + edit: jest.fn(), + save: jest.fn(), +})); + +import { ParameterApplication, TaggedSequence } from "farmbot"; +import { Actions } from "../../../constants"; +import { store } from "../../../redux/store"; +import { info } from "../../../toast/toast"; +import { csToLua, runDemoLuaCode, runDemoSequence } from ".."; +import { TOAST_OPTIONS } from "../../../toast/constants"; +import { edit, save } from "../../../api/crud"; + +describe("runDemoSequence()", () => { + beforeEach(() => { + localStorage.setItem("myBotIs", "online"); + console.log = jest.fn(); + console.error = jest.fn(); + jest.useFakeTimers(); + }); + + it("runs sequence with number variable", () => { + const sequence = fakeSequence(); + sequence.body.body = [{ + kind: "lua", + args: { lua: "print(variable(\"Number\"))" }, + }]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + const variables: ParameterApplication[] = [{ + kind: "parameter_application", + args: { + label: "Number", + data_value: { kind: "numeric", args: { number: 1 } }, + }, + }]; + runDemoSequence(ri, sequence.body.id, variables); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(info).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("1"); + }); + + it("runs sequence with text variable", () => { + const sequence = fakeSequence(); + sequence.body.body = [{ + kind: "lua", + args: { lua: "print(variable(\"Text\"))" }, + }]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + const variables: ParameterApplication[] = [{ + kind: "parameter_application", + args: { + label: "Text", + data_value: { kind: "text", args: { string: "text" } }, + }, + }]; + runDemoSequence(ri, sequence.body.id, variables); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(info).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("text"); + }); + + it("runs sequence with coordinate variable", () => { + const sequence = fakeSequence(); + sequence.body.body = [{ + kind: "lua", + args: { lua: "print(variable(\"Location\").x)" }, + }]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + const variables: ParameterApplication[] = [{ + kind: "parameter_application", + args: { + label: "Location", + data_value: { kind: "coordinate", args: { x: 0, y: 0, z: 0 } }, + }, + }]; + runDemoSequence(ri, sequence.body.id, variables); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(info).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("0"); + }); + + it("runs sequence with point variable", () => { + const point = fakePoint(); + point.body.id = 1; + point.body.x = 0; + mockResources = buildResourceIndex([point]); + const sequence = fakeSequence(); + sequence.body.body = [{ + kind: "lua", + args: { lua: "print(variable(\"Location\").x)" }, + }]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + const variables: ParameterApplication[] = [{ + kind: "parameter_application", + args: { + label: "Location", + data_value: { + kind: "point", + args: { pointer_id: 1, pointer_type: "GenericPointer" }, + }, + }, + }]; + runDemoSequence(ri, sequence.body.id, variables); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(info).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("0"); + }); + + it("runs sequence with point variable: no points", () => { + mockResources = buildResourceIndex([]); + const sequence = fakeSequence(); + sequence.body.body = [{ + kind: "lua", + args: { lua: "print(variable(\"Location\"))" }, + }]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + const variables: ParameterApplication[] = [{ + kind: "parameter_application", + args: { + label: "Location", + data_value: { + kind: "point", + args: { pointer_id: 1, pointer_type: "GenericPointer" }, + }, + }, + }]; + runDemoSequence(ri, sequence.body.id, variables); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(info).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("undefined"); + }); + + it("runs sequence with tool variable", () => { + const slot = fakeToolSlot(); + slot.body.tool_id = 1; + mockResources = buildResourceIndex([slot]); + const sequence = fakeSequence(); + sequence.body.body = [{ + kind: "lua", + args: { lua: "print(variable(\"Location\").tool_id)" }, + }]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + const variables: ParameterApplication[] = [{ + kind: "parameter_application", + args: { + label: "Location", + data_value: { kind: "tool", args: { tool_id: 1 } }, + }, + }]; + runDemoSequence(ri, sequence.body.id, variables); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(info).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("1"); + }); + + it("runs sequence with tool variable: not tools", () => { + mockResources = buildResourceIndex([]); + const sequence = fakeSequence(); + sequence.body.body = [{ + kind: "lua", + args: { lua: "print(variable(\"Location\"))" }, + }]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + const variables: ParameterApplication[] = [{ + kind: "parameter_application", + args: { + label: "Location", + data_value: { kind: "tool", args: { tool_id: 1 } }, + }, + }]; + runDemoSequence(ri, sequence.body.id, variables); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(info).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("undefined"); + }); + + it("runs sequence with other variable", () => { + const sequence = fakeSequence(); + sequence.body.body = [{ + kind: "lua", + args: { lua: "print(variable(\"Other\"))" }, + }]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + const variables: ParameterApplication[] = [{ + kind: "parameter_application", + args: { + label: "Other", + data_value: { kind: "identifier", args: { label: "var" } }, + }, + }]; + runDemoSequence(ri, sequence.body.id, variables); + jest.runAllTimers(); + expect(info).toHaveBeenCalledWith( + "Variable \"Other\" of type identifier not implemented.", + TOAST_OPTIONS().error); + expect(console.log).toHaveBeenCalledWith("undefined"); + expect(console.error).not.toHaveBeenCalled(); + }); + + it("runs non-lua sequence step", () => { + const sequence = fakeSequence(); + sequence.body.body = [{ + kind: "send_message", + args: { message: "text", message_type: "info" }, + }]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + runDemoSequence(ri, sequence.body.id, []); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(info).toHaveBeenCalledWith("text", TOAST_OPTIONS().info); + expect(console.log).not.toHaveBeenCalled(); + }); + + it("handles missing variables", () => { + const sequence = fakeSequence(); + sequence.body.body = [{ + kind: "lua", + args: { lua: "print(variable(\"Number\"))" }, + }]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + runDemoSequence(ri, sequence.body.id, undefined); + jest.runAllTimers(); + expect(info).toHaveBeenCalledWith( + "Variable \"Number\" of type undefined not implemented.", + TOAST_OPTIONS().error); + expect(console.log).toHaveBeenCalledWith("undefined"); + expect(console.error).not.toHaveBeenCalled(); + }); + + it("handles missing sequence body", () => { + const sequence = fakeSequence(); + sequence.body.body = undefined; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + if (ri.references[0]) { + (ri.references[0] as TaggedSequence).body.body = undefined; + } + runDemoSequence(ri, sequence.body.id, undefined); + jest.runAllTimers(); + expect(console.log).not.toHaveBeenCalled(); + expect(info).not.toHaveBeenCalled(); + expect(console.error).not.toHaveBeenCalled(); + }); + + it("handles load error", () => { + const sequence = fakeSequence(); + sequence.body.body = [{ kind: "lua", args: { lua: "!" } }]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + runDemoSequence(ri, sequence.body.id, undefined); + jest.runAllTimers(); + expect(console.log).not.toHaveBeenCalled(); + expect(info).not.toHaveBeenCalled(); + expect(console.error).toHaveBeenCalledWith( + "Lua load error:", + "[string \"!\"]:1: unexpected symbol near '!'", + ); + }); + + it("handles call error", () => { + const sequence = fakeSequence(); + sequence.body.body = [{ kind: "lua", args: { lua: "return blah + 5" } }]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + runDemoSequence(ri, sequence.body.id, undefined); + jest.runAllTimers(); + expect(console.log).not.toHaveBeenCalled(); + expect(info).not.toHaveBeenCalled(); + expect(console.error).toHaveBeenCalledWith( + "Lua call error:", + expect.stringContaining("attempt to perform arithmetic"), + ); + }); +}); + +describe("runDemoLuaCode()", () => { + beforeEach(() => { + localStorage.setItem("myBotIs", "online"); + console.log = jest.fn(); + console.error = jest.fn(); + jest.useFakeTimers(); + mockLocked = false; + }); + + it("runs print", () => { + runDemoLuaCode("print(\"Hello, world!\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("Hello, world!"); + }); + + it("runs print: all", () => { + runDemoLuaCode(` + local a = 2 + 2 + function f() + end + print(a, false, true, nil, {1}, {a = {b = 1}}, f) + `); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith( + "4 false true undefined [1] {\"a\":{\"b\":1}} \"\""); + }); + + it("runs garden_size", () => { + const firmwareConfig = fakeFirmwareConfig(); + firmwareConfig.body.movement_axis_nr_steps_x = 5000; + firmwareConfig.body.movement_axis_nr_steps_y = 10000; + firmwareConfig.body.movement_axis_nr_steps_z = 12500; + mockResources = buildResourceIndex([firmwareConfig]); + runDemoLuaCode( + "print(garden_size().x)\n" + + "print(garden_size().y)\n" + + "print(garden_size().z)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("1000"); + expect(console.log).toHaveBeenCalledWith("2000"); + expect(console.log).toHaveBeenCalledWith("500"); + }); + + it("runs api: default method", () => { + const point = fakePoint(); + point.body.id = 1; + point.body.x = 0; + mockResources = buildResourceIndex([point]); + runDemoLuaCode(` + local data = api{ + url="/api/points" + } + print(type(data), #data) + `); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("table 1"); + expect(info).not.toHaveBeenCalled(); + }); + + it("runs api: handles the unexpected", () => { + const point = fakePoint(); + point.body.id = 1; + point.body.x = undefined as unknown as number; + // eslint-disable-next-line @typescript-eslint/no-explicit-any + (point.body as any).function = () => { }; + mockResources = buildResourceIndex([point]); + runDemoLuaCode(` + local data = api{ + url="/api/points" + } + print(type(data), #data) + `); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("table 1"); + expect(info).not.toHaveBeenCalled(); + }); + + it("runs api: tools", () => { + const tool = fakeTool(); + tool.body.id = 1; + mockResources = buildResourceIndex([tool]); + runDemoLuaCode(` + local data = api{ + method = "GET", + url = "/api/tools" + } + print(type(data), #data) + `); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("table 1"); + expect(info).not.toHaveBeenCalled(); + }); + + it("runs api: other", () => { + mockResources = buildResourceIndex([]); + runDemoLuaCode(` + local data = api{ + method = "GET", + url = "/api/other" + } + print(data) + `); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("false"); + expect(info).toHaveBeenCalledWith( + "API call GET /api/other not implemented.", + TOAST_OPTIONS().error, + ); + }); + + it("runs cs_eval", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode(` + cs_eval{ + kind = "rpc_request", + args = { label = "", priority = 0 }, + body = { + { kind = "find_home", args = { axis = "x" } } + } + } + `); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 0, y: 2, z: 3 }, + }); + }); + + it("runs cs_eval: no body", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("cs_eval{}"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).not.toHaveBeenCalled(); + }); + + it("runs toast", () => { + runDemoLuaCode("toast(\"test\", \"info\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().info); + }); + + it("runs toast: default", () => { + runDemoLuaCode("toast(\"test\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().info); + }); + + it("runs debug", () => { + runDemoLuaCode("debug(\"test\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().debug); + }); + + it("runs send_message", () => { + runDemoLuaCode("send_message(\"info\", \"test\", \"toast\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().info); + }); + + it("sets job progress: working", () => { + runDemoLuaCode(` + set_job_progress("job", { + percent = 50, + status = "working", + time = os.time() * 1000 + }) + `); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_JOB_PROGRESS, + payload: ["job", { + unit: "percent", + percent: 50, + status: "working", + type: "", + file_type: "", + updated_at: expect.any(Number), + time: expect.any(Number), + }], + }); + }); + + it("sets job progress: complete", () => { + runDemoLuaCode(` + set_job_progress("job", { + percent = 100, + status = "Complete", + time = os.time() * 1000 + }) + `); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_JOB_PROGRESS, + payload: ["job", { + unit: "percent", + percent: 100, + status: "Complete", + type: "", + file_type: "", + updated_at: expect.any(Number), + time: undefined, + }], + }); + }); + + it("runs find_home: all", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("find_home(\"all\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 0, y: 0, z: 0 }, + }); + }); + + it("runs go_to_home: all", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("go_to_home(\"all\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 0, y: 0, z: 0 }, + }); + }); + + it("runs go_to_home: x", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("go_to_home(\"x\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 0, y: 2, z: 3 }, + }); + }); + + it("runs go_to_home: y", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("go_to_home(\"y\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 1, y: 0, z: 3 }, + }); + }); + + it("runs toggle_pin", () => { + runDemoLuaCode("toggle_pin(5)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_TOGGLE_PIN, + payload: 5, + }); + }); + + it("runs write_pin", () => { + runDemoLuaCode("write_pin(5, \"digital\", 1)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_WRITE_PIN, + payload: { pin: 5, mode: "digital", value: 1 }, + }); + }); + + it("runs on", () => { + runDemoLuaCode("on(5)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_WRITE_PIN, + payload: { pin: 5, mode: "digital", value: 1 }, + }); + }); + + it("doesn't run when estopped", () => { + mockLocked = true; + runDemoLuaCode("on(5)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).not.toHaveBeenCalled(); + }); + + it("runs off", () => { + runDemoLuaCode("off(5)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_WRITE_PIN, + payload: { pin: 5, mode: "digital", value: 0 }, + }); + }); + + it("runs safe_z", () => { + runDemoLuaCode("print(safe_z())"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("0"); + expect(info).not.toHaveBeenCalled(); + }); + + it("runs get_device", () => { + const device = fakeDevice(); + device.body.mounted_tool_id = 1; + mockResources = buildResourceIndex([device]); + runDemoLuaCode("print(get_device(\"mounted_tool_id\"))"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("1"); + expect(info).not.toHaveBeenCalled(); + }); + + it("runs get_device: undefined value", () => { + const device = fakeDevice(); + device.body.mounted_tool_id = undefined; + mockResources = buildResourceIndex([device]); + runDemoLuaCode("print(get_device(\"mounted_tool_id\"))"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("false"); + expect(info).not.toHaveBeenCalled(); + }); + + it("runs update_device", () => { + const device = fakeDevice(); + device.body.mounted_tool_id = 0; + mockResources = buildResourceIndex([device]); + runDemoLuaCode("update_device{ mounted_tool_id = 1 }"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).not.toHaveBeenCalled(); + expect(info).not.toHaveBeenCalled(); + expect(edit).toHaveBeenCalledWith(device, { mounted_tool_id: 1 }); + expect(save).toHaveBeenCalledWith(device.uuid); + }); + + it("runs read_pin 63: 0", () => { + const device = fakeDevice(); + device.body.mounted_tool_id = 1; + mockResources = buildResourceIndex([device]); + runDemoLuaCode("print(read_pin(63))"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("0"); + expect(info).not.toHaveBeenCalled(); + }); + + it("runs read_pin 63: 1", () => { + const device = fakeDevice(); + device.body.mounted_tool_id = 0; + mockResources = buildResourceIndex([device]); + runDemoLuaCode("print(read_pin(63))"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("1"); + expect(info).not.toHaveBeenCalled(); + }); + + it("runs read_pin 5", () => { + mockResources = buildResourceIndex([]); + runDemoLuaCode("print(read_pin(5))"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("0"); + expect(info).not.toHaveBeenCalled(); + }); + + it("runs move_relative", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("move_relative(1, 0, 0)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 2, y: 2, z: 3 }, + }); + }); + + it("runs move_relative: zero", () => { + mockPosition = { x: 0, y: 0, z: 0 }; + runDemoLuaCode("move_relative(0, 0, 0)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 0, y: 0, z: 0 }, + }); + }); + + it("runs move_absolute", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("move_absolute(1, 0, 0)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 1, y: 0, z: 0 }, + }); + }); + + it("runs move_absolute: alternate syntax", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("move_absolute{ x = 1, y = 0, z = 0 }"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 1, y: 0, z: 0 }, + }); + }); + + it("runs move: y", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("move{ y = 1 }"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 1, y: 1, z: 3 }, + }); + }); + + it("runs move: x and z", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("move{ x = 0, z = 0 }"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 0, y: 2, z: 0 }, + }); + }); + + it("runs emergency_lock", () => { + runDemoLuaCode("emergency_lock()"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_ESTOP, + payload: true, + }); + }); + + it("runs emergency_unlock", () => { + runDemoLuaCode("emergency_unlock()"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_ESTOP, + payload: false, + }); + }); + + it("allows emergency_unlock", () => { + mockLocked = true; + runDemoLuaCode("emergency_unlock()"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_ESTOP, + payload: false, + }); + }); + + it("runs non-implemented function", () => { + runDemoLuaCode("foo.bar.baz()"); + jest.runAllTimers(); + expect(info).toHaveBeenCalledWith( + "Lua function \"foo.bar.baz\" is not implemented.", + TOAST_OPTIONS().error, + ); + }); +}); + +describe("csToLua()", () => { + it("returns Lua", () => { + expect(csToLua({ kind: "emergency_lock", args: {} })) + .toEqual("emergency_lock()"); + }); +}); + +/** + * Lua functions available in the demo runner + * + * builtins/lib: + * [ y ] print + * [ y ] type + * [ y ] tostring + * [ y ] tonumber + * [ y ] pairs + * [ y ] ipairs + * [ y ] os.date + * [ y ] os.time + * [ y ] math. + * [ y ] table. + * [ y ] string. + * + * Other: + * [ y ] move_relative + * [ y ] round + * [ y ] angleRound + * [ y ] cropAmount + * [ y ] fwe + * [ y ] axis_overwrite + * [ y ] speed_overwrite + * [ y ] iso8601 + * [ y ] current_year + * [ y ] current_day + * + * FBOS: + * [ y ] variable (numeric/text only) + * [ ] auth_token + * [ y ] api (GET /api/points only) + * [ ] base64.decode + * [ ] base64.encode + * [ ] calibrate_camera + * [ ] check_position + * [ ] complete_job + * [ ] coordinate + * [ y ] cs_eval + * [ y ] current_hour + * [ y ] current_minute + * [ y ] current_month + * [ y ] current_second + * [ ] detect_weeds + * [ y ] dispense + * [ y ] emergency_lock + * [ y ] emergency_unlock + * [ ] env + * [ ] fbos_version + * [ ] find_axis_length + * [ y ] find_home + * [ ] firmware_version + * [ y ] garden_size + * [ ] gcode + * [ y ] get_curve + * [ y ] get_device + * [ ] get_fbos_config + * [ ] get_firmware_config + * [ ] get_job + * [ ] get_job_progress + * [ ] get_position + * [ y ] get_seed_tray_cell + * [ ] get_xyz + * [ ] get_tool + * [ y ] go_to_home + * [ y ] grid + * [ ] group + * [ ] http + * [ ] inspect + * [ ] json.decode + * [ ] json.encode + * [ ] measure_soil_height + * [ y ] mount_tool + * [ y ] dismount_tool + * [ y ] move_absolute + * [ y ] move + * [ ] new_sensor_reading + * [ y ] photo_grid + * [ y ] read_pin + * [ ] read_status + * [ y ] rpc + * [ y ] sequence + * [ y ] send_message (info only) + * [ y ] debug + * [ y ] toast (info only) + * [ y ] safe_z + * [ ] set_job + * [ y ] set_job_progress + * [ ] set_pin_io_mode + * [ ] soft_stop + * [ ] soil_height + * [ ] sort + * [ ] take_photo_raw + * [ ] take_photo + * [ y ] toggle_pin + * [ ] uart.open + * [ ] uart.list + * [ y ] update_device + * [ ] update_fbos_config + * [ ] update_firmware_config + * [ y ] utc + * [ ] local_time + * [ ] to_unix + * [ y ] verify_tool + * [ y ] wait_ms + * [ y ] wait + * [ y ] water + * [ ] watch_pin + * [ y ] on + * [ y ] off + * [ y ] write_pin (digital only) + */ diff --git a/frontend/demo/lua_runner/__tests__/lua_test.ts b/frontend/demo/lua_runner/__tests__/lua_test.ts new file mode 100644 index 0000000000..ece41ae297 --- /dev/null +++ b/frontend/demo/lua_runner/__tests__/lua_test.ts @@ -0,0 +1,7 @@ +import { LUA_HELPERS } from "../lua"; + +describe("LUA_HELPERS", () => { + it("returns lua code", () => { + expect(LUA_HELPERS.length).toBeGreaterThan(100); + }); +}); diff --git a/frontend/demo/lua_runner/__tests__/run_test.ts b/frontend/demo/lua_runner/__tests__/run_test.ts new file mode 100644 index 0000000000..f39a1fca52 --- /dev/null +++ b/frontend/demo/lua_runner/__tests__/run_test.ts @@ -0,0 +1,18 @@ +import { runLua } from "../run"; + +describe("runLua()", () => { + it("returns actions", () => { + const code = ` + move_absolute(1, 2, 3) + wait_ms(1000) + go_to_home("all") + move{ y = 1 } + `; + expect(runLua(code, [])).toEqual([ + { type: "move_absolute", args: [1, 2, 3] }, + { type: "wait_ms", args: [1000] }, + { type: "go_to_home", args: ["all"] }, + { type: "move", args: [undefined, 1, undefined] }, + ]); + }); +}); diff --git a/frontend/demo/lua_runner/__tests__/util_test.ts b/frontend/demo/lua_runner/__tests__/util_test.ts new file mode 100644 index 0000000000..fa45234ffb --- /dev/null +++ b/frontend/demo/lua_runner/__tests__/util_test.ts @@ -0,0 +1,133 @@ +import { csToLua } from "../util"; +import { + EmergencyLock, EmergencyUnlock, FindHome, Home, Lua, Move, MoveAbsolute, + MoveRelative, SendMessage, SequenceBodyItem, TogglePin, Wait, WritePin, +} from "farmbot"; + +describe("csToLua()", () => { + it("converts celery script to lua: lock", () => { + const command: EmergencyLock = { kind: "emergency_lock", args: {} }; + expect(csToLua(command)).toEqual("emergency_lock()"); + }); + + it("converts celery script to lua: unlock", () => { + const command: EmergencyUnlock = { kind: "emergency_unlock", args: {} }; + expect(csToLua(command)).toEqual("emergency_unlock()"); + }); + + it("converts celery script to lua: find_home", () => { + const command: FindHome = { + kind: "find_home", + args: { axis: "x", speed: 100 }, + }; + expect(csToLua(command)).toEqual("find_home(\"x\")"); + }); + + it("converts celery script to lua: home", () => { + const command: Home = { kind: "home", args: { axis: "x", speed: 100 } }; + expect(csToLua(command)).toEqual("go_to_home(\"x\")"); + }); + + it("converts celery script to lua: wait", () => { + const command: Wait = { kind: "wait", args: { milliseconds: 1000 } }; + expect(csToLua(command)).toEqual("wait(1000)"); + }); + + it("converts celery script to lua: send_message", () => { + const command: SendMessage = { + kind: "send_message", + args: { message: "text", message_type: "info" }, + }; + expect(csToLua(command)).toEqual("send_message(\"info\", \"text\")"); + }); + + it("converts celery script to lua: move_relative", () => { + const command: MoveRelative = { + kind: "move_relative", + args: { x: 1, y: 2, z: 3, speed: 100 }, + }; + expect(csToLua(command)).toEqual("move_relative(1, 2, 3)"); + }); + + it("converts celery script to lua: move_absolute coordinate", () => { + const command: MoveAbsolute = { + kind: "move_absolute", + args: { + location: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, + offset: { kind: "coordinate", args: { x: 0, y: 0, z: 0 } }, + speed: 100, + }, + }; + expect(csToLua(command)).toEqual("move_absolute(1, 2, 3)"); + }); + + it("converts celery script to lua: move_absolute other", () => { + const command: MoveAbsolute = { + kind: "move_absolute", + args: { + location: { kind: "identifier", args: { label: "" } }, + offset: { kind: "coordinate", args: { x: 0, y: 0, z: 0 } }, + speed: 100, + }, + }; + expect(csToLua(command)).toEqual( + "toast(\"move_absolute identifier is not implemented\", \"error\")"); + }); + + it("converts celery script to lua: move", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "y", + axis_operand: { kind: "numeric", args: { number: 1 } }, + }, + }, + ], + }; + expect(csToLua(command)).toEqual("move{y=1}"); + }); + + it("converts celery script to lua: move no body", () => { + const command: Move = { kind: "move", args: {} }; + expect(csToLua(command)).toEqual("move{}"); + }); + + it("converts celery script to lua: write_pin", () => { + const command: WritePin = { + kind: "write_pin", + args: { pin_number: 1, pin_mode: 0, pin_value: 1 }, + }; + expect(csToLua(command)).toEqual("write_pin(1, \"digital\", 1)"); + }); + + it("converts celery script to lua: write_pin analog", () => { + const command: WritePin = { + kind: "write_pin", + args: { pin_number: 1, pin_mode: 1, pin_value: 1 }, + }; + expect(csToLua(command)).toEqual("write_pin(1, \"analog\", 1)"); + }); + + it("converts celery script to lua: toggle_pin", () => { + const command: TogglePin = { + kind: "toggle_pin", + args: { pin_number: 1 }, + }; + expect(csToLua(command)).toEqual("toggle_pin(1)"); + }); + + it("converts celery script to lua: lua", () => { + const command: Lua = { kind: "lua", args: { lua: "print(\"lua\")" } }; + expect(csToLua(command)).toEqual("print(\"lua\")"); + }); + + it("converts celery script to lua: not implemented", () => { + const command = { kind: "nope", args: {} } as unknown as SequenceBodyItem; + expect(csToLua(command)).toEqual( + "toast(\"celeryscript nope is not implemented\", \"error\")"); + }); +}); diff --git a/frontend/demo/lua_runner/actions.ts b/frontend/demo/lua_runner/actions.ts new file mode 100644 index 0000000000..1b6a844898 --- /dev/null +++ b/frontend/demo/lua_runner/actions.ts @@ -0,0 +1,229 @@ +import { PercentageProgress, Xyz } from "farmbot"; +import { info } from "../../toast/toast"; +import { store } from "../../redux/store"; +import { Actions } from "../../constants"; +import { validBotLocationData } from "../../util/location"; +import { TOAST_OPTIONS } from "../../toast/constants"; +import { Action } from "./interfaces"; +import { edit, save } from "../../api/crud"; +import { getDeviceAccountSettings } from "../../resources/selectors"; +import { UnknownAction } from "redux"; + +const almostEqual = (a: Record, b: Record) => { + const epsilon = 0.01; + return Math.abs(a.x - b.x) < epsilon && + Math.abs(a.y - b.y) < epsilon && + Math.abs(a.z - b.z) < epsilon; +}; + +const movementChunks = ( + current: Record, + target: Record, +): Record[] => { + const dx = target.x - current.x; + const dy = target.y - current.y; + const dz = target.z - current.z; + + const length = Math.sqrt(dx * dx + dy * dy + dz * dz); + if (length === 0) { return [target]; } + const direction = { + x: dx / length, + y: dy / length, + z: dz / length, + }; + const steps = Math.floor(length / 100); + const chunks: Record[] = []; + for (let i = 0; i <= steps; i++) { + const step = { + x: current.x + direction.x * 100 * i, + y: current.y + direction.y * 100 * i, + z: current.z + direction.z * 100 * i, + }; + chunks.push(step); + } + if (!almostEqual(chunks[chunks.length - 1], target)) { + chunks.push(target); + } + return chunks; +}; + +const expandActions = (actions: Action[]): Action[] => { + const expanded: Action[] = []; + const { position } = validBotLocationData( + store.getState().bot.hardware.location_data); + const current = { + x: position.x as number, + y: position.y as number, + z: position.z as number, + }; + const addPosition = (position: Record) => { + expanded.push({ + type: "wait_ms", + args: [500], + }); + expanded.push({ + type: "move_absolute", + args: [position.x, position.y, position.z], + }); + }; + const setCurrent = (position: Record) => { + current.x = position.x; + current.y = position.y; + current.z = position.z; + }; + actions.map(action => { + switch (action.type) { + case "move_absolute": + const target = { + x: action.args[0] as number, + y: action.args[1] as number, + z: action.args[2] as number, + }; + movementChunks(current, target).map(addPosition); + setCurrent(target); + break; + case "move_relative": + const moveRelativeTarget = { + x: current.x + (action.args[0] as number), + y: current.y + (action.args[1] as number), + z: current.z + (action.args[2] as number), + }; + movementChunks(current, moveRelativeTarget).map(addPosition); + setCurrent(moveRelativeTarget); + break; + case "move": + const moveTarget = { + x: (action.args[0] as number | undefined) ?? current.x, + y: (action.args[1] as number | undefined) ?? current.y, + z: (action.args[2] as number | undefined) ?? current.z, + }; + movementChunks(current, moveTarget).map(addPosition); + setCurrent(moveTarget); + break; + case "find_home": + case "go_to_home": + const axisInput = action.args[0] as string; + const axes = axisInput == "all" ? ["z", "y", "x"] : [axisInput]; + axes.map(axis => { + const homeTarget = { + x: axis == "x" ? 0 : current.x, + y: axis == "y" ? 0 : current.y, + z: axis == "z" ? 0 : current.z, + }; + movementChunks(current, homeTarget).map(addPosition); + setCurrent(homeTarget); + }); + break; + default: + expanded.push(action); + break; + } + }); + return expanded; +}; + +const pending = new Set>(); + +export const runActions = (actions: Action[]) => { + let delay = 0; + expandActions(actions).map(action => { + // eslint-disable-next-line complexity + const getFunc = () => { + const estopped = store.getState().bot.hardware.informational_settings.locked; + if (estopped && action.type !== "emergency_unlock") { + return; + } + switch (action.type) { + case "wait_ms": + const ms = action.args[0] as number; + delay += ms; + return undefined; + case "send_message": + const type = "" + action.args[0]; + const msg = "" + action.args[1]; + return () => { + info(msg, TOAST_OPTIONS()[type]); + }; + case "print": + return () => { + console.log(action.args[0]); + }; + case "emergency_lock": + return () => { + pending.forEach(clearTimeout); + pending.clear(); + store.dispatch({ + type: Actions.DEMO_SET_ESTOP, + payload: true, + }); + }; + case "emergency_unlock": + return () => { + store.dispatch({ + type: Actions.DEMO_SET_ESTOP, + payload: false, + }); + }; + case "move_absolute": + const x = action.args[0] as number; + const y = action.args[1] as number; + const z = action.args[2] as number; + const position = { x, y, z }; + return () => { + store.dispatch({ + type: Actions.DEMO_SET_POSITION, + payload: position, + }); + }; + case "toggle_pin": + return () => { + store.dispatch({ + type: Actions.DEMO_TOGGLE_PIN, + payload: action.args[0] as number, + }); + }; + case "write_pin": + const pin = action.args[0] as number; + const mode = action.args[1] as string; + const value = action.args[2] as number; + return () => { + store.dispatch({ + type: Actions.DEMO_WRITE_PIN, + payload: { pin, mode, value }, + }); + }; + case "set_job_progress": + const job = "" + action.args[0]; + const percent = action.args[1] as number; + const status = "" + action.args[2]; + const time = action.args[3]; + const progress: PercentageProgress = { + unit: "percent", + percent, + status: status as "working", + type: "", + file_type: "", + updated_at: (new Date()).valueOf() / 1000, + time: (status == "Complete" ? undefined : time) as string, + }; + return () => { + store.dispatch({ + type: Actions.DEMO_SET_JOB_PROGRESS, + payload: [job, progress], + }); + }; + case "update_device": + return () => { + const device = + getDeviceAccountSettings(store.getState().resources.index); + store.dispatch(edit(device, { + mounted_tool_id: action.args[1] as number, + }) as unknown as UnknownAction); + store.dispatch(save(device.uuid) as unknown as UnknownAction); + }; + } + }; + const func = getFunc(); + func && pending.add(setTimeout(func, delay)); + }); +}; diff --git a/frontend/demo/lua_runner/index.ts b/frontend/demo/lua_runner/index.ts new file mode 100644 index 0000000000..7cd4b8e2b3 --- /dev/null +++ b/frontend/demo/lua_runner/index.ts @@ -0,0 +1,29 @@ +import { findSequenceById } from "../../resources/selectors"; +import { ResourceIndex } from "../../resources/interfaces"; +import { ParameterApplication, SequenceBodyItem } from "farmbot"; +import { runLua } from "./run"; +import { runActions } from "./actions"; +import { Action } from "./interfaces"; +import { csToLua } from "./util"; + +export const runDemoLuaCode = (luaCode: string) => { + const actions = runLua(luaCode, []); + runActions(actions); +}; + +export const runDemoSequence = ( + resources: ResourceIndex, + sequenceId: number, + variables: ParameterApplication[] | undefined, +) => { + const sequence = findSequenceById(resources, sequenceId); + const actions: Action[] = []; + (sequence.body.body as SequenceBodyItem[]).map(step => { + const lua = step.kind === "lua" ? step.args.lua : csToLua(step); + const stepActions = runLua(lua, variables || []); + actions.push(...stepActions); + }); + runActions(actions); +}; + +export { csToLua }; diff --git a/frontend/demo/lua_runner/interfaces.ts b/frontend/demo/lua_runner/interfaces.ts new file mode 100644 index 0000000000..f722801276 --- /dev/null +++ b/frontend/demo/lua_runner/interfaces.ts @@ -0,0 +1,18 @@ +export interface Action { + type: + | "move_absolute" + | "move_relative" + | "move" + | "toggle_pin" + | "emergency_lock" + | "emergency_unlock" + | "find_home" + | "go_to_home" + | "send_message" + | "update_device" + | "print" + | "wait_ms" + | "write_pin" + | "set_job_progress"; + args: (number | string | undefined)[]; +} diff --git a/frontend/demo/lua_helpers.ts b/frontend/demo/lua_runner/lua.ts similarity index 93% rename from frontend/demo/lua_helpers.ts rename to frontend/demo/lua_runner/lua.ts index 0d521e9472..937c217b05 100644 --- a/frontend/demo/lua_helpers.ts +++ b/frontend/demo/lua_runner/lua.ts @@ -1,5 +1,6 @@ /* eslint-disable max-len */ -export const LUA_HELPERS = ` + +const FROM_FBOS = ` function grid(params) local x_point_count = params.grid_points.x local y_point_count = params.grid_points.y @@ -280,7 +281,7 @@ function dismount_tool() move{z = slot.z + 50} -- Check verification pin - if read_pin(63) == 0 then + if read_pin(63) == 0 and false then job(90, "Failed") toast("Tool dismounting failed - there is still an electrical connection between UTM pins B and C.", "error") return @@ -567,7 +568,7 @@ function mount_tool(input) end -- Check verification pin - if read_pin(63) == 1 then + if read_pin(63) == 1 and false then job(80, "Failed") toast("Tool mounting failed - no electrical connection between UTM pins B and C.", "error") return @@ -598,7 +599,7 @@ function speed_overwrite(axis, num) } end -function move(input) +function re_move(input) cs_eval({ kind = "rpc_request", args = {label = "move_cmd_lua", priority = 500}, @@ -733,3 +734,83 @@ function water(plant, params) complete_job(job_name) end `; + +const ALIASES = ` +function on(pin) + write_pin(pin, "digital", 1) +end + +function off(pin) + write_pin(pin, "digital", 0) +end + +function toast(message, type) + local type = type or "info" + send_message(type, message, "toast") +end + +function debug(message) + send_message("debug", message) +end + +function iso8601(date) + return string.format("%04d-%02d-%02dT%02d:%02d:%02dZ", + date.year, date.month, date.day, + date.hour, date.min, date.sec) +end + +function utc(part) + local now = os.date("*t") + local map = { + year = now.year, + month = now.month, + day = now.day, + hour = now.hour, + minute = now.min, + second = now.sec, + } + return map[part] or iso8601(now) +end + +function current_year() + return utc("year") +end + +function current_month() + return utc("month") +end + +function current_day() + return utc("day") +end + +function current_hour() + return utc("hour") +end + +function current_minute() + return utc("minute") +end + +function current_second() + return utc("second") +end + +function get_tool(params) + local tool_id = params.id or 0 + local tool_name = params.name or "" + local tools = api({ url = "/api/tools" }) + tools = tools or {} + for _, tool in ipairs(tools) do + if tool.id == tool_id or tool.name == tool_name then + return tool + end + end + return nil +end +`; + +export const LUA_HELPERS = [ + ALIASES, + FROM_FBOS, +].join("\n"); diff --git a/frontend/demo/lua_runner/run.ts b/frontend/demo/lua_runner/run.ts new file mode 100644 index 0000000000..3cf0789c43 --- /dev/null +++ b/frontend/demo/lua_runner/run.ts @@ -0,0 +1,365 @@ +import { lua, lauxlib, lualib, to_luastring } from "fengari-web"; +import { + getDeviceAccountSettings, + selectAllPoints, selectAllTools, selectAllToolSlotPointers, +} from "../../resources/selectors"; +import { + ParameterApplication, RpcRequest, TaggedFirmwareConfig, + Xyz, +} from "farmbot"; +import { store } from "../../redux/store"; +import { sortGroupBy } from "../../point_groups/point_group_sort"; +import { calculateAxialLengths } from "../../controls/move/direction_axes_props"; +import { getFirmwareConfig } from "../../resources/getters"; +import { LUA_HELPERS } from "./lua"; +import { createRecursiveNotImplemented, csToLua, jsToLua, luaToJs } from "./util"; +import { Action } from "./interfaces"; +import { DeviceAccountSettings } from "farmbot/dist/resources/api_resources"; + +export const runLua = + (luaCode: string, variables: ParameterApplication[]): Action[] => { + const actions: Action[] = []; + const L = lauxlib.luaL_newstate(); // stack: [] + + lua.lua_newtable(L); // stack: [env] + const envIndex = lua.lua_gettop(L); + + lauxlib.luaL_requiref(L, to_luastring("_G"), lualib.luaopen_base, 1); + const gIndex = lua.lua_gettop(L); + + lua.lua_getfield(L, gIndex, to_luastring("type")); + lua.lua_setfield(L, envIndex, to_luastring("type")); + + lua.lua_getfield(L, gIndex, to_luastring("tostring")); + lua.lua_setfield(L, envIndex, to_luastring("tostring")); + + lua.lua_getfield(L, gIndex, to_luastring("tonumber")); + lua.lua_setfield(L, envIndex, to_luastring("tonumber")); + + lua.lua_getfield(L, gIndex, to_luastring("pairs")); + lua.lua_setfield(L, envIndex, to_luastring("pairs")); + + lua.lua_getfield(L, gIndex, to_luastring("ipairs")); + lua.lua_setfield(L, envIndex, to_luastring("ipairs")); + + lua.lua_pop(L, 1); // stack: [env] + + lauxlib.luaL_requiref(L, to_luastring("math"), lualib.luaopen_math, 1); + lua.lua_setfield(L, envIndex, to_luastring("math")); + + lauxlib.luaL_requiref(L, to_luastring("table"), lualib.luaopen_table, 1); + lua.lua_setfield(L, envIndex, to_luastring("table")); + + lauxlib.luaL_requiref(L, to_luastring("string"), lualib.luaopen_string, 1); + lua.lua_setfield(L, envIndex, to_luastring("string")); + + lua.lua_pushjsfunction(L, () => { + let output = ""; + const n = lua.lua_gettop(L); + for (let i = 1; i <= n; i++) { + if (i > 1) { output += "\t"; } + if (lua.lua_isstring(L, i)) { + output += luaToJs(L, i); + } else { + output += JSON.stringify(luaToJs(L, i)); + } + } + actions.push({ type: "print", args: [output] }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("print")); + + lua.lua_pushjsfunction(L, () => { + const variableName = luaToJs(L, 1) as string; + const n = variables + .filter(variable => variable.args.label === variableName) + .map(variable => variable.args.data_value)[0]; + switch (n?.kind) { + case "numeric": + jsToLua(L, n.args.number); + break; + case "text": + jsToLua(L, n.args.string); + break; + case "coordinate": + jsToLua(L, n.args); + break; + case "point": + const point = selectAllPoints(store.getState().resources.index) + .find(p => p.body.id === n.args.pointer_id)?.body; + jsToLua(L, point); + break; + case "tool": + const slot = selectAllToolSlotPointers(store.getState().resources.index) + .find(ts => ts.body.tool_id === n.args.tool_id)?.body; + jsToLua(L, slot); + break; + default: + actions.push({ + type: "send_message", + args: [ + "error", + `Variable "${variableName}" of type ${n?.kind} not implemented.`, + "toast", + ], + }); + lua.lua_pushnil(L); + break; + } + return 1; + }); + lua.lua_setfield(L, envIndex, to_luastring("variable")); + + // stack: [env] + lauxlib.luaL_requiref(L, to_luastring("os"), lualib.luaopen_os, 1); + // stack: [env, os] + const osIndex = lua.lua_gettop(L); + lua.lua_newtable(L); + const envOsIndex = lua.lua_gettop(L); + lua.lua_getfield(L, osIndex, to_luastring("time")); + lua.lua_setfield(L, envOsIndex, to_luastring("time")); + lua.lua_getfield(L, osIndex, to_luastring("date")); + lua.lua_setfield(L, envOsIndex, to_luastring("date")); + lua.lua_setfield(L, envIndex, to_luastring("os")); + lua.lua_pop(L, 1); // stack: [env] + + lua.lua_pushjsfunction(L, () => { + lua.lua_getfield(L, 1, to_luastring("method")); + const method = lua.lua_isnil(L, -1) + ? "GET" + : luaToJs(L, -1) as string; + lua.lua_pop(L, 1); + + lua.lua_getfield(L, 1, to_luastring("url")); + const rawUrl = luaToJs(L, -1) as string; + const url = rawUrl.replace(/\/$/, ""); + lua.lua_pop(L, 1); + + if (method == "GET" && url == "/api/points") { + const points = selectAllPoints(store.getState().resources.index); + const results = sortGroupBy("yx_alternating", points).map(p => p.body); + jsToLua(L, results); + return 1; + } else if (method == "GET" && url == "/api/tools") { + const results = selectAllTools(store.getState().resources.index) + .map(p => p.body); + jsToLua(L, results); + return 1; + } else { + actions.push({ + type: "send_message", + args: [ + "error", + `API call ${method} ${url} not implemented.`, + "toast", + ], + }); + jsToLua(L, false); + return 1; + } + }); + lua.lua_setfield(L, envIndex, to_luastring("api")); + + lua.lua_pushjsfunction(L, () => { + const cmd = (luaToJs(L, 1) as RpcRequest).body?.[0]; + if (!cmd) { return 0; } + const luaActions = runLua(csToLua(cmd), variables); + actions.push(...luaActions); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("cs_eval")); + + lua.lua_pushjsfunction(L, () => { + const n = lua.lua_gettop(L); + const args = []; + for (let i = 1; i <= n; i++) { + args.push(luaToJs(L, i) as string); + } + actions.push({ type: "send_message", args: args }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("send_message")); + + lua.lua_pushjsfunction(L, () => { + const jobName = luaToJs(L, 1) as string; + + lua.lua_getfield(L, 2, to_luastring("percent")); + const percent = luaToJs(L, -1) as number; + lua.lua_pop(L, 1); + + lua.lua_getfield(L, 2, to_luastring("status")); + const status = luaToJs(L, -1) as string; + lua.lua_pop(L, 1); + + lua.lua_getfield(L, 2, to_luastring("time")); + const time = luaToJs(L, -1) as number; + lua.lua_pop(L, 1); + + actions.push({ + type: "set_job_progress", + args: [jobName, percent, status, time], + }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("set_job_progress")); + + lua.lua_pushjsfunction(L, () => { + const args = []; + const n = lua.lua_gettop(L); + if (n == 1) { + const params = luaToJs(L, 1) as Record; + ["x", "y", "z"].map((axis: Xyz) => args.push(params[axis])); + } else { + for (let i = 1; i <= n; i++) { + args.push(luaToJs(L, i) as number); + } + } + actions.push({ type: "move_absolute", args: args }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("move_absolute")); + + lua.lua_pushjsfunction(L, () => { + const n = lua.lua_gettop(L); + const args = []; + for (let i = 1; i <= n; i++) { + args.push(luaToJs(L, i) as number); + } + actions.push({ type: "move_relative", args: args }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("move_relative")); + + lua.lua_pushjsfunction(L, () => { + const axis = luaToJs(L, -1) as string; + actions.push({ type: "find_home", args: [axis] }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("find_home")); + + lua.lua_pushjsfunction(L, () => { + const axis = luaToJs(L, -1) as string; + actions.push({ type: "go_to_home", args: [axis] }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("go_to_home")); + + lua.lua_pushjsfunction(L, () => { + const ms = luaToJs(L, 1) as number; + actions.push({ type: "wait_ms", args: [ms] }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("wait_ms")); + + lua.lua_pushjsfunction(L, () => { + const key = luaToJs(L, 1) as keyof DeviceAccountSettings; + const device = getDeviceAccountSettings(store.getState().resources.index); + const value = device.body[key]; + jsToLua(L, value || false); + return 1; + }); + lua.lua_setfield(L, envIndex, to_luastring("get_device")); + + lua.lua_pushjsfunction(L, () => { + const params = luaToJs(L, 1) as Object; + const [key, value] = Object.entries(params)[0]; + actions.push({ type: "update_device", args: [key, value] }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("update_device")); + + lua.lua_pushjsfunction(L, () => { + jsToLua(L, 0); + return 1; + }); + lua.lua_setfield(L, envIndex, to_luastring("safe_z")); + + lua.lua_pushjsfunction(L, () => { + const args = luaToJs(L, 1) as Partial>; + actions.push({ type: "move", args: [args.x, args.y, args.z] }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("move")); + + lua.lua_pushjsfunction(L, () => { + const pin = luaToJs(L, 1) as number; + if (pin == 63) { + const toolMounted = + !!getDeviceAccountSettings(store.getState().resources.index) + .body.mounted_tool_id; + jsToLua(L, toolMounted ? 0 : 1); + return 1; + } + jsToLua(L, 0); + return 1; + }); + lua.lua_setfield(L, envIndex, to_luastring("read_pin")); + + lua.lua_pushjsfunction(L, () => { + const pin = luaToJs(L, 1) as number; + const mode = luaToJs(L, 2) as number; + const value = luaToJs(L, 3) as number; + actions.push({ type: "write_pin", args: [pin, mode, value] }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("write_pin")); + + lua.lua_pushjsfunction(L, () => { + const pin = luaToJs(L, 1) as number; + actions.push({ type: "toggle_pin", args: [pin] }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("toggle_pin")); + + lua.lua_pushjsfunction(L, () => { + const fwConfig = getFirmwareConfig(store.getState().resources.index); + const firmwareSettings = (fwConfig as TaggedFirmwareConfig).body; + const lengths = calculateAxialLengths({ firmwareSettings }); + jsToLua(L, lengths); + return 1; + }); + lua.lua_setfield(L, envIndex, to_luastring("garden_size")); + + lauxlib.luaL_loadstring(L, to_luastring(LUA_HELPERS)); + lua.lua_pushvalue(L, -2); + lua.lua_setupvalue(L, -2, 1); + lua.lua_pcall(L, 0, 0, 0); + + lua.lua_pushjsfunction(L, () => { + actions.push({ type: "emergency_lock", args: [] }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("emergency_lock")); + + lua.lua_pushjsfunction(L, () => { + actions.push({ type: "emergency_unlock", args: [] }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("emergency_unlock")); + + lua.lua_newtable(L); + lua.lua_pushjsfunction(L, () => { + const key = luaToJs(L, 2) as string; + return createRecursiveNotImplemented(L, actions, [key]); + }); + lua.lua_setfield(L, -2, to_luastring("__index")); + lua.lua_setmetatable(L, -2); + + const statusLoad = lauxlib.luaL_loadstring(L, to_luastring(luaCode)); + if (statusLoad !== lua.LUA_OK) { + const error = luaToJs(L, -1) as string; + console.error("Lua load error:", error); + return []; + } + + lua.lua_pushvalue(L, -2); + lua.lua_setupvalue(L, -2, 1); + + const statusCall = lua.lua_pcall(L, 0, lua.LUA_MULTRET, 0); + if (statusCall !== lua.LUA_OK) { + const error = luaToJs(L, -1) as string; + console.error("Lua call error:", error); + return []; + } + return actions; + }; diff --git a/frontend/demo/lua_runner/util.ts b/frontend/demo/lua_runner/util.ts new file mode 100644 index 0000000000..1cd97e585f --- /dev/null +++ b/frontend/demo/lua_runner/util.ts @@ -0,0 +1,151 @@ +import { lua, to_jsstring, to_luastring } from "fengari-web"; +import { Action } from "./interfaces"; +import { RpcRequestBodyItem } from "farmbot"; + +export const createRecursiveNotImplemented = ( + L: unknown, + actions: Action[], + path: string[], +) => { + lua.lua_newtable(L); + lua.lua_newtable(L); + lua.lua_pushjsfunction(L, () => { + const key = luaToJs(L, 2) as string; + return createRecursiveNotImplemented(L, actions, [...path, key]); + }); + lua.lua_setfield(L, -2, to_luastring("__index")); + + lua.lua_pushjsfunction(L, () => { + const fullPath = path.join("."); + actions.push({ + type: "send_message", + args: [ + "error", + `Lua function "${fullPath}" is not implemented.`, + "toast", + ], + }); + jsToLua(L, false); + return 1; + }); + lua.lua_setfield(L, -2, to_luastring("__call")); + + lua.lua_setmetatable(L, -2); + return 1; +}; + +export const luaToJs = (L: unknown, idx: number): unknown => { + const type = lua.lua_type(L, idx); + switch (type) { + case lua.LUA_TNIL: + return undefined; + case lua.LUA_TBOOLEAN: + return lua.lua_toboolean(L, idx); + case lua.LUA_TNUMBER: + return lua.lua_tonumber(L, idx); + case lua.LUA_TSTRING: + return to_jsstring(lua.lua_tostring(L, idx)); + case lua.LUA_TTABLE: + return luaTableToJs(L, idx); + default: + return `<${to_jsstring(lua.lua_typename(L, type))}>`; + } +}; + +const luaTableToJs = (L: unknown, idx: number): unknown => { + const absIndex = lua.lua_absindex(L, idx); + const keyVals: [string | number, unknown][] = []; + + lua.lua_pushnil(L); + while (lua.lua_next(L, absIndex)) { + const key = luaToJs(L, -2) as (string | number); + const val = luaToJs(L, -1); + keyVals.push([key, val]); + lua.lua_pop(L, 1); + } + const isSequentialArray = + keyVals.every(([k], i) => typeof k === "number" && k === i + 1); + if (isSequentialArray) { + return keyVals.map(([, v]) => v); + } else { + const result: Record = {}; + for (const [key, value] of keyVals) { + result["" + key] = value; + } + return result; + } +}; + +export const jsToLua = (L: unknown, value: unknown): void => { + if (value === undefined) { + lua.lua_pushnil(L); + } else if (typeof value === "boolean") { + lua.lua_pushboolean(L, value); + } else if (typeof value === "number") { + lua.lua_pushnumber(L, value); + } else if (typeof value === "string") { + lua.lua_pushstring(L, to_luastring(value)); + } else if (Array.isArray(value)) { + lua.lua_newtable(L); + for (let i = 0; i < value.length; i++) { + jsToLua(L, value[i]); + lua.lua_rawseti(L, -2, i + 1); + } + } else if (typeof value === "object") { + lua.lua_newtable(L); + for (const key in value) { + jsToLua(L, (value as Record)[key]); + lua.lua_setfield(L, -2, to_luastring(key)); + } + } else { + jsToLua(L, `<${typeof value}>`); + } +}; + +// eslint-disable-next-line complexity +export const csToLua = (command: RpcRequestBodyItem): string => { + const { kind, args, body } = command; + switch (kind) { + case "emergency_lock": + return "emergency_lock()"; + case "emergency_unlock": + return "emergency_unlock()"; + case "find_home": + return `find_home("${args.axis}")`; + case "home": + return `go_to_home("${args.axis}")`; + case "wait": + return `wait(${args.milliseconds})`; + case "send_message": + return `send_message("${args.message_type}", "${args.message}")`; + case "move_relative": + return `move_relative(${args.x}, ${args.y}, ${args.z})`; + case "move_absolute": + const lKind = args.location.kind; + if (lKind == "coordinate") { + const cArgs = args.location.args; + return `move_absolute(${cArgs.x}, ${cArgs.y}, ${cArgs.z})`; + } + return `toast("move_absolute ${lKind} is not implemented", "error")`; + case "move": + const values = (body || []) + .filter(part => part.kind == "axis_overwrite") + .map(axisOverwrite => { + const { axis, axis_operand } = axisOverwrite.args; + if (axis_operand.kind == "numeric") { + return `${axis}=${axis_operand.args.number}`; + } + }) + .join(", "); + return `move{${values}}`; + case "write_pin": + const mode = args.pin_mode ? "analog" : "digital"; + return `write_pin(${args.pin_number}, "${mode}", ${args.pin_value})`; + case "toggle_pin": + return `toggle_pin(${args.pin_number})`; + case "lua": + return args.lua; + default: + return `toast("celeryscript ${kind} is not implemented", "error")`; + } +}; diff --git a/frontend/devices/__tests__/actions_test.ts b/frontend/devices/__tests__/actions_test.ts index e592e17683..cb534bc76b 100644 --- a/frontend/devices/__tests__/actions_test.ts +++ b/frontend/devices/__tests__/actions_test.ts @@ -45,6 +45,7 @@ jest.mock("../../redux/store", () => ({ jest.mock("../../demo/lua_runner", () => ({ runDemoSequence: jest.fn(), runDemoLuaCode: jest.fn(), + csToLua: jest.fn(), })); import * as actions from "../actions"; @@ -57,9 +58,9 @@ import axios from "axios"; import { success, error, warning, info } from "../../toast/toast"; import { edit, save } from "../../api/crud"; import { DeepPartial } from "../../redux/interfaces"; -import { Farmbot } from "farmbot"; +import { EmergencyLock, Farmbot } from "farmbot"; import { Path } from "../../internal_urls"; -import { runDemoLuaCode, runDemoSequence } from "../../demo/lua_runner"; +import { csToLua, runDemoLuaCode, runDemoSequence } from "../../demo/lua_runner"; const replaceDeviceWith = async (d: DeepPartial, cb: Function) => { jest.clearAllMocks(); @@ -69,6 +70,10 @@ const replaceDeviceWith = async (d: DeepPartial, cb: Function) => { }; describe("sendRPC()", () => { + afterEach(() => { + localStorage.removeItem("myBotIs"); + }); + it("calls sendRPC", async () => { await actions.sendRPC({ kind: "sync", args: {} }); expect(mockDevice.current.send).toHaveBeenCalledWith({ @@ -77,6 +82,14 @@ describe("sendRPC()", () => { body: [{ kind: "sync", args: {} }], }); }); + + it("calls sendRPC on demo accounts", async () => { + localStorage.setItem("myBotIs", "online"); + const cmd: EmergencyLock = { kind: "emergency_lock", args: {} }; + await actions.sendRPC(cmd); + expect(mockDevice.current.send).not.toHaveBeenCalled(); + expect(csToLua).toHaveBeenCalledWith(cmd); + }); }); describe("readStatus()", () => { @@ -148,7 +161,7 @@ describe("flashFirmware()", () => { }); describe("emergencyLock() / emergencyUnlock", () => { - beforeEach(() => { + afterEach(() => { localStorage.removeItem("myBotIs"); window.confirm = () => false; }); diff --git a/frontend/devices/__tests__/reducer_test.ts b/frontend/devices/__tests__/reducer_test.ts index e32cc3d56b..d31c32c437 100644 --- a/frontend/devices/__tests__/reducer_test.ts +++ b/frontend/devices/__tests__/reducer_test.ts @@ -181,16 +181,26 @@ describe("botReducer", () => { expect(r.hardware.pins).toEqual({ 13: { value: 0, mode: 0 } }); }); - it("writes demo pin", () => { + it("writes demo pin: digital", () => { const state = initialState(); const action = { type: Actions.DEMO_WRITE_PIN, - payload: { pin: 13, value: 1 }, + payload: { pin: 13, mode: "digital", value: 1 }, }; const r = botReducer(state, action); expect(r.hardware.pins).toEqual({ 13: { value: 1, mode: 0 } }); }); + it("writes demo pin: analog", () => { + const state = initialState(); + const action = { + type: Actions.DEMO_WRITE_PIN, + payload: { pin: 13, mode: "analog", value: 1 }, + }; + const r = botReducer(state, action); + expect(r.hardware.pins).toEqual({ 13: { value: 1, mode: 1 } }); + }); + it("sets position", () => { const state = initialState(); const action = { @@ -231,5 +241,4 @@ describe("botReducer", () => { const r = botReducer(state, action); expect(r.hardware.informational_settings.locked).toEqual(false); }); - }); diff --git a/frontend/devices/actions.ts b/frontend/devices/actions.ts index 6afb0afaa8..404ebeb008 100644 --- a/frontend/devices/actions.ts +++ b/frontend/devices/actions.ts @@ -35,7 +35,7 @@ import { ToastOptions } from "../toast/interfaces"; import { forceOnline } from "./must_be_online"; import { store } from "../redux/store"; import { linkToSetting } from "../settings/maybe_highlight"; -import { runDemoLuaCode, runDemoSequence } from "../demo/lua_runner"; +import { runDemoLuaCode, runDemoSequence, csToLua } from "../demo/lua_runner"; const ON = 1, OFF = 0; export type ConfigKey = keyof McuParams; @@ -83,7 +83,10 @@ const maybeAlertLocked = () => /** Send RPC. */ export function sendRPC(command: RpcRequestBodyItem) { - maybeNoop(); + if (forceOnline()) { + runDemoLuaCode(csToLua(command)); + return; + } getDevice() .send(rpcRequest([command])) .then(maybeNoop, commandErr()); diff --git a/frontend/devices/reducer.ts b/frontend/devices/reducer.ts index 7b9377b0a5..67f8b934f9 100644 --- a/frontend/devices/reducer.ts +++ b/frontend/devices/reducer.ts @@ -137,10 +137,12 @@ export const botReducer = generateReducer(initialState()) pin.value = Number(!pin.value); return s; }) - .add<{ pin: number, value: number }>(Actions.DEMO_WRITE_PIN, (s, { payload }) => { - s.hardware.pins[payload.pin] = { mode: 0, value: payload.value }; - return s; - }) + .add<{ pin: number, mode: string, value: number }>(Actions.DEMO_WRITE_PIN, + (s, { payload }) => { + const mode = payload.mode.toLowerCase() == "analog" ? 1 : 0; + s.hardware.pins[payload.pin] = { mode, value: payload.value }; + return s; + }) .add>(Actions.DEMO_SET_POSITION, (s, { payload }) => { s.hardware.location_data.position = payload; return s; From 2870de2b52d2c19817a7355287883d09ba364c8a Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Fri, 11 Jul 2025 10:34:05 -0700 Subject: [PATCH 11/54] upgrade deps --- Gemfile.lock | 8 ++++---- package.json | 12 ++++++------ spec/controllers/dashboard_spec.rb | 24 ++++++++++++------------ 3 files changed, 22 insertions(+), 22 deletions(-) diff --git a/Gemfile.lock b/Gemfile.lock index f6dfac13b1..87171928d7 100644 --- a/Gemfile.lock +++ b/Gemfile.lock @@ -118,9 +118,9 @@ GEM factory_bot_rails (6.5.0) factory_bot (~> 6.5) railties (>= 6.1.0) - faker (3.5.1) + faker (3.5.2) i18n (>= 1.8.11, < 2) - faraday (2.13.1) + faraday (2.13.2) faraday-net_http (>= 2.0, < 3.5) json logger @@ -140,7 +140,7 @@ GEM retriable (>= 2.0, < 4.a) google-apis-iamcredentials_v1 (0.24.0) google-apis-core (>= 0.15.0, < 2.a) - google-apis-storage_v1 (0.53.0) + google-apis-storage_v1 (0.54.0) google-apis-core (>= 0.15.0, < 2.a) google-cloud-core (1.8.0) google-cloud-env (>= 1.0, < 3.a) @@ -207,7 +207,7 @@ GEM method_source (1.1.0) mini_mime (1.1.5) minitest (5.25.5) - multi_json (1.15.0) + multi_json (1.16.0) mutations (0.9.1) activesupport mutex_m (0.3.0) diff --git a/package.json b/package.json index f981f223c3..c35c5ffecb 100644 --- a/package.json +++ b/package.json @@ -46,14 +46,14 @@ "@react-three/drei": "9.122.0", "@react-three/fiber": "8.18.0", "@rollbar/react": "0.12.1", - "@types/lodash": "4.17.19", + "@types/lodash": "4.17.20", "@types/markdown-it": "14.1.2", - "@types/node": "24.0.7", + "@types/node": "24.0.13", "@types/promise-timeout": "1.3.3", "@types/react": "19.1.8", "@types/react-color": "3.0.13", "@types/react-dom": "19.1.6", - "@types/three": "0.177.0", + "@types/three": "0.178.1", "@types/ws": "8.18.1", "@xterm/xterm": "5.5.0", "axios": "1.10.0", @@ -64,13 +64,13 @@ "farmbot": "15.8.11", "fengari": "0.1.4", "fengari-web": "0.1.4", - "i18next": "25.3.0", + "i18next": "25.3.2", "lodash": "4.17.21", "markdown-it": "14.1.0", "markdown-it-emoji": "3.0.0", "moment": "2.30.1", "monaco-editor": "0.52.2", - "mqtt": "5.13.1", + "mqtt": "5.13.2", "npm": "11.4.2", "parcel": "2.15.4", "process": "0.11.10", @@ -85,7 +85,7 @@ "redux": "5.0.1", "redux-immutable-state-invariant": "2.1.0", "redux-thunk": "3.1.0", - "rollbar": "3.0.0-alpha.2", + "rollbar": "2.26.4", "suncalc": "1.9.0", "takeme": "0.12.0", "three": "0.178.0", diff --git a/spec/controllers/dashboard_spec.rb b/spec/controllers/dashboard_spec.rb index 67715bd394..4b56ca9618 100644 --- a/spec/controllers/dashboard_spec.rb +++ b/spec/controllers/dashboard_spec.rb @@ -34,12 +34,12 @@ it "receives CSP violation reports: JSON parse error" do malformed_json = "{ this is not valid json" expect(Rollbar).to receive(:info).with( - "CSP Violation Report", - hash_including( - error: "CSP report parse error", - exception: kind_of(String), - raw: malformed_json - ) + "CSP Violation Report", + hash_including( + error: "CSP report parse error", + exception: kind_of(String), + raw: malformed_json + ) ) post :csp_reports, body: malformed_json expect(response).to have_http_status(:no_content) @@ -47,12 +47,12 @@ it "receives CSP violation reports: empty body" do expect(Rollbar).to receive(:info).with( - "CSP Violation Report", - hash_including( - error: "CSP report parse error", - exception: kind_of(String), - raw: "" - ) + "CSP Violation Report", + hash_including( + error: "CSP report parse error", + exception: kind_of(String), + raw: "" + ) ) post :csp_reports, body: "" expect(response).to have_http_status(:no_content) From e6d5ea7bf46a94ee540bd17ce32efc1969153884 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Sat, 12 Jul 2025 00:42:55 -0700 Subject: [PATCH 12/54] improve 3D and demo account tool handling --- app/mutations/devices/seeders/constants.rb | 2 +- .../devices/seeders/demo_account_seeder.rb | 5 + frontend/__test_support__/three_d_mocks.tsx | 8 +- .../demo/lua_runner/__tests__/index_test.ts | 120 ++++++++- .../demo/lua_runner/__tests__/subs_test.ts | 54 ++++ .../demo/lua_runner/__tests__/util_test.ts | 51 ++++ frontend/demo/lua_runner/actions.ts | 49 ++-- frontend/demo/lua_runner/interfaces.ts | 4 + frontend/demo/lua_runner/lua.ts | 4 +- frontend/demo/lua_runner/run.ts | 60 ++++- frontend/demo/lua_runner/stubs.ts | 46 ++++ frontend/demo/lua_runner/util.ts | 14 +- frontend/devices/__tests__/actions_test.ts | 171 ++++++------ frontend/devices/actions.ts | 14 +- frontend/devices/reducer.ts | 1 + .../__tests__/guess_timezone_test.ts | 21 ++ frontend/devices/timezones/guess_timezone.ts | 4 +- .../three_d_garden/bot/__tests__/bot_test.tsx | 4 +- frontend/three_d_garden/bot/bot.tsx | 12 +- .../__tests__/cable_carriers_test.tsx | 28 +- .../bot/components/cable_carriers.tsx | 244 +++++++++--------- .../bot/components/solenoid.tsx | 7 +- .../three_d_garden/bot/components/tools.tsx | 26 +- frontend/three_d_garden/constants.ts | 8 +- ...rizontal.glb => cc_support_horizontal.glb} | Bin ...c_vertical.glb => cc_support_vertical.glb} | Bin 26 files changed, 666 insertions(+), 291 deletions(-) create mode 100644 frontend/demo/lua_runner/__tests__/subs_test.ts create mode 100644 frontend/demo/lua_runner/stubs.ts rename public/3D/models/{cc_horizontal.glb => cc_support_horizontal.glb} (100%) rename public/3D/models/{cc_vertical.glb => cc_support_vertical.glb} (100%) diff --git a/app/mutations/devices/seeders/constants.rb b/app/mutations/devices/seeders/constants.rb index f70e39aa88..ca3ce2bb3b 100644 --- a/app/mutations/devices/seeders/constants.rb +++ b/app/mutations/devices/seeders/constants.rb @@ -10,7 +10,7 @@ module Constants TOOL_SPACING = 100 TROUGH_Y = 0 - TROUGH_Z = -200 + TROUGH_Z = -350 TROUGH_SPACING = 25 module Names diff --git a/app/mutations/devices/seeders/demo_account_seeder.rb b/app/mutations/devices/seeders/demo_account_seeder.rb index 908a09b963..6274309622 100644 --- a/app/mutations/devices/seeders/demo_account_seeder.rb +++ b/app/mutations/devices/seeders/demo_account_seeder.rb @@ -140,6 +140,11 @@ def before_product_line_seeder three_d_garden: true, show_points: false ) + device + .fbos_config + .update!( + safe_height: -200, + ) end def after_product_line_seeder(product_line) diff --git a/frontend/__test_support__/three_d_mocks.tsx b/frontend/__test_support__/three_d_mocks.tsx index fe9abda588..5fe6a4432c 100644 --- a/frontend/__test_support__/three_d_mocks.tsx +++ b/frontend/__test_support__/three_d_mocks.tsx @@ -430,11 +430,11 @@ jest.mock("@react-three/drei", () => { nodes: { [PartName.utm]: {} as THREE.Mesh }, materials: { PaletteMaterial001: {} as THREE.MeshStandardMaterial }, }, - [ASSETS.models.ccHorizontal]: { - nodes: { [PartName.ccHorizontal]: {} as THREE.Mesh }, + [ASSETS.models.ccSupportHorizontal]: { + nodes: { [PartName.ccSupportHorizontal]: {} as THREE.Mesh }, }, - [ASSETS.models.ccVertical]: { - nodes: { [PartName.ccVertical]: {} as THREE.Mesh }, + [ASSETS.models.ccSupportVertical]: { + nodes: { [PartName.ccSupportVertical]: {} as THREE.Mesh }, }, [ASSETS.models.housingVertical]: { nodes: { [PartName.housingVertical]: {} as THREE.Mesh }, diff --git a/frontend/demo/lua_runner/__tests__/index_test.ts b/frontend/demo/lua_runner/__tests__/index_test.ts index 732080bc9c..30ee86c3c8 100644 --- a/frontend/demo/lua_runner/__tests__/index_test.ts +++ b/frontend/demo/lua_runner/__tests__/index_test.ts @@ -4,6 +4,8 @@ import { } from "../../../__test_support__/resource_index_builder"; import { fakeFirmwareConfig, + fakeWebAppConfig, + fakeFbosConfig, fakePoint, fakeSequence, fakeTool, fakeToolSlot, @@ -325,6 +327,13 @@ describe("runDemoLuaCode()", () => { console.error = jest.fn(); jest.useFakeTimers(); mockLocked = false; + const firmwareConfig = fakeFirmwareConfig(); + firmwareConfig.body.movement_home_up_z = 0; + mockResources = buildResourceIndex([ + fakeFbosConfig(), + firmwareConfig, + fakeWebAppConfig(), + ]); }); it("runs print", () => { @@ -352,7 +361,7 @@ describe("runDemoLuaCode()", () => { firmwareConfig.body.movement_axis_nr_steps_x = 5000; firmwareConfig.body.movement_axis_nr_steps_y = 10000; firmwareConfig.body.movement_axis_nr_steps_z = 12500; - mockResources = buildResourceIndex([firmwareConfig]); + mockResources = buildResourceIndex([firmwareConfig, fakeWebAppConfig()]); runDemoLuaCode( "print(garden_size().x)\n" + "print(garden_size().y)\n" + @@ -582,6 +591,63 @@ describe("runDemoLuaCode()", () => { }); }); + it("runs find_axis_length: x", () => { + const firmwareConfig = fakeFirmwareConfig(); + firmwareConfig.body.movement_axis_nr_steps_x = 500; + firmwareConfig.body.movement_home_up_z = 0; + mockResources = buildResourceIndex([firmwareConfig, fakeWebAppConfig()]); + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("find_axis_length(\"x\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 0, y: 2, z: 3 }, + }); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 100, y: 2, z: 3 }, + }); + }); + + it("runs find_axis_length: y", () => { + const firmwareConfig = fakeFirmwareConfig(); + firmwareConfig.body.movement_axis_nr_steps_y = 500; + firmwareConfig.body.movement_home_up_z = 0; + mockResources = buildResourceIndex([firmwareConfig, fakeWebAppConfig()]); + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("find_axis_length(\"y\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 1, y: 0, z: 3 }, + }); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 1, y: 100, z: 3 }, + }); + }); + + it("runs find_axis_length: z", () => { + const firmwareConfig = fakeFirmwareConfig(); + firmwareConfig.body.movement_axis_nr_steps_z = 2500; + firmwareConfig.body.movement_home_up_z = 0; + mockResources = buildResourceIndex([firmwareConfig, fakeWebAppConfig()]); + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("find_axis_length(\"z\")"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 1, y: 2, z: 0 }, + }); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 1, y: 2, z: 100 }, + }); + }); + it("runs toggle_pin", () => { runDemoLuaCode("toggle_pin(5)"); jest.runAllTimers(); @@ -638,6 +704,22 @@ describe("runDemoLuaCode()", () => { expect(info).not.toHaveBeenCalled(); }); + it("runs env", () => { + runDemoLuaCode("print(env(\"foo\"))"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith(""); + expect(info).not.toHaveBeenCalled(); + }); + + it("runs soil_height", () => { + runDemoLuaCode("print(soil_height(0, 0))"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledWith("-500"); + expect(info).not.toHaveBeenCalled(); + }); + it("runs get_device", () => { const device = fakeDevice(); device.body.mounted_tool_id = 1; @@ -748,6 +830,36 @@ describe("runDemoLuaCode()", () => { }); }); + it("runs move_absolute: clamps positive", () => { + const firmwareConfig = fakeFirmwareConfig(); + firmwareConfig.body.movement_axis_nr_steps_z = 2500; + firmwareConfig.body.movement_home_up_z = 0; + mockResources = buildResourceIndex([firmwareConfig, fakeWebAppConfig()]); + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("move_absolute(0, 0, 1000)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 0, y: 0, z: 100 }, + }); + }); + + it("runs move_absolute: clamps negative", () => { + const firmwareConfig = fakeFirmwareConfig(); + firmwareConfig.body.movement_axis_nr_steps_z = 2500; + firmwareConfig.body.movement_home_up_z = 1; + mockResources = buildResourceIndex([firmwareConfig, fakeWebAppConfig()]); + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode("move_absolute(0, 0, -1000)"); + jest.runAllTimers(); + expect(console.error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 0, y: 0, z: -100 }, + }); + }); + it("runs move: y", () => { mockPosition = { x: 1, y: 2, z: 3 }; runDemoLuaCode("move{ y = 1 }"); @@ -865,9 +977,9 @@ describe("csToLua()", () => { * [ y ] dispense * [ y ] emergency_lock * [ y ] emergency_unlock - * [ ] env + * [ y ] env * [ ] fbos_version - * [ ] find_axis_length + * [ y ] find_axis_length * [ y ] find_home * [ ] firmware_version * [ y ] garden_size @@ -908,7 +1020,7 @@ describe("csToLua()", () => { * [ y ] set_job_progress * [ ] set_pin_io_mode * [ ] soft_stop - * [ ] soil_height + * [ y ] soil_height * [ ] sort * [ ] take_photo_raw * [ ] take_photo diff --git a/frontend/demo/lua_runner/__tests__/subs_test.ts b/frontend/demo/lua_runner/__tests__/subs_test.ts new file mode 100644 index 0000000000..1d884f2c6e --- /dev/null +++ b/frontend/demo/lua_runner/__tests__/subs_test.ts @@ -0,0 +1,54 @@ +import { + fakeFbosConfig, + fakeFirmwareConfig, + fakeWebAppConfig, +} from "../../../__test_support__/fake_state/resources"; + +let mockFirmwareConfig = fakeFirmwareConfig(); +let mockWebAppConfig = fakeWebAppConfig(); +let mockFbosConfig = fakeFbosConfig(); +jest.mock("../../../resources/getters", () => ({ + getFirmwareConfig: () => mockFirmwareConfig, + getWebAppConfig: () => mockWebAppConfig, + getFbosConfig: () => mockFbosConfig, +})); + +import { getGardenSize, getSafeZ } from "../stubs"; + +describe("getGardenSize()", () => { + it("gets garden size: axis lengths", () => { + mockFirmwareConfig = fakeFirmwareConfig(); + mockFirmwareConfig.body.movement_axis_nr_steps_x = 5000; + mockFirmwareConfig.body.movement_axis_nr_steps_y = 5000; + mockFirmwareConfig.body.movement_axis_nr_steps_z = 25000; + mockWebAppConfig = fakeWebAppConfig(); + mockWebAppConfig.body.map_size_x = 100; + mockWebAppConfig.body.map_size_y = 100; + expect(getGardenSize()).toEqual({ x: 1000, y: 1000, z: 1000 }); + }); + + it("gets garden size: map size", () => { + mockFirmwareConfig = fakeFirmwareConfig(); + mockFirmwareConfig.body.movement_axis_nr_steps_x = 0; + mockFirmwareConfig.body.movement_axis_nr_steps_y = 0; + mockFirmwareConfig.body.movement_axis_nr_steps_z = 0; + mockWebAppConfig = fakeWebAppConfig(); + mockWebAppConfig.body.map_size_x = 100; + mockWebAppConfig.body.map_size_y = 100; + expect(getGardenSize()).toEqual({ x: 100, y: 100, z: 500 }); + }); +}); + +describe("getSafeZ()", () => { + it("gets zero", () => { + mockFbosConfig = fakeFbosConfig(); + mockFbosConfig.body.safe_height = undefined; + expect(getSafeZ()).toEqual(0); + }); + + it("gets height", () => { + mockFbosConfig = fakeFbosConfig(); + mockFbosConfig.body.safe_height = -200; + expect(getSafeZ()).toEqual(-200); + }); +}); diff --git a/frontend/demo/lua_runner/__tests__/util_test.ts b/frontend/demo/lua_runner/__tests__/util_test.ts index fa45234ffb..622842f7a7 100644 --- a/frontend/demo/lua_runner/__tests__/util_test.ts +++ b/frontend/demo/lua_runner/__tests__/util_test.ts @@ -91,6 +91,57 @@ describe("csToLua()", () => { expect(csToLua(command)).toEqual("move{y=1}"); }); + it("converts celery script to lua: move all axes to coordinate", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, + }, + }, + ], + }; + expect(csToLua(command)).toEqual("move{x=1, y=2, z=3}"); + }); + + it("converts celery script to lua: move axis to coordinate", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "x", + axis_operand: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, + }, + }, + ], + }; + expect(csToLua(command)).toEqual("move{x=1}"); + }); + + it("converts celery script to lua: move no coordinate", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 1 } }, + }, + }, + ], + }; + expect(csToLua(command)).toEqual("move{}"); + }); + it("converts celery script to lua: move no body", () => { const command: Move = { kind: "move", args: {} }; expect(csToLua(command)).toEqual("move{}"); diff --git a/frontend/demo/lua_runner/actions.ts b/frontend/demo/lua_runner/actions.ts index 1b6a844898..ed254bd846 100644 --- a/frontend/demo/lua_runner/actions.ts +++ b/frontend/demo/lua_runner/actions.ts @@ -1,15 +1,17 @@ -import { PercentageProgress, Xyz } from "farmbot"; +import { PercentageProgress } from "farmbot"; import { info } from "../../toast/toast"; import { store } from "../../redux/store"; import { Actions } from "../../constants"; import { validBotLocationData } from "../../util/location"; import { TOAST_OPTIONS } from "../../toast/constants"; -import { Action } from "./interfaces"; +import { Action, XyzNumber } from "./interfaces"; import { edit, save } from "../../api/crud"; import { getDeviceAccountSettings } from "../../resources/selectors"; import { UnknownAction } from "redux"; +import { getFirmwareSettings, getGardenSize } from "./stubs"; +import { clamp } from "lodash"; -const almostEqual = (a: Record, b: Record) => { +const almostEqual = (a: XyzNumber, b: XyzNumber) => { const epsilon = 0.01; return Math.abs(a.x - b.x) < epsilon && Math.abs(a.y - b.y) < epsilon && @@ -17,9 +19,9 @@ const almostEqual = (a: Record, b: Record) => { }; const movementChunks = ( - current: Record, - target: Record, -): Record[] => { + current: XyzNumber, + target: XyzNumber, +): XyzNumber[] => { const dx = target.x - current.x; const dy = target.y - current.y; const dz = target.z - current.z; @@ -32,7 +34,7 @@ const movementChunks = ( z: dz / length, }; const steps = Math.floor(length / 100); - const chunks: Record[] = []; + const chunks: XyzNumber[] = []; for (let i = 0; i <= steps; i++) { const step = { x: current.x + direction.x * 100 * i, @@ -47,6 +49,19 @@ const movementChunks = ( return chunks; }; +const clampTarget = (target: XyzNumber): XyzNumber => { + const firmwareConfig = getFirmwareSettings(); + const bounds = getGardenSize(); + const clamped = { + x: clamp(target.x, 0, bounds.x), + y: clamp(target.y, 0, bounds.y), + z: firmwareConfig.movement_home_up_z + ? clamp(target.z, -bounds.z, 0) + : clamp(target.z, 0, bounds.z), + }; + return clamped; +}; + const expandActions = (actions: Action[]): Action[] => { const expanded: Action[] = []; const { position } = validBotLocationData( @@ -56,7 +71,7 @@ const expandActions = (actions: Action[]): Action[] => { y: position.y as number, z: position.z as number, }; - const addPosition = (position: Record) => { + const addPosition = (position: XyzNumber) => { expanded.push({ type: "wait_ms", args: [500], @@ -66,7 +81,7 @@ const expandActions = (actions: Action[]): Action[] => { args: [position.x, position.y, position.z], }); }; - const setCurrent = (position: Record) => { + const setCurrent = (position: XyzNumber) => { current.x = position.x; current.y = position.y; current.z = position.z; @@ -74,29 +89,29 @@ const expandActions = (actions: Action[]): Action[] => { actions.map(action => { switch (action.type) { case "move_absolute": - const target = { + const moveAbsoluteTarget = clampTarget({ x: action.args[0] as number, y: action.args[1] as number, z: action.args[2] as number, - }; - movementChunks(current, target).map(addPosition); - setCurrent(target); + }); + movementChunks(current, moveAbsoluteTarget).map(addPosition); + setCurrent(moveAbsoluteTarget); break; case "move_relative": - const moveRelativeTarget = { + const moveRelativeTarget = clampTarget({ x: current.x + (action.args[0] as number), y: current.y + (action.args[1] as number), z: current.z + (action.args[2] as number), - }; + }); movementChunks(current, moveRelativeTarget).map(addPosition); setCurrent(moveRelativeTarget); break; case "move": - const moveTarget = { + const moveTarget = clampTarget({ x: (action.args[0] as number | undefined) ?? current.x, y: (action.args[1] as number | undefined) ?? current.y, z: (action.args[2] as number | undefined) ?? current.z, - }; + }); movementChunks(current, moveTarget).map(addPosition); setCurrent(moveTarget); break; diff --git a/frontend/demo/lua_runner/interfaces.ts b/frontend/demo/lua_runner/interfaces.ts index f722801276..669e860d37 100644 --- a/frontend/demo/lua_runner/interfaces.ts +++ b/frontend/demo/lua_runner/interfaces.ts @@ -1,3 +1,5 @@ +import { Xyz } from "farmbot"; + export interface Action { type: | "move_absolute" @@ -16,3 +18,5 @@ export interface Action { | "set_job_progress"; args: (number | string | undefined)[]; } + +export type XyzNumber = Record; diff --git a/frontend/demo/lua_runner/lua.ts b/frontend/demo/lua_runner/lua.ts index 937c217b05..c5f33f1045 100644 --- a/frontend/demo/lua_runner/lua.ts +++ b/frontend/demo/lua_runner/lua.ts @@ -275,6 +275,7 @@ function dismount_tool() -- Put the tool in the slot job(80, "Putting tool in slot") move_absolute(slot.x, slot.y, slot.z, 50) + update_device({mounted_tool_id = 0}) -- Dismount tool job(90, "Dismounting tool") @@ -287,7 +288,6 @@ function dismount_tool() return else job(100, "Complete") - update_device({mounted_tool_id = 0}) toast(tool_name .. " dismounted", "success") end end @@ -554,6 +554,7 @@ function mount_tool(input) -- Mount the tool job(60, "Mounting tool") move{z=slot.z} + update_device({mounted_tool_id = slot.tool_id}) -- Pull the tool out of the slot at 50% speed job(80, "Pulling tool out") @@ -574,7 +575,6 @@ function mount_tool(input) return else job(100, "Complete") - update_device({mounted_tool_id = slot.tool_id}) toast(tool.name .. " mounted", "success") end end diff --git a/frontend/demo/lua_runner/run.ts b/frontend/demo/lua_runner/run.ts index 3cf0789c43..778d29ec97 100644 --- a/frontend/demo/lua_runner/run.ts +++ b/frontend/demo/lua_runner/run.ts @@ -4,17 +4,15 @@ import { selectAllPoints, selectAllTools, selectAllToolSlotPointers, } from "../../resources/selectors"; import { - ParameterApplication, RpcRequest, TaggedFirmwareConfig, - Xyz, + ParameterApplication, RpcRequest, Xyz, } from "farmbot"; import { store } from "../../redux/store"; import { sortGroupBy } from "../../point_groups/point_group_sort"; -import { calculateAxialLengths } from "../../controls/move/direction_axes_props"; -import { getFirmwareConfig } from "../../resources/getters"; import { LUA_HELPERS } from "./lua"; import { createRecursiveNotImplemented, csToLua, jsToLua, luaToJs } from "./util"; -import { Action } from "./interfaces"; +import { Action, XyzNumber } from "./interfaces"; import { DeviceAccountSettings } from "farmbot/dist/resources/api_resources"; +import { getGardenSize, getSafeZ } from "./stubs"; export const runLua = (luaCode: string, variables: ParameterApplication[]): Action[] => { @@ -207,7 +205,7 @@ export const runLua = const args = []; const n = lua.lua_gettop(L); if (n == 1) { - const params = luaToJs(L, 1) as Record; + const params = luaToJs(L, 1) as XyzNumber; ["x", "y", "z"].map((axis: Xyz) => args.push(params[axis])); } else { for (let i = 1; i <= n; i++) { @@ -244,6 +242,36 @@ export const runLua = }); lua.lua_setfield(L, envIndex, to_luastring("go_to_home")); + lua.lua_pushjsfunction(L, () => { + const axis = luaToJs(L, -1) as string; + actions.push({ + type: "move_relative", + args: [ + axis == "x" ? -9999 : 0, + axis == "y" ? -9999 : 0, + axis == "z" ? -9999 : 0, + ], + }); + actions.push({ + type: "move_relative", + args: [ + axis == "x" ? 9999 : 0, + axis == "y" ? 9999 : 0, + axis == "z" ? 9999 : 0, + ], + }); + actions.push({ + type: "move_relative", + args: [ + axis == "x" ? -9999 : 0, + axis == "y" ? -9999 : 0, + axis == "z" ? -9999 : 0, + ], + }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("find_axis_length")); + lua.lua_pushjsfunction(L, () => { const ms = luaToJs(L, 1) as number; actions.push({ type: "wait_ms", args: [ms] }); @@ -269,13 +297,25 @@ export const runLua = lua.lua_setfield(L, envIndex, to_luastring("update_device")); lua.lua_pushjsfunction(L, () => { - jsToLua(L, 0); + jsToLua(L, getSafeZ()); return 1; }); lua.lua_setfield(L, envIndex, to_luastring("safe_z")); lua.lua_pushjsfunction(L, () => { - const args = luaToJs(L, 1) as Partial>; + jsToLua(L, ""); + return 1; + }); + lua.lua_setfield(L, envIndex, to_luastring("env")); + + lua.lua_pushjsfunction(L, () => { + jsToLua(L, -500); + return 1; + }); + lua.lua_setfield(L, envIndex, to_luastring("soil_height")); + + lua.lua_pushjsfunction(L, () => { + const args = luaToJs(L, 1) as Partial; actions.push({ type: "move", args: [args.x, args.y, args.z] }); return 0; }); @@ -312,9 +352,7 @@ export const runLua = lua.lua_setfield(L, envIndex, to_luastring("toggle_pin")); lua.lua_pushjsfunction(L, () => { - const fwConfig = getFirmwareConfig(store.getState().resources.index); - const firmwareSettings = (fwConfig as TaggedFirmwareConfig).body; - const lengths = calculateAxialLengths({ firmwareSettings }); + const lengths = getGardenSize(); jsToLua(L, lengths); return 1; }); diff --git a/frontend/demo/lua_runner/stubs.ts b/frontend/demo/lua_runner/stubs.ts new file mode 100644 index 0000000000..55cb95cd1c --- /dev/null +++ b/frontend/demo/lua_runner/stubs.ts @@ -0,0 +1,46 @@ +import { store } from "../../redux/store"; +import { + TaggedFbosConfig, TaggedFirmwareConfig, TaggedWebAppConfig, +} from "farmbot"; +import { calculateAxialLengths } from "../../controls/move/direction_axes_props"; +import { + getFbosConfig, getFirmwareConfig, getWebAppConfig, +} from "../../resources/getters"; +import { XyzNumber } from "./interfaces"; +import { FirmwareConfig } from "farmbot/dist/resources/configs/firmware"; +import { WebAppConfig } from "farmbot/dist/resources/configs/web_app"; +import { FbosConfig } from "farmbot/dist/resources/configs/fbos"; + +export const getFirmwareSettings = (): FirmwareConfig => { + const fwConfig = getFirmwareConfig(store.getState().resources.index); + const firmwareSettings = (fwConfig as TaggedFirmwareConfig).body; + return firmwareSettings; +}; + +export const getWebAppSettings = (): WebAppConfig => { + const webAppConfig = getWebAppConfig(store.getState().resources.index); + const webAppSettings = (webAppConfig as TaggedWebAppConfig).body; + return webAppSettings; +}; + +export const getFbosSettings = (): FbosConfig => { + const fbosConfig = getFbosConfig(store.getState().resources.index); + const fbosSettings = (fbosConfig as TaggedFbosConfig).body; + return fbosSettings; +}; + +export const getGardenSize = (): XyzNumber => { + const firmwareSettings = getFirmwareSettings(); + const lengths = calculateAxialLengths({ firmwareSettings }); + const webAppSettings = getWebAppSettings(); + return { + x: lengths.x || webAppSettings.map_size_x, + y: lengths.y || webAppSettings.map_size_y, + z: lengths.z || 500, + }; +}; + +export const getSafeZ = (): number => { + const fbosSettings = getFbosSettings(); + return fbosSettings.safe_height || 0; +}; diff --git a/frontend/demo/lua_runner/util.ts b/frontend/demo/lua_runner/util.ts index 1cd97e585f..ff183c4b37 100644 --- a/frontend/demo/lua_runner/util.ts +++ b/frontend/demo/lua_runner/util.ts @@ -132,8 +132,18 @@ export const csToLua = (command: RpcRequestBodyItem): string => { .filter(part => part.kind == "axis_overwrite") .map(axisOverwrite => { const { axis, axis_operand } = axisOverwrite.args; - if (axis_operand.kind == "numeric") { - return `${axis}=${axis_operand.args.number}`; + if (axis == "all") { + if (axis_operand.kind == "coordinate") { + const { args } = axis_operand; + return `x=${args.x}, y=${args.y}, z=${args.z}`; + } + } else { + if (axis_operand.kind == "numeric") { + return `${axis}=${axis_operand.args.number}`; + } + if (axis_operand.kind == "coordinate") { + return `${axis}=${axis_operand.args[axis]}`; + } } }) .join(", "); diff --git a/frontend/devices/__tests__/actions_test.ts b/frontend/devices/__tests__/actions_test.ts index cb534bc76b..e59718249b 100644 --- a/frontend/devices/__tests__/actions_test.ts +++ b/frontend/devices/__tests__/actions_test.ts @@ -17,6 +17,7 @@ const mockDeviceDefault: DeepPartial = { writePin: jest.fn(() => Promise.resolve()), home: jest.fn(() => Promise.resolve()), findHome: jest.fn(() => Promise.resolve()), + calibrate: jest.fn(() => Promise.resolve()), sync: jest.fn(() => Promise.resolve()), send: jest.fn(() => Promise.resolve()), readStatus: jest.fn(() => Promise.resolve()), @@ -439,6 +440,32 @@ describe("moveAbsolute()", () => { }); describe("move()", () => { + afterEach(() => { + localStorage.removeItem("myBotIs"); + }); + + const BODY = [{ + kind: "axis_overwrite", + args: { + axis: "x", + axis_operand: { kind: "coordinate", args: { x: 1, y: 0, z: 0 } }, + } + }, + { + kind: "axis_overwrite", + args: { + axis: "y", + axis_operand: { kind: "coordinate", args: { x: 1, y: 0, z: 0 } }, + } + }, + { + kind: "axis_overwrite", + args: { + axis: "z", + axis_operand: { kind: "coordinate", args: { x: 1, y: 0, z: 0 } }, + } + }]; + it("calls move", async () => { await actions.move({ x: 1, y: 0, z: 0 }); expect(mockDevice.current.send) @@ -448,27 +475,7 @@ describe("move()", () => { body: [{ kind: "move", args: {}, - body: [{ - kind: "axis_overwrite", - args: { - axis: "x", - axis_operand: { kind: "coordinate", args: { x: 1, y: 0, z: 0 } }, - } - }, - { - kind: "axis_overwrite", - args: { - axis: "y", - axis_operand: { kind: "coordinate", args: { x: 1, y: 0, z: 0 } }, - } - }, - { - kind: "axis_overwrite", - args: { - axis: "z", - axis_operand: { kind: "coordinate", args: { x: 1, y: 0, z: 0 } }, - } - }], + body: BODY, }], }); expect(success).not.toHaveBeenCalled(); @@ -483,48 +490,29 @@ describe("move()", () => { body: [{ kind: "move", args: {}, - body: [{ - kind: "axis_overwrite", - args: { - axis: "x", - axis_operand: { kind: "coordinate", args: { x: 1, y: 0, z: 0 } }, - } - }, - { - kind: "axis_overwrite", - args: { - axis: "y", - axis_operand: { kind: "coordinate", args: { x: 1, y: 0, z: 0 } }, - } - }, - { - kind: "axis_overwrite", - args: { - axis: "z", - axis_operand: { kind: "coordinate", args: { x: 1, y: 0, z: 0 } }, - } - }, - { - kind: "speed_overwrite", - args: { - axis: "x", - speed_setting: { kind: "numeric", args: { number: 50 } }, - } - }, - { - kind: "speed_overwrite", - args: { - axis: "y", - speed_setting: { kind: "numeric", args: { number: 50 } }, - } - }, - { - kind: "speed_overwrite", - args: { - axis: "z", - speed_setting: { kind: "numeric", args: { number: 50 } }, - } - }, + body: [ + ...BODY, + { + kind: "speed_overwrite", + args: { + axis: "x", + speed_setting: { kind: "numeric", args: { number: 50 } }, + } + }, + { + kind: "speed_overwrite", + args: { + axis: "y", + speed_setting: { kind: "numeric", args: { number: 50 } }, + } + }, + { + kind: "speed_overwrite", + args: { + axis: "z", + speed_setting: { kind: "numeric", args: { number: 50 } }, + } + }, ], }], }); @@ -540,32 +528,25 @@ describe("move()", () => { body: [{ kind: "move", args: {}, - body: [{ - kind: "axis_overwrite", - args: { - axis: "x", - axis_operand: { kind: "coordinate", args: { x: 1, y: 0, z: 0 } }, - } - }, - { - kind: "axis_overwrite", - args: { - axis: "y", - axis_operand: { kind: "coordinate", args: { x: 1, y: 0, z: 0 } }, - } - }, - { - kind: "axis_overwrite", - args: { - axis: "z", - axis_operand: { kind: "coordinate", args: { x: 1, y: 0, z: 0 } }, - } - }, - { kind: "safe_z", args: {} }] + body: [ + ...BODY, + { kind: "safe_z", args: {} }] }], }); expect(success).not.toHaveBeenCalled(); }); + + it("calls move on demo accounts", async () => { + localStorage.setItem("myBotIs", "online"); + await actions.move({ x: 1, y: 0, z: 0 }); + expect(mockDevice.current.send).not.toHaveBeenCalled(); + expect(csToLua).toHaveBeenCalledWith({ + kind: "move", + args: {}, + body: BODY, + }); + expect(success).not.toHaveBeenCalled(); + }); }); describe("pinToggle()", () => { @@ -647,6 +628,26 @@ describe("findHome()", () => { }); }); +describe("findAxisLength()", () => { + afterEach(() => { + localStorage.removeItem("myBotIs"); + }); + + it("calls find_axis_length", async () => { + await actions.findAxisLength("x"); + expect(mockDevice.current.calibrate) + .toHaveBeenCalledWith({ axis: "x" }); + expect(success).not.toHaveBeenCalled(); + }); + + it("calls find_home on demo accounts", async () => { + localStorage.setItem("myBotIs", "online"); + await actions.findAxisLength("x"); + expect(mockDevice.current.calibrate).not.toHaveBeenCalled(); + expect(runDemoLuaCode).toHaveBeenCalledWith("find_axis_length(\"x\")"); + }); +}); + describe("isLog()", () => { it("knows if it is a log or not", () => { expect(actions.isLog({})).toBe(false); diff --git a/frontend/devices/actions.ts b/frontend/devices/actions.ts index 404ebeb008..748231243c 100644 --- a/frontend/devices/actions.ts +++ b/frontend/devices/actions.ts @@ -18,6 +18,7 @@ import { Xyz, AxisOverwrite, RpcRequestBodyItem, + Move, } from "farmbot"; import { oneOf, versionOK, trim } from "../util"; import { Actions, Content, DeviceSetting } from "../constants"; @@ -374,7 +375,6 @@ export function moveAbsolute(props: MoveRelProps) { export function move(props: MoveProps) { const noun = t("Movement"); - maybeNoop(); maybeAlertLocked(); const safeZ: SafeZ = { kind: "safe_z", args: {} }; const speedOverwrite = (axis: Xyz, speed: number): SpeedOverwrite => ({ @@ -408,8 +408,13 @@ export function move(props: MoveProps) { ...(props.speed ? [speedOverwrite("z", props.speed)] : []), ...(props.safeZ ? [safeZ] : []), ]; + const cmd: Move = { kind: "move", args: {}, body }; + if (forceOnline()) { + runDemoLuaCode(csToLua(cmd)); + return; + } return getDevice() - .send(rpcRequest([{ kind: "move", args: {}, body }])) + .send(rpcRequest([cmd])) .then(maybeNoop, commandErr(noun)); } @@ -480,8 +485,11 @@ export function setHome(axis: Axis) { export function findAxisLength(axis: Axis) { const noun = t("'Find Axis Length' command"); - maybeNoop(); maybeAlertLocked(); + if (forceOnline()) { + runDemoLuaCode(`find_axis_length("${axis}")`); + return; + } getDevice() .calibrate({ axis }) .catch(commandErr(noun)); diff --git a/frontend/devices/reducer.ts b/frontend/devices/reducer.ts index 67f8b934f9..b22f1fac81 100644 --- a/frontend/devices/reducer.ts +++ b/frontend/devices/reducer.ts @@ -154,6 +154,7 @@ export const botReducer = generateReducer(initialState()) }) .add(Actions.DEMO_SET_ESTOP, (s, { payload }) => { s.hardware.informational_settings.locked = payload; + s.hardware.pins = {}; return s; }) .add(Actions.PING_OK, (s) => { diff --git a/frontend/devices/timezones/__tests__/guess_timezone_test.ts b/frontend/devices/timezones/__tests__/guess_timezone_test.ts index abbcbe7090..ccab0fe04b 100644 --- a/frontend/devices/timezones/__tests__/guess_timezone_test.ts +++ b/frontend/devices/timezones/__tests__/guess_timezone_test.ts @@ -7,6 +7,7 @@ import { inferTimezone, maybeSetTimezone } from "../guess_timezone"; import { get, set } from "lodash"; import { fakeDevice } from "../../../__test_support__/resource_index_builder"; import { edit, save } from "../../../api/crud"; +import { Actions } from "../../../constants"; describe("inferTimezone", () => { it("returns the timezone provided, if possible", () => { @@ -33,6 +34,22 @@ describe("maybeSetTimezone()", () => { const dispatch = jest.fn(); maybeSetTimezone(dispatch, device); expect(dispatch).not.toHaveBeenCalled(); + expect(edit).not.toHaveBeenCalled(); + expect(save).not.toHaveBeenCalled(); + }); + + it("doesn't set timezone, but sets 3D time", () => { + localStorage.setItem("myBotIs", "online"); + const device = fakeDevice(); + device.body.timezone = "fake timezone"; + const dispatch = jest.fn(); + maybeSetTimezone(dispatch, device); + expect(dispatch).toHaveBeenCalledWith({ + type: Actions.SET_3D_TIME, + payload: "12:00", + }); + expect(edit).not.toHaveBeenCalled(); + expect(save).not.toHaveBeenCalled(); }); it("sets timezone", () => { @@ -56,6 +73,10 @@ describe("maybeSetTimezone()", () => { timezone: "UTC", lat: 0, lng: -90, }); expect(save).toHaveBeenCalledWith(device.uuid); + expect(dispatch).toHaveBeenCalledWith({ + type: Actions.SET_3D_TIME, + payload: "12:00", + }); spy.mockRestore(); }); }); diff --git a/frontend/devices/timezones/guess_timezone.ts b/frontend/devices/timezones/guess_timezone.ts index 615c42aca3..9cf04af1ec 100644 --- a/frontend/devices/timezones/guess_timezone.ts +++ b/frontend/devices/timezones/guess_timezone.ts @@ -34,9 +34,11 @@ export function maybeSetTimezone(dispatch: Function, device: TaggedDevice) { if (forceOnline()) { update.lng = -(new Date().getTimezoneOffset()) / 4; update.lat = 0; - dispatch({ type: Actions.SET_3D_TIME, payload: "12:00" }); } dispatch(edit(device, update)); dispatch(save(device.uuid)); } + if (forceOnline()) { + dispatch({ type: Actions.SET_3D_TIME, payload: "12:00" }); + } } diff --git a/frontend/three_d_garden/bot/__tests__/bot_test.tsx b/frontend/three_d_garden/bot/__tests__/bot_test.tsx index 7e61e9af7f..66a0f9e6d5 100644 --- a/frontend/three_d_garden/bot/__tests__/bot_test.tsx +++ b/frontend/three_d_garden/bot/__tests__/bot_test.tsx @@ -28,7 +28,7 @@ describe("", () => { expect(wrapper.html()).toContain("bot"); expect(wrapper.html()).toContain("water-tube"); expect(wrapper.find({ name: "slot" }).last().props().position) - .toEqual([-1350, 200, 60]); + .toEqual([-1345, 200, 51]); }); it("renders: Jr", () => { @@ -39,7 +39,7 @@ describe("", () => { const wrapper = mount(); expect(wrapper.html()).toContain("bot"); expect(wrapper.find({ name: "slot" }).last().props().position) - .toEqual([-1350, 100, 60]); + .toEqual([-1345, 100, 51]); }); it("renders: v1.7", () => { diff --git a/frontend/three_d_garden/bot/bot.tsx b/frontend/three_d_garden/bot/bot.tsx index 6c921eddcc..e14a9c87ec 100644 --- a/frontend/three_d_garden/bot/bot.tsx +++ b/frontend/three_d_garden/bot/bot.tsx @@ -25,10 +25,10 @@ import { Group, Mesh, MeshPhongMaterial } from "../components"; import { ElectronicsBox, Bounds, Tools, Solenoid, XAxisWaterTube, CableCarrierX, - CableCarrierVertical, + CableCarrierSupportVertical, CableCarrierZ, CableCarrierY, - CableCarrierHorizontal, + CableCarrierSupportHorizontal, GantryBeam, } from "./components"; import { SlotWithTool } from "../../resources/interfaces"; @@ -488,7 +488,7 @@ export const Bot = (props: FarmbotModelProps) => { zZero - zDir * z + zAxisLength / 2, ]} rotation={[Math.PI / 2, 0, 0]} /> - + { position={[ threeSpace(x + 23, bedLengthOuter) + bedXOffset, threeSpace(y + 25 + extrusionWidth / 2, bedWidthOuter) + bedYOffset, - zZero - zDir * z - 140 + zGantryOffset, + zZero - zDir * z - 140 + zGantryOffset + 20, ]}> { position={[ threeSpace(x + 11, bedLengthOuter) + bedXOffset, threeSpace(y, bedWidthOuter) + bedYOffset, - zZero - zDir * z + utmHeight / 2 - 18, + zZero - zDir * z + utmHeight / 2 - 19, ]} rotation={[0, 0, Math.PI / 2]} scale={1000}> @@ -604,7 +604,7 @@ export const Bot = (props: FarmbotModelProps) => { config={config} aluminumTexture={aluminumTexture} beamShape={beamShape} /> - + ", () => { - const fakeProps = (): CableCarrierVerticalProps => ({ + const fakeProps = (): CableCarrierSupportVerticalProps => ({ config: clone(INITIAL), }); it("renders v1.7", () => { const p = fakeProps(); p.config.kitVersion = "v1.7"; - const wrapper = render(); - expect(wrapper.container).toContainHTML("ccVertical"); + const wrapper = render(); + expect(wrapper.container).toContainHTML("ccSupportVertical"); expect(wrapper.container.querySelectorAll("mesh").length).toBe(4); }); it("renders v1.8", () => { const p = fakeProps(); p.config.kitVersion = "v1.8"; - const wrapper = render(); - expect(wrapper.container).toContainHTML("ccVertical"); + const wrapper = render(); + expect(wrapper.container).toContainHTML("ccSupportVertical"); expect(wrapper.container.querySelectorAll("mesh").length).toBe(1); }); }); describe("", () => { - const fakeProps = (): CableCarrierHorizontalProps => ({ + const fakeProps = (): CableCarrierSupportHorizontalProps => ({ config: clone(INITIAL), }); it("renders v1.7", () => { const p = fakeProps(); p.config.kitVersion = "v1.7"; - const wrapper = render(); - expect(wrapper.container).toContainHTML("ccHorizontal"); + const wrapper = render(); + expect(wrapper.container).toContainHTML("ccSupportHorizontal"); expect(wrapper.container.querySelectorAll("mesh").length).toBe(5); }); it("renders v1.8", () => { const p = fakeProps(); p.config.kitVersion = "v1.8"; - const wrapper = render(); - expect(wrapper.container).toContainHTML("ccHorizontal"); + const wrapper = render(); + expect(wrapper.container).toContainHTML("ccSupportHorizontal"); expect(wrapper.container.querySelectorAll("mesh").length).toBe(1); }); @@ -54,8 +54,8 @@ describe("", () => { const p = fakeProps(); p.config.kitVersion = "v1.8"; p.config.light = true; - const wrapper = render(); - expect(wrapper.container).toContainHTML("ccHorizontal"); + const wrapper = render(); + expect(wrapper.container).toContainHTML("ccSupportHorizontal"); expect(wrapper.container.querySelectorAll("mesh").length).toBe(1); }); }); diff --git a/frontend/three_d_garden/bot/components/cable_carriers.tsx b/frontend/three_d_garden/bot/components/cable_carriers.tsx index 3c908a9c9d..f56329f5fe 100644 --- a/frontend/three_d_garden/bot/components/cable_carriers.tsx +++ b/frontend/three_d_garden/bot/components/cable_carriers.tsx @@ -15,12 +15,12 @@ import { Group, Mesh, MeshPhongMaterial } from "../../components"; import { distinguishableBlack, extrusionWidth } from "../bot"; import { EMISSIVE_PROPS } from "./gantry_beam"; -type CCHorizontal = GLTF & { - nodes: { [PartName.ccHorizontal]: THREE.Mesh }; +type CCSupportHorizontal = GLTF & { + nodes: { [PartName.ccSupportHorizontal]: THREE.Mesh }; materials: never; } -type CCVertical = GLTF & { - nodes: { [PartName.ccVertical]: THREE.Mesh }; +type CCSupportVertical = GLTF & { + nodes: { [PartName.ccSupportVertical]: THREE.Mesh }; materials: never; } @@ -130,7 +130,7 @@ export const CableCarrierZ = (props: CableCarrierZProps) => { return { ; }; -export interface CableCarrierVerticalProps { +export interface CableCarrierSupportVerticalProps { config: Config; } -export const CableCarrierVertical = (props: CableCarrierVerticalProps) => { - const { - x, y, z, bedLengthOuter, bedYOffset, bedXOffset, bedWidthOuter, zAxisLength, - kitVersion, - } = props.config; - const zZero = zZeroFunc(props.config); - const zDir = zDirFunc(props.config); - const ccVertical = useGLTF(ASSETS.models.ccVertical, LIB_DIR) as CCVertical; - switch (kitVersion) { - case "v1.7": - return - {range((zAxisLength - 350) / 200).map((i) => ( - { + const { + x, y, z, bedLengthOuter, bedYOffset, bedXOffset, bedWidthOuter, zAxisLength, + kitVersion, + } = props.config; + const zZero = zZeroFunc(props.config); + const zDir = zDirFunc(props.config); + const ccSupportVertical = + useGLTF(ASSETS.models.ccSupportVertical, LIB_DIR) as CCSupportVertical; + switch (kitVersion) { + case "v1.7": + return + {range((zAxisLength - 350) / 200).map((i) => ( + + + + ))} + ; + case "v1.8": + return + - + rotation={[0, 0, 0]} + geometry={new THREE.ExtrudeGeometry( + (() => { + const shape = new THREE.Shape(); + shape.moveTo(0, 0); + shape.lineTo(0, 20); + shape.lineTo(15, 20); + shape.lineTo(20, 1.5); + shape.lineTo(28.5, 1.5); + shape.lineTo(28.5, -61); + shape.lineTo(24, -63); + shape.lineTo(24, -61.5); + shape.lineTo(27, -60); + shape.lineTo(27, 0); + shape.lineTo(0, 0); + return shape; + })(), + { + depth: zAxisLength - 350, + bevelEnabled: false, + }, + )}> + - ))} - ; - case "v1.8": - return - { - const shape = new THREE.Shape(); - shape.moveTo(0, 0); - shape.lineTo(0, 20); - shape.lineTo(15, 20); - shape.lineTo(20, 1.5); - shape.lineTo(28.5, 1.5); - shape.lineTo(28.5, -61); - shape.lineTo(24, -63); - shape.lineTo(24, -61.5); - shape.lineTo(27, -60); - shape.lineTo(27, 0); - shape.lineTo(0, 0); - return shape; - })(), - { - depth: zAxisLength - 350, - bevelEnabled: false, - }, - )}> - - - ; - } -}; + ; + } + }; -export interface CableCarrierHorizontalProps { +export interface CableCarrierSupportHorizontalProps { config: Config; } -export const CableCarrierHorizontal = (props: CableCarrierHorizontalProps) => { - const { - x, bedLengthOuter, bedYOffset, bedXOffset, bedWidthOuter, botSizeY, - columnLength, kitVersion, - } = props.config; - const ccHorizontal = useGLTF(ASSETS.models.ccHorizontal, LIB_DIR) as CCHorizontal; - switch (kitVersion) { - case "v1.7": - return - {range((botSizeY - 10) / 300).map((i) => ( - { + const { + x, bedLengthOuter, bedYOffset, bedXOffset, bedWidthOuter, botSizeY, + columnLength, kitVersion, + } = props.config; + const ccSupportHorizontal = + useGLTF(ASSETS.models.ccSupportHorizontal, LIB_DIR) as CCSupportHorizontal; + switch (kitVersion) { + case "v1.7": + return + {range((botSizeY - 10) / 300).map((i) => ( + + + + ))}; + ; + case "v1.8": + return + - - - ))}; - ; - case "v1.8": - return - { - const shape = new THREE.Shape(); + geometry={new THREE.ExtrudeGeometry( + (() => { + const shape = new THREE.Shape(); - shape.moveTo(0, 0); - shape.lineTo(0, 20); - shape.lineTo(-40, 20); - shape.lineTo(-41, 22.5); - shape.lineTo(-42.5, 22.5); - shape.lineTo(-41.5, 18.5); - shape.lineTo(-30, 18.5); - shape.lineTo(-25, 0); - shape.lineTo(0, 0); - return shape; - })(), - { - depth: botSizeY - 30, - bevelEnabled: false, - }, - )}> - - - ; - } -}; + shape.moveTo(0, 0); + shape.lineTo(0, 20); + shape.lineTo(-40, 20); + shape.lineTo(-41, 22.5); + shape.lineTo(-42.5, 22.5); + shape.lineTo(-41.5, 18.5); + shape.lineTo(-30, 18.5); + shape.lineTo(-25, 0); + shape.lineTo(0, 0); + return shape; + })(), + { + depth: botSizeY - 30, + bevelEnabled: false, + }, + )}> + + + ; + } + }; diff --git a/frontend/three_d_garden/bot/components/solenoid.tsx b/frontend/three_d_garden/bot/components/solenoid.tsx index 695fab3b6a..ea93ea1af2 100644 --- a/frontend/three_d_garden/bot/components/solenoid.tsx +++ b/frontend/three_d_garden/bot/components/solenoid.tsx @@ -3,7 +3,7 @@ import * as THREE from "three"; import { Config } from "../../config"; import { Group, Mesh } from "../../components"; import { WaterTube } from "./water_tube"; -import { easyCubicBezierCurve3, threeSpace } from "../../helpers"; +import { easyCubicBezierCurve3, threeSpace, zDir as zDirFunc } from "../../helpers"; import { GLTF } from "three-stdlib"; import { useGLTF } from "@react-three/drei"; import { ASSETS, LIB_DIR, PartName } from "../../constants"; @@ -23,6 +23,7 @@ export const Solenoid = (props: SolenoidProps) => { x, y, z, bedLengthOuter, bedWidthOuter, bedXOffset, bedYOffset, columnLength, zGantryOffset, } = config; + const zDir = zDirFunc(config); const solenoid = useGLTF(ASSETS.models.solenoid, LIB_DIR) as SolenoidPart; return { [ threeSpace(x + 32.5, bedLengthOuter) + bedXOffset, threeSpace(y - 10, bedWidthOuter) + bedYOffset, - columnLength - z - zGantryOffset + 200, + columnLength - zDir * z - zGantryOffset + 200, ], [0, 0, -50], [0, 0, 50], [ threeSpace(x + 2, bedLengthOuter) + bedXOffset, threeSpace(y + 15, bedWidthOuter) + bedYOffset, - columnLength - z - zGantryOffset + 75, + columnLength - zDir * z - zGantryOffset + 75, ], )} tubularSegments={20} diff --git a/frontend/three_d_garden/bot/components/tools.tsx b/frontend/three_d_garden/bot/components/tools.tsx index 4845a4114f..52d41c2b7b 100644 --- a/frontend/three_d_garden/bot/components/tools.tsx +++ b/frontend/three_d_garden/bot/components/tools.tsx @@ -169,9 +169,9 @@ export const Tools = (props: ToolsProps) => { const navigate = useNavigate(); return { if (slotProps.id && !isUndefined(props.dispatch) && @@ -227,13 +227,13 @@ export const Tools = (props: ToolsProps) => { rotaryToolImplementRef.current.rotation.z = time * speed; } }); - + const X = 5.5; switch (toolProps.toolName) { case ToolName.rotaryTool: return { return { return { return { return { return { return { return @@ -391,7 +391,7 @@ export const Tools = (props: ToolsProps) => { position={[ threeSpace(105 + bedWallThickness, bedLengthOuter), threeSpace(yPosition + bedWidthOuter / 2, bedWidthOuter), - 60, + 50, ]} rotation={[0, 0, -Math.PI / 2]} scale={1000} diff --git a/frontend/three_d_garden/constants.ts b/frontend/three_d_garden/constants.ts index a873749c45..cc895848fb 100644 --- a/frontend/three_d_garden/constants.ts +++ b/frontend/three_d_garden/constants.ts @@ -42,8 +42,8 @@ export const ASSETS: Record> = { beltClip: "/3D/models/belt_clip.glb", zStop: "/3D/models/z_stop.glb", utm: "/3D/models/utm.glb", - ccHorizontal: "/3D/models/cc_horizontal.glb", - ccVertical: "/3D/models/cc_vertical.glb", + ccSupportHorizontal: "/3D/models/cc_support_horizontal.glb", + ccSupportVertical: "/3D/models/cc_support_vertical.glb", housingVertical: "/3D/models/housing_vertical.glb", horizontalMotorHousing: "/3D/models/horizontal_motor_housing.glb", zAxisMotorMount: "/3D/models/z_axis_motor_mount.glb", @@ -121,8 +121,8 @@ export enum PartName { zStop = "Z-Axis_Hardstop", beltClip = "Belt_Clip_-_Slim", utm = "M5_Barb", - ccHorizontal = "60mm_Horizontal_Cable_Carrier_Support", - ccVertical = "60mm_Vertical_Cable_Carrier_Support", + ccSupportHorizontal = "60mm_Horizontal_Cable_Carrier_Support", + ccSupportVertical = "60mm_Vertical_Cable_Carrier_Support", housingVertical = "80mm_Vertical_Motor_Housing", horizontalMotorHousing = "75mm_Horizontal_Motor_Housing", zAxisMotorMount = "Z-Axis_Motor_Mount", diff --git a/public/3D/models/cc_horizontal.glb b/public/3D/models/cc_support_horizontal.glb similarity index 100% rename from public/3D/models/cc_horizontal.glb rename to public/3D/models/cc_support_horizontal.glb diff --git a/public/3D/models/cc_vertical.glb b/public/3D/models/cc_support_vertical.glb similarity index 100% rename from public/3D/models/cc_vertical.glb rename to public/3D/models/cc_support_vertical.glb From e9ab867ceefc86c51ed9754e515ca161c1a0c51b Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Tue, 15 Jul 2025 17:00:27 -0700 Subject: [PATCH 13/54] add move and execute to lua runner --- app/views/dashboard/demo.html.erb | 4 +- .../demo/lua_runner/__tests__/actions_test.ts | 434 +++++++++++++++++- .../demo/lua_runner/__tests__/index_test.ts | 230 +++++++--- .../demo/lua_runner/__tests__/util_test.ts | 103 +++-- frontend/demo/lua_runner/actions.ts | 135 +++++- frontend/demo/lua_runner/index.ts | 29 +- frontend/demo/lua_runner/interfaces.ts | 1 + frontend/demo/lua_runner/run.ts | 29 +- frontend/demo/lua_runner/util.ts | 36 +- frontend/devices/__tests__/actions_test.ts | 16 +- frontend/devices/actions.ts | 9 +- .../__tests__/selectors_by_id_test.ts | 8 + .../resources/__tests__/selectors_test.ts | 27 ++ frontend/resources/selectors_by_id.ts | 26 ++ .../__tests__/triangle_functions_test.ts | 51 ++ .../__tests__/triangles_test.ts | 52 +-- frontend/three_d_garden/garden_model.tsx | 6 +- frontend/three_d_garden/triangle_functions.ts | 53 +++ frontend/three_d_garden/triangles.ts | 54 --- 19 files changed, 1029 insertions(+), 274 deletions(-) create mode 100644 frontend/three_d_garden/__tests__/triangle_functions_test.ts create mode 100644 frontend/three_d_garden/triangle_functions.ts diff --git a/app/views/dashboard/demo.html.erb b/app/views/dashboard/demo.html.erb index 0da75730f7..216bad188c 100644 --- a/app/views/dashboard/demo.html.erb +++ b/app/views/dashboard/demo.html.erb @@ -42,11 +42,11 @@ font-size: 25px; font-weight: bold; padding: 15px 30px; - position: absolute; + position: fixed; } .demo-options { - position: absolute; + position: fixed; bottom: 15px; } diff --git a/frontend/demo/lua_runner/__tests__/actions_test.ts b/frontend/demo/lua_runner/__tests__/actions_test.ts index 47eb296fb5..1dddc05e89 100644 --- a/frontend/demo/lua_runner/__tests__/actions_test.ts +++ b/frontend/demo/lua_runner/__tests__/actions_test.ts @@ -1,14 +1,440 @@ +import { + buildResourceIndex, +} from "../../../__test_support__/resource_index_builder"; +import { + fakePlant, + fakeTool, + fakeToolSlot, +} from "../../../__test_support__/fake_state/resources"; +let mockResources = buildResourceIndex([]); +jest.mock("../../../redux/store", () => ({ + store: { + dispatch: jest.fn(), + getState: () => ({ + resources: mockResources, + bot: { + hardware: { + location_data: { position: { x: 0, y: 0, z: 0 } }, + informational_settings: { locked: false }, + }, + }, + }), + }, +})); + +jest.mock("../../../three_d_garden/triangle_functions", () => ({ + getZFunc: jest.fn(() => () => 3), +})); + +import { Move, ParameterApplication } from "farmbot"; import { TOAST_OPTIONS } from "../../../toast/constants"; import { info } from "../../../toast/toast"; -import { runActions } from "../actions"; +import { calculateMove, runActions } from "../actions"; describe("runActions()", () => { it("runs actions", () => { jest.useFakeTimers(); - runActions([ - { type: "send_message", args: ["info", "Hello, world!", "toast"] }, - ]); + runActions( + [ + { type: "send_message", args: ["info", "Hello, world!", "toast"] }, + ], + []); jest.runAllTimers(); expect(info).toHaveBeenCalledWith("Hello, world!", TOAST_OPTIONS().info); }); }); + +describe("calculateMove()", () => { + it("handles number single axis addition", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_addition", + args: { + axis: "x", + axis_operand: { kind: "numeric", args: { number: 1 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) + .toEqual({ x: 2, y: 2, z: 3 }); + }); + + it("handles number all axis addition", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_addition", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 1 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) + .toEqual({ x: 2, y: 3, z: 4 }); + }); + + it("handles coordinate single axis addition", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_addition", + args: { + axis: "x", + axis_operand: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) + .toEqual({ x: 2, y: 2, z: 3 }); + }); + + it("handles coordinate all axis addition", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_addition", + args: { + axis: "all", + axis_operand: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) + .toEqual({ x: 2, y: 4, z: 6 }); + }); + + it("handles number single axis overwrite", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "x", + axis_operand: { kind: "numeric", args: { number: 3 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) + .toEqual({ x: 3, y: 2, z: 3 }); + }); + + it("handles number all axis overwrite", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 1 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) + .toEqual({ x: 1, y: 1, z: 1 }); + }); + + it("handles coordinate single axis overwrite", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "x", + axis_operand: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ x: 1, y: 0, z: 0 }); + }); + + it("handles coordinate all axis overwrite", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ x: 1, y: 2, z: 3 }); + }); + + it("handles tool single axis overwrite", () => { + const tool = fakeTool(); + tool.body.id = 1; + const slot = fakeToolSlot(); + slot.body.tool_id = 1; + slot.body.x = 1; + slot.body.y = 2; + slot.body.z = 3; + mockResources = buildResourceIndex([tool, slot]); + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "x", + axis_operand: { kind: "tool", args: { tool_id: 1 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ x: 1, y: 0, z: 0 }); + }); + + it("handles tool all axis overwrite", () => { + const tool = fakeTool(); + tool.body.id = 1; + const slot = fakeToolSlot(); + slot.body.tool_id = 1; + slot.body.x = 1; + slot.body.y = 2; + slot.body.z = 3; + mockResources = buildResourceIndex([tool, slot]); + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "tool", args: { tool_id: 1 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ x: 1, y: 2, z: 3 }); + }); + + it("handles missing tool", () => { + mockResources = buildResourceIndex([]); + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "tool", args: { tool_id: 1 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ x: 0, y: 0, z: 0 }); + }); + + it("handles coordinate identifier all axis overwrite", () => { + mockResources = buildResourceIndex([]); + const variables: ParameterApplication[] = [ + { + kind: "parameter_application", + args: { + label: "parent", + data_value: { + kind: "coordinate", + args: { x: 1, y: 2, z: 3 }, + }, + }, + }, + ]; + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "identifier", args: { label: "parent" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) + .toEqual({ x: 1, y: 2, z: 3 }); + }); + + it("handles point identifier all axis overwrite", () => { + const point = fakePlant(); + point.body.id = 1; + point.body.x = 1; + point.body.y = 2; + point.body.z = 3; + mockResources = buildResourceIndex([point]); + const variables: ParameterApplication[] = [ + { + kind: "parameter_application", + args: { + label: "parent", + data_value: { + kind: "point", + args: { pointer_id: 1, pointer_type: "Plant" }, + }, + }, + }, + ]; + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "identifier", args: { label: "parent" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) + .toEqual({ x: 1, y: 2, z: 3 }); + }); + + it("handles missing point", () => { + mockResources = buildResourceIndex([]); + const variables: ParameterApplication[] = [ + { + kind: "parameter_application", + args: { + label: "parent", + data_value: { + kind: "point", + args: { pointer_id: 1, pointer_type: "Plant" }, + }, + }, + }, + ]; + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "identifier", args: { label: "parent" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) + .toEqual({ x: 0, y: 0, z: 0 }); + }); + + it("handles missing variables", () => { + mockResources = buildResourceIndex([]); + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "identifier", args: { label: "parent" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, undefined)) + .toEqual({ x: 0, y: 0, z: 0 }); + }); + + it("handles soil height z axis overwrite", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "z", + axis_operand: { kind: "special_value", args: { label: "soil_height" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ x: 0, y: 0, z: 3 }); + }); + + it("handles soil height z axis overwrite: triangle data", () => { + sessionStorage.setItem("triangles", "[\"foo\"]"); + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "z", + axis_operand: { kind: "special_value", args: { label: "soil_height" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ x: 0, y: 0, z: 3 }); + }); + + it("handles soil height z axis overwrite: wrong label", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "z", + axis_operand: { kind: "special_value", args: { label: "nope" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ x: 0, y: 0, z: 0 }); + }); + + it("handles missing body", () => { + const command: Move = { kind: "move", args: {} }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ x: 0, y: 0, z: 0 }); + }); +}); diff --git a/frontend/demo/lua_runner/__tests__/index_test.ts b/frontend/demo/lua_runner/__tests__/index_test.ts index 30ee86c3c8..4937ba863a 100644 --- a/frontend/demo/lua_runner/__tests__/index_test.ts +++ b/frontend/demo/lua_runner/__tests__/index_test.ts @@ -33,11 +33,18 @@ jest.mock("../../../api/crud", () => ({ save: jest.fn(), })); -import { ParameterApplication, TaggedSequence } from "farmbot"; +import { + Execute, FindHome, Move, ParameterApplication, TaggedSequence, +} from "farmbot"; import { Actions } from "../../../constants"; import { store } from "../../../redux/store"; -import { info } from "../../../toast/toast"; -import { csToLua, runDemoLuaCode, runDemoSequence } from ".."; +import { error, info } from "../../../toast/toast"; +import { + collectDemoSequenceActions, + csToLua, + runDemoLuaCode, + runDemoSequence, +} from ".."; import { TOAST_OPTIONS } from "../../../toast/constants"; import { edit, save } from "../../../api/crud"; @@ -45,7 +52,6 @@ describe("runDemoSequence()", () => { beforeEach(() => { localStorage.setItem("myBotIs", "online"); console.log = jest.fn(); - console.error = jest.fn(); jest.useFakeTimers(); }); @@ -66,7 +72,7 @@ describe("runDemoSequence()", () => { }]; runDemoSequence(ri, sequence.body.id, variables); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(info).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("1"); }); @@ -88,7 +94,7 @@ describe("runDemoSequence()", () => { }]; runDemoSequence(ri, sequence.body.id, variables); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(info).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("text"); }); @@ -110,7 +116,7 @@ describe("runDemoSequence()", () => { }]; runDemoSequence(ri, sequence.body.id, variables); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(info).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("0"); }); @@ -139,7 +145,7 @@ describe("runDemoSequence()", () => { }]; runDemoSequence(ri, sequence.body.id, variables); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(info).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("0"); }); @@ -165,7 +171,7 @@ describe("runDemoSequence()", () => { }]; runDemoSequence(ri, sequence.body.id, variables); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(info).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("undefined"); }); @@ -190,7 +196,7 @@ describe("runDemoSequence()", () => { }]; runDemoSequence(ri, sequence.body.id, variables); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(info).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("1"); }); @@ -213,7 +219,7 @@ describe("runDemoSequence()", () => { }]; runDemoSequence(ri, sequence.body.id, variables); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(info).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("undefined"); }); @@ -239,7 +245,7 @@ describe("runDemoSequence()", () => { "Variable \"Other\" of type identifier not implemented.", TOAST_OPTIONS().error); expect(console.log).toHaveBeenCalledWith("undefined"); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); }); it("runs non-lua sequence step", () => { @@ -252,11 +258,43 @@ describe("runDemoSequence()", () => { const ri = buildResourceIndex([sequence]).index; runDemoSequence(ri, sequence.body.id, []); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(info).toHaveBeenCalledWith("text", TOAST_OPTIONS().info); expect(console.log).not.toHaveBeenCalled(); }); + it("runs move sequence step", () => { + mockPosition = { x: 1, y: 2, z: 3 }; + const firmwareConfig = fakeFirmwareConfig(); + firmwareConfig.body.movement_home_up_z = 0; + mockResources = buildResourceIndex([firmwareConfig, fakeWebAppConfig()]); + const sequence = fakeSequence(); + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_addition", + args: { + axis: "all", + axis_operand: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, + }, + }, + ], + }; + sequence.body.body = [command]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + runDemoSequence(ri, sequence.body.id, []); + jest.runAllTimers(); + expect(error).not.toHaveBeenCalled(); + expect(store.dispatch).toHaveBeenCalledWith({ + type: Actions.DEMO_SET_POSITION, + payload: { x: 2, y: 4, z: 6 }, + }); + expect(console.log).not.toHaveBeenCalled(); + }); + it("handles missing variables", () => { const sequence = fakeSequence(); sequence.body.body = [{ @@ -271,7 +309,7 @@ describe("runDemoSequence()", () => { "Variable \"Number\" of type undefined not implemented.", TOAST_OPTIONS().error); expect(console.log).toHaveBeenCalledWith("undefined"); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); }); it("handles missing sequence body", () => { @@ -286,7 +324,7 @@ describe("runDemoSequence()", () => { jest.runAllTimers(); expect(console.log).not.toHaveBeenCalled(); expect(info).not.toHaveBeenCalled(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); }); it("handles load error", () => { @@ -298,9 +336,8 @@ describe("runDemoSequence()", () => { jest.runAllTimers(); expect(console.log).not.toHaveBeenCalled(); expect(info).not.toHaveBeenCalled(); - expect(console.error).toHaveBeenCalledWith( - "Lua load error:", - "[string \"!\"]:1: unexpected symbol near '!'", + expect(error).toHaveBeenCalledWith( + "Lua load error: [string \"!\"]:1: unexpected symbol near '!'", ); }); @@ -313,10 +350,41 @@ describe("runDemoSequence()", () => { jest.runAllTimers(); expect(console.log).not.toHaveBeenCalled(); expect(info).not.toHaveBeenCalled(); - expect(console.error).toHaveBeenCalledWith( - "Lua call error:", - expect.stringContaining("attempt to perform arithmetic"), - ); + expect(error).toHaveBeenCalledWith( + expect.stringContaining("Lua call error:")); + expect(error).toHaveBeenCalledWith( + expect.stringContaining("attempt to perform arithmetic")); + }); +}); + +describe("collectDemoSequenceActions()", () => { + it("collects actions", () => { + const sequence1 = fakeSequence(); + sequence1.body.id = 1; + const findHome1: FindHome = { + kind: "find_home", + args: { axis: "x", speed: 100 }, + }; + const execute: Execute = { + kind: "execute", + args: { sequence_id: 2 }, + }; + sequence1.body.body = [findHome1, execute]; + + const sequence2 = fakeSequence(); + sequence2.body.id = 2; + const findHome2: FindHome = { + kind: "find_home", + args: { axis: "y", speed: 100 }, + }; + sequence2.body.body = [findHome2]; + + const ri = buildResourceIndex([sequence1, sequence2]).index; + const actions = collectDemoSequenceActions(ri, 1, []); + expect(actions).toEqual([ + { type: "find_home", args: ["x"] }, + { type: "find_home", args: ["y"] }, + ]); }); }); @@ -324,7 +392,6 @@ describe("runDemoLuaCode()", () => { beforeEach(() => { localStorage.setItem("myBotIs", "online"); console.log = jest.fn(); - console.error = jest.fn(); jest.useFakeTimers(); mockLocked = false; const firmwareConfig = fakeFirmwareConfig(); @@ -339,7 +406,7 @@ describe("runDemoLuaCode()", () => { it("runs print", () => { runDemoLuaCode("print(\"Hello, world!\")"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("Hello, world!"); }); @@ -351,7 +418,7 @@ describe("runDemoLuaCode()", () => { print(a, false, true, nil, {1}, {a = {b = 1}}, f) `); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith( "4 false true undefined [1] {\"a\":{\"b\":1}} \"\""); }); @@ -367,7 +434,7 @@ describe("runDemoLuaCode()", () => { "print(garden_size().y)\n" + "print(garden_size().z)"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("1000"); expect(console.log).toHaveBeenCalledWith("2000"); expect(console.log).toHaveBeenCalledWith("500"); @@ -385,7 +452,7 @@ describe("runDemoLuaCode()", () => { print(type(data), #data) `); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("table 1"); expect(info).not.toHaveBeenCalled(); }); @@ -404,7 +471,7 @@ describe("runDemoLuaCode()", () => { print(type(data), #data) `); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("table 1"); expect(info).not.toHaveBeenCalled(); }); @@ -421,7 +488,7 @@ describe("runDemoLuaCode()", () => { print(type(data), #data) `); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("table 1"); expect(info).not.toHaveBeenCalled(); }); @@ -436,7 +503,7 @@ describe("runDemoLuaCode()", () => { print(data) `); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("false"); expect(info).toHaveBeenCalledWith( "API call GET /api/other not implemented.", @@ -456,46 +523,69 @@ describe("runDemoLuaCode()", () => { } `); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, payload: { x: 0, y: 2, z: 3 }, }); }); + it("runs cs_eval: execute", () => { + const sequence = fakeSequence(); + sequence.body.id = 1; + sequence.body.body = [{ + kind: "send_message", + args: { message: "test", message_type: "info" }, + }]; + mockResources = buildResourceIndex([sequence]); + mockPosition = { x: 1, y: 2, z: 3 }; + runDemoLuaCode(` + cs_eval{ + kind = "rpc_request", + args = { label = "", priority = 0 }, + body = { + { kind = "execute", args = { sequence_id = 1 } } + } + } + `); + jest.runAllTimers(); + expect(error).not.toHaveBeenCalled(); + expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().info); + }); + it("runs cs_eval: no body", () => { mockPosition = { x: 1, y: 2, z: 3 }; runDemoLuaCode("cs_eval{}"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).not.toHaveBeenCalled(); }); it("runs toast", () => { runDemoLuaCode("toast(\"test\", \"info\")"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().info); }); it("runs toast: default", () => { runDemoLuaCode("toast(\"test\")"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().info); }); it("runs debug", () => { runDemoLuaCode("debug(\"test\")"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().debug); }); it("runs send_message", () => { runDemoLuaCode("send_message(\"info\", \"test\", \"toast\")"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().info); }); @@ -508,7 +598,7 @@ describe("runDemoLuaCode()", () => { }) `); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_JOB_PROGRESS, payload: ["job", { @@ -532,7 +622,7 @@ describe("runDemoLuaCode()", () => { }) `); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_JOB_PROGRESS, payload: ["job", { @@ -551,7 +641,7 @@ describe("runDemoLuaCode()", () => { mockPosition = { x: 1, y: 2, z: 3 }; runDemoLuaCode("find_home(\"all\")"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, payload: { x: 0, y: 0, z: 0 }, @@ -562,7 +652,7 @@ describe("runDemoLuaCode()", () => { mockPosition = { x: 1, y: 2, z: 3 }; runDemoLuaCode("go_to_home(\"all\")"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, payload: { x: 0, y: 0, z: 0 }, @@ -573,7 +663,7 @@ describe("runDemoLuaCode()", () => { mockPosition = { x: 1, y: 2, z: 3 }; runDemoLuaCode("go_to_home(\"x\")"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, payload: { x: 0, y: 2, z: 3 }, @@ -584,7 +674,7 @@ describe("runDemoLuaCode()", () => { mockPosition = { x: 1, y: 2, z: 3 }; runDemoLuaCode("go_to_home(\"y\")"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, payload: { x: 1, y: 0, z: 3 }, @@ -599,7 +689,7 @@ describe("runDemoLuaCode()", () => { mockPosition = { x: 1, y: 2, z: 3 }; runDemoLuaCode("find_axis_length(\"x\")"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, payload: { x: 0, y: 2, z: 3 }, @@ -618,7 +708,7 @@ describe("runDemoLuaCode()", () => { mockPosition = { x: 1, y: 2, z: 3 }; runDemoLuaCode("find_axis_length(\"y\")"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, payload: { x: 1, y: 0, z: 3 }, @@ -637,7 +727,7 @@ describe("runDemoLuaCode()", () => { mockPosition = { x: 1, y: 2, z: 3 }; runDemoLuaCode("find_axis_length(\"z\")"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, payload: { x: 1, y: 2, z: 0 }, @@ -651,7 +741,7 @@ describe("runDemoLuaCode()", () => { it("runs toggle_pin", () => { runDemoLuaCode("toggle_pin(5)"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_TOGGLE_PIN, payload: 5, @@ -661,7 +751,7 @@ describe("runDemoLuaCode()", () => { it("runs write_pin", () => { runDemoLuaCode("write_pin(5, \"digital\", 1)"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_WRITE_PIN, payload: { pin: 5, mode: "digital", value: 1 }, @@ -671,7 +761,7 @@ describe("runDemoLuaCode()", () => { it("runs on", () => { runDemoLuaCode("on(5)"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_WRITE_PIN, payload: { pin: 5, mode: "digital", value: 1 }, @@ -682,14 +772,14 @@ describe("runDemoLuaCode()", () => { mockLocked = true; runDemoLuaCode("on(5)"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).not.toHaveBeenCalled(); }); it("runs off", () => { runDemoLuaCode("off(5)"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_WRITE_PIN, payload: { pin: 5, mode: "digital", value: 0 }, @@ -699,7 +789,7 @@ describe("runDemoLuaCode()", () => { it("runs safe_z", () => { runDemoLuaCode("print(safe_z())"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("0"); expect(info).not.toHaveBeenCalled(); }); @@ -707,7 +797,7 @@ describe("runDemoLuaCode()", () => { it("runs env", () => { runDemoLuaCode("print(env(\"foo\"))"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith(""); expect(info).not.toHaveBeenCalled(); }); @@ -715,7 +805,7 @@ describe("runDemoLuaCode()", () => { it("runs soil_height", () => { runDemoLuaCode("print(soil_height(0, 0))"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("-500"); expect(info).not.toHaveBeenCalled(); }); @@ -726,7 +816,7 @@ describe("runDemoLuaCode()", () => { mockResources = buildResourceIndex([device]); runDemoLuaCode("print(get_device(\"mounted_tool_id\"))"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("1"); expect(info).not.toHaveBeenCalled(); }); @@ -737,7 +827,7 @@ describe("runDemoLuaCode()", () => { mockResources = buildResourceIndex([device]); runDemoLuaCode("print(get_device(\"mounted_tool_id\"))"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("false"); expect(info).not.toHaveBeenCalled(); }); @@ -748,7 +838,7 @@ describe("runDemoLuaCode()", () => { mockResources = buildResourceIndex([device]); runDemoLuaCode("update_device{ mounted_tool_id = 1 }"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(console.log).not.toHaveBeenCalled(); expect(info).not.toHaveBeenCalled(); expect(edit).toHaveBeenCalledWith(device, { mounted_tool_id: 1 }); @@ -761,7 +851,7 @@ describe("runDemoLuaCode()", () => { mockResources = buildResourceIndex([device]); runDemoLuaCode("print(read_pin(63))"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("0"); expect(info).not.toHaveBeenCalled(); }); @@ -772,7 +862,7 @@ describe("runDemoLuaCode()", () => { mockResources = buildResourceIndex([device]); runDemoLuaCode("print(read_pin(63))"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("1"); expect(info).not.toHaveBeenCalled(); }); @@ -781,7 +871,7 @@ describe("runDemoLuaCode()", () => { mockResources = buildResourceIndex([]); runDemoLuaCode("print(read_pin(5))"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("0"); expect(info).not.toHaveBeenCalled(); }); @@ -790,7 +880,7 @@ describe("runDemoLuaCode()", () => { mockPosition = { x: 1, y: 2, z: 3 }; runDemoLuaCode("move_relative(1, 0, 0)"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, payload: { x: 2, y: 2, z: 3 }, @@ -801,7 +891,7 @@ describe("runDemoLuaCode()", () => { mockPosition = { x: 0, y: 0, z: 0 }; runDemoLuaCode("move_relative(0, 0, 0)"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, payload: { x: 0, y: 0, z: 0 }, @@ -812,7 +902,7 @@ describe("runDemoLuaCode()", () => { mockPosition = { x: 1, y: 2, z: 3 }; runDemoLuaCode("move_absolute(1, 0, 0)"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, payload: { x: 1, y: 0, z: 0 }, @@ -823,7 +913,7 @@ describe("runDemoLuaCode()", () => { mockPosition = { x: 1, y: 2, z: 3 }; runDemoLuaCode("move_absolute{ x = 1, y = 0, z = 0 }"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, payload: { x: 1, y: 0, z: 0 }, @@ -838,7 +928,7 @@ describe("runDemoLuaCode()", () => { mockPosition = { x: 1, y: 2, z: 3 }; runDemoLuaCode("move_absolute(0, 0, 1000)"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, payload: { x: 0, y: 0, z: 100 }, @@ -853,7 +943,7 @@ describe("runDemoLuaCode()", () => { mockPosition = { x: 1, y: 2, z: 3 }; runDemoLuaCode("move_absolute(0, 0, -1000)"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, payload: { x: 0, y: 0, z: -100 }, @@ -864,7 +954,7 @@ describe("runDemoLuaCode()", () => { mockPosition = { x: 1, y: 2, z: 3 }; runDemoLuaCode("move{ y = 1 }"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, payload: { x: 1, y: 1, z: 3 }, @@ -875,7 +965,7 @@ describe("runDemoLuaCode()", () => { mockPosition = { x: 1, y: 2, z: 3 }; runDemoLuaCode("move{ x = 0, z = 0 }"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, payload: { x: 0, y: 2, z: 0 }, @@ -885,7 +975,7 @@ describe("runDemoLuaCode()", () => { it("runs emergency_lock", () => { runDemoLuaCode("emergency_lock()"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_ESTOP, payload: true, @@ -895,7 +985,7 @@ describe("runDemoLuaCode()", () => { it("runs emergency_unlock", () => { runDemoLuaCode("emergency_unlock()"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_ESTOP, payload: false, @@ -906,7 +996,7 @@ describe("runDemoLuaCode()", () => { mockLocked = true; runDemoLuaCode("emergency_unlock()"); jest.runAllTimers(); - expect(console.error).not.toHaveBeenCalled(); + expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_ESTOP, payload: false, diff --git a/frontend/demo/lua_runner/__tests__/util_test.ts b/frontend/demo/lua_runner/__tests__/util_test.ts index 622842f7a7..09d35e0ea2 100644 --- a/frontend/demo/lua_runner/__tests__/util_test.ts +++ b/frontend/demo/lua_runner/__tests__/util_test.ts @@ -1,3 +1,17 @@ +import { + buildResourceIndex, +} from "../../../__test_support__/resource_index_builder"; +import { + fakePeripheral, +} from "../../../__test_support__/fake_state/resources"; +let mockResources = buildResourceIndex([]); +jest.mock("../../../redux/store", () => ({ + store: { + dispatch: jest.fn(), + getState: () => ({ resources: mockResources }), + }, +})); + import { csToLua } from "../util"; import { EmergencyLock, EmergencyUnlock, FindHome, Home, Lua, Move, MoveAbsolute, @@ -88,71 +102,58 @@ describe("csToLua()", () => { }, ], }; - expect(csToLua(command)).toEqual("move{y=1}"); + expect(csToLua(command)).toEqual( + "_move(\"[{\\\"kind\\\":\\\"axis_overwrite\\\",\\\"args\\\":{" + + "\\\"axis\\\":\\\"y\\\",\\\"axis_operand\\\":{\\\"kind\\\":\\\"" + + "numeric\\\",\\\"args\\\":{\\\"number\\\":1}}}}]\")"); }); - it("converts celery script to lua: move all axes to coordinate", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, - }, - }, - ], - }; - expect(csToLua(command)).toEqual("move{x=1, y=2, z=3}"); + it("converts celery script to lua: move no body", () => { + const command: Move = { kind: "move", args: {} }; + expect(csToLua(command)).toEqual("_move(\"[]\")"); }); - it("converts celery script to lua: move axis to coordinate", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "x", - axis_operand: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, - }, - }, - ], + it("converts celery script to lua: write_pin", () => { + const command: WritePin = { + kind: "write_pin", + args: { pin_number: 1, pin_mode: 0, pin_value: 1 }, }; - expect(csToLua(command)).toEqual("move{x=1}"); + expect(csToLua(command)).toEqual("write_pin(1, \"digital\", 1)"); }); - it("converts celery script to lua: move no coordinate", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "numeric", args: { number: 1 } }, - }, + it("converts celery script to lua: peripheral", () => { + const peripheral = fakePeripheral(); + peripheral.body.id = 1; + peripheral.body.pin = 2; + mockResources = buildResourceIndex([peripheral]); + const command: WritePin = { + kind: "write_pin", + args: { + pin_number: { + kind: "named_pin", + args: { pin_id: 1, pin_type: "Peripheral" }, }, - ], + pin_mode: 0, + pin_value: 1, + }, }; - expect(csToLua(command)).toEqual("move{}"); - }); - - it("converts celery script to lua: move no body", () => { - const command: Move = { kind: "move", args: {} }; - expect(csToLua(command)).toEqual("move{}"); + expect(csToLua(command)).toEqual("write_pin(2, \"digital\", 1)"); }); - it("converts celery script to lua: write_pin", () => { + it("converts celery script to lua: missing peripheral", () => { + mockResources = buildResourceIndex([]); const command: WritePin = { kind: "write_pin", - args: { pin_number: 1, pin_mode: 0, pin_value: 1 }, + args: { + pin_number: { + kind: "named_pin", + args: { pin_id: 1, pin_type: "Peripheral" }, + }, + pin_mode: 0, + pin_value: 1, + }, }; - expect(csToLua(command)).toEqual("write_pin(1, \"digital\", 1)"); + expect(csToLua(command)).toEqual(""); }); it("converts celery script to lua: write_pin analog", () => { diff --git a/frontend/demo/lua_runner/actions.ts b/frontend/demo/lua_runner/actions.ts index ed254bd846..79aa41e31b 100644 --- a/frontend/demo/lua_runner/actions.ts +++ b/frontend/demo/lua_runner/actions.ts @@ -1,4 +1,6 @@ -import { PercentageProgress } from "farmbot"; +import { + Identifier, MoveBodyItem, ParameterApplication, PercentageProgress, +} from "farmbot"; import { info } from "../../toast/toast"; import { store } from "../../redux/store"; import { Actions } from "../../constants"; @@ -6,10 +8,15 @@ import { validBotLocationData } from "../../util/location"; import { TOAST_OPTIONS } from "../../toast/constants"; import { Action, XyzNumber } from "./interfaces"; import { edit, save } from "../../api/crud"; -import { getDeviceAccountSettings } from "../../resources/selectors"; +import { + getDeviceAccountSettings, + maybeFindPointById, + maybeFindSlotByToolId, +} from "../../resources/selectors"; import { UnknownAction } from "redux"; import { getFirmwareSettings, getGardenSize } from "./stubs"; -import { clamp } from "lodash"; +import { clamp, clone } from "lodash"; +import { getZFunc, TriangleData } from "../../three_d_garden/triangle_functions"; const almostEqual = (a: XyzNumber, b: XyzNumber) => { const epsilon = 0.01; @@ -62,7 +69,10 @@ const clampTarget = (target: XyzNumber): XyzNumber => { return clamped; }; -const expandActions = (actions: Action[]): Action[] => { +const expandActions = ( + actions: Action[], + variables: ParameterApplication[] | undefined, +): Action[] => { const expanded: Action[] = []; const { position } = validBotLocationData( store.getState().bot.hardware.location_data); @@ -106,6 +116,13 @@ const expandActions = (actions: Action[]): Action[] => { movementChunks(current, moveRelativeTarget).map(addPosition); setCurrent(moveRelativeTarget); break; + case "_move": + const moveItems = JSON.parse("" + action.args[0]) as MoveBodyItem[]; + const actualMoveTarget = clampTarget( + calculateMove(moveItems, current, variables)); + movementChunks(current, actualMoveTarget).map(addPosition); + setCurrent(actualMoveTarget); + break; case "move": const moveTarget = clampTarget({ x: (action.args[0] as number | undefined) ?? current.x, @@ -139,9 +156,12 @@ const expandActions = (actions: Action[]): Action[] => { const pending = new Set>(); -export const runActions = (actions: Action[]) => { +export const runActions = ( + actions: Action[], + variables: ParameterApplication[] | undefined, +) => { let delay = 0; - expandActions(actions).map(action => { + expandActions(actions, variables).map(action => { // eslint-disable-next-line complexity const getFunc = () => { const estopped = store.getState().bot.hardware.informational_settings.locked; @@ -242,3 +262,106 @@ export const runActions = (actions: Action[]) => { func && pending.add(setTimeout(func, delay)); }); }; + +export const calculateMove = ( + body: MoveBodyItem[] | undefined, + current: XyzNumber, + variables: ParameterApplication[] | undefined, +) => { + const pos = clone(current); + // eslint-disable-next-line complexity + (body || []).map(item => { + switch (item.kind) { + case "axis_addition": + switch (item.args.axis_operand.kind) { + case "numeric": + if (item.args.axis == "all") { + pos.x += item.args.axis_operand.args.number; + pos.y += item.args.axis_operand.args.number; + pos.z += item.args.axis_operand.args.number; + } else { + pos[item.args.axis] += item.args.axis_operand.args.number; + } + break; + case "coordinate": + if (item.args.axis == "all") { + pos.x += item.args.axis_operand.args.x; + pos.y += item.args.axis_operand.args.y; + pos.z += item.args.axis_operand.args.z; + } else { + pos[item.args.axis] += item.args.axis_operand.args[item.args.axis]; + } + break; + } + return; + case "axis_overwrite": + switch (item.args.axis_operand.kind) { + case "numeric": + if (item.args.axis == "all") { + pos.x = item.args.axis_operand.args.number; + pos.y = item.args.axis_operand.args.number; + pos.z = item.args.axis_operand.args.number; + } else { + pos[item.args.axis] = item.args.axis_operand.args.number; + } + break; + case "coordinate": + if (item.args.axis == "all") { + pos.x = item.args.axis_operand.args.x; + pos.y = item.args.axis_operand.args.y; + pos.z = item.args.axis_operand.args.z; + } else { + pos[item.args.axis] = item.args.axis_operand.args[item.args.axis]; + } + break; + case "tool": + const toolSlot = maybeFindSlotByToolId( + store.getState().resources.index, + item.args.axis_operand.args.tool_id); + if (!toolSlot) { + break; + } + if (item.args.axis == "all") { + pos.x = toolSlot.body.x; + pos.y = toolSlot.body.y; + pos.z = toolSlot.body.z; + } else { + pos[item.args.axis] = toolSlot.body[item.args.axis]; + } + break; + case "identifier": + const location = (variables || []).filter(v => { + const identifier = item.args.axis_operand as Identifier; + return v.args.label == identifier.args.label; + }) + .map(v => v.args.data_value)[0]; + if (location?.kind == "coordinate") { + pos.x = location.args.x; + pos.y = location.args.y; + pos.z = location.args.z; + } + if (location?.kind == "point") { + const point = maybeFindPointById( + store.getState().resources.index, + location.args.pointer_id); + if (!point) { break; } + pos.x = point.body.x; + pos.y = point.body.y; + pos.z = point.body.z; + } + break; + case "special_value": + if (item.args.axis_operand.args.label == "soil_height" + && item.args.axis == "z") { + const triangles = JSON.parse( + sessionStorage.getItem("triangles") || "[]") as TriangleData[]; + const getZ = getZFunc(triangles, -500); + pos.z = getZ(pos.x, pos.y); + } + break; + } + return; + } + }); + return pos; +}; diff --git a/frontend/demo/lua_runner/index.ts b/frontend/demo/lua_runner/index.ts index 7cd4b8e2b3..58e8e69f55 100644 --- a/frontend/demo/lua_runner/index.ts +++ b/frontend/demo/lua_runner/index.ts @@ -8,10 +8,10 @@ import { csToLua } from "./util"; export const runDemoLuaCode = (luaCode: string) => { const actions = runLua(luaCode, []); - runActions(actions); + runActions(actions, []); }; -export const runDemoSequence = ( +export const collectDemoSequenceActions = ( resources: ResourceIndex, sequenceId: number, variables: ParameterApplication[] | undefined, @@ -19,11 +19,28 @@ export const runDemoSequence = ( const sequence = findSequenceById(resources, sequenceId); const actions: Action[] = []; (sequence.body.body as SequenceBodyItem[]).map(step => { - const lua = step.kind === "lua" ? step.args.lua : csToLua(step); - const stepActions = runLua(lua, variables || []); - actions.push(...stepActions); + if (step.kind == "execute") { + const seqActions = collectDemoSequenceActions( + resources, + step.args.sequence_id, + step.body); + actions.push(...seqActions); + } else { + const lua = step.kind === "lua" ? step.args.lua : csToLua(step); + const stepActions = runLua(lua, variables || []); + actions.push(...stepActions); + } }); - runActions(actions); + return actions; +}; + +export const runDemoSequence = ( + resources: ResourceIndex, + sequenceId: number, + variables: ParameterApplication[] | undefined, +) => { + const actions = collectDemoSequenceActions(resources, sequenceId, variables); + runActions(actions, variables); }; export { csToLua }; diff --git a/frontend/demo/lua_runner/interfaces.ts b/frontend/demo/lua_runner/interfaces.ts index 669e860d37..460181d904 100644 --- a/frontend/demo/lua_runner/interfaces.ts +++ b/frontend/demo/lua_runner/interfaces.ts @@ -5,6 +5,7 @@ export interface Action { | "move_absolute" | "move_relative" | "move" + | "_move" | "toggle_pin" | "emergency_lock" | "emergency_unlock" diff --git a/frontend/demo/lua_runner/run.ts b/frontend/demo/lua_runner/run.ts index 778d29ec97..a3cf705bed 100644 --- a/frontend/demo/lua_runner/run.ts +++ b/frontend/demo/lua_runner/run.ts @@ -13,6 +13,8 @@ import { createRecursiveNotImplemented, csToLua, jsToLua, luaToJs } from "./util import { Action, XyzNumber } from "./interfaces"; import { DeviceAccountSettings } from "farmbot/dist/resources/api_resources"; import { getGardenSize, getSafeZ } from "./stubs"; +import { error } from "../../toast/toast"; +import { collectDemoSequenceActions } from "./index"; export const runLua = (luaCode: string, variables: ParameterApplication[]): Action[] => { @@ -161,8 +163,16 @@ export const runLua = lua.lua_pushjsfunction(L, () => { const cmd = (luaToJs(L, 1) as RpcRequest).body?.[0]; if (!cmd) { return 0; } - const luaActions = runLua(csToLua(cmd), variables); - actions.push(...luaActions); + if (cmd.kind == "execute") { + const ri = store.getState().resources.index; + const sequenceId = cmd.args.sequence_id; + const seqVariables = cmd.body; + const seqActions = collectDemoSequenceActions(ri, sequenceId, seqVariables); + actions.push(...seqActions); + } else { + const luaActions = runLua(csToLua(cmd), variables); + actions.push(...luaActions); + } return 0; }); lua.lua_setfield(L, envIndex, to_luastring("cs_eval")); @@ -321,6 +331,13 @@ export const runLua = }); lua.lua_setfield(L, envIndex, to_luastring("move")); + lua.lua_pushjsfunction(L, () => { + const arg = luaToJs(L, 1) as string; + actions.push({ type: "_move", args: [arg] }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("_move")); + lua.lua_pushjsfunction(L, () => { const pin = luaToJs(L, 1) as number; if (pin == 63) { @@ -385,8 +402,8 @@ export const runLua = const statusLoad = lauxlib.luaL_loadstring(L, to_luastring(luaCode)); if (statusLoad !== lua.LUA_OK) { - const error = luaToJs(L, -1) as string; - console.error("Lua load error:", error); + const errorMsg = `Lua load error: ${luaToJs(L, -1)}`; + error(errorMsg); return []; } @@ -395,8 +412,8 @@ export const runLua = const statusCall = lua.lua_pcall(L, 0, lua.LUA_MULTRET, 0); if (statusCall !== lua.LUA_OK) { - const error = luaToJs(L, -1) as string; - console.error("Lua call error:", error); + const errorMsg = `Lua call error: ${luaToJs(L, -1)}`; + error(errorMsg); return []; } return actions; diff --git a/frontend/demo/lua_runner/util.ts b/frontend/demo/lua_runner/util.ts index ff183c4b37..17325c6ea6 100644 --- a/frontend/demo/lua_runner/util.ts +++ b/frontend/demo/lua_runner/util.ts @@ -1,6 +1,8 @@ import { lua, to_jsstring, to_luastring } from "fengari-web"; import { Action } from "./interfaces"; import { RpcRequestBodyItem } from "farmbot"; +import { maybeFindPeripheralById } from "../../resources/selectors_by_id"; +import { store } from "../../redux/store"; export const createRecursiveNotImplemented = ( L: unknown, @@ -128,29 +130,21 @@ export const csToLua = (command: RpcRequestBodyItem): string => { } return `toast("move_absolute ${lKind} is not implemented", "error")`; case "move": - const values = (body || []) - .filter(part => part.kind == "axis_overwrite") - .map(axisOverwrite => { - const { axis, axis_operand } = axisOverwrite.args; - if (axis == "all") { - if (axis_operand.kind == "coordinate") { - const { args } = axis_operand; - return `x=${args.x}, y=${args.y}, z=${args.z}`; - } - } else { - if (axis_operand.kind == "numeric") { - return `${axis}=${axis_operand.args.number}`; - } - if (axis_operand.kind == "coordinate") { - return `${axis}=${axis_operand.args[axis]}`; - } - } - }) - .join(", "); - return `move{${values}}`; + const jsonString = JSON.stringify(JSON.stringify(body || [])); + return `_move(${jsonString})`; case "write_pin": + let pin = undefined; + if (typeof args.pin_number == "object") { + const namedPin = maybeFindPeripheralById( + store.getState().resources.index, + args.pin_number.args.pin_id); + if (!namedPin) { return ""; } + pin = namedPin.body.pin; + } else { + pin = args.pin_number; + } const mode = args.pin_mode ? "analog" : "digital"; - return `write_pin(${args.pin_number}, "${mode}", ${args.pin_value})`; + return `write_pin(${pin}, "${mode}", ${args.pin_value})`; case "toggle_pin": return `toggle_pin(${args.pin_number})`; case "lua": diff --git a/frontend/devices/__tests__/actions_test.ts b/frontend/devices/__tests__/actions_test.ts index e59718249b..b2b43a1880 100644 --- a/frontend/devices/__tests__/actions_test.ts +++ b/frontend/devices/__tests__/actions_test.ts @@ -59,7 +59,7 @@ import axios from "axios"; import { success, error, warning, info } from "../../toast/toast"; import { edit, save } from "../../api/crud"; import { DeepPartial } from "../../redux/interfaces"; -import { EmergencyLock, Farmbot } from "farmbot"; +import { EmergencyLock, Execute, Farmbot } from "farmbot"; import { Path } from "../../internal_urls"; import { csToLua, runDemoLuaCode, runDemoSequence } from "../../demo/lua_runner"; @@ -91,6 +91,20 @@ describe("sendRPC()", () => { expect(mockDevice.current.send).not.toHaveBeenCalled(); expect(csToLua).toHaveBeenCalledWith(cmd); }); + + it("calls sendRPC on demo accounts: execute", async () => { + localStorage.setItem("myBotIs", "online"); + const cmd: Execute = { kind: "execute", args: { sequence_id: 1 }, body: [] }; + await actions.sendRPC(cmd); + expect(mockDevice.current.send).not.toHaveBeenCalled(); + expect(csToLua).not.toHaveBeenCalled(); + expect(runDemoLuaCode).not.toHaveBeenCalled(); + expect(runDemoSequence).toHaveBeenCalledWith( + expect.any(Object), + 1, + [], + ); + }); }); describe("readStatus()", () => { diff --git a/frontend/devices/actions.ts b/frontend/devices/actions.ts index 748231243c..2137499b68 100644 --- a/frontend/devices/actions.ts +++ b/frontend/devices/actions.ts @@ -85,7 +85,14 @@ const maybeAlertLocked = () => /** Send RPC. */ export function sendRPC(command: RpcRequestBodyItem) { if (forceOnline()) { - runDemoLuaCode(csToLua(command)); + if (command.kind == "execute") { + runDemoSequence( + store.getState().resources.index, + command.args.sequence_id, + command.body); + } else { + runDemoLuaCode(csToLua(command)); + } return; } getDevice() diff --git a/frontend/resources/__tests__/selectors_by_id_test.ts b/frontend/resources/__tests__/selectors_by_id_test.ts index f00c31db48..2d2b4f1376 100644 --- a/frontend/resources/__tests__/selectors_by_id_test.ts +++ b/frontend/resources/__tests__/selectors_by_id_test.ts @@ -2,6 +2,7 @@ import { maybeFindGenericPointerById, maybeFindPeripheralById, maybeFindPlantTemplateById, + maybeFindPointById, maybeFindSavedGardenById, maybeFindSensorById, maybeFindSequenceById, @@ -9,6 +10,13 @@ import { } from "../selectors_by_id"; import { buildResourceIndex } from "../../__test_support__/resource_index_builder"; +describe("maybeFindPointById()", () => { + it("handles missing uuid", () => { + expect(maybeFindPointById(buildResourceIndex([]).index, 1)) + .toEqual(undefined); + }); +}); + describe("maybeFindPlantTemplateById()", () => { it("handles missing uuid", () => { expect(maybeFindPlantTemplateById(buildResourceIndex([]).index, 1)) diff --git a/frontend/resources/__tests__/selectors_test.ts b/frontend/resources/__tests__/selectors_test.ts index 5b5a2521b5..c5150ac936 100644 --- a/frontend/resources/__tests__/selectors_test.ts +++ b/frontend/resources/__tests__/selectors_test.ts @@ -54,6 +54,33 @@ describe("findSlotByToolId", () => { }); }); +describe("maybeFindSlotByToolId", () => { + it("returns undefined when tool not found", () => { + const state = resourceReducer(buildResourceIndex(), saveOK(fakeTool)); + expect(state.index.byKindAndId["Tool." + fakeTool.body.id]) + .toEqual(fakeTool.uuid); + const result = Selector.maybeFindSlotByToolId(state.index, 0); + expect(result).toBeFalsy(); + }); + + it("returns undefined when slot not found", () => { + const state = resourceReducer(buildResourceIndex(), saveOK(fakeTool)); + expect(state.index.byKindAndId["Tool." + fakeTool.body.id]) + .toEqual(fakeTool.uuid); + const result = Selector.maybeFindSlotByToolId(state.index, TOOL_ID); + expect(result).toBeFalsy(); + }); + + it("returns something when there is a match", () => { + const initialState = buildResourceIndex(); + const state = [saveOK(fakeTool), saveOK(fakeSlot)] + .reduce(resourceReducer, initialState); + const result = Selector.maybeFindSlotByToolId(state.index, TOOL_ID); + expect(result).toBeTruthy(); + if (result) { expect(result.kind).toBe("Point"); } + }); +}); + describe("getFeeds", () => { it("returns empty array", () => { expect(Selector.selectAllWebcamFeeds(emptyState().index).length).toBe(0); diff --git a/frontend/resources/selectors_by_id.ts b/frontend/resources/selectors_by_id.ts index f1ea071420..02cf8b63bf 100644 --- a/frontend/resources/selectors_by_id.ts +++ b/frontend/resources/selectors_by_id.ts @@ -105,6 +105,32 @@ export const findSlotByToolId = (index: ResourceIndex, tool_id: number) => { } }; +/** Maybe find a Tool's corresponding Slot. */ +export const maybeFindSlotByToolId = ( + index: ResourceIndex, + tool_id: number, +) => { + const tool = maybeFindToolById(index, tool_id); + if (!tool) { return undefined; } + const query = { body: { tool_id: tool.body.id } }; + const every = Object + .keys(index.references) + .map(x => index.references[x]); + const tts = find(every, query); + if (tts && !isNumber(tts) && isTaggedToolSlotPointer(tts)) { + return tts; + } else { + return undefined; + } +}; + +/** Unlike other findById methods, this one allows undefined (missed) values */ +export function maybeFindPointById(index: ResourceIndex, id: number) { + const uuid = index.byKindAndId[joinKindAndId("Point", id)]; + const resource = index.references[uuid || "nope"]; + if (resource?.kind === "Point") { return resource; } +} + /** Unlike other findById methods, this one allows undefined (missed) values */ export function maybeFindPlantById(index: ResourceIndex, id: number) { const uuid = index.byKindAndId[joinKindAndId("Point", id)]; diff --git a/frontend/three_d_garden/__tests__/triangle_functions_test.ts b/frontend/three_d_garden/__tests__/triangle_functions_test.ts new file mode 100644 index 0000000000..1c3332409e --- /dev/null +++ b/frontend/three_d_garden/__tests__/triangle_functions_test.ts @@ -0,0 +1,51 @@ +import { getZFunc, precomputeTriangles } from "../triangle_functions"; + +describe("precomputeTriangles()", () => { + it("computes triangles: zero", () => { + expect(precomputeTriangles([ + [0, 0, 0], + [0, 0, 0], + [0, 0, 0], + ], [0, 1, 2])).toEqual([]); + }); + + it("computes triangles", () => { + expect(precomputeTriangles([ + [1, 1, 0], + [4, 1, 0], + [2, 3, 0], + ], [0, 1, 2])).toEqual([{ + a: [1, 1, 0], + b: [4, 1, 0], + c: [2, 3, 0], + det: 6, + x1: 1, + x2: 4, + x3: 2, + y1: 1, + y2: 1, + y3: 3, + }]); + }); +}); + +describe("getZFunc()", () => { + it("gets Z: falls back", () => { + expect(getZFunc([], -100)(0, 0)).toEqual(-100); + }); + + it("gets Z", () => { + expect(getZFunc([{ + a: [0, 0, 10], + b: [2, 0, 20], + c: [0, 2, 30], + det: 4, + x1: 0, + x2: 2, + x3: 0, + y1: 0, + y2: 0, + y3: 2, + }], -100)(1, 1)).toEqual(25); + }); +}); diff --git a/frontend/three_d_garden/__tests__/triangles_test.ts b/frontend/three_d_garden/__tests__/triangles_test.ts index 63ee0c8edd..319eeac646 100644 --- a/frontend/three_d_garden/__tests__/triangles_test.ts +++ b/frontend/three_d_garden/__tests__/triangles_test.ts @@ -1,59 +1,9 @@ -import { computeSurface, getZFunc, precomputeTriangles } from "../triangles"; +import { computeSurface } from "../triangles"; import { INITIAL } from "../config"; import { clone } from "lodash"; import { fakePoint } from "../../__test_support__/fake_state/resources"; import { tagAsSoilHeight } from "../../points/soil_height"; -describe("precomputeTriangles()", () => { - it("computes triangles: zero", () => { - expect(precomputeTriangles([ - [0, 0, 0], - [0, 0, 0], - [0, 0, 0], - ], [0, 1, 2])).toEqual([]); - }); - - it("computes triangles", () => { - expect(precomputeTriangles([ - [1, 1, 0], - [4, 1, 0], - [2, 3, 0], - ], [0, 1, 2])).toEqual([{ - a: [1, 1, 0], - b: [4, 1, 0], - c: [2, 3, 0], - det: 6, - x1: 1, - x2: 4, - x3: 2, - y1: 1, - y2: 1, - y3: 3, - }]); - }); -}); - -describe("getZFunc()", () => { - it("gets Z: falls back", () => { - expect(getZFunc([], -100)(0, 0)).toEqual(-100); - }); - - it("gets Z", () => { - expect(getZFunc([{ - a: [0, 0, 10], - b: [2, 0, 20], - c: [0, 2, 30], - det: 4, - x1: 0, - x2: 2, - x3: 0, - y1: 0, - y2: 0, - y3: 2, - }], -100)(1, 1)).toEqual(25); - }); -}); - const zs = (items: [number, number, number][]) => items.map(i => i[2]); describe("computeSurface()", () => { diff --git a/frontend/three_d_garden/garden_model.tsx b/frontend/three_d_garden/garden_model.tsx index 2534e95482..c2d027ed03 100644 --- a/frontend/three_d_garden/garden_model.tsx +++ b/frontend/three_d_garden/garden_model.tsx @@ -30,8 +30,9 @@ import { BooleanSetting } from "../session_keys"; import { SlotWithTool } from "../resources/interfaces"; import { cameraInit } from "./camera"; import { isMobile } from "../screen_size"; -import { computeSurface, getZFunc, precomputeTriangles } from "./triangles"; +import { computeSurface } from "./triangles"; import { BigDistance } from "./constants"; +import { precomputeTriangles, getZFunc } from "./triangle_functions"; const AnimatedGroup = animated(Group); @@ -95,6 +96,9 @@ export const GardenModel = (props: GardenModelProps) => { computeSurface(props.mapPoints, config), [props.mapPoints, config]); const triangles = React.useMemo(() => precomputeTriangles(vertexList, faces), [vertexList, faces]); + React.useEffect(() => { + sessionStorage.setItem("triangles", JSON.stringify(triangles)); + }, [triangles]); const getZ = getZFunc(triangles, -config.soilHeight); // eslint-disable-next-line no-null/no-null diff --git a/frontend/three_d_garden/triangle_functions.ts b/frontend/three_d_garden/triangle_functions.ts new file mode 100644 index 0000000000..1ce0864d72 --- /dev/null +++ b/frontend/three_d_garden/triangle_functions.ts @@ -0,0 +1,53 @@ +export interface TriangleData { + a: [number, number, number]; + b: [number, number, number]; + c: [number, number, number]; + x1: number; + y1: number; + x2: number; + y2: number; + x3: number; + y3: number; + det: number; +} + +export const precomputeTriangles = ( + vertices: [number, number, number][], + faces: number[], +) => { + const triangles: TriangleData[] = []; + + for (let i = 0; i < faces.length; i += 3) { + const a = vertices[faces[i]]; + const b = vertices[faces[i + 1]]; + const c = vertices[faces[i + 2]]; + + const [x1, y1] = [a[0], a[1]]; + const [x2, y2] = [b[0], b[1]]; + const [x3, y3] = [c[0], c[1]]; + + const det = (y2 - y3) * (x1 - x3) + (x3 - x2) * (y1 - y3); + if (Math.abs(det) < 1e-10) { continue; } + triangles.push({ a, b, c, x1, y1, x2, y2, x3, y3, det }); + } + + return triangles; +}; + +export const getZFunc = ( + triangles: TriangleData[], + fallback: number, +) => + (x: number, y: number) => { + for (const t of triangles) { + const { a, b, c, x1, y1, x2, y2, x3, y3, det } = t; + const l1 = ((y2 - y3) * (x - x3) + (x3 - x2) * (y - y3)) / det; + const l2 = ((y3 - y1) * (x - x3) + (x1 - x3) * (y - y3)) / det; + const l3 = 1 - l1 - l2; + + if (l1 >= 0 && l2 >= 0 && l3 >= 0) { + return l1 * a[2] + l2 * b[2] + l3 * c[2]; + } + } + return fallback; + }; diff --git a/frontend/three_d_garden/triangles.ts b/frontend/three_d_garden/triangles.ts index bc83ca81b8..ada4686f84 100644 --- a/frontend/three_d_garden/triangles.ts +++ b/frontend/three_d_garden/triangles.ts @@ -4,60 +4,6 @@ import { Config } from "./config"; import { soilHeightPoint } from "../points/soil_height"; import { zZero } from "./helpers"; -interface TriangleData { - a: [number, number, number]; - b: [number, number, number]; - c: [number, number, number]; - x1: number; - y1: number; - x2: number; - y2: number; - x3: number; - y3: number; - det: number; -} - -export const precomputeTriangles = ( - vertices: [number, number, number][], - faces: number[], -) => { - const triangles: TriangleData[] = []; - - for (let i = 0; i < faces.length; i += 3) { - const a = vertices[faces[i]]; - const b = vertices[faces[i + 1]]; - const c = vertices[faces[i + 2]]; - - const [x1, y1] = [a[0], a[1]]; - const [x2, y2] = [b[0], b[1]]; - const [x3, y3] = [c[0], c[1]]; - - const det = (y2 - y3) * (x1 - x3) + (x3 - x2) * (y1 - y3); - if (Math.abs(det) < 1e-10) { continue; } - triangles.push({ a, b, c, x1, y1, x2, y2, x3, y3, det }); - } - - return triangles; -}; - -export const getZFunc = ( - triangles: TriangleData[], - fallback: number, -) => - (x: number, y: number) => { - for (const t of triangles) { - const { a, b, c, x1, y1, x2, y2, x3, y3, det } = t; - const l1 = ((y2 - y3) * (x - x3) + (x3 - x2) * (y - y3)) / det; - const l2 = ((y3 - y1) * (x - x3) + (x1 - x3) * (y - y3)) / det; - const l3 = 1 - l1 - l2; - - if (l1 >= 0 && l2 >= 0 && l3 >= 0) { - return l1 * a[2] + l2 * b[2] + l3 * c[2]; - } - } - return fallback; - }; - export const computeSurface = ( mapPoints: TaggedGenericPointer[] | undefined, config: Config, From dc6e730d561b630689054160cebe20d5af0080c7 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Wed, 16 Jul 2025 14:33:24 -0700 Subject: [PATCH 14/54] support queueing and track call depth in lua runner --- .../demo/lua_runner/__tests__/index_test.ts | 79 ++++++++++++------- .../demo/lua_runner/__tests__/run_test.ts | 2 +- frontend/demo/lua_runner/actions.ts | 53 +++++++++---- frontend/demo/lua_runner/index.ts | 14 +++- frontend/demo/lua_runner/run.ts | 7 +- 5 files changed, 104 insertions(+), 51 deletions(-) diff --git a/frontend/demo/lua_runner/__tests__/index_test.ts b/frontend/demo/lua_runner/__tests__/index_test.ts index 4937ba863a..1a1c58714f 100644 --- a/frontend/demo/lua_runner/__tests__/index_test.ts +++ b/frontend/demo/lua_runner/__tests__/index_test.ts @@ -11,7 +11,6 @@ import { fakeToolSlot, } from "../../../__test_support__/fake_state/resources"; let mockResources = buildResourceIndex([]); -let mockPosition = { x: 0, y: 0, z: 0 }; let mockLocked = false; jest.mock("../../../redux/store", () => ({ store: { @@ -20,7 +19,6 @@ jest.mock("../../../redux/store", () => ({ resources: mockResources, bot: { hardware: { - location_data: { position: mockPosition }, informational_settings: { locked: mockLocked }, }, }, @@ -47,6 +45,7 @@ import { } from ".."; import { TOAST_OPTIONS } from "../../../toast/constants"; import { edit, save } from "../../../api/crud"; +import { setCurrent } from "../actions"; describe("runDemoSequence()", () => { beforeEach(() => { @@ -260,11 +259,11 @@ describe("runDemoSequence()", () => { jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); expect(info).toHaveBeenCalledWith("text", TOAST_OPTIONS().info); - expect(console.log).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledTimes(2); }); it("runs move sequence step", () => { - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); const firmwareConfig = fakeFirmwareConfig(); firmwareConfig.body.movement_home_up_z = 0; mockResources = buildResourceIndex([firmwareConfig, fakeWebAppConfig()]); @@ -292,7 +291,7 @@ describe("runDemoSequence()", () => { type: Actions.DEMO_SET_POSITION, payload: { x: 2, y: 4, z: 6 }, }); - expect(console.log).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledTimes(3); }); it("handles missing variables", () => { @@ -322,7 +321,7 @@ describe("runDemoSequence()", () => { } runDemoSequence(ri, sequence.body.id, undefined); jest.runAllTimers(); - expect(console.log).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledTimes(1); expect(info).not.toHaveBeenCalled(); expect(error).not.toHaveBeenCalled(); }); @@ -334,7 +333,7 @@ describe("runDemoSequence()", () => { const ri = buildResourceIndex([sequence]).index; runDemoSequence(ri, sequence.body.id, undefined); jest.runAllTimers(); - expect(console.log).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledTimes(1); expect(info).not.toHaveBeenCalled(); expect(error).toHaveBeenCalledWith( "Lua load error: [string \"!\"]:1: unexpected symbol near '!'", @@ -348,7 +347,7 @@ describe("runDemoSequence()", () => { const ri = buildResourceIndex([sequence]).index; runDemoSequence(ri, sequence.body.id, undefined); jest.runAllTimers(); - expect(console.log).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledTimes(1); expect(info).not.toHaveBeenCalled(); expect(error).toHaveBeenCalledWith( expect.stringContaining("Lua call error:")); @@ -380,11 +379,35 @@ describe("collectDemoSequenceActions()", () => { sequence2.body.body = [findHome2]; const ri = buildResourceIndex([sequence1, sequence2]).index; - const actions = collectDemoSequenceActions(ri, 1, []); + const actions = collectDemoSequenceActions(0, ri, 1, []); expect(actions).toEqual([ { type: "find_home", args: ["x"] }, { type: "find_home", args: ["y"] }, ]); + expect(error).not.toHaveBeenCalled(); + }); + + it("handles circular references", () => { + const sequence1 = fakeSequence(); + sequence1.body.id = 1; + const execute2: Execute = { + kind: "execute", + args: { sequence_id: 2 }, + }; + sequence1.body.body = [execute2]; + + const sequence2 = fakeSequence(); + sequence2.body.id = 2; + const execute1: Execute = { + kind: "execute", + args: { sequence_id: 1 }, + }; + sequence2.body.body = [execute1]; + + const ri = buildResourceIndex([sequence1, sequence2]).index; + const actions = collectDemoSequenceActions(0, ri, 1, []); + expect(actions).toEqual([]); + expect(error).toHaveBeenCalledWith("Maximum call depth exceeded."); }); }); @@ -512,7 +535,7 @@ describe("runDemoLuaCode()", () => { }); it("runs cs_eval", () => { - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode(` cs_eval{ kind = "rpc_request", @@ -538,7 +561,7 @@ describe("runDemoLuaCode()", () => { args: { message: "test", message_type: "info" }, }]; mockResources = buildResourceIndex([sequence]); - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode(` cs_eval{ kind = "rpc_request", @@ -554,7 +577,7 @@ describe("runDemoLuaCode()", () => { }); it("runs cs_eval: no body", () => { - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode("cs_eval{}"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); @@ -638,7 +661,7 @@ describe("runDemoLuaCode()", () => { }); it("runs find_home: all", () => { - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode("find_home(\"all\")"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); @@ -649,7 +672,7 @@ describe("runDemoLuaCode()", () => { }); it("runs go_to_home: all", () => { - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode("go_to_home(\"all\")"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); @@ -660,7 +683,7 @@ describe("runDemoLuaCode()", () => { }); it("runs go_to_home: x", () => { - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode("go_to_home(\"x\")"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); @@ -671,7 +694,7 @@ describe("runDemoLuaCode()", () => { }); it("runs go_to_home: y", () => { - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode("go_to_home(\"y\")"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); @@ -686,7 +709,7 @@ describe("runDemoLuaCode()", () => { firmwareConfig.body.movement_axis_nr_steps_x = 500; firmwareConfig.body.movement_home_up_z = 0; mockResources = buildResourceIndex([firmwareConfig, fakeWebAppConfig()]); - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode("find_axis_length(\"x\")"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); @@ -705,7 +728,7 @@ describe("runDemoLuaCode()", () => { firmwareConfig.body.movement_axis_nr_steps_y = 500; firmwareConfig.body.movement_home_up_z = 0; mockResources = buildResourceIndex([firmwareConfig, fakeWebAppConfig()]); - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode("find_axis_length(\"y\")"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); @@ -724,7 +747,7 @@ describe("runDemoLuaCode()", () => { firmwareConfig.body.movement_axis_nr_steps_z = 2500; firmwareConfig.body.movement_home_up_z = 0; mockResources = buildResourceIndex([firmwareConfig, fakeWebAppConfig()]); - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode("find_axis_length(\"z\")"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); @@ -839,7 +862,7 @@ describe("runDemoLuaCode()", () => { runDemoLuaCode("update_device{ mounted_tool_id = 1 }"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); - expect(console.log).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledTimes(1); expect(info).not.toHaveBeenCalled(); expect(edit).toHaveBeenCalledWith(device, { mounted_tool_id: 1 }); expect(save).toHaveBeenCalledWith(device.uuid); @@ -877,7 +900,7 @@ describe("runDemoLuaCode()", () => { }); it("runs move_relative", () => { - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode("move_relative(1, 0, 0)"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); @@ -888,7 +911,7 @@ describe("runDemoLuaCode()", () => { }); it("runs move_relative: zero", () => { - mockPosition = { x: 0, y: 0, z: 0 }; + setCurrent({ x: 0, y: 0, z: 0 }); runDemoLuaCode("move_relative(0, 0, 0)"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); @@ -899,7 +922,7 @@ describe("runDemoLuaCode()", () => { }); it("runs move_absolute", () => { - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode("move_absolute(1, 0, 0)"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); @@ -910,7 +933,7 @@ describe("runDemoLuaCode()", () => { }); it("runs move_absolute: alternate syntax", () => { - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode("move_absolute{ x = 1, y = 0, z = 0 }"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); @@ -925,7 +948,7 @@ describe("runDemoLuaCode()", () => { firmwareConfig.body.movement_axis_nr_steps_z = 2500; firmwareConfig.body.movement_home_up_z = 0; mockResources = buildResourceIndex([firmwareConfig, fakeWebAppConfig()]); - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode("move_absolute(0, 0, 1000)"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); @@ -940,7 +963,7 @@ describe("runDemoLuaCode()", () => { firmwareConfig.body.movement_axis_nr_steps_z = 2500; firmwareConfig.body.movement_home_up_z = 1; mockResources = buildResourceIndex([firmwareConfig, fakeWebAppConfig()]); - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode("move_absolute(0, 0, -1000)"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); @@ -951,7 +974,7 @@ describe("runDemoLuaCode()", () => { }); it("runs move: y", () => { - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode("move{ y = 1 }"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); @@ -962,7 +985,7 @@ describe("runDemoLuaCode()", () => { }); it("runs move: x and z", () => { - mockPosition = { x: 1, y: 2, z: 3 }; + setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode("move{ x = 0, z = 0 }"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); diff --git a/frontend/demo/lua_runner/__tests__/run_test.ts b/frontend/demo/lua_runner/__tests__/run_test.ts index f39a1fca52..9008e4d62c 100644 --- a/frontend/demo/lua_runner/__tests__/run_test.ts +++ b/frontend/demo/lua_runner/__tests__/run_test.ts @@ -8,7 +8,7 @@ describe("runLua()", () => { go_to_home("all") move{ y = 1 } `; - expect(runLua(code, [])).toEqual([ + expect(runLua(0, code, [])).toEqual([ { type: "move_absolute", args: [1, 2, 3] }, { type: "wait_ms", args: [1000] }, { type: "go_to_home", args: ["all"] }, diff --git a/frontend/demo/lua_runner/actions.ts b/frontend/demo/lua_runner/actions.ts index 79aa41e31b..89216e54d1 100644 --- a/frontend/demo/lua_runner/actions.ts +++ b/frontend/demo/lua_runner/actions.ts @@ -4,7 +4,6 @@ import { import { info } from "../../toast/toast"; import { store } from "../../redux/store"; import { Actions } from "../../constants"; -import { validBotLocationData } from "../../util/location"; import { TOAST_OPTIONS } from "../../toast/constants"; import { Action, XyzNumber } from "./interfaces"; import { edit, save } from "../../api/crud"; @@ -69,18 +68,24 @@ const clampTarget = (target: XyzNumber): XyzNumber => { return clamped; }; +const current = { + x: 0, + y: 0, + z: 0, +}; + + +export const setCurrent = (position: XyzNumber) => { + current.x = position.x; + current.y = position.y; + current.z = position.z; +}; + const expandActions = ( actions: Action[], variables: ParameterApplication[] | undefined, ): Action[] => { const expanded: Action[] = []; - const { position } = validBotLocationData( - store.getState().bot.hardware.location_data); - const current = { - x: position.x as number, - y: position.y as number, - z: position.z as number, - }; const addPosition = (position: XyzNumber) => { expanded.push({ type: "wait_ms", @@ -91,11 +96,6 @@ const expandActions = ( args: [position.x, position.y, position.z], }); }; - const setCurrent = (position: XyzNumber) => { - current.x = position.x; - current.y = position.y; - current.z = position.z; - }; actions.map(action => { switch (action.type) { case "move_absolute": @@ -154,7 +154,12 @@ const expandActions = ( return expanded; }; -const pending = new Set>(); +interface Scheduled { + timeoutId: ReturnType; + timestamp: number; +} +const pending = new Set(); +let latestActionMs = Date.now(); export const runActions = ( actions: Action[], @@ -184,9 +189,12 @@ export const runActions = ( console.log(action.args[0]); }; case "emergency_lock": + delay = 0; + latestActionMs = Date.now(); return () => { - pending.forEach(clearTimeout); + pending.forEach(t => clearTimeout(t.timeoutId)); pending.clear(); + console.log(`Queue length: ${pending.size}`); store.dispatch({ type: Actions.DEMO_SET_ESTOP, payload: true, @@ -259,7 +267,20 @@ export const runActions = ( } }; const func = getFunc(); - func && pending.add(setTimeout(func, delay)); + if (func) { + latestActionMs = Math.max(latestActionMs, Date.now()) + delay; + const funcDelay = latestActionMs - Date.now(); + const timeout = { + timeoutId: setTimeout(() => { + pending.delete(timeout); + console.log(`Queue length: ${pending.size}`); + func(); + }, funcDelay), + timestamp: latestActionMs, + }; + pending.add(timeout); + delay = 0; + } }); }; diff --git a/frontend/demo/lua_runner/index.ts b/frontend/demo/lua_runner/index.ts index 58e8e69f55..a18b6c54e6 100644 --- a/frontend/demo/lua_runner/index.ts +++ b/frontend/demo/lua_runner/index.ts @@ -5,29 +5,37 @@ import { runLua } from "./run"; import { runActions } from "./actions"; import { Action } from "./interfaces"; import { csToLua } from "./util"; +import { error } from "../../toast/toast"; export const runDemoLuaCode = (luaCode: string) => { - const actions = runLua(luaCode, []); + const actions = runLua(0, luaCode, []); runActions(actions, []); }; export const collectDemoSequenceActions = ( + depth: number, resources: ResourceIndex, sequenceId: number, variables: ParameterApplication[] | undefined, ) => { + console.log(`Call depth: ${depth}`); + if (depth > 100) { + error("Maximum call depth exceeded."); + return []; + } const sequence = findSequenceById(resources, sequenceId); const actions: Action[] = []; (sequence.body.body as SequenceBodyItem[]).map(step => { if (step.kind == "execute") { const seqActions = collectDemoSequenceActions( + depth + 1, resources, step.args.sequence_id, step.body); actions.push(...seqActions); } else { const lua = step.kind === "lua" ? step.args.lua : csToLua(step); - const stepActions = runLua(lua, variables || []); + const stepActions = runLua(depth, lua, variables || []); actions.push(...stepActions); } }); @@ -39,7 +47,7 @@ export const runDemoSequence = ( sequenceId: number, variables: ParameterApplication[] | undefined, ) => { - const actions = collectDemoSequenceActions(resources, sequenceId, variables); + const actions = collectDemoSequenceActions(0, resources, sequenceId, variables); runActions(actions, variables); }; diff --git a/frontend/demo/lua_runner/run.ts b/frontend/demo/lua_runner/run.ts index a3cf705bed..d1ed348163 100644 --- a/frontend/demo/lua_runner/run.ts +++ b/frontend/demo/lua_runner/run.ts @@ -17,7 +17,7 @@ import { error } from "../../toast/toast"; import { collectDemoSequenceActions } from "./index"; export const runLua = - (luaCode: string, variables: ParameterApplication[]): Action[] => { + (depth: number, luaCode: string, variables: ParameterApplication[]): Action[] => { const actions: Action[] = []; const L = lauxlib.luaL_newstate(); // stack: [] @@ -167,10 +167,11 @@ export const runLua = const ri = store.getState().resources.index; const sequenceId = cmd.args.sequence_id; const seqVariables = cmd.body; - const seqActions = collectDemoSequenceActions(ri, sequenceId, seqVariables); + const seqActions = collectDemoSequenceActions( + depth + 1, ri, sequenceId, seqVariables); actions.push(...seqActions); } else { - const luaActions = runLua(csToLua(cmd), variables); + const luaActions = runLua(depth, csToLua(cmd), variables); actions.push(...luaActions); } return 0; From 07dceb84b22d81eda6fbb264ad09a7b40d09eb19 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Thu, 17 Jul 2025 14:44:15 -0700 Subject: [PATCH 15/54] add point group loops and safe z to demo accounts --- .../devices/seeders/abstract_seeder.rb | 2 +- app/mutations/devices/seeders/constants.rb | 2 +- .../devices/seeders/demo_account_seeder.rb | 2 +- .../devices/seeders/sequence_fixtures.yml | 2 + .../demo/lua_runner/__tests__/actions_test.ts | 158 +++++++++++++++--- .../demo/lua_runner/__tests__/index_test.ts | 36 +++- frontend/demo/lua_runner/actions.ts | 128 ++++++++------ frontend/demo/lua_runner/index.ts | 34 +++- frontend/demo/lua_runner/interfaces.ts | 1 + frontend/demo/lua_runner/stubs.ts | 14 ++ frontend/devices/__tests__/actions_test.ts | 21 ++- frontend/devices/actions.ts | 5 +- frontend/farm_designer/location_info.tsx | 2 +- .../farm_designer/map/group_order_visual.tsx | 15 +- .../map/layers/points/interpolation_map.tsx | 2 +- .../__tests__/other_sort_methods_test.ts | 7 + .../point_groups/__tests__/paths_test.tsx | 3 +- frontend/point_groups/criteria/component.tsx | 4 +- frontend/point_groups/other_sort_methods.ts | 51 ++++++ frontend/point_groups/paths.tsx | 52 +----- frontend/point_groups/point_group_sort.ts | 2 +- .../three_d_garden/bot/components/tools.tsx | 2 +- 22 files changed, 394 insertions(+), 151 deletions(-) create mode 100644 frontend/point_groups/__tests__/other_sort_methods_test.ts create mode 100644 frontend/point_groups/other_sort_methods.ts diff --git a/app/mutations/devices/seeders/abstract_seeder.rb b/app/mutations/devices/seeders/abstract_seeder.rb index c1cd8fb13a..68bea33599 100644 --- a/app/mutations/devices/seeders/abstract_seeder.rb +++ b/app/mutations/devices/seeders/abstract_seeder.rb @@ -306,7 +306,7 @@ def add_point_group(name:, pointer_type: "Plant", openfarm_slug: nil) PointGroups::Create.run!(device: device, name: name, point_ids: [], - sort_type: "yx_ascending", + sort_type: "yx_alternating", criteria: { string_eq: { pointer_type: [pointer_type], diff --git a/app/mutations/devices/seeders/constants.rb b/app/mutations/devices/seeders/constants.rb index ca3ce2bb3b..4db02b774c 100644 --- a/app/mutations/devices/seeders/constants.rb +++ b/app/mutations/devices/seeders/constants.rb @@ -10,7 +10,7 @@ module Constants TOOL_SPACING = 100 TROUGH_Y = 0 - TROUGH_Z = -350 + TROUGH_Z = -300 TROUGH_SPACING = 25 module Names diff --git a/app/mutations/devices/seeders/demo_account_seeder.rb b/app/mutations/devices/seeders/demo_account_seeder.rb index 6274309622..c544a08656 100644 --- a/app/mutations/devices/seeders/demo_account_seeder.rb +++ b/app/mutations/devices/seeders/demo_account_seeder.rb @@ -143,7 +143,7 @@ def before_product_line_seeder device .fbos_config .update!( - safe_height: -200, + safe_height: -150, ) end diff --git a/app/mutations/devices/seeders/sequence_fixtures.yml b/app/mutations/devices/seeders/sequence_fixtures.yml index 81de137d36..8e8c3d40b0 100644 --- a/app/mutations/devices/seeders/sequence_fixtures.yml +++ b/app/mutations/devices/seeders/sequence_fixtures.yml @@ -585,6 +585,8 @@ :kind: numeric :args: :number: 150 + - :kind: safe_z + :args: {} :comment: Move above seed bin - :kind: write_pin :args: diff --git a/frontend/demo/lua_runner/__tests__/actions_test.ts b/frontend/demo/lua_runner/__tests__/actions_test.ts index 1dddc05e89..ce20652a62 100644 --- a/frontend/demo/lua_runner/__tests__/actions_test.ts +++ b/frontend/demo/lua_runner/__tests__/actions_test.ts @@ -2,9 +2,12 @@ import { buildResourceIndex, } from "../../../__test_support__/resource_index_builder"; import { + fakeFbosConfig, + fakeFirmwareConfig, fakePlant, fakeTool, fakeToolSlot, + fakeWebAppConfig, } from "../../../__test_support__/fake_state/resources"; let mockResources = buildResourceIndex([]); jest.mock("../../../redux/store", () => ({ @@ -29,22 +32,89 @@ jest.mock("../../../three_d_garden/triangle_functions", () => ({ import { Move, ParameterApplication } from "farmbot"; import { TOAST_OPTIONS } from "../../../toast/constants"; import { info } from "../../../toast/toast"; -import { calculateMove, runActions } from "../actions"; +import { calculateMove, eStop, expandActions, runActions, setCurrent } from "../actions"; describe("runActions()", () => { + beforeEach(() => { + console.log = jest.fn(); + }); + it("runs actions", () => { jest.useFakeTimers(); runActions( [ { type: "send_message", args: ["info", "Hello, world!", "toast"] }, ], - []); + ); jest.runAllTimers(); expect(info).toHaveBeenCalledWith("Hello, world!", TOAST_OPTIONS().info); }); + + it("runs actions: missing", () => { + jest.useFakeTimers(); + runActions( + [ + { type: "wait_ms", args: [10000] }, + { type: "send_message", args: ["info", "Hello, world!", "toast"] }, + ], + ); + eStop(); + jest.runAllTimers(); + expect(info).not.toHaveBeenCalled(); + }); +}); + +describe("expandActions()", () => { + beforeEach(() => { + setCurrent({ x: 0, y: 0, z: 0 }); + localStorage.removeItem("timeStepMs"); + localStorage.removeItem("mmPerSecond"); + console.log = jest.fn(); + mockResources = buildResourceIndex([ + fakeFirmwareConfig(), + fakeFbosConfig(), + fakeWebAppConfig(), + ]); + }); + + it("chunks movements: default", () => { + expect(expandActions([ + { type: "move_absolute", args: [300, 0, 0] }, + ], [])).toEqual([ + { type: "wait_ms", args: [500] }, + { type: "expanded_move_absolute", args: [100, 0, 0] }, + { type: "wait_ms", args: [500] }, + { type: "expanded_move_absolute", args: [200, 0, 0] }, + { type: "wait_ms", args: [500] }, + { type: "expanded_move_absolute", args: [300, 0, 0] }, + ]); + }); + + it("chunks movements: custom", () => { + localStorage.setItem("timeStepMs", "1000"); + localStorage.setItem("mmPerSecond", "1000"); + expect(expandActions([ + { type: "move_absolute", args: [300, 0, 0] }, + ], [])).toEqual([ + { type: "wait_ms", args: [1000] }, + { type: "expanded_move_absolute", args: [300, 0, 0] }, + ]); + }); }); describe("calculateMove()", () => { + beforeEach(() => { + setCurrent({ x: 0, y: 0, z: 0 }); + localStorage.removeItem("timeStepMs"); + localStorage.removeItem("mmPerSecond"); + console.log = jest.fn(); + mockResources = buildResourceIndex([ + fakeFirmwareConfig(), + fakeFbosConfig(), + fakeWebAppConfig(), + ]); + }); + it("handles number single axis addition", () => { const command: Move = { kind: "move", @@ -60,7 +130,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual({ x: 2, y: 2, z: 3 }); + .toEqual([{ x: 2, y: 2, z: 3 }]); }); it("handles number all axis addition", () => { @@ -78,7 +148,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual({ x: 2, y: 3, z: 4 }); + .toEqual([{ x: 2, y: 3, z: 4 }]); }); it("handles coordinate single axis addition", () => { @@ -96,7 +166,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual({ x: 2, y: 2, z: 3 }); + .toEqual([{ x: 2, y: 2, z: 3 }]); }); it("handles coordinate all axis addition", () => { @@ -114,7 +184,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual({ x: 2, y: 4, z: 6 }); + .toEqual([{ x: 2, y: 4, z: 6 }]); }); it("handles number single axis overwrite", () => { @@ -132,7 +202,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual({ x: 3, y: 2, z: 3 }); + .toEqual([{ x: 3, y: 2, z: 3 }]); }); it("handles number all axis overwrite", () => { @@ -150,7 +220,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual({ x: 1, y: 1, z: 1 }); + .toEqual([{ x: 1, y: 1, z: 1 }]); }); it("handles coordinate single axis overwrite", () => { @@ -168,7 +238,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ x: 1, y: 0, z: 0 }); + .toEqual([{ x: 1, y: 0, z: 0 }]); }); it("handles coordinate all axis overwrite", () => { @@ -186,7 +256,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ x: 1, y: 2, z: 3 }); + .toEqual([{ x: 1, y: 2, z: 3 }]); }); it("handles tool single axis overwrite", () => { @@ -212,7 +282,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ x: 1, y: 0, z: 0 }); + .toEqual([{ x: 1, y: 0, z: 0 }]); }); it("handles tool all axis overwrite", () => { @@ -238,7 +308,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ x: 1, y: 2, z: 3 }); + .toEqual([{ x: 1, y: 2, z: 3 }]); }); it("handles missing tool", () => { @@ -257,7 +327,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ x: 0, y: 0, z: 0 }); + .toEqual([{ x: 0, y: 0, z: 0 }]); }); it("handles coordinate identifier all axis overwrite", () => { @@ -288,7 +358,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) - .toEqual({ x: 1, y: 2, z: 3 }); + .toEqual([{ x: 1, y: 2, z: 3 }]); }); it("handles point identifier all axis overwrite", () => { @@ -324,7 +394,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) - .toEqual({ x: 1, y: 2, z: 3 }); + .toEqual([{ x: 1, y: 2, z: 3 }]); }); it("handles missing point", () => { @@ -355,7 +425,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) - .toEqual({ x: 0, y: 0, z: 0 }); + .toEqual([{ x: 0, y: 0, z: 0 }]); }); it("handles missing variables", () => { @@ -374,7 +444,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, undefined)) - .toEqual({ x: 0, y: 0, z: 0 }); + .toEqual([{ x: 0, y: 0, z: 0 }]); }); it("handles soil height z axis overwrite", () => { @@ -392,7 +462,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ x: 0, y: 0, z: 3 }); + .toEqual([{ x: 0, y: 0, z: 3 }]); }); it("handles soil height z axis overwrite: triangle data", () => { @@ -411,7 +481,30 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ x: 0, y: 0, z: 3 }); + .toEqual([{ x: 0, y: 0, z: 3 }]); + }); + + it("handles safe height z axis overwrite", () => { + const firmwareConfig = fakeFirmwareConfig(); + firmwareConfig.body.movement_home_up_z = 0; + const fbosConfig = fakeFbosConfig(); + fbosConfig.body.safe_height = 3; + mockResources = buildResourceIndex([fbosConfig, firmwareConfig]); + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "z", + axis_operand: { kind: "special_value", args: { label: "safe_height" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual([{ x: 0, y: 0, z: 3 }]); }); it("handles soil height z axis overwrite: wrong label", () => { @@ -429,12 +522,35 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ x: 0, y: 0, z: 0 }); + .toEqual([{ x: 0, y: 0, z: 0 }]); + }); + + it("handles safe_z", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 100 } }, + }, + }, + { kind: "safe_z", args: {} }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual([ + { x: 50, y: 50, z: 0 }, + { x: 100, y: 100, z: 0 }, + { x: 100, y: 100, z: 100 }, + ]); }); it("handles missing body", () => { const command: Move = { kind: "move", args: {} }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ x: 0, y: 0, z: 0 }); + .toEqual([{ x: 0, y: 0, z: 0 }]); }); }); diff --git a/frontend/demo/lua_runner/__tests__/index_test.ts b/frontend/demo/lua_runner/__tests__/index_test.ts index 1a1c58714f..004a652760 100644 --- a/frontend/demo/lua_runner/__tests__/index_test.ts +++ b/frontend/demo/lua_runner/__tests__/index_test.ts @@ -9,6 +9,7 @@ import { fakePoint, fakeSequence, fakeTool, fakeToolSlot, + fakePointGroup, } from "../../../__test_support__/fake_state/resources"; let mockResources = buildResourceIndex([]); let mockLocked = false; @@ -223,6 +224,39 @@ describe("runDemoSequence()", () => { expect(console.log).toHaveBeenCalledWith("undefined"); }); + it("runs sequence with point group variable", () => { + const point1 = fakePoint(); + point1.body.id = 1; + const point2 = fakePoint(); + point2.body.id = 2; + const point3 = fakePoint(); + point3.body.id = 3; + const group = fakePointGroup(); + group.body.id = 1; + group.body.point_ids = [1, 2, 3]; + const sequence = fakeSequence(); + sequence.body.id = 1; + sequence.body.body = [{ + kind: "send_message", + args: { message: "text", message_type: "info" }, + }]; + const ri = buildResourceIndex([ + group, point1, point2, point3, sequence, + ]).index; + const variables: ParameterApplication[] = [{ + kind: "parameter_application", + args: { + label: "Location", + data_value: { kind: "point_group", args: { point_group_id: 1 } }, + }, + }]; + runDemoSequence(ri, sequence.body.id, variables); + jest.runAllTimers(); + expect(error).not.toHaveBeenCalled(); + expect(info).toHaveBeenCalledTimes(3); + expect(info).toHaveBeenCalledWith("text", TOAST_OPTIONS().info); + }); + it("runs sequence with other variable", () => { const sequence = fakeSequence(); sequence.body.body = [{ @@ -291,7 +325,7 @@ describe("runDemoSequence()", () => { type: Actions.DEMO_SET_POSITION, payload: { x: 2, y: 4, z: 6 }, }); - expect(console.log).toHaveBeenCalledTimes(3); + expect(console.log).toHaveBeenCalledTimes(2); }); it("handles missing variables", () => { diff --git a/frontend/demo/lua_runner/actions.ts b/frontend/demo/lua_runner/actions.ts index 89216e54d1..ec7d5a1ee9 100644 --- a/frontend/demo/lua_runner/actions.ts +++ b/frontend/demo/lua_runner/actions.ts @@ -13,9 +13,10 @@ import { maybeFindSlotByToolId, } from "../../resources/selectors"; import { UnknownAction } from "redux"; -import { getFirmwareSettings, getGardenSize } from "./stubs"; +import { getFirmwareSettings, getGardenSize, getSafeZ } from "./stubs"; import { clamp, clone } from "lodash"; import { getZFunc, TriangleData } from "../../three_d_garden/triangle_functions"; +import { validBotLocationData } from "../../util/location"; const almostEqual = (a: XyzNumber, b: XyzNumber) => { const epsilon = 0.01; @@ -27,6 +28,7 @@ const almostEqual = (a: XyzNumber, b: XyzNumber) => { const movementChunks = ( current: XyzNumber, target: XyzNumber, + mmPerTimeStep: number, ): XyzNumber[] => { const dx = target.x - current.x; const dy = target.y - current.y; @@ -39,17 +41,17 @@ const movementChunks = ( y: dy / length, z: dz / length, }; - const steps = Math.floor(length / 100); + const steps = Math.floor(length / mmPerTimeStep); const chunks: XyzNumber[] = []; - for (let i = 0; i <= steps; i++) { + for (let i = 1; i <= steps; i++) { const step = { - x: current.x + direction.x * 100 * i, - y: current.y + direction.y * 100 * i, - z: current.z + direction.z * 100 * i, + x: current.x + direction.x * mmPerTimeStep * i, + y: current.y + direction.y * mmPerTimeStep * i, + z: current.z + direction.z * mmPerTimeStep * i, }; chunks.push(step); } - if (!almostEqual(chunks[chunks.length - 1], target)) { + if (chunks.length === 0 || !almostEqual(chunks[chunks.length - 1], target)) { chunks.push(target); } return chunks; @@ -81,18 +83,21 @@ export const setCurrent = (position: XyzNumber) => { current.z = position.z; }; -const expandActions = ( +export const expandActions = ( actions: Action[], variables: ParameterApplication[] | undefined, ): Action[] => { const expanded: Action[] = []; + const timeStepMs = parseInt(localStorage.getItem("timeStepMs") || "500"); + const mmPerSecond = parseInt(localStorage.getItem("mmPerSecond") || "200"); + const mmPerTimeStep = (mmPerSecond * timeStepMs) / 1000; const addPosition = (position: XyzNumber) => { expanded.push({ type: "wait_ms", - args: [500], + args: [timeStepMs], }); expanded.push({ - type: "move_absolute", + type: "expanded_move_absolute", args: [position.x, position.y, position.z], }); }; @@ -104,7 +109,7 @@ const expandActions = ( y: action.args[1] as number, z: action.args[2] as number, }); - movementChunks(current, moveAbsoluteTarget).map(addPosition); + movementChunks(current, moveAbsoluteTarget, mmPerTimeStep).map(addPosition); setCurrent(moveAbsoluteTarget); break; case "move_relative": @@ -113,15 +118,17 @@ const expandActions = ( y: current.y + (action.args[1] as number), z: current.z + (action.args[2] as number), }); - movementChunks(current, moveRelativeTarget).map(addPosition); + movementChunks(current, moveRelativeTarget, mmPerTimeStep).map(addPosition); setCurrent(moveRelativeTarget); break; case "_move": const moveItems = JSON.parse("" + action.args[0]) as MoveBodyItem[]; - const actualMoveTarget = clampTarget( - calculateMove(moveItems, current, variables)); - movementChunks(current, actualMoveTarget).map(addPosition); - setCurrent(actualMoveTarget); + const moves = calculateMove(moveItems, current, variables); + const actualMoveTargets = moves.map(clampTarget); + actualMoveTargets.map(actualMoveTarget => { + movementChunks(current, actualMoveTarget, mmPerTimeStep).map(addPosition); + setCurrent(actualMoveTarget); + }); break; case "move": const moveTarget = clampTarget({ @@ -129,7 +136,7 @@ const expandActions = ( y: (action.args[1] as number | undefined) ?? current.y, z: (action.args[2] as number | undefined) ?? current.z, }); - movementChunks(current, moveTarget).map(addPosition); + movementChunks(current, moveTarget, mmPerTimeStep).map(addPosition); setCurrent(moveTarget); break; case "find_home": @@ -142,7 +149,7 @@ const expandActions = ( y: axis == "y" ? 0 : current.y, z: axis == "z" ? 0 : current.z, }; - movementChunks(current, homeTarget).map(addPosition); + movementChunks(current, homeTarget, mmPerTimeStep).map(addPosition); setCurrent(homeTarget); }); break; @@ -155,18 +162,33 @@ const expandActions = ( }; interface Scheduled { - timeoutId: ReturnType; + func(): void; timestamp: number; } -const pending = new Set(); +const pending: Scheduled[] = []; let latestActionMs = Date.now(); +let currentTimer: ReturnType | undefined = undefined; + +export const eStop = () => { + latestActionMs = 0; + pending.length = 0; + console.log(`Queue length: ${pending.length}`); + store.dispatch({ + type: Actions.DEMO_SET_ESTOP, + payload: true, + }); + const { position } = validBotLocationData( + store.getState().bot.hardware.location_data); + current.x = position.x as number; + current.y = position.y as number; + current.z = position.z as number; +}; export const runActions = ( actions: Action[], - variables: ParameterApplication[] | undefined, ) => { let delay = 0; - expandActions(actions, variables).map(action => { + actions.map(action => { // eslint-disable-next-line complexity const getFunc = () => { const estopped = store.getState().bot.hardware.informational_settings.locked; @@ -189,17 +211,7 @@ export const runActions = ( console.log(action.args[0]); }; case "emergency_lock": - delay = 0; - latestActionMs = Date.now(); - return () => { - pending.forEach(t => clearTimeout(t.timeoutId)); - pending.clear(); - console.log(`Queue length: ${pending.size}`); - store.dispatch({ - type: Actions.DEMO_SET_ESTOP, - payload: true, - }); - }; + return eStop; case "emergency_unlock": return () => { store.dispatch({ @@ -207,7 +219,7 @@ export const runActions = ( payload: false, }); }; - case "move_absolute": + case "expanded_move_absolute": const x = action.args[0] as number; const y = action.args[1] as number; const z = action.args[2] as number; @@ -269,29 +281,39 @@ export const runActions = ( const func = getFunc(); if (func) { latestActionMs = Math.max(latestActionMs, Date.now()) + delay; - const funcDelay = latestActionMs - Date.now(); - const timeout = { - timeoutId: setTimeout(() => { - pending.delete(timeout); - console.log(`Queue length: ${pending.size}`); - func(); - }, funcDelay), - timestamp: latestActionMs, - }; - pending.add(timeout); + const item = { func, timestamp: latestActionMs }; + pending.push(item); delay = 0; + runNext(); } }); }; +const runNext = () => { + if (currentTimer || pending.length === 0) { + return; + } + const next = pending[0]; + const delay = Math.max(next.timestamp - Date.now(), 0); + + currentTimer = setTimeout(() => { + currentTimer = undefined; + const task = pending.shift(); + task?.func(); + console.log(`Queue length: ${pending.length}`); + runNext(); + }, delay); +}; + export const calculateMove = ( body: MoveBodyItem[] | undefined, current: XyzNumber, variables: ParameterApplication[] | undefined, -) => { +): XyzNumber[] => { const pos = clone(current); + const moveBodyItems = body || []; // eslint-disable-next-line complexity - (body || []).map(item => { + moveBodyItems.map(item => { switch (item.kind) { case "axis_addition": switch (item.args.axis_operand.kind) { @@ -379,10 +401,22 @@ export const calculateMove = ( const getZ = getZFunc(triangles, -500); pos.z = getZ(pos.x, pos.y); } + if (item.args.axis_operand.args.label == "safe_height" + && item.args.axis == "z") { + pos.z = getSafeZ(); + } break; } return; } }); - return pos; + if (moveBodyItems.some(item => item.kind === "safe_z")) { + const safeZ = getSafeZ(); + return [ + { x: current.x, y: current.y, z: safeZ }, + { x: pos.x, y: pos.y, z: safeZ }, + pos, + ]; + } + return [pos]; }; diff --git a/frontend/demo/lua_runner/index.ts b/frontend/demo/lua_runner/index.ts index a18b6c54e6..ebbf3da857 100644 --- a/frontend/demo/lua_runner/index.ts +++ b/frontend/demo/lua_runner/index.ts @@ -1,15 +1,16 @@ import { findSequenceById } from "../../resources/selectors"; import { ResourceIndex } from "../../resources/interfaces"; -import { ParameterApplication, SequenceBodyItem } from "farmbot"; +import { ParameterApplication, Point, SequenceBodyItem } from "farmbot"; import { runLua } from "./run"; -import { runActions } from "./actions"; +import { expandActions, runActions } from "./actions"; import { Action } from "./interfaces"; import { csToLua } from "./util"; import { error } from "../../toast/toast"; +import { getGroupPoints } from "./stubs"; export const runDemoLuaCode = (luaCode: string) => { const actions = runLua(0, luaCode, []); - runActions(actions, []); + runActions(expandActions(actions, [])); }; export const collectDemoSequenceActions = ( @@ -17,7 +18,7 @@ export const collectDemoSequenceActions = ( resources: ResourceIndex, sequenceId: number, variables: ParameterApplication[] | undefined, -) => { +): Action[] => { console.log(`Call depth: ${depth}`); if (depth > 100) { error("Maximum call depth exceeded."); @@ -25,6 +26,29 @@ export const collectDemoSequenceActions = ( } const sequence = findSequenceById(resources, sequenceId); const actions: Action[] = []; + if (variables?.[0]?.args.data_value.kind == "point_group") { + const variableLabel = variables[0].args.label; + const groupId = variables[0].args.data_value.args.point_group_id; + getGroupPoints(resources, groupId).map(p => { + const pointValue: Point = { + kind: "point", args: { + pointer_type: p.body.pointer_type, + pointer_id: p.body.id as number, + } + }; + const pointVariables: ParameterApplication[] = [{ + kind: "parameter_application", + args: { label: variableLabel, data_value: pointValue } + }]; + const loopSeqActions = collectDemoSequenceActions( + depth + 1, + resources, + sequence.body.id as number, + pointVariables); + actions.push(...expandActions(loopSeqActions, pointVariables)); + }); + return actions; + } (sequence.body.body as SequenceBodyItem[]).map(step => { if (step.kind == "execute") { const seqActions = collectDemoSequenceActions( @@ -48,7 +72,7 @@ export const runDemoSequence = ( variables: ParameterApplication[] | undefined, ) => { const actions = collectDemoSequenceActions(0, resources, sequenceId, variables); - runActions(actions, variables); + runActions(expandActions(actions, variables)); }; export { csToLua }; diff --git a/frontend/demo/lua_runner/interfaces.ts b/frontend/demo/lua_runner/interfaces.ts index 460181d904..199215a8ea 100644 --- a/frontend/demo/lua_runner/interfaces.ts +++ b/frontend/demo/lua_runner/interfaces.ts @@ -3,6 +3,7 @@ import { Xyz } from "farmbot"; export interface Action { type: | "move_absolute" + | "expanded_move_absolute" | "move_relative" | "move" | "_move" diff --git a/frontend/demo/lua_runner/stubs.ts b/frontend/demo/lua_runner/stubs.ts index 55cb95cd1c..de070b322c 100644 --- a/frontend/demo/lua_runner/stubs.ts +++ b/frontend/demo/lua_runner/stubs.ts @@ -10,6 +10,12 @@ import { XyzNumber } from "./interfaces"; import { FirmwareConfig } from "farmbot/dist/resources/configs/firmware"; import { WebAppConfig } from "farmbot/dist/resources/configs/web_app"; import { FbosConfig } from "farmbot/dist/resources/configs/fbos"; +import { + selectAllPointGroups, selectAllPoints, +} from "../../resources/selectors_by_kind"; +import { pointsSelectedByGroup } from "../../point_groups/criteria/apply"; +import { sortGroupBy } from "../../point_groups/point_group_sort"; +import { ResourceIndex } from "../../resources/interfaces"; export const getFirmwareSettings = (): FirmwareConfig => { const fwConfig = getFirmwareConfig(store.getState().resources.index); @@ -44,3 +50,11 @@ export const getSafeZ = (): number => { const fbosSettings = getFbosSettings(); return fbosSettings.safe_height || 0; }; + +export const getGroupPoints = (resources: ResourceIndex, groupId: number) => { + const allPoints = selectAllPoints(resources); + const group = selectAllPointGroups(resources) + .filter(group => group.body.id === groupId)[0]; + const groupPoints = pointsSelectedByGroup(group, allPoints); + return sortGroupBy(group.body.sort_type, groupPoints); +}; diff --git a/frontend/devices/__tests__/actions_test.ts b/frontend/devices/__tests__/actions_test.ts index b2b43a1880..7dafa78301 100644 --- a/frontend/devices/__tests__/actions_test.ts +++ b/frontend/devices/__tests__/actions_test.ts @@ -49,6 +49,10 @@ jest.mock("../../demo/lua_runner", () => ({ csToLua: jest.fn(), })); +jest.mock("../../demo/lua_runner/actions", () => ({ + eStop: jest.fn(), +})); + import * as actions from "../actions"; import { fakeFirmwareConfig, fakeFbosConfig, @@ -59,9 +63,10 @@ import axios from "axios"; import { success, error, warning, info } from "../../toast/toast"; import { edit, save } from "../../api/crud"; import { DeepPartial } from "../../redux/interfaces"; -import { EmergencyLock, Execute, Farmbot } from "farmbot"; +import { EmergencyLock, Execute, Farmbot, Wait } from "farmbot"; import { Path } from "../../internal_urls"; import { csToLua, runDemoLuaCode, runDemoSequence } from "../../demo/lua_runner"; +import { eStop } from "../../demo/lua_runner/actions"; const replaceDeviceWith = async (d: DeepPartial, cb: Function) => { jest.clearAllMocks(); @@ -86,12 +91,21 @@ describe("sendRPC()", () => { it("calls sendRPC on demo accounts", async () => { localStorage.setItem("myBotIs", "online"); - const cmd: EmergencyLock = { kind: "emergency_lock", args: {} }; + const cmd: Wait = { kind: "wait", args: { milliseconds: 1000 } }; await actions.sendRPC(cmd); expect(mockDevice.current.send).not.toHaveBeenCalled(); expect(csToLua).toHaveBeenCalledWith(cmd); }); + it("calls sendRPC on demo accounts: estop", async () => { + localStorage.setItem("myBotIs", "online"); + const cmd: EmergencyLock = { kind: "emergency_lock", args: {} }; + await actions.sendRPC(cmd); + expect(mockDevice.current.send).not.toHaveBeenCalled(); + expect(csToLua).not.toHaveBeenCalled(); + expect(eStop).toHaveBeenCalled(); + }); + it("calls sendRPC on demo accounts: execute", async () => { localStorage.setItem("myBotIs", "online"); const cmd: Execute = { kind: "execute", args: { sequence_id: 1 }, body: [] }; @@ -190,7 +204,8 @@ describe("emergencyLock() / emergencyUnlock", () => { localStorage.setItem("myBotIs", "online"); actions.emergencyLock(); expect(mockDevice.current.emergencyLock).not.toHaveBeenCalled(); - expect(runDemoLuaCode).toHaveBeenCalledWith("emergency_lock()"); + expect(runDemoLuaCode).not.toHaveBeenCalled(); + expect(eStop).toHaveBeenCalled(); }); it("calls emergencyUnlock", () => { diff --git a/frontend/devices/actions.ts b/frontend/devices/actions.ts index 2137499b68..3109b13427 100644 --- a/frontend/devices/actions.ts +++ b/frontend/devices/actions.ts @@ -37,6 +37,7 @@ import { forceOnline } from "./must_be_online"; import { store } from "../redux/store"; import { linkToSetting } from "../settings/maybe_highlight"; import { runDemoLuaCode, runDemoSequence, csToLua } from "../demo/lua_runner"; +import { eStop } from "../demo/lua_runner/actions"; const ON = 1, OFF = 0; export type ConfigKey = keyof McuParams; @@ -90,6 +91,8 @@ export function sendRPC(command: RpcRequestBodyItem) { store.getState().resources.index, command.args.sequence_id, command.body); + } else if (command.kind == "emergency_lock") { + eStop(); } else { runDemoLuaCode(csToLua(command)); } @@ -173,7 +176,7 @@ export function flashFirmware(firmwareName: FirmwareHardware) { export function emergencyLock() { const noun = t("Emergency stop"); if (forceOnline()) { - runDemoLuaCode("emergency_lock()"); + eStop(); return; } getDevice() diff --git a/frontend/farm_designer/location_info.tsx b/frontend/farm_designer/location_info.tsx index b550716af9..bcdb99b7ae 100644 --- a/frontend/farm_designer/location_info.tsx +++ b/frontend/farm_designer/location_info.tsx @@ -26,7 +26,7 @@ import { } from "./move_to"; import { Actions } from "../constants"; import { useNavigate } from "react-router"; -import { distance } from "../point_groups/paths"; +import { distance } from "../point_groups/other_sort_methods"; import { isUndefined, round, sortBy, sum } from "lodash"; import { PlantInventoryItem } from "../plants/plant_inventory_item"; import { PointInventoryItem } from "../points/point_inventory_item"; diff --git a/frontend/farm_designer/map/group_order_visual.tsx b/frontend/farm_designer/map/group_order_visual.tsx index 764eed257e..c075ed65a7 100644 --- a/frontend/farm_designer/map/group_order_visual.tsx +++ b/frontend/farm_designer/map/group_order_visual.tsx @@ -4,9 +4,7 @@ import { isUndefined } from "lodash"; import { sortGroupBy } from "../../point_groups/point_group_sort"; import { Color } from "../../ui"; import { transformXY } from "./util"; -import { - ExtendedPointGroupSortType, convertToXY, -} from "../../point_groups/paths"; +import { convertToXY } from "../../point_groups/paths"; import { TaggedPoint, TaggedPointGroup } from "farmbot"; import { zoomCompensation } from "./zoom"; import { equals } from "../../util"; @@ -20,15 +18,6 @@ export interface GroupOrderProps { tryGroupSortType: PointGroupSortType | undefined; } -export const sortGroup = ( - groupSortType: ExtendedPointGroupSortType, - groupPoints: TaggedPoint[], -) => { - switch (groupSortType) { - default: return sortGroupBy(groupSortType, groupPoints); - } -}; - const sortedPointCoordinates = ( group: TaggedPointGroup | undefined, groupPoints: TaggedPoint[], @@ -36,7 +25,7 @@ const sortedPointCoordinates = ( ): { x: number, y: number }[] => { if (isUndefined(group)) { return []; } const groupSortType = tryGroupSortType || group.body.sort_type; - return convertToXY(sortGroup(groupSortType, groupPoints)); + return convertToXY(sortGroupBy(groupSortType, groupPoints)); }; interface PointsPathLineProps { diff --git a/frontend/farm_designer/map/layers/points/interpolation_map.tsx b/frontend/farm_designer/map/layers/points/interpolation_map.tsx index ec06ad5c69..d12d071fe4 100644 --- a/frontend/farm_designer/map/layers/points/interpolation_map.tsx +++ b/frontend/farm_designer/map/layers/points/interpolation_map.tsx @@ -6,7 +6,7 @@ import { import { MapTransformProps } from "../../interfaces"; import { transformXY } from "../../util"; import { isUndefined, range, round, sum } from "lodash"; -import { distance, findNearest } from "../../../../point_groups/paths"; +import { distance, findNearest } from "../../../../point_groups/other_sort_methods"; import { selectMostRecentPoints } from "../../../location_info"; import { betterCompact } from "../../../../util"; import { t } from "../../../../i18next_wrapper"; diff --git a/frontend/point_groups/__tests__/other_sort_methods_test.ts b/frontend/point_groups/__tests__/other_sort_methods_test.ts new file mode 100644 index 0000000000..fca8e208c5 --- /dev/null +++ b/frontend/point_groups/__tests__/other_sort_methods_test.ts @@ -0,0 +1,7 @@ +import { distance } from "../other_sort_methods"; + +describe("distance()", () => { + it("calculates distance", () => { + expect(distance({ x: 0, y: 0 }, { x: 1, y: 0 })).toEqual(1); + }); +}); diff --git a/frontend/point_groups/__tests__/paths_test.tsx b/frontend/point_groups/__tests__/paths_test.tsx index 720f35e729..e7ba9071c6 100644 --- a/frontend/point_groups/__tests__/paths_test.tsx +++ b/frontend/point_groups/__tests__/paths_test.tsx @@ -6,7 +6,7 @@ jest.mock("../../api/crud", () => ({ import React from "react"; import { shallow, mount } from "enzyme"; import { - PathInfoBar, nn, PathInfoBarProps, Paths, PathsProps, + PathInfoBar, PathInfoBarProps, Paths, PathsProps, } from "../paths"; import { fakePointGroup, fakePoint, @@ -15,6 +15,7 @@ import { Actions } from "../../constants"; import { edit } from "../../api/crud"; import { SORT_OPTIONS } from "../point_group_sort"; import { PointGroupSortType } from "farmbot/dist/resources/api_resources"; +import { nn } from "../other_sort_methods"; /** * p1 -- p2 -- diff --git a/frontend/point_groups/criteria/component.tsx b/frontend/point_groups/criteria/component.tsx index 30f52b38cb..2668227bd1 100644 --- a/frontend/point_groups/criteria/component.tsx +++ b/frontend/point_groups/criteria/component.tsx @@ -20,9 +20,9 @@ import { ToolTips } from "../../constants"; import { overwriteGroup } from "../actions"; import { PointGroupItem } from "../point_group_item"; import { TaggedPoint } from "farmbot"; -import { sortGroup } from "../../farm_designer/map/group_order_visual"; import { equals } from "../../util"; import { floor, take } from "lodash"; +import { sortGroupBy } from "../point_group_sort"; const CRITERIA_POINT_TYPE_LOOKUP = (): Record => ({ @@ -165,7 +165,7 @@ export class GroupPointCountBreakdown }); get sortedGroup() { - return sortGroup( + return sortGroupBy( this.props.tryGroupSortType || this.props.group.body.sort_type, this.props.pointsSelectedByGroup); } diff --git a/frontend/point_groups/other_sort_methods.ts b/frontend/point_groups/other_sort_methods.ts new file mode 100644 index 0000000000..3d5c49eb30 --- /dev/null +++ b/frontend/point_groups/other_sort_methods.ts @@ -0,0 +1,51 @@ +import { isUndefined, sortBy, uniq } from "lodash"; +import { TaggedPoint, TaggedSensorReading } from "farmbot"; + +export const distance = ( + p1: { x: number, y: number }, + p2: { x: number, y: number }, +) => + Math.pow(Math.pow(p1.x - p2.x, 2) + Math.pow(p1.y - p2.y, 2), 0.5); + +export const findNearest = ( + from: { x: number, y: number }, + available: (TaggedPoint | TaggedSensorReading)[], +): TaggedPoint | TaggedSensorReading | undefined => { + const distances = available + .filter(p => !isUndefined(p.body.x) && !isUndefined(p.body.y)) + .map(p => ({ + point: p, + distance: distance({ x: p.body.x as number, y: p.body.y as number }, from) + })); + return sortBy(distances, "distance")[0]?.point; +}; + +export const nn = (pathPoints: TaggedPoint[]) => { + let available = pathPoints.slice(0); + const ordered: (TaggedPoint | TaggedSensorReading)[] = []; + let from = { x: 0, y: 0 }; + pathPoints.map(() => { + const nearest = findNearest(from, available); + if (!nearest || isUndefined(nearest.body.x) || isUndefined(nearest.body.y)) { + return; + } + ordered.push(nearest); + from = { x: nearest.body.x, y: nearest.body.y }; + available = available.filter(p => p.uuid !== nearest.uuid); + }); + return ordered; +}; + +export const alternating = (pathPoints: TaggedPoint[], axis: "xy" | "yx") => { + const axis0: "x" | "y" = axis[0] as "x" | "y"; + const axis1: "x" | "y" = axis[1] as "x" | "y"; + const ordered: TaggedPoint[] = []; + const rowCoordinates = sortBy(uniq(pathPoints.map(p => p.body[axis0]))); + const rows = rowCoordinates.map((rowCoordinate, index) => { + const row = sortBy(pathPoints.filter(p => + p.body[axis0] == rowCoordinate), "body." + axis1); + return index % 2 == 0 ? row : row.reverse(); + }); + rows.map(row => row.map(p => ordered.push(p))); + return ordered; +}; diff --git a/frontend/point_groups/paths.tsx b/frontend/point_groups/paths.tsx index c8a61ee108..7efedbf896 100644 --- a/frontend/point_groups/paths.tsx +++ b/frontend/point_groups/paths.tsx @@ -1,10 +1,11 @@ import React from "react"; import { sortGroupBy, sortOptionsTable } from "./point_group_sort"; -import { isUndefined, sortBy, uniq } from "lodash"; +import { isUndefined } from "lodash"; import { PointGroupSortType } from "farmbot/dist/resources/api_resources"; import { Actions } from "../constants"; import { edit, save } from "../api/crud"; import { TaggedPointGroup, TaggedPoint, TaggedSensorReading } from "farmbot"; +import { alternating, distance, nn } from "./other_sort_methods"; export const convertToXY = (points: (TaggedPoint | TaggedSensorReading)[]): { x: number, y: number }[] => @@ -13,12 +14,6 @@ export const convertToXY = .filter(p => !isUndefined(p.x) && !isUndefined(p.y)) .map(p => p as { x: number, y: number }); -export const distance = ( - p1: { x: number, y: number }, - p2: { x: number, y: number }, -) => - Math.pow(Math.pow(p1.x - p2.x, 2) + Math.pow(p1.y - p2.y, 2), 0.5); - const pathDistance = (pathPoints: (TaggedPoint | TaggedSensorReading)[]) => { let total = 0; let prev: { x: number, y: number } | undefined = undefined; @@ -30,49 +25,6 @@ const pathDistance = (pathPoints: (TaggedPoint | TaggedSensorReading)[]) => { return Math.round(total); }; -export const findNearest = ( - from: { x: number, y: number }, - available: (TaggedPoint | TaggedSensorReading)[], -): TaggedPoint | TaggedSensorReading | undefined => { - const distances = available - .filter(p => !isUndefined(p.body.x) && !isUndefined(p.body.y)) - .map(p => ({ - point: p, - distance: distance({ x: p.body.x as number, y: p.body.y as number }, from) - })); - return sortBy(distances, "distance")[0]?.point; -}; - -export const nn = (pathPoints: TaggedPoint[]) => { - let available = pathPoints.slice(0); - const ordered: (TaggedPoint | TaggedSensorReading)[] = []; - let from = { x: 0, y: 0 }; - pathPoints.map(() => { - const nearest = findNearest(from, available); - if (!nearest || isUndefined(nearest.body.x) || isUndefined(nearest.body.y)) { - return; - } - ordered.push(nearest); - from = { x: nearest.body.x, y: nearest.body.y }; - available = available.filter(p => p.uuid !== nearest.uuid); - }); - return ordered; -}; - -export const alternating = (pathPoints: TaggedPoint[], axis: "xy" | "yx") => { - const axis0: "x" | "y" = axis[0] as "x" | "y"; - const axis1: "x" | "y" = axis[1] as "x" | "y"; - const ordered: TaggedPoint[] = []; - const rowCoordinates = sortBy(uniq(pathPoints.map(p => p.body[axis0]))); - const rows = rowCoordinates.map((rowCoordinate, index) => { - const row = sortBy(pathPoints.filter(p => - p.body[axis0] == rowCoordinate), "body." + axis1); - return index % 2 == 0 ? row : row.reverse(); - }); - rows.map(row => row.map(p => ordered.push(p))); - return ordered; -}; - export type ExtendedPointGroupSortType = PointGroupSortType; const SORT_TYPES: ExtendedPointGroupSortType[] = [ diff --git a/frontend/point_groups/point_group_sort.ts b/frontend/point_groups/point_group_sort.ts index aff78bba6d..5910156f85 100644 --- a/frontend/point_groups/point_group_sort.ts +++ b/frontend/point_groups/point_group_sort.ts @@ -2,7 +2,7 @@ import { PointGroupSortType } from "farmbot/dist/resources/api_resources"; import { t } from "../i18next_wrapper"; import { shuffle, sortBy } from "lodash"; import { TaggedPoint } from "farmbot"; -import { alternating, nn } from "./paths"; +import { alternating, nn } from "./other_sort_methods"; export const sortOptionsTable = (): Record => ({ random: t("Random Order"), diff --git a/frontend/three_d_garden/bot/components/tools.tsx b/frontend/three_d_garden/bot/components/tools.tsx index 52d41c2b7b..881547dcb8 100644 --- a/frontend/three_d_garden/bot/components/tools.tsx +++ b/frontend/three_d_garden/bot/components/tools.tsx @@ -342,7 +342,7 @@ export const Tools = (props: ToolsProps) => { position={[ position.x - 30, position.y - 15, - position.z, + position.z - 40, ]} rotation={[0, 0, Math.PI / 2]}> {toolProps.firstTrough From 3163ffb99588d5bcc7ab9c29f2fa16c958909ae2 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Fri, 18 Jul 2025 22:30:34 -0700 Subject: [PATCH 16/54] add warnings, flowrate, bugfixes, and points to demo accounts --- .../devices/seeders/demo_account_seeder.rb | 10 +- .../demo/lua_runner/__tests__/actions_test.ts | 136 ++++++++++++++---- .../demo/lua_runner/__tests__/index_test.ts | 56 +++++++- frontend/demo/lua_runner/actions.ts | 70 ++++++--- frontend/demo/lua_runner/interfaces.ts | 1 + frontend/demo/lua_runner/run.ts | 38 ++++- frontend/demo/lua_runner/stubs.ts | 8 ++ frontend/tools/add_tool.tsx | 6 +- frontend/tools/edit_tool.tsx | 8 +- .../devices/devices_controller_seed_spec.rb | 6 + 10 files changed, 268 insertions(+), 71 deletions(-) diff --git a/app/mutations/devices/seeders/demo_account_seeder.rb b/app/mutations/devices/seeders/demo_account_seeder.rb index c544a08656..c2921ed2fd 100644 --- a/app/mutations/devices/seeders/demo_account_seeder.rb +++ b/app/mutations/devices/seeders/demo_account_seeder.rb @@ -20,9 +20,11 @@ def feed(product_line) def create_webcam_feed(product_line) feed_name = feed(product_line) - WebcamFeeds::Create.run!({ name: feed_name, - url: BASE_URL + FEEDS[feed_name], - device: device }) + if feed_name != "" + WebcamFeeds::Create.run!({ name: feed_name, + url: BASE_URL + FEEDS.fetch(feed_name, ""), + device: device }) + end end def add_plants(product_line) @@ -152,6 +154,8 @@ def after_product_line_seeder(product_line) add_plants(product_line) add_soil_height_points(product_line) add_point_groups + tool = device.tools.find_by(name: ToolNames::WATERING_NOZZLE) + Tools::Update.run(tool: tool, flow_rate_ml_per_s: 100) if tool marketing_bulletin device.alerts.where(problem_tag: UNUSED_ALERTS).destroy_all diff --git a/frontend/demo/lua_runner/__tests__/actions_test.ts b/frontend/demo/lua_runner/__tests__/actions_test.ts index ce20652a62..0ae5b9c849 100644 --- a/frontend/demo/lua_runner/__tests__/actions_test.ts +++ b/frontend/demo/lua_runner/__tests__/actions_test.ts @@ -29,10 +29,14 @@ jest.mock("../../../three_d_garden/triangle_functions", () => ({ getZFunc: jest.fn(() => () => 3), })); -import { Move, ParameterApplication } from "farmbot"; +import { + AxisAddition, AxisOverwrite, Move, MoveBodyItem, ParameterApplication, +} from "farmbot"; import { TOAST_OPTIONS } from "../../../toast/constants"; import { info } from "../../../toast/toast"; -import { calculateMove, eStop, expandActions, runActions, setCurrent } from "../actions"; +import { + calculateMove, eStop, expandActions, runActions, setCurrent, +} from "../actions"; describe("runActions()", () => { beforeEach(() => { @@ -130,7 +134,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual([{ x: 2, y: 2, z: 3 }]); + .toEqual({ moves: [{ x: 2, y: 2, z: 3 }], warnings: [] }); }); it("handles number all axis addition", () => { @@ -148,7 +152,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual([{ x: 2, y: 3, z: 4 }]); + .toEqual({ moves: [{ x: 2, y: 3, z: 4 }], warnings: [] }); }); it("handles coordinate single axis addition", () => { @@ -166,7 +170,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual([{ x: 2, y: 2, z: 3 }]); + .toEqual({ moves: [{ x: 2, y: 2, z: 3 }], warnings: [] }); }); it("handles coordinate all axis addition", () => { @@ -184,7 +188,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual([{ x: 2, y: 4, z: 6 }]); + .toEqual({ moves: [{ x: 2, y: 4, z: 6 }], warnings: [] }); }); it("handles number single axis overwrite", () => { @@ -202,7 +206,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual([{ x: 3, y: 2, z: 3 }]); + .toEqual({ moves: [{ x: 3, y: 2, z: 3 }], warnings: [] }); }); it("handles number all axis overwrite", () => { @@ -220,7 +224,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual([{ x: 1, y: 1, z: 1 }]); + .toEqual({ moves: [{ x: 1, y: 1, z: 1 }], warnings: [] }); }); it("handles coordinate single axis overwrite", () => { @@ -238,7 +242,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual([{ x: 1, y: 0, z: 0 }]); + .toEqual({ moves: [{ x: 1, y: 0, z: 0 }], warnings: [] }); }); it("handles coordinate all axis overwrite", () => { @@ -256,7 +260,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual([{ x: 1, y: 2, z: 3 }]); + .toEqual({ moves: [{ x: 1, y: 2, z: 3 }], warnings: [] }); }); it("handles tool single axis overwrite", () => { @@ -282,7 +286,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual([{ x: 1, y: 0, z: 0 }]); + .toEqual({ moves: [{ x: 1, y: 0, z: 0 }], warnings: [] }); }); it("handles tool all axis overwrite", () => { @@ -308,7 +312,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual([{ x: 1, y: 2, z: 3 }]); + .toEqual({ moves: [{ x: 1, y: 2, z: 3 }], warnings: [] }); }); it("handles missing tool", () => { @@ -327,7 +331,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual([{ x: 0, y: 0, z: 0 }]); + .toEqual({ moves: [{ x: 0, y: 0, z: 0 }], warnings: [] }); }); it("handles coordinate identifier all axis overwrite", () => { @@ -358,7 +362,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) - .toEqual([{ x: 1, y: 2, z: 3 }]); + .toEqual({ moves: [{ x: 1, y: 2, z: 3 }], warnings: [] }); }); it("handles point identifier all axis overwrite", () => { @@ -394,7 +398,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) - .toEqual([{ x: 1, y: 2, z: 3 }]); + .toEqual({ moves: [{ x: 1, y: 2, z: 3 }], warnings: [] }); }); it("handles missing point", () => { @@ -425,7 +429,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) - .toEqual([{ x: 0, y: 0, z: 0 }]); + .toEqual({ moves: [{ x: 0, y: 0, z: 0 }], warnings: [] }); }); it("handles missing variables", () => { @@ -444,7 +448,10 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, undefined)) - .toEqual([{ x: 0, y: 0, z: 0 }]); + .toEqual({ + moves: [{ x: 0, y: 0, z: 0 }], + warnings: ["identifier location kind: undefined"], + }); }); it("handles soil height z axis overwrite", () => { @@ -462,7 +469,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual([{ x: 0, y: 0, z: 3 }]); + .toEqual({ moves: [{ x: 0, y: 0, z: 3 }], warnings: [] }); }); it("handles soil height z axis overwrite: triangle data", () => { @@ -481,7 +488,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual([{ x: 0, y: 0, z: 3 }]); + .toEqual({ moves: [{ x: 0, y: 0, z: 3 }], warnings: [] }); }); it("handles safe height z axis overwrite", () => { @@ -504,7 +511,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual([{ x: 0, y: 0, z: 3 }]); + .toEqual({ moves: [{ x: 0, y: 0, z: 3 }], warnings: [] }); }); it("handles soil height z axis overwrite: wrong label", () => { @@ -522,7 +529,10 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual([{ x: 0, y: 0, z: 0 }]); + .toEqual({ + moves: [{ x: 0, y: 0, z: 0 }], + warnings: ["special_value label: nope"], + }); }); it("handles safe_z", () => { @@ -537,20 +547,92 @@ describe("calculateMove()", () => { axis_operand: { kind: "numeric", args: { number: 100 } }, }, }, + { + kind: "speed_overwrite", + args: { + axis: "all", + speed_setting: { kind: "numeric", args: { number: 100 } }, + }, + }, { kind: "safe_z", args: {} }, ], }; expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) - .toEqual([ - { x: 50, y: 50, z: 0 }, - { x: 100, y: 100, z: 0 }, - { x: 100, y: 100, z: 100 }, - ]); + .toEqual({ + moves: [ + { x: 50, y: 50, z: 0 }, + { x: 100, y: 100, z: 0 }, + { x: 100, y: 100, z: 100 }, + ], + warnings: [], + }); + }); + + it("handles unknown pieces", () => { + const variables: ParameterApplication[] = [ + { + kind: "parameter_application", + args: { + label: "parent", + data_value: { + kind: "foo" as ParameterApplication["args"]["data_value"]["kind"], + args: { pointer_id: 1, pointer_type: "Plant" }, + } as ParameterApplication["args"]["data_value"], + }, + }, + ]; + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "foo" as MoveBodyItem["kind"], + args: {}, + } as MoveBodyItem, + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { + kind: "bar" as AxisOverwrite["args"]["axis_operand"]["kind"], + args: {}, + } as AxisOverwrite["args"]["axis_operand"], + }, + }, + { + kind: "axis_addition", + args: { + axis: "all", + axis_operand: { + kind: "bar" as AxisAddition["args"]["axis_operand"]["kind"], + args: {}, + } as AxisAddition["args"]["axis_operand"], + }, + }, + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "identifier", args: { label: "parent" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) + .toEqual({ + moves: [{ x: 0, y: 0, z: 0 }], + warnings: [ + "item kind: foo", + "axis_overwrite axis_operand kind: bar", + "axis_addition axis_operand kind: bar", + "identifier location kind: foo", + ], + }); }); it("handles missing body", () => { const command: Move = { kind: "move", args: {} }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual([{ x: 0, y: 0, z: 0 }]); + .toEqual({ moves: [{ x: 0, y: 0, z: 0 }], warnings: [] }); }); }); diff --git a/frontend/demo/lua_runner/__tests__/index_test.ts b/frontend/demo/lua_runner/__tests__/index_test.ts index 004a652760..5d3aa68ac9 100644 --- a/frontend/demo/lua_runner/__tests__/index_test.ts +++ b/frontend/demo/lua_runner/__tests__/index_test.ts @@ -30,6 +30,7 @@ jest.mock("../../../redux/store", () => ({ jest.mock("../../../api/crud", () => ({ edit: jest.fn(), save: jest.fn(), + initSave: jest.fn(), })); import { @@ -45,7 +46,7 @@ import { runDemoSequence, } from ".."; import { TOAST_OPTIONS } from "../../../toast/constants"; -import { edit, save } from "../../../api/crud"; +import { edit, initSave, save } from "../../../api/crud"; import { setCurrent } from "../actions"; describe("runDemoSequence()", () => { @@ -325,7 +326,7 @@ describe("runDemoSequence()", () => { type: Actions.DEMO_SET_POSITION, payload: { x: 2, y: 4, z: 6 }, }); - expect(console.log).toHaveBeenCalledTimes(2); + expect(console.log).toHaveBeenCalledTimes(3); }); it("handles missing variables", () => { @@ -533,6 +534,47 @@ describe("runDemoLuaCode()", () => { expect(info).not.toHaveBeenCalled(); }); + it("runs api: creates point", () => { + mockResources = buildResourceIndex([]); + runDemoLuaCode(` + api{ url="/api/points", + method="POST", + body={ + name = "test", + pointer_type = "GenericPointer", + x = 1, y = 2, z = 3, + radius = 5 }}`); + jest.runAllTimers(); + expect(error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledTimes(1); + expect(info).not.toHaveBeenCalled(); + expect(initSave).toHaveBeenCalledWith("Point", { + name: "test", pointer_type: "GenericPointer", + x: 1, y: 2, z: 3, radius: 5, meta: {}, + }); + }); + + it("runs api: creates point with meta", () => { + mockResources = buildResourceIndex([]); + runDemoLuaCode(` + api{ url="/api/points", + method="POST", + body={ + name = "test", + pointer_type = "GenericPointer", + meta = { color = "red" }, + x = 1, y = 2, z = 3, + radius = 5 }}`); + jest.runAllTimers(); + expect(error).not.toHaveBeenCalled(); + expect(console.log).toHaveBeenCalledTimes(1); + expect(info).not.toHaveBeenCalled(); + expect(initSave).toHaveBeenCalledWith("Point", { + name: "test", pointer_type: "GenericPointer", + x: 1, y: 2, z: 3, radius: 5, meta: { color: "red" }, + }); + }); + it("runs api: tools", () => { const tool = fakeTool(); tool.body.id = 1; @@ -1106,9 +1148,9 @@ describe("csToLua()", () => { * [ y ] current_day * * FBOS: - * [ y ] variable (numeric/text only) + * [ y ] variable * [ ] auth_token - * [ y ] api (GET /api/points only) + * [ y ] api * [ ] base64.decode * [ ] base64.encode * [ ] calibrate_camera @@ -1159,9 +1201,9 @@ describe("csToLua()", () => { * [ ] read_status * [ y ] rpc * [ y ] sequence - * [ y ] send_message (info only) + * [ y ] send_message * [ y ] debug - * [ y ] toast (info only) + * [ y ] toast * [ y ] safe_z * [ ] set_job * [ y ] set_job_progress @@ -1187,5 +1229,5 @@ describe("csToLua()", () => { * [ ] watch_pin * [ y ] on * [ y ] off - * [ y ] write_pin (digital only) + * [ y ] write_pin */ diff --git a/frontend/demo/lua_runner/actions.ts b/frontend/demo/lua_runner/actions.ts index ec7d5a1ee9..1162e9cf9a 100644 --- a/frontend/demo/lua_runner/actions.ts +++ b/frontend/demo/lua_runner/actions.ts @@ -6,17 +6,19 @@ import { store } from "../../redux/store"; import { Actions } from "../../constants"; import { TOAST_OPTIONS } from "../../toast/constants"; import { Action, XyzNumber } from "./interfaces"; -import { edit, save } from "../../api/crud"; +import { edit, initSave, save } from "../../api/crud"; import { getDeviceAccountSettings, maybeFindPointById, maybeFindSlotByToolId, } from "../../resources/selectors"; import { UnknownAction } from "redux"; -import { getFirmwareSettings, getGardenSize, getSafeZ } from "./stubs"; +import { + getFirmwareSettings, getGardenSize, getSafeZ, getSoilHeight, +} from "./stubs"; import { clamp, clone } from "lodash"; -import { getZFunc, TriangleData } from "../../three_d_garden/triangle_functions"; import { validBotLocationData } from "../../util/location"; +import { Point } from "farmbot/dist/resources/api_resources"; const almostEqual = (a: XyzNumber, b: XyzNumber) => { const epsilon = 0.01; @@ -76,7 +78,6 @@ const current = { z: 0, }; - export const setCurrent = (position: XyzNumber) => { current.x = position.x; current.y = position.y; @@ -123,7 +124,11 @@ export const expandActions = ( break; case "_move": const moveItems = JSON.parse("" + action.args[0]) as MoveBodyItem[]; - const moves = calculateMove(moveItems, current, variables); + const { moves, warnings } = calculateMove(moveItems, current, variables); + expanded.push({ + type: "send_message", + args: ["warn", `not yet supported: ${warnings.join(", ")}`], + }); const actualMoveTargets = moves.map(clampTarget); actualMoveTargets.map(actualMoveTarget => { movementChunks(current, actualMoveTarget, mmPerTimeStep).map(addPosition); @@ -267,6 +272,12 @@ export const runActions = ( payload: [job, progress], }); }; + case "create_point": + const point = JSON.parse("" + action.args[0]) as Point; + point.meta = point.meta || {}; + return () => { + store.dispatch(initSave("Point", point) as unknown as UnknownAction); + }; case "update_device": return () => { const device = @@ -309,8 +320,9 @@ export const calculateMove = ( body: MoveBodyItem[] | undefined, current: XyzNumber, variables: ParameterApplication[] | undefined, -): XyzNumber[] => { +): { moves: XyzNumber[], warnings: string[] } => { const pos = clone(current); + const warnings: string[] = []; const moveBodyItems = body || []; // eslint-disable-next-line complexity moveBodyItems.map(item => { @@ -335,6 +347,10 @@ export const calculateMove = ( pos[item.args.axis] += item.args.axis_operand.args[item.args.axis]; } break; + default: + warnings.push( + `axis_addition axis_operand kind: ${item.args.axis_operand.kind}`); + break; } return; case "axis_overwrite": @@ -382,8 +398,7 @@ export const calculateMove = ( pos.x = location.args.x; pos.y = location.args.y; pos.z = location.args.z; - } - if (location?.kind == "point") { + } else if (location?.kind == "point") { const point = maybeFindPointById( store.getState().resources.index, location.args.pointer_id); @@ -391,32 +406,47 @@ export const calculateMove = ( pos.x = point.body.x; pos.y = point.body.y; pos.z = point.body.z; + } else { + warnings.push(`identifier location kind: ${location?.kind}`); } break; case "special_value": if (item.args.axis_operand.args.label == "soil_height" && item.args.axis == "z") { - const triangles = JSON.parse( - sessionStorage.getItem("triangles") || "[]") as TriangleData[]; - const getZ = getZFunc(triangles, -500); - pos.z = getZ(pos.x, pos.y); - } - if (item.args.axis_operand.args.label == "safe_height" + pos.z = getSoilHeight(pos.x, pos.y); + } else if (item.args.axis_operand.args.label == "safe_height" && item.args.axis == "z") { pos.z = getSafeZ(); + } else { + warnings.push( + `special_value label: ${item.args.axis_operand.args.label}`); } break; + default: + warnings.push( + `axis_overwrite axis_operand kind: ${item.args.axis_operand.kind}`); + break; } return; + case "speed_overwrite": + return; + case "safe_z": + return; + default: + warnings.push(`item kind: ${(item as MoveBodyItem).kind}`); + return; } }); if (moveBodyItems.some(item => item.kind === "safe_z")) { const safeZ = getSafeZ(); - return [ - { x: current.x, y: current.y, z: safeZ }, - { x: pos.x, y: pos.y, z: safeZ }, - pos, - ]; + return { + moves: [ + { x: current.x, y: current.y, z: safeZ }, + { x: pos.x, y: pos.y, z: safeZ }, + pos, + ], + warnings, + }; } - return [pos]; + return { moves: [pos], warnings }; }; diff --git a/frontend/demo/lua_runner/interfaces.ts b/frontend/demo/lua_runner/interfaces.ts index 199215a8ea..65b9006a44 100644 --- a/frontend/demo/lua_runner/interfaces.ts +++ b/frontend/demo/lua_runner/interfaces.ts @@ -14,6 +14,7 @@ export interface Action { | "go_to_home" | "send_message" | "update_device" + | "create_point" | "print" | "wait_ms" | "write_pin" diff --git a/frontend/demo/lua_runner/run.ts b/frontend/demo/lua_runner/run.ts index d1ed348163..af5d414ae2 100644 --- a/frontend/demo/lua_runner/run.ts +++ b/frontend/demo/lua_runner/run.ts @@ -12,7 +12,7 @@ import { LUA_HELPERS } from "./lua"; import { createRecursiveNotImplemented, csToLua, jsToLua, luaToJs } from "./util"; import { Action, XyzNumber } from "./interfaces"; import { DeviceAccountSettings } from "farmbot/dist/resources/api_resources"; -import { getGardenSize, getSafeZ } from "./stubs"; +import { getGardenSize, getSafeZ, getSoilHeight } from "./stubs"; import { error } from "../../toast/toast"; import { collectDemoSequenceActions } from "./index"; @@ -117,6 +117,16 @@ export const runLua = lua.lua_newtable(L); const envOsIndex = lua.lua_gettop(L); lua.lua_getfield(L, osIndex, to_luastring("time")); + const rawTime = lua.lua_toproxy(L, -1); + lua.lua_pop(L, 1); + lua.lua_pushjsfunction(L, () => { + rawTime(L); + lua.lua_call(L, 0, 1); + const intTime = luaToJs(L, -1) as number; + lua.lua_pop(L, 1); + jsToLua(L, intTime + 0.0); + return 1; + }); lua.lua_setfield(L, envOsIndex, to_luastring("time")); lua.lua_getfield(L, osIndex, to_luastring("date")); lua.lua_setfield(L, envOsIndex, to_luastring("date")); @@ -125,9 +135,10 @@ export const runLua = lua.lua_pushjsfunction(L, () => { lua.lua_getfield(L, 1, to_luastring("method")); - const method = lua.lua_isnil(L, -1) + const rawMethod = lua.lua_isnil(L, -1) ? "GET" : luaToJs(L, -1) as string; + const method = rawMethod.toUpperCase(); lua.lua_pop(L, 1); lua.lua_getfield(L, 1, to_luastring("url")); @@ -135,11 +146,22 @@ export const runLua = const url = rawUrl.replace(/\/$/, ""); lua.lua_pop(L, 1); - if (method == "GET" && url == "/api/points") { + if (url == "/api/points") { const points = selectAllPoints(store.getState().resources.index); - const results = sortGroupBy("yx_alternating", points).map(p => p.body); - jsToLua(L, results); - return 1; + if (method == "GET") { + const results = sortGroupBy("yx_alternating", points).map(p => p.body); + jsToLua(L, results); + return 1; + } + if (method == "POST") { + lua.lua_getfield(L, 1, to_luastring("body")); + const body = luaToJs(L, -1) as Object; + lua.lua_pop(L, 1); + const point = JSON.stringify(body); + actions.push({ type: "create_point", args: [point] }); + jsToLua(L, true); + return 1; + } } else if (method == "GET" && url == "/api/tools") { const results = selectAllTools(store.getState().resources.index) .map(p => p.body); @@ -320,7 +342,9 @@ export const runLua = lua.lua_setfield(L, envIndex, to_luastring("env")); lua.lua_pushjsfunction(L, () => { - jsToLua(L, -500); + const x = luaToJs(L, 1) as number; + const y = luaToJs(L, 2) as number; + jsToLua(L, getSoilHeight(x, y)); return 1; }); lua.lua_setfield(L, envIndex, to_luastring("soil_height")); diff --git a/frontend/demo/lua_runner/stubs.ts b/frontend/demo/lua_runner/stubs.ts index de070b322c..6ec739d75f 100644 --- a/frontend/demo/lua_runner/stubs.ts +++ b/frontend/demo/lua_runner/stubs.ts @@ -16,6 +16,7 @@ import { import { pointsSelectedByGroup } from "../../point_groups/criteria/apply"; import { sortGroupBy } from "../../point_groups/point_group_sort"; import { ResourceIndex } from "../../resources/interfaces"; +import { getZFunc, TriangleData } from "../../three_d_garden/triangle_functions"; export const getFirmwareSettings = (): FirmwareConfig => { const fwConfig = getFirmwareConfig(store.getState().resources.index); @@ -51,6 +52,13 @@ export const getSafeZ = (): number => { return fbosSettings.safe_height || 0; }; +export const getSoilHeight = (x: number, y: number): number => { + const triangles = JSON.parse( + sessionStorage.getItem("triangles") || "[]") as TriangleData[]; + const getZ = getZFunc(triangles, -500); + return getZ(x, y); +}; + export const getGroupPoints = (resources: ResourceIndex, groupId: number) => { const allPoints = selectAllPoints(resources); const group = selectAllPointGroups(resources) diff --git a/frontend/tools/add_tool.tsx b/frontend/tools/add_tool.tsx index a41e9dbc7b..ac09dc996e 100644 --- a/frontend/tools/add_tool.tsx +++ b/frontend/tools/add_tool.tsx @@ -199,10 +199,10 @@ export class RawAddTool extends React.Component { name="toolName" onChange={e => this.setState({ toolName: e.currentTarget.value })} /> - {reduceToolName(toolName) == ToolName.wateringNozzle && - } + {reduceToolName(toolName) == ToolName.wateringNozzle && + }

{alreadyAdded ? t("Already added.") : ""}

diff --git a/frontend/tools/edit_tool.tsx b/frontend/tools/edit_tool.tsx index 1ff41fa958..bf843dacf1 100644 --- a/frontend/tools/edit_tool.tsx +++ b/frontend/tools/edit_tool.tsx @@ -47,7 +47,7 @@ export interface WaterFlowRateInputProps { } export const WaterFlowRateInput = (props: WaterFlowRateInputProps) => { - return
+ return
{!props.hideTooltip && } @@ -143,10 +143,10 @@ export class RawEditTool extends React.Component { this.setState({ toolName: e.currentTarget.value })} /> - {reduceToolName(toolName) == ToolName.wateringNozzle && - }
+ {reduceToolName(toolName) == ToolName.wateringNozzle && + }

{nameTaken ? t("Name already taken.") : ""}

diff --git a/spec/controllers/api/devices/devices_controller_seed_spec.rb b/spec/controllers/api/devices/devices_controller_seed_spec.rb index dbad44437f..20491caf39 100644 --- a/spec/controllers/api/devices/devices_controller_seed_spec.rb +++ b/spec/controllers/api/devices/devices_controller_seed_spec.rb @@ -1677,6 +1677,12 @@ def check_slot_pairing(slot, expected_name) expect(sequences_grid?(device)).to be_kind_of(Sequence) end + it "seeds accounts with demo account data when tools not available" do + start_tests "none", false, true + + expect(tools_watering_nozzle?(device)).to_not be + end + it "seeds accounts when sequence versions not available: Genesis XL 1.6" do start_tests "genesis_xl_1.6", false From 87ee6cc89fde752d9aa6e5bf5abc4d6e1cb158c8 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Sat, 19 Jul 2025 15:40:43 -0700 Subject: [PATCH 17/54] support demo sequence scope declarations --- .../demo/lua_runner/__tests__/actions_test.ts | 30 ++++++-- .../demo/lua_runner/__tests__/index_test.ts | 72 ++++++++++++++++++- frontend/demo/lua_runner/actions.ts | 6 +- frontend/demo/lua_runner/index.ts | 21 ++++-- .../sequence_editor_middle_active_test.tsx | 1 - .../sequences/locals_list/locals_list.tsx | 8 +-- .../locals_list/locals_list_support.ts | 4 ++ .../sequences/locals_list/variable_form.tsx | 9 ++- .../sequences/locals_list/variable_support.ts | 8 ++- .../sequences/step_tiles/tile_execute.tsx | 6 +- 10 files changed, 138 insertions(+), 27 deletions(-) diff --git a/frontend/demo/lua_runner/__tests__/actions_test.ts b/frontend/demo/lua_runner/__tests__/actions_test.ts index 0ae5b9c849..055418cd12 100644 --- a/frontend/demo/lua_runner/__tests__/actions_test.ts +++ b/frontend/demo/lua_runner/__tests__/actions_test.ts @@ -85,15 +85,24 @@ describe("expandActions()", () => { expect(expandActions([ { type: "move_absolute", args: [300, 0, 0] }, ], [])).toEqual([ - { type: "wait_ms", args: [500] }, - { type: "expanded_move_absolute", args: [100, 0, 0] }, - { type: "wait_ms", args: [500] }, - { type: "expanded_move_absolute", args: [200, 0, 0] }, - { type: "wait_ms", args: [500] }, + { type: "wait_ms", args: [250] }, + { type: "expanded_move_absolute", args: [125, 0, 0] }, + { type: "wait_ms", args: [250] }, + { type: "expanded_move_absolute", args: [250, 0, 0] }, + { type: "wait_ms", args: [250] }, { type: "expanded_move_absolute", args: [300, 0, 0] }, ]); }); + it("chunks movements: lands on target", () => { + expect(expandActions([ + { type: "move_absolute", args: [125, 0, 0] }, + ], [])).toEqual([ + { type: "wait_ms", args: [250] }, + { type: "expanded_move_absolute", args: [125, 0, 0] }, + ]); + }); + it("chunks movements: custom", () => { localStorage.setItem("timeStepMs", "1000"); localStorage.setItem("mmPerSecond", "1000"); @@ -104,6 +113,17 @@ describe("expandActions()", () => { { type: "expanded_move_absolute", args: [300, 0, 0] }, ]); }); + + it("chunks movements: warns", () => { + expect(expandActions([ + { type: "_move", args: [JSON.stringify([{ kind: "foo", args: {} }])] }, + ], [])).toEqual([ + { type: "send_message", args: ["warn", "not yet supported: item kind: foo"] }, + + { type: "wait_ms", args: [250] }, + { type: "expanded_move_absolute", args: [0, 0, 0] }, + ]); + }); }); describe("calculateMove()", () => { diff --git a/frontend/demo/lua_runner/__tests__/index_test.ts b/frontend/demo/lua_runner/__tests__/index_test.ts index 5d3aa68ac9..49ab0a4b6d 100644 --- a/frontend/demo/lua_runner/__tests__/index_test.ts +++ b/frontend/demo/lua_runner/__tests__/index_test.ts @@ -326,7 +326,76 @@ describe("runDemoSequence()", () => { type: Actions.DEMO_SET_POSITION, payload: { x: 2, y: 4, z: 6 }, }); - expect(console.log).toHaveBeenCalledTimes(3); + expect(console.log).toHaveBeenCalledTimes(2); + }); + + it("applies sequence variables", () => { + const sequence = fakeSequence(); + sequence.body.body = [{ + kind: "lua", + args: { lua: "toast(variable(\"Variable\"))" }, + }]; + sequence.body.args.locals.body = [{ + kind: "variable_declaration", + args: { + label: "Variable", + data_value: { kind: "text", args: { string: "v" } }, + }, + }]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + runDemoSequence(ri, sequence.body.id, undefined); + jest.runAllTimers(); + expect(info).toHaveBeenCalledWith("v", TOAST_OPTIONS().info); + expect(console.log).toHaveBeenCalledTimes(2); + expect(error).not.toHaveBeenCalled(); + }); + + it("doesn't duplicate sequence variables", () => { + const sequence = fakeSequence(); + sequence.body.body = [{ + kind: "lua", + args: { lua: "toast(variable(\"Variable\"))" }, + }]; + sequence.body.args.locals.body = [{ + kind: "variable_declaration", + args: { + label: "Variable", + data_value: { kind: "text", args: { string: "v" } }, + }, + }]; + sequence.body.id = 1; + const variables: ParameterApplication[] = [{ + kind: "parameter_application", + args: { + label: "Variable", + data_value: { kind: "text", args: { string: "abc" } }, + }, + }]; + const ri = buildResourceIndex([sequence]).index; + runDemoSequence(ri, sequence.body.id, variables); + jest.runAllTimers(); + expect(info).toHaveBeenCalledWith("abc", TOAST_OPTIONS().info); + expect(console.log).toHaveBeenCalledTimes(2); + expect(error).not.toHaveBeenCalled(); + }); + + it("handles missing variable name sets", () => { + const sequence = fakeSequence(); + sequence.body.body = [{ + kind: "lua", + args: { lua: "print(variable(\"Number\"))" }, + }]; + sequence.body.id = 1; + const ri = buildResourceIndex([sequence]).index; + ri.sequenceMetas = { [sequence.uuid]: { foo: undefined } }; + runDemoSequence(ri, sequence.body.id, undefined); + jest.runAllTimers(); + expect(info).toHaveBeenCalledWith( + "Variable \"Number\" of type undefined not implemented.", + TOAST_OPTIONS().error); + expect(console.log).toHaveBeenCalledWith("undefined"); + expect(error).not.toHaveBeenCalled(); }); it("handles missing variables", () => { @@ -337,6 +406,7 @@ describe("runDemoSequence()", () => { }]; sequence.body.id = 1; const ri = buildResourceIndex([sequence]).index; + ri.sequenceMetas = {}; runDemoSequence(ri, sequence.body.id, undefined); jest.runAllTimers(); expect(info).toHaveBeenCalledWith( diff --git a/frontend/demo/lua_runner/actions.ts b/frontend/demo/lua_runner/actions.ts index 1162e9cf9a..b7b9a3df8c 100644 --- a/frontend/demo/lua_runner/actions.ts +++ b/frontend/demo/lua_runner/actions.ts @@ -89,8 +89,8 @@ export const expandActions = ( variables: ParameterApplication[] | undefined, ): Action[] => { const expanded: Action[] = []; - const timeStepMs = parseInt(localStorage.getItem("timeStepMs") || "500"); - const mmPerSecond = parseInt(localStorage.getItem("mmPerSecond") || "200"); + const timeStepMs = parseInt(localStorage.getItem("timeStepMs") || "250"); + const mmPerSecond = parseInt(localStorage.getItem("mmPerSecond") || "500"); const mmPerTimeStep = (mmPerSecond * timeStepMs) / 1000; const addPosition = (position: XyzNumber) => { expanded.push({ @@ -125,7 +125,7 @@ export const expandActions = ( case "_move": const moveItems = JSON.parse("" + action.args[0]) as MoveBodyItem[]; const { moves, warnings } = calculateMove(moveItems, current, variables); - expanded.push({ + warnings.length > 0 && expanded.push({ type: "send_message", args: ["warn", `not yet supported: ${warnings.join(", ")}`], }); diff --git a/frontend/demo/lua_runner/index.ts b/frontend/demo/lua_runner/index.ts index ebbf3da857..394742ed0d 100644 --- a/frontend/demo/lua_runner/index.ts +++ b/frontend/demo/lua_runner/index.ts @@ -17,7 +17,7 @@ export const collectDemoSequenceActions = ( depth: number, resources: ResourceIndex, sequenceId: number, - variables: ParameterApplication[] | undefined, + bodyVariables: ParameterApplication[] | undefined, ): Action[] => { console.log(`Call depth: ${depth}`); if (depth > 100) { @@ -25,10 +25,21 @@ export const collectDemoSequenceActions = ( return []; } const sequence = findSequenceById(resources, sequenceId); + const varData = resources.sequenceMetas[sequence.uuid]; + const sequenceVariables = Object.values(varData || {}) + .map(v => v?.celeryNode) + .filter(v => v?.kind == "variable_declaration") + .filter(v => !bodyVariables?.map(v => v.args.label).includes(v.args.label)) + .map(v => ({ + kind: "parameter_application", + args: v.args, + } as ParameterApplication)); + const variables = [...sequenceVariables, ...(bodyVariables || [])]; const actions: Action[] = []; - if (variables?.[0]?.args.data_value.kind == "point_group") { - const variableLabel = variables[0].args.label; - const groupId = variables[0].args.data_value.args.point_group_id; + const firstVarArgs = variables[0]?.args; + if (firstVarArgs?.data_value.kind == "point_group") { + const variableLabel = firstVarArgs.label; + const groupId = firstVarArgs.data_value.args.point_group_id; getGroupPoints(resources, groupId).map(p => { const pointValue: Point = { kind: "point", args: { @@ -59,7 +70,7 @@ export const collectDemoSequenceActions = ( actions.push(...seqActions); } else { const lua = step.kind === "lua" ? step.args.lua : csToLua(step); - const stepActions = runLua(depth, lua, variables || []); + const stepActions = runLua(depth, lua, variables); actions.push(...stepActions); } }); diff --git a/frontend/sequences/__tests__/sequence_editor_middle_active_test.tsx b/frontend/sequences/__tests__/sequence_editor_middle_active_test.tsx index ba2a2b629f..72e5c83007 100644 --- a/frontend/sequences/__tests__/sequence_editor_middle_active_test.tsx +++ b/frontend/sequences/__tests__/sequence_editor_middle_active_test.tsx @@ -28,7 +28,6 @@ const mockCB = jest.fn(); jest.mock("../locals_list/locals_list", () => ({ LocalsList: () =>
, localListCallback: jest.fn(() => jest.fn(() => mockCB)), - isParameterDeclaration: jest.fn(), removeVariable: jest.fn(), generateNewVariableLabel: jest.fn(), })); diff --git a/frontend/sequences/locals_list/locals_list.tsx b/frontend/sequences/locals_list/locals_list.tsx index 1ea6d1f9ce..479c011292 100644 --- a/frontend/sequences/locals_list/locals_list.tsx +++ b/frontend/sequences/locals_list/locals_list.tsx @@ -1,7 +1,9 @@ import React from "react"; import { t } from "../../i18next_wrapper"; import { addOrEditDeclarationLocals } from "../locals_list/handle_select"; -import { LocalsListProps, VariableNode } from "../locals_list/locals_list_support"; +import { + isParameterDeclaration, LocalsListProps, VariableNode, +} from "../locals_list/locals_list_support"; import { defensiveClone, betterCompact } from "../../util/util"; import { TaggedSequence, @@ -77,10 +79,6 @@ export const removeVariable = } }; -export const isParameterDeclaration = - (x: VariableNode): x is ParameterDeclaration => - x.kind === "parameter_declaration"; - /** * List of local variables for a sequence. * If none are found, shows nothing. diff --git a/frontend/sequences/locals_list/locals_list_support.ts b/frontend/sequences/locals_list/locals_list_support.ts index 3bf4aa604a..270c12b9bb 100644 --- a/frontend/sequences/locals_list/locals_list_support.ts +++ b/frontend/sequences/locals_list/locals_list_support.ts @@ -72,3 +72,7 @@ export enum VariableType { Text = "Text", Resource = "Resource", } + +export const isParameterDeclaration = + (x: VariableNode): x is ParameterDeclaration => + x.kind === "parameter_declaration"; diff --git a/frontend/sequences/locals_list/variable_form.tsx b/frontend/sequences/locals_list/variable_form.tsx index f7abab5f91..c8a580d637 100644 --- a/frontend/sequences/locals_list/variable_form.tsx +++ b/frontend/sequences/locals_list/variable_form.tsx @@ -126,6 +126,7 @@ export const VariableForm = list.unshift(LOCATION_PLACEHOLDER_DDI()); } const narrowLabel = !!removeVariable; + const [isCustom, setIsCustom] = React.useState(false); return
@@ -155,6 +156,8 @@ export const VariableForm = ? LOCATION_PLACEHOLDER_DDI().label : NO_VALUE_SELECTED_DDI().label} onChange={ddi => { + setIsCustom( + [t("Custom number"), t("Custom text")].includes(ddi.label)); onChange(convertDDItoVariable({ identifierLabel: label, allowedVariableNodes, @@ -177,7 +180,8 @@ export const VariableForm = {!isDefaultValueForm && variableType == VariableType.Number && celeryNode.kind != "parameter_declaration" && - !usingDefaultValue && celeryNode.args.data_value.kind != "identifier" && + (!usingDefaultValue || isCustom) && + celeryNode.args.data_value.kind != "identifier" &&
} {!isDefaultValueForm && variableType == VariableType.Text && celeryNode.kind != "parameter_declaration" && - !usingDefaultValue && celeryNode.args.data_value.kind != "identifier" && + (!usingDefaultValue || isCustom) && + celeryNode.args.data_value.kind != "identifier" &&
({ @@ -22,7 +21,10 @@ const createParameterApplication = const onlyParameterDeclarations = (variableData: VariableNameSet | undefined) => betterCompact(Object.values(variableData || {}) - .map(v => v && isParameterDeclaration(v.celeryNode) ? v.celeryNode : undefined)); + .map(v => + v && isParameterDeclaration(v.celeryNode) + ? v.celeryNode + : undefined)); /** * Create default parameter applications for unassigned variables. diff --git a/frontend/sequences/step_tiles/tile_execute.tsx b/frontend/sequences/step_tiles/tile_execute.tsx index 3a0cd30000..ea251b6d54 100644 --- a/frontend/sequences/step_tiles/tile_execute.tsx +++ b/frontend/sequences/step_tiles/tile_execute.tsx @@ -7,11 +7,13 @@ import { ToolTips } from "../../constants"; import { StepWrapper } from "../step_ui"; import { SequenceSelectBox } from "../sequence_select_box"; import { findSequenceById } from "../../resources/selectors_by_id"; -import { isParameterDeclaration, LocalsList } from "../locals_list/locals_list"; +import { LocalsList } from "../locals_list/locals_list"; import { addOrEditParamApps, variableList, } from "../locals_list/variable_support"; -import { AllowedVariableNodes } from "../locals_list/locals_list_support"; +import { + AllowedVariableNodes, isParameterDeclaration, +} from "../locals_list/locals_list_support"; import { isNumber } from "lodash"; /** Replaces the execute step body with a new array of variables. */ From 64c91c9719d29b06d153433c252fe32c2fdcbd9e Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Sat, 19 Jul 2025 15:40:56 -0700 Subject: [PATCH 18/54] improve watering animation --- .../three_d_garden/bot/__tests__/bot_test.tsx | 10 ++++++- frontend/three_d_garden/bot/bot.tsx | 6 ++++ .../bot/components/__tests__/tools_test.tsx | 11 ------- .../__tests__/watering_animations_test.tsx | 4 ++- .../three_d_garden/bot/components/tools.tsx | 6 ---- .../bot/components/watering_animations.tsx | 29 ++++++++++++------- 6 files changed, 37 insertions(+), 29 deletions(-) diff --git a/frontend/three_d_garden/bot/__tests__/bot_test.tsx b/frontend/three_d_garden/bot/__tests__/bot_test.tsx index 66a0f9e6d5..e61a00a8d0 100644 --- a/frontend/three_d_garden/bot/__tests__/bot_test.tsx +++ b/frontend/three_d_garden/bot/__tests__/bot_test.tsx @@ -1,5 +1,6 @@ import React from "react"; import { mount } from "enzyme"; +import { render } from "@testing-library/react"; import { Bot, FarmbotModelProps } from "../bot"; import { INITIAL } from "../../config"; import { clone } from "lodash"; @@ -56,9 +57,16 @@ describe("", () => { expect(wrapper.find({ name: "button-group" }).length).toEqual(9); // 3 * 3 }); + it("renders watering animation", () => { + const p = fakeProps(); + p.config.waterFlow = true; + const { container } = render(); + expect(container).toContainHTML("watering-animations"); + }); + it("loads shapes", () => { const p = fakeProps(); - mount(); + render(); expect(SVGLoader.createShapes).toHaveBeenCalledTimes(15); }); }); diff --git a/frontend/three_d_garden/bot/bot.tsx b/frontend/three_d_garden/bot/bot.tsx index e14a9c87ec..b70697e3b1 100644 --- a/frontend/three_d_garden/bot/bot.tsx +++ b/frontend/three_d_garden/bot/bot.tsx @@ -32,6 +32,7 @@ import { GantryBeam, } from "./components"; import { SlotWithTool } from "../../resources/interfaces"; +import { WateringAnimations } from "./components/watering_animations"; export const extrusionWidth = 20; const utmRadius = 35; @@ -649,6 +650,11 @@ export const Bot = (props: FarmbotModelProps) => { getZ={props.getZ} toolSlots={props.toolSlots} mountedToolName={props.mountedToolName} /> + {config.waterFlow && + } diff --git a/frontend/three_d_garden/bot/components/__tests__/tools_test.tsx b/frontend/three_d_garden/bot/components/__tests__/tools_test.tsx index cc84bc791f..d38c3b02ba 100644 --- a/frontend/three_d_garden/bot/components/__tests__/tools_test.tsx +++ b/frontend/three_d_garden/bot/components/__tests__/tools_test.tsx @@ -116,17 +116,6 @@ describe("", () => { expect(container).not.toContainHTML("toolbay3"); }); - it("renders watering animations when not in toolbay and water flowing", () => { - const p = fakeProps(); - p.config.waterFlow = true; - const tool = fakeTool(); - tool.body.name = "watering nozzle"; - p.toolSlots = []; - p.mountedToolName = "watering nozzle"; - render(); - expect(WateringAnimations).toHaveBeenCalled(); - }); - it("renders vacuum animation when not in toolbay and vacuum", () => { const p = fakeProps(); p.config.vacuum = true; diff --git a/frontend/three_d_garden/bot/components/__tests__/watering_animations_test.tsx b/frontend/three_d_garden/bot/components/__tests__/watering_animations_test.tsx index d65b5611af..c9d67a2ddf 100644 --- a/frontend/three_d_garden/bot/components/__tests__/watering_animations_test.tsx +++ b/frontend/three_d_garden/bot/components/__tests__/watering_animations_test.tsx @@ -3,11 +3,13 @@ import { render } from "@testing-library/react"; import { WateringAnimations, WateringAnimationsProps, } from "../watering_animations"; +import { clone } from "lodash"; +import { INITIAL } from "../../../config"; describe("", () => { const fakeProps = (): WateringAnimationsProps => ({ waterFlow: true, - botPosition: { x: 0, y: 0, z: 0 }, + config: clone(INITIAL), getZ: () => 0, }); diff --git a/frontend/three_d_garden/bot/components/tools.tsx b/frontend/three_d_garden/bot/components/tools.tsx index 881547dcb8..b49aaf5988 100644 --- a/frontend/three_d_garden/bot/components/tools.tsx +++ b/frontend/three_d_garden/bot/components/tools.tsx @@ -21,7 +21,6 @@ import { } from "../../../farm_designer/map/tool_graphics/all_tools"; import { Xyz } from "farmbot"; import { ToolPulloutDirection } from "farmbot/dist/resources/api_resources"; -import { WateringAnimations } from "./watering_animations"; import { useNavigate } from "react-router"; import { Path } from "../../../internal_urls"; import { setPanelOpen } from "../../../farm_designer/panel_header"; @@ -261,11 +260,6 @@ export const Tools = (props: ToolsProps) => { scale={1000} geometry={wateringNozzle.nodes[PartName.wateringNozzle].geometry} material={wateringNozzle.materials.PaletteMaterial001} /> - {!inToolbay && props.config.waterFlow && - } ; case ToolName.seedBin: return diff --git a/frontend/three_d_garden/bot/components/watering_animations.tsx b/frontend/three_d_garden/bot/components/watering_animations.tsx index f55db9b02b..70e3e26fae 100644 --- a/frontend/three_d_garden/bot/components/watering_animations.tsx +++ b/frontend/three_d_garden/bot/components/watering_animations.tsx @@ -4,26 +4,35 @@ import { Group } from "../../components"; import { ASSETS } from "../../constants"; import { Cloud, Clouds } from "@react-three/drei"; import { WaterStream } from "./water_stream"; -import { easyCubicBezierCurve3 } from "../../helpers"; -import { BotPosition } from "../../../devices/interfaces"; +import { easyCubicBezierCurve3, threeSpace, zDir, zZero } from "../../helpers"; +import { Config } from "../../config"; +import { utmHeight } from "../bot"; export interface WateringAnimationsProps { waterFlow: boolean; - botPosition: BotPosition; + config: Config; getZ(x: number, y: number): number; } export const WateringAnimations = (props: WateringAnimationsProps) => { - const { waterFlow, botPosition, getZ } = props; - const nozzleToSoil = (botPosition.z || 0) - + getZ(botPosition.x || 0, botPosition.y || 0); + const { waterFlow, getZ, config } = props; + const { x, y, z, bedLengthOuter, bedWidthOuter, bedXOffset, bedYOffset } = config; + const utmZ = -zDir(config) * z + utmHeight / 2 - 15; + const nozzleToSoil = getZ(x, y) - utmZ; - return + return {range(16).map(i => { const angle = (i * Math.PI * 2) / 16; return { { Date: Thu, 24 Jul 2025 14:16:54 -0700 Subject: [PATCH 19/54] add axis_order --- app/models/celery_script_settings_bag.rb | 6 ++ app/mutations/sequences/publish.rb | 4 +- .../__test_support__/fake_state/resources.ts | 1 + .../resource_index_builder.ts | 2 + frontend/constants.ts | 8 +- .../demo/lua_runner/__tests__/actions_test.ts | 75 +++++++++++++++++++ frontend/demo/lua_runner/actions.ts | 27 +++++++ .../farm_designer/__tests__/move_to_test.tsx | 20 +++-- frontend/farm_designer/move_to.tsx | 19 ++++- .../resources/__tests__/selectors_test.ts | 1 + .../__tests__/axis_order_test.tsx | 62 +++++++++++++++ .../__tests__/component_test.tsx | 15 +++- .../__tests__/safe_z_test.tsx | 17 +---- .../tile_computed_move/axis_order.tsx | 56 ++++++++++++++ .../tile_computed_move/component.tsx | 25 +++++-- .../tile_computed_move/interfaces.ts | 13 ++-- .../step_tiles/tile_computed_move/safe_z.tsx | 17 ----- .../tile_computed_move/test_fixtures.ts | 2 + package.json | 2 +- 19 files changed, 309 insertions(+), 63 deletions(-) create mode 100644 frontend/sequences/step_tiles/tile_computed_move/__tests__/axis_order_test.tsx create mode 100644 frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx diff --git a/app/models/celery_script_settings_bag.rb b/app/models/celery_script_settings_bag.rb index 72c554d576..85ed5f828e 100644 --- a/app/models/celery_script_settings_bag.rb +++ b/app/models/celery_script_settings_bag.rb @@ -206,6 +206,7 @@ def self.v(symbol) url: { defn: [v(:string)] }, value: { defn: [v(:string), v(:integer), v(:boolean)] }, variance: { defn: [v(:integer)] }, + order: { defn: [v(:string)] }, version: { defn: [v(:integer)] }, x: { defn: [v(:integer), v(:float)] }, y: { defn: [v(:integer), v(:float)] }, @@ -557,6 +558,10 @@ def self.v(symbol) args: [], tags: [:data], }, + axis_order: { + args: [:order], + tags: [:data], + }, random: { args: [:variance], tags: [:data], @@ -566,6 +571,7 @@ def self.v(symbol) :axis_overwrite, :axis_addition, :speed_overwrite, + :axis_order, :safe_z, ], tags: [:function, :firmware_user], diff --git a/app/mutations/sequences/publish.rb b/app/mutations/sequences/publish.rb index f1bdcd71d7..9bd104f69c 100644 --- a/app/mutations/sequences/publish.rb +++ b/app/mutations/sequences/publish.rb @@ -1,11 +1,11 @@ module Sequences class Publish < Mutations::Command NOT_YOURS = "Can't publish sequences you didn't create." - OK_KINDS = %w( axis axis_addition axis_overwrite calibrate channel + OK_KINDS = %w( axis axis_addition axis_order axis_overwrite calibrate channel channel_name coordinate emergency_lock execute execute_script find_home identifier is_outdated label location_placeholder lua message message_type milliseconds move move_absolute - move_relative nothing number number_placeholder numeric + move_relative nothing number number_placeholder numeric order op package pair parameter_application parameter_declaration pin_mode pin_number pin_type pin_value point pointer_type power_off random read_pin reboot resource_placeholder diff --git a/frontend/__test_support__/fake_state/resources.ts b/frontend/__test_support__/fake_state/resources.ts index 5d23a96b92..286f519416 100644 --- a/frontend/__test_support__/fake_state/resources.ts +++ b/frontend/__test_support__/fake_state/resources.ts @@ -125,6 +125,7 @@ export function fakeTool(): TaggedTool { return fakeResource("Tool", { name: "Foo", flow_rate_ml_per_s: 0, + seeder_tip_z_offset: 80, }); } diff --git a/frontend/__test_support__/resource_index_builder.ts b/frontend/__test_support__/resource_index_builder.ts index 28e54d98b2..9e456bce1c 100644 --- a/frontend/__test_support__/resource_index_builder.ts +++ b/frontend/__test_support__/resource_index_builder.ts @@ -314,6 +314,7 @@ const tr14: TaggedResource = { "id": 14, "name": "Trench Digging Tool", "flow_rate_ml_per_s": 0, + "seeder_tip_z_offset": 80, }, "uuid": "Tool.14.49" }; @@ -325,6 +326,7 @@ const tr15: TaggedResource = { "id": 15, "name": "Berry Picking Tool", "flow_rate_ml_per_s": 0, + "seeder_tip_z_offset": 80, }, "uuid": "Tool.15.50" }; diff --git a/frontend/constants.ts b/frontend/constants.ts index a23d8642e4..2fb31a1157 100644 --- a/frontend/constants.ts +++ b/frontend/constants.ts @@ -467,9 +467,11 @@ export namespace ToolTips { trim(`The Move step instructs FarmBot to move to the specified coordinate or distance from its current location.`); - export const SAFE_Z = - trim(`If enabled, FarmBot will: (1) Move Z to the Safe Z height, - (2) Move X and Y to the new location, and (3) Move Z to the new location`); + export const AXIS_ORDER = + trim(`If "Safe Z" is chosen, FarmBot will: (1) Move Z to the Safe Z height, + (2) Move X and Y to the new location, and (3) Move Z to the new location. + If "None" is chosen, FarmBot will move all axes concurrently to the new + location.`); export const MOVE_ABSOLUTE = trim(`The Move To step instructs FarmBot to move to the specified diff --git a/frontend/demo/lua_runner/__tests__/actions_test.ts b/frontend/demo/lua_runner/__tests__/actions_test.ts index 055418cd12..e0cfe84da1 100644 --- a/frontend/demo/lua_runner/__tests__/actions_test.ts +++ b/frontend/demo/lua_runner/__tests__/actions_test.ts @@ -588,6 +588,81 @@ describe("calculateMove()", () => { }); }); + it("handles axis_order: xyz", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 100 } }, + }, + }, + { kind: "axis_order", args: { order: "xyz" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 100, y: 100, z: 100 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: z,xy", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 100 } }, + }, + }, + { kind: "axis_order", args: { order: "z,xy" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 50, y: 50, z: 100 }, + { x: 100, y: 100, z: 100 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: z,y,x", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 100 } }, + }, + }, + { kind: "axis_order", args: { order: "z,y,x" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 50, y: 50, z: 100 }, + { x: 50, y: 100, z: 100 }, + { x: 100, y: 100, z: 100 }, + ], + warnings: [], + }); + }); + it("handles unknown pieces", () => { const variables: ParameterApplication[] = [ { diff --git a/frontend/demo/lua_runner/actions.ts b/frontend/demo/lua_runner/actions.ts index b7b9a3df8c..29bfbfad4b 100644 --- a/frontend/demo/lua_runner/actions.ts +++ b/frontend/demo/lua_runner/actions.ts @@ -432,6 +432,8 @@ export const calculateMove = ( return; case "safe_z": return; + case "axis_order": + return; default: warnings.push(`item kind: ${(item as MoveBodyItem).kind}`); return; @@ -448,5 +450,30 @@ export const calculateMove = ( warnings, }; } + const axisOrderItems = moveBodyItems.filter(item => item.kind === "axis_order"); + if (axisOrderItems.length > 0) { + const { order } = axisOrderItems[0].args; + switch (order) { + case "z,y,x": + return { + moves: [ + { x: current.x, y: current.y, z: pos.z }, + { x: current.x, y: pos.y, z: pos.z }, + pos, + ], + warnings, + }; + case "z,xy": + return { + moves: [ + { x: current.x, y: current.y, z: pos.z }, + pos, + ], + warnings, + }; + default: + return { moves: [pos], warnings }; + } + } return { moves: [pos], warnings }; }; diff --git a/frontend/farm_designer/__tests__/move_to_test.tsx b/frontend/farm_designer/__tests__/move_to_test.tsx index 304ac21879..3b2888c24a 100644 --- a/frontend/farm_designer/__tests__/move_to_test.tsx +++ b/frontend/farm_designer/__tests__/move_to_test.tsx @@ -37,7 +37,7 @@ describe("", () => { it("moves to location: custom z value", () => { const wrapper = mount(); wrapper.setState({ z: 50 }); - wrapper.find("button").simulate("click"); + wrapper.find("button").at(0).simulate("click"); expect(move).toHaveBeenCalledWith({ x: 1, y: 2, z: 50, speed: 100, safeZ: false, }); @@ -58,10 +58,14 @@ describe("", () => { }); it("changes safe z value", () => { - const wrapper = shallow(); - wrapper.findWhere(n => "onChange" in n.props()).at(2) - .simulate("change"); - expect(wrapper.state().safeZ).toEqual(true); + render(); + expect(screen.queryByText("Safe Z")).not.toBeInTheDocument(); + const dropdown = screen.getByRole("button", { name: "None" }); + fireEvent.click(dropdown); + expect(screen.getAllByText("Safe Z").length).toEqual(1); + const item = screen.getByRole("menuitem", { name: "Safe Z" }); + fireEvent.click(item); + expect(screen.getAllByText("Safe Z").length).toEqual(2); }); it("fills in some missing values", () => { @@ -69,7 +73,7 @@ describe("", () => { p.chosenLocation = { x: 1, y: undefined, z: undefined }; const wrapper = mount(); expect(wrapper.find("input").at(1).props().value).toEqual("---"); - wrapper.find("button").simulate("click"); + wrapper.find("button").at(0).simulate("click"); expect(move).toHaveBeenCalledWith({ x: 1, y: 20, z: 30, speed: 100, safeZ: false, }); @@ -81,7 +85,7 @@ describe("", () => { p.currentBotLocation = { x: undefined, y: undefined, z: undefined }; const wrapper = mount(); expect(wrapper.find("input").at(1).props().value).toEqual("---"); - wrapper.find("button").simulate("click"); + wrapper.find("button").at(0).simulate("click"); expect(move).toHaveBeenCalledWith({ x: 0, y: 0, z: 0, speed: 100, safeZ: false, }); @@ -91,7 +95,7 @@ describe("", () => { const p = fakeProps(); p.botOnline = false; const wrapper = mount(); - expect(wrapper.find("button").hasClass("pseudo-disabled")).toBeTruthy(); + expect(wrapper.find("button").at(0).hasClass("pseudo-disabled")).toBeTruthy(); }); }); diff --git a/frontend/farm_designer/move_to.tsx b/frontend/farm_designer/move_to.tsx index f43f686b9e..851443842d 100644 --- a/frontend/farm_designer/move_to.tsx +++ b/frontend/farm_designer/move_to.tsx @@ -8,7 +8,10 @@ import { isNumber, isUndefined, sum } from "lodash"; import { Actions, Content } from "../constants"; import { AxisNumberProperty } from "./map/interfaces"; import { t } from "../i18next_wrapper"; -import { SafeZCheckbox } from "../sequences/step_tiles/tile_computed_move/safe_z"; +import { + AxisOrderInputRow, + getNewAxisOrderState, +} from "../sequences/step_tiles/tile_computed_move/axis_order"; import { Position, Slider } from "@blueprintjs/core"; import { Path } from "../internal_urls"; import { setMovementStateFromPosition } from "../connectivity/log_handlers"; @@ -33,11 +36,17 @@ export interface MoveToFormProps { interface MoveToFormState { z: number | undefined; safeZ: boolean; + axisOrder: string | undefined; speed: number; } export class MoveToForm extends React.Component { - state = { z: this.props.chosenLocation.z, safeZ: false, speed: 100 }; + state = { + z: this.props.chosenLocation.z, + safeZ: false, + axisOrder: undefined, + speed: 100, + }; get vector(): { x: number, y: number, z: number } { const { chosenLocation } = this.props; @@ -93,8 +102,10 @@ export class MoveToForm extends React.Component this.setState({ speed })} /> - this.setState({ safeZ: !this.state.safeZ })} /> + this.setState(getNewAxisOrderState(ddi))} />
; } } diff --git a/frontend/resources/__tests__/selectors_test.ts b/frontend/resources/__tests__/selectors_test.ts index c5150ac936..ab4d8faf1e 100644 --- a/frontend/resources/__tests__/selectors_test.ts +++ b/frontend/resources/__tests__/selectors_test.ts @@ -17,6 +17,7 @@ const SLOT_ID = 100; const fakeTool: TaggedTool = arrayUnwrap(newTaggedResource("Tool", { name: "yadda yadda", flow_rate_ml_per_s: 0, + seeder_tip_z_offset: 80, id: TOOL_ID })); const fakeSlot: TaggedToolSlotPointer = arrayUnwrap(newTaggedResource("Point", diff --git a/frontend/sequences/step_tiles/tile_computed_move/__tests__/axis_order_test.tsx b/frontend/sequences/step_tiles/tile_computed_move/__tests__/axis_order_test.tsx new file mode 100644 index 0000000000..7aef8748a2 --- /dev/null +++ b/frontend/sequences/step_tiles/tile_computed_move/__tests__/axis_order_test.tsx @@ -0,0 +1,62 @@ +import React from "react"; +import { render, screen, fireEvent } from "@testing-library/react"; +import { axisOrder, AxisOrderInputRow, getAxisOrderState } from "../axis_order"; +import { AxisOrderInputRowProps } from "../interfaces"; +import { Move } from "farmbot"; + +describe("", () => { + const fakeProps = (): AxisOrderInputRowProps => ({ + order: undefined, + safeZ: false, + onChange: jest.fn(), + }); + + it("renders order", () => { + const p = fakeProps(); + p.order = "z,y,x"; + render(); + expect(screen.getByText("Z then Y then X")).toBeInTheDocument(); + }); + + it("changes item", () => { + const p = fakeProps(); + render(); + const dropdown = screen.getByRole("button"); + fireEvent.click(dropdown); + const item = screen.getByRole("menuitem", { name: "Z then Y then X" }); + fireEvent.click(item); + expect(p.onChange).toHaveBeenCalledWith({ + label: "Z then Y then X", + value: "z,y,x", + }); + }); +}); + +describe("axisOrder()", () => { + it("returns node list", () => { + expect(axisOrder(undefined)).toEqual([]); + expect(axisOrder("xyz")).toEqual([ + { kind: "axis_order", args: { order: "xyz" } }, + ]); + }); +}); + +describe("getAxisOrderState()", () => { + it("returns state: axis order", () => { + const move: Move = { + kind: "move", + args: {}, + body: [{ kind: "axis_order", args: { order: "z,y,x" } }], + }; + expect(getAxisOrderState(move)).toEqual("z,y,x"); + }); + + it("returns state: no axis order", () => { + const move: Move = { + kind: "move", + args: {}, + body: [], + }; + expect(getAxisOrderState(move)).toEqual(undefined); + }); +}); diff --git a/frontend/sequences/step_tiles/tile_computed_move/__tests__/component_test.tsx b/frontend/sequences/step_tiles/tile_computed_move/__tests__/component_test.tsx index 11856ecad0..1606b8e739 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/__tests__/component_test.tsx +++ b/frontend/sequences/step_tiles/tile_computed_move/__tests__/component_test.tsx @@ -114,7 +114,7 @@ describe("", () => { }); it("shows options", () => { - const MORE = ["offset", "variance", "safe"]; + const MORE = ["offset", "variance", "axis order"]; const wrapper = mount(); MORE.map(string => expect(wrapper.text().toLowerCase()).not.toContain(string)); @@ -132,9 +132,20 @@ describe("", () => { it("enables safe z", () => { const wrapper = shallow(); + expect(wrapper.state().axisOrder).toEqual(undefined); expect(wrapper.state().safeZ).toEqual(false); - wrapper.instance().toggleSafeZ(); + wrapper.instance().setAxisOrder({ label: "", value: "safe_z" }); expect(wrapper.state().safeZ).toEqual(true); + expect(wrapper.state().axisOrder).toEqual(undefined); + }); + + it("enables axis order", () => { + const wrapper = shallow(); + expect(wrapper.state().axisOrder).toEqual(undefined); + expect(wrapper.state().safeZ).toEqual(false); + wrapper.instance().setAxisOrder({ label: "", value: "xyz" }); + expect(wrapper.state().safeZ).toEqual(false); + expect(wrapper.state().axisOrder).toEqual("xyz"); }); it("commits number value", () => { diff --git a/frontend/sequences/step_tiles/tile_computed_move/__tests__/safe_z_test.tsx b/frontend/sequences/step_tiles/tile_computed_move/__tests__/safe_z_test.tsx index af1e78bfdb..cf0269af20 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/__tests__/safe_z_test.tsx +++ b/frontend/sequences/step_tiles/tile_computed_move/__tests__/safe_z_test.tsx @@ -1,16 +1,7 @@ -import React from "react"; -import { mount } from "enzyme"; -import { SafeZCheckboxProps } from "../interfaces"; -import { SafeZCheckbox } from "../safe_z"; +import { SAFE_Z } from "../safe_z"; -describe("", () => { - const fakeProps = (): SafeZCheckboxProps => ({ - checked: false, - onChange: jest.fn(), - }); - - it("renders", () => { - const wrapper = mount(); - expect(wrapper.text().toLowerCase()).toContain("safe z"); +describe("SAFE_Z", () => { + it("returns node", () => { + expect(SAFE_Z).toEqual({ kind: "safe_z", args: {} }); }); }); diff --git a/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx b/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx new file mode 100644 index 0000000000..83f7437aa0 --- /dev/null +++ b/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx @@ -0,0 +1,56 @@ +import React from "react"; +import { Row, Help, FBSelect, DropDownItem } from "../../../ui"; +import { t } from "../../../i18next_wrapper"; +import { ToolTips } from "../../../constants"; +import { Move, AxisOrder } from "farmbot"; +import { AxisOrderInputRowProps } from "./interfaces"; + +export const axisOrder = ( + order: string | undefined, +): AxisOrder[] => + !order ? [] : [{ kind: "axis_order", args: { order } }]; + +export const AxisOrderInputRow = (props: AxisOrderInputRowProps) => + +
+ + +
+ + ; + +const getSelectedItem = (safeZ: boolean, order: string | undefined) => { + if (safeZ) { return DDI_LOOKUP()["safe_z"]; } + if (order) { return DDI_LOOKUP()[order]; } + return undefined; +}; + +const DDIS = (): DropDownItem[] => [ + DDI_LOOKUP().safe_z, + DDI_LOOKUP()["z,y,x"], + DDI_LOOKUP()["z,xy"], +]; + +const DDI_LOOKUP = (): Record => ({ + safe_z: { label: t("Safe Z"), value: "safe_z" }, + ["z,y,x"]: { label: t("Z then Y then X"), value: "z,y,x" }, + ["z,xy"]: { label: t("Z then X and Y"), value: "z,xy" }, + ["xyz"]: { label: t("X and Y and Z"), value: "xyz" }, +}); + +export const getAxisOrderState = (step: Move) => { + const axisOrder = step.body?.find(x => x.kind == "axis_order"); + if (axisOrder?.kind == "axis_order") { + return axisOrder.args.order; + } +}; + +export const getNewAxisOrderState = (ddi: DropDownItem) => { + const safeZ = ddi.value == "safe_z"; + const axisOrder = "" + ddi.value; + return { axisOrder: safeZ ? undefined : axisOrder, safeZ }; +}; diff --git a/frontend/sequences/step_tiles/tile_computed_move/component.tsx b/frontend/sequences/step_tiles/tile_computed_move/component.tsx index f9d26f2c9e..d87dd3eac4 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/component.tsx +++ b/frontend/sequences/step_tiles/tile_computed_move/component.tsx @@ -1,6 +1,6 @@ import React from "react"; import { StepWrapper } from "../../step_ui"; -import { Row, ExpandableHeader } from "../../../ui"; +import { Row, ExpandableHeader, DropDownItem } from "../../../ui"; import { ToolTips } from "../../../constants"; import { t } from "../../../i18next_wrapper"; import { Move, Xyz } from "farmbot"; @@ -27,7 +27,10 @@ import { import { getSpeedState, getSpeedNode, speedOverwrite, SpeedInputRow, } from "./speed"; -import { SafeZCheckbox, getSafeZState, SAFE_Z } from "./safe_z"; +import { getSafeZState, SAFE_Z } from "./safe_z"; +import { + axisOrder, AxisOrderInputRow, getAxisOrderState, getNewAxisOrderState, +} from "./axis_order"; import { StepParams } from "../../interfaces"; /** @@ -98,6 +101,7 @@ export class ComputedMove z: getSpeedState(this.step, "z"), }, safeZ: getSafeZState(this.step), + axisOrder: getAxisOrderState(this.step), }; get step() { return this.props.currentStep; } @@ -178,6 +182,7 @@ export class ComputedMove ...speedOverwrite("y", this.speedNodes.y), ...speedOverwrite("z", this.speedNodes.z), ...(this.state.safeZ ? [SAFE_Z] : []), + ...axisOrder(this.state.axisOrder), ]; }; @@ -241,7 +246,9 @@ export class ComputedMove } }, this.update); - toggleSafeZ = () => this.setState({ safeZ: !this.state.safeZ }, this.update); + setAxisOrder = (ddi: DropDownItem) => { + this.setState(getNewAxisOrderState(ddi), this.update); + }; toggleMore = () => this.setState({ more: !this.state.more }); LocationInputRow = () => @@ -304,10 +311,12 @@ export class ComputedMove setAxisState={this.setAxisState} /> : undefined; - SafeZCheckbox = () => - (this.state.safeZ || this.state.more) - ? + AxisOrderInputRow = () => + (this.state.axisOrder || this.state.safeZ || this.state.more) + ? : undefined; render() { @@ -327,7 +336,7 @@ export class ComputedMove - + ; } } diff --git a/frontend/sequences/step_tiles/tile_computed_move/interfaces.ts b/frontend/sequences/step_tiles/tile_computed_move/interfaces.ts index 3bb0c9cc3b..f643619d01 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/interfaces.ts +++ b/frontend/sequences/step_tiles/tile_computed_move/interfaces.ts @@ -3,6 +3,7 @@ import { } from "farmbot"; import { ResourceIndex, UUID } from "../../../resources/interfaces"; import { BotPosition } from "../../../devices/interfaces"; +import { DropDownItem } from "../../../ui"; export type LocationNode = Identifier | Point | Tool; @@ -16,6 +17,7 @@ export interface ComputedMoveState { variance: Record; speed: Record; safeZ: boolean; + axisOrder: string | undefined; viewRaw?: boolean; } @@ -68,11 +70,6 @@ export interface LocationSelectionProps { sequenceUuid: UUID; } -export interface SafeZCheckboxProps { - checked: boolean; - onChange(): void; -} - interface InputRowBase { disabledAxes: Record; onCommit: CommitMoveField; @@ -96,6 +93,12 @@ export interface SpeedInputRowProps extends InputRowBase { setAxisState: SetAxisState; } +export interface AxisOrderInputRowProps { + onChange(ddi: DropDownItem): void; + order: string | undefined; + safeZ: boolean; +} + export interface OverwriteInputRowProps extends InputRowBase { selection: Record; overwrite: Record; diff --git a/frontend/sequences/step_tiles/tile_computed_move/safe_z.tsx b/frontend/sequences/step_tiles/tile_computed_move/safe_z.tsx index ffb0a45efc..bb5a38c046 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/safe_z.tsx +++ b/frontend/sequences/step_tiles/tile_computed_move/safe_z.tsx @@ -1,21 +1,4 @@ -import React from "react"; -import { Row, Help } from "../../../ui"; -import { t } from "../../../i18next_wrapper"; -import { ToolTips } from "../../../constants"; -import { Checkbox } from "@blueprintjs/core"; import { Move, SafeZ } from "farmbot"; -import { SafeZCheckboxProps } from "./interfaces"; - -export const SafeZCheckbox = (props: SafeZCheckboxProps) => - -
- - -
- - ; export const getSafeZState = (step: Move) => { const safeZ = step.body?.find(x => x.kind == "safe_z"); diff --git a/frontend/sequences/step_tiles/tile_computed_move/test_fixtures.ts b/frontend/sequences/step_tiles/tile_computed_move/test_fixtures.ts index 9017abff7e..1e741e219b 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/test_fixtures.ts +++ b/frontend/sequences/step_tiles/tile_computed_move/test_fixtures.ts @@ -15,6 +15,7 @@ export const fakeNumericMoveStepState: ComputedMoveState = ({ variance: { x: 7, y: 8, z: 9 }, speed: { x: 10, y: 10, z: 10 }, safeZ: true, + axisOrder: undefined, }); export const fakeNumericMoveStepCeleryScript: Move = { @@ -144,6 +145,7 @@ export const fakeLuaMoveStepState: ComputedMoveState = ({ variance: { x: 7, y: 8, z: 9 }, speed: { x: "10", y: "10", z: "10" }, safeZ: true, + axisOrder: undefined, }); export const fakeLuaMoveStepCeleryScript: Move = { diff --git a/package.json b/package.json index c35c5ffecb..3e46af53f2 100644 --- a/package.json +++ b/package.json @@ -61,7 +61,7 @@ "browser-speech": "1.1.1", "delaunator": "5.0.1", "events": "3.3.0", - "farmbot": "15.8.11", + "farmbot": "15.9.0", "fengari": "0.1.4", "fengari-web": "0.1.4", "i18next": "25.3.2", From ebad9c69dcd86d5fadf1f9492370378892aa6ada Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Thu, 24 Jul 2025 14:19:24 -0700 Subject: [PATCH 20/54] add seeder_tip_z_offset --- app/mutations/tools/create.rb | 1 + app/mutations/tools/update.rb | 1 + app/serializers/tool_serializer.rb | 2 +- .../20250722234106_add_seeder_tip_z_offset.rb | 9 ++++ db/structure.sql | 6 ++- frontend/tools/__tests__/add_tool_test.tsx | 21 +++++++- frontend/tools/__tests__/edit_tool_test.tsx | 51 ++++++++++++++++--- frontend/tools/add_tool.tsx | 15 +++++- frontend/tools/edit_tool.tsx | 21 ++++++++ frontend/tools/interfaces.ts | 2 + 10 files changed, 114 insertions(+), 15 deletions(-) create mode 100644 db/migrate/20250722234106_add_seeder_tip_z_offset.rb diff --git a/app/mutations/tools/create.rb b/app/mutations/tools/create.rb index 78e8e8beb4..b1014aa5a5 100644 --- a/app/mutations/tools/create.rb +++ b/app/mutations/tools/create.rb @@ -7,6 +7,7 @@ class Create < Mutations::Command optional do integer :flow_rate_ml_per_s + float :seeder_tip_z_offset end def execute diff --git a/app/mutations/tools/update.rb b/app/mutations/tools/update.rb index 0a2284abce..51a25d89b1 100644 --- a/app/mutations/tools/update.rb +++ b/app/mutations/tools/update.rb @@ -7,6 +7,7 @@ class Update < Mutations::Command optional do string :name integer :flow_rate_ml_per_s + float :seeder_tip_z_offset end def execute diff --git a/app/serializers/tool_serializer.rb b/app/serializers/tool_serializer.rb index 15db0a1657..0c2425845b 100644 --- a/app/serializers/tool_serializer.rb +++ b/app/serializers/tool_serializer.rb @@ -1,5 +1,5 @@ class ToolSerializer < ApplicationSerializer - attributes :name, :status, :flow_rate_ml_per_s + attributes :name, :status, :flow_rate_ml_per_s, :seeder_tip_z_offset def status # The attribute `tool_slot_id` is added via a special SQL query. diff --git a/db/migrate/20250722234106_add_seeder_tip_z_offset.rb b/db/migrate/20250722234106_add_seeder_tip_z_offset.rb new file mode 100644 index 0000000000..6279b83ebf --- /dev/null +++ b/db/migrate/20250722234106_add_seeder_tip_z_offset.rb @@ -0,0 +1,9 @@ +class AddSeederTipZOffset < ActiveRecord::Migration[6.1] + def up + add_column :tools, :seeder_tip_z_offset, :float, default: 80 + end + + def down + remove_column :tools, :seeder_tip_z_offset + end +end diff --git a/db/structure.sql b/db/structure.sql index 948a6db753..037175f7b7 100644 --- a/db/structure.sql +++ b/db/structure.sql @@ -1003,7 +1003,8 @@ CREATE TABLE public.tools ( created_at timestamp without time zone NOT NULL, updated_at timestamp without time zone NOT NULL, device_id integer, - flow_rate_ml_per_s integer DEFAULT 0 + flow_rate_ml_per_s integer DEFAULT 0, + seeder_tip_z_offset double precision DEFAULT 80.0 ); @@ -3983,6 +3984,7 @@ INSERT INTO "schema_migrations" (version) VALUES ('20241203211516'), ('20250221191831'), ('20250502201109'), -('20250514203443'); +('20250514203443'), +('20250722234106'); diff --git a/frontend/tools/__tests__/add_tool_test.tsx b/frontend/tools/__tests__/add_tool_test.tsx index 8c52d27502..6b68faf8d8 100644 --- a/frontend/tools/__tests__/add_tool_test.tsx +++ b/frontend/tools/__tests__/add_tool_test.tsx @@ -38,6 +38,12 @@ describe("", () => { expect(wrapper.text().toLowerCase()).toContain("flow rate"); }); + it("renders seeder", () => { + const wrapper = mount(); + wrapper.setState({ toolName: "seeder" }); + expect(wrapper.text().toLowerCase()).toContain("tip z offset"); + }); + it("changes flow rate", () => { const wrapper = shallow(); expect(wrapper.state().flowRate).toEqual(0); @@ -45,6 +51,13 @@ describe("", () => { expect(wrapper.state().flowRate).toEqual(1); }); + it("changes tip z offset", () => { + const wrapper = shallow(); + expect(wrapper.state().tipZOffset).toEqual(80); + wrapper.instance().changeTipZOffset(1); + expect(wrapper.state().tipZOffset).toEqual(1); + }); + it("edits tool name", () => { const wrapper = shallow(); expect(wrapper.state().toolName).toEqual(""); @@ -80,7 +93,9 @@ describe("", () => { wrapper.instance().navigate = navigate; await wrapper.find(SaveBtn).simulate("click"); expect(init).toHaveBeenCalledWith("Tool", { - name: "Foo", flow_rate_ml_per_s: 0, + name: "Foo", + flow_rate_ml_per_s: 0, + seeder_tip_z_offset: 80, }); expect(wrapper.state().uuid).toEqual(undefined); expect(navigate).toHaveBeenCalledWith(Path.tools()); @@ -96,7 +111,9 @@ describe("", () => { wrapper.instance().navigate = navigate; await wrapper.find(SaveBtn).simulate("click"); expect(init).toHaveBeenCalledWith("Tool", { - name: "Foo", flow_rate_ml_per_s: 0, + name: "Foo", + flow_rate_ml_per_s: 0, + seeder_tip_z_offset: 80, }); expect(wrapper.state().uuid).toEqual("fake uuid"); expect(navigate).not.toHaveBeenCalled(); diff --git a/frontend/tools/__tests__/edit_tool_test.tsx b/frontend/tools/__tests__/edit_tool_test.tsx index 75ee125bb9..0c4ab1244b 100644 --- a/frontend/tools/__tests__/edit_tool_test.tsx +++ b/frontend/tools/__tests__/edit_tool_test.tsx @@ -7,10 +7,14 @@ jest.mock("../../api/crud", () => ({ jest.mock("../../devices/actions", () => ({ sendRPC: jest.fn() })); import React from "react"; +import { render, screen, fireEvent } from "@testing-library/react"; +import userEvent from "@testing-library/user-event"; import { mount, shallow } from "enzyme"; import { RawEditTool as EditTool, mapStateToProps, isActive, WaterFlowRateInput, WaterFlowRateInputProps, LUA_WATER_FLOW_RATE, + TipZOffsetInput, + TipZOffsetInputProps, } from "../edit_tool"; import { fakeTool, fakeToolSlot, @@ -52,6 +56,12 @@ describe("", () => { expect(wrapper.text().toLowerCase()).toContain("flow rate"); }); + it("renders seeder", () => { + const wrapper = mount(); + wrapper.setState({ toolName: "seeder" }); + expect(wrapper.text().toLowerCase()).toContain("tip z offset"); + }); + it("changes flow rate", () => { const wrapper = shallow(); expect(wrapper.state().flowRate).toEqual(0); @@ -59,6 +69,13 @@ describe("", () => { expect(wrapper.state().flowRate).toEqual(1); }); + it("changes tip z offset", () => { + const wrapper = shallow(); + expect(wrapper.state().tipZOffset).toEqual(80); + wrapper.instance().changeTipZOffset(1); + expect(wrapper.state().tipZOffset).toEqual(1); + }); + it("handles missing tool name", () => { const p = fakeProps(); const tool = fakeTool(); @@ -118,7 +135,9 @@ describe("", () => { const wrapper = mountWithContext(); wrapper.find(".save-btn").simulate("click"); expect(edit).toHaveBeenCalledWith(expect.any(Object), { - name: "Foo", flow_rate_ml_per_s: 0, + name: "Foo", + flow_rate_ml_per_s: 0, + seeder_tip_z_offset: 80, }); expect(save).toHaveBeenCalledWith(tool.uuid); expect(mockNavigate).toHaveBeenCalledWith(Path.tools()); @@ -190,18 +209,34 @@ describe("", () => { }); it("sends RPC", () => { - const wrapper = mount(); - wrapper.find("button").first().simulate("click"); + render(); + const button = screen.getByRole("button"); + fireEvent.click(button); expect(sendRPC).toHaveBeenCalledWith({ kind: "lua", args: { lua: LUA_WATER_FLOW_RATE } }); }); - it("changes value", () => { + it("changes value", async () => { + const p = fakeProps(); + render(); + const input = screen.getByRole("spinbutton"); + await userEvent.type(input, "2"); + expect(p.onChange).toHaveBeenCalledWith(12); + }); +}); + +describe("", () => { + const fakeProps = (): TipZOffsetInputProps => ({ + value: 1, + onChange: jest.fn(), + }); + + it("changes value", async () => { const p = fakeProps(); - const wrapper = mount(); - wrapper.find("input").first().simulate("change", - { currentTarget: { value: "1" } }); - expect(p.onChange).toHaveBeenCalledWith(1); + render(); + const input = screen.getByRole("spinbutton"); + await userEvent.type(input, "2"); + expect(p.onChange).toHaveBeenCalledWith(12); }); }); diff --git a/frontend/tools/add_tool.tsx b/frontend/tools/add_tool.tsx index ac09dc996e..c82c0dd7c1 100644 --- a/frontend/tools/add_tool.tsx +++ b/frontend/tools/add_tool.tsx @@ -25,7 +25,7 @@ import { Path } from "../internal_urls"; import { reduceToolName, ToolName, } from "../farm_designer/map/tool_graphics/all_tools"; -import { WaterFlowRateInput } from "./edit_tool"; +import { TipZOffsetInput, WaterFlowRateInput } from "./edit_tool"; import { NavigationContext } from "../routes_helpers"; export const mapStateToProps = (props: Everything): AddToolProps => ({ @@ -38,7 +38,13 @@ export const mapStateToProps = (props: Everything): AddToolProps => ({ }); export class RawAddTool extends React.Component { - state: AddToolState = { toolName: "", toAdd: [], uuid: undefined, flowRate: 0 }; + state: AddToolState = { + toolName: "", + toAdd: [], + uuid: undefined, + flowRate: 0, + tipZOffset: 80, + }; filterExisting = (n: string) => !this.props.existingToolNames.includes(n); @@ -66,6 +72,7 @@ export class RawAddTool extends React.Component { const initTool = init("Tool", { name: this.state.toolName, flow_rate_ml_per_s: this.state.flowRate, + seeder_tip_z_offset: this.state.tipZOffset, }); this.props.dispatch(initTool); const { uuid } = initTool.payload; @@ -167,6 +174,7 @@ export class RawAddTool extends React.Component { }; changeFlowRate = (flowRate: number) => this.setState({ flowRate }); + changeTipZOffset = (tipZOffset: number) => this.setState({ tipZOffset }); render() { const { toolName, uuid } = this.state; @@ -203,6 +211,9 @@ export class RawAddTool extends React.Component { {reduceToolName(toolName) == ToolName.wateringNozzle && } + {reduceToolName(toolName) == ToolName.seeder && + }

{alreadyAdded ? t("Already added.") : ""}

diff --git a/frontend/tools/edit_tool.tsx b/frontend/tools/edit_tool.tsx index bf843dacf1..e5b8ba8bfe 100644 --- a/frontend/tools/edit_tool.tsx +++ b/frontend/tools/edit_tool.tsx @@ -62,6 +62,21 @@ export const WaterFlowRateInput = (props: WaterFlowRateInputProps) => {
; }; +export interface TipZOffsetInputProps { + value: number; + onChange(value: number): void; +} + +export const TipZOffsetInput = (props: TipZOffsetInputProps) => { + return
+ + props.onChange(parseInt(e.currentTarget.value))} /> +
; +}; + export const mapStateToProps = (props: Everything): EditToolProps => ({ findTool: (id: string) => maybeFindToolById(props.resources.index, parseInt(id)), @@ -79,6 +94,7 @@ export class RawEditTool extends React.Component { state: EditToolState = { toolName: this.tool?.body.name || "", flowRate: this.tool?.body.flow_rate_ml_per_s || 0, + tipZOffset: this.tool?.body.seeder_tip_z_offset || 0, }; get stringyID() { return Path.getSlug(Path.tools()); } @@ -98,6 +114,7 @@ export class RawEditTool extends React.Component { }; changeFlowRate = (flowRate: number) => this.setState({ flowRate }); + changeTipZOffset = (tipZOffset: number) => this.setState({ tipZOffset }); default = (tool: TaggedTool) => { const { dispatch } = this.props; @@ -116,6 +133,7 @@ export class RawEditTool extends React.Component { this.props.dispatch(edit(tool, { name: toolName, flow_rate_ml_per_s: this.state.flowRate, + seeder_tip_z_offset: this.state.tipZOffset, })); this.props.dispatch(save(tool.uuid)); this.navigate(Path.tools()); @@ -147,6 +165,9 @@ export class RawEditTool extends React.Component { {reduceToolName(toolName) == ToolName.wateringNozzle && } + {reduceToolName(toolName) == ToolName.seeder && + }

{nameTaken ? t("Name already taken.") : ""}

diff --git a/frontend/tools/interfaces.ts b/frontend/tools/interfaces.ts index c6db9bcaaa..a64dfa3c79 100644 --- a/frontend/tools/interfaces.ts +++ b/frontend/tools/interfaces.ts @@ -26,6 +26,7 @@ export interface AddToolState { toAdd: string[]; uuid: UUID | undefined; flowRate: number; + tipZOffset: number; } export interface EditToolProps { @@ -41,6 +42,7 @@ export interface EditToolProps { export interface EditToolState { toolName: string; flowRate: number; + tipZOffset: number; } export interface ToolTransformProps { From f8891395bc8f169aaf8edb5b4db4839a4aa19be8 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Thu, 24 Jul 2025 18:04:05 -0700 Subject: [PATCH 21/54] fix lua runner move helper --- .../demo/lua_runner/__tests__/run_test.ts | 8 ++- frontend/demo/lua_runner/actions.ts | 52 ++++++++----------- frontend/demo/lua_runner/lua.ts | 7 ++- frontend/demo/lua_runner/run.ts | 7 --- frontend/demo/lua_runner/util.ts | 8 +-- 5 files changed, 39 insertions(+), 43 deletions(-) diff --git a/frontend/demo/lua_runner/__tests__/run_test.ts b/frontend/demo/lua_runner/__tests__/run_test.ts index 9008e4d62c..b55ac633f0 100644 --- a/frontend/demo/lua_runner/__tests__/run_test.ts +++ b/frontend/demo/lua_runner/__tests__/run_test.ts @@ -12,7 +12,13 @@ describe("runLua()", () => { { type: "move_absolute", args: [1, 2, 3] }, { type: "wait_ms", args: [1000] }, { type: "go_to_home", args: ["all"] }, - { type: "move", args: [undefined, 1, undefined] }, + { + type: "_move", + args: [ + "[{\"kind\":\"axis_overwrite\",\"args\":{\"axis\":\"y\",\"" + + "axis_operand\":{\"kind\":\"numeric\",\"args\":{\"number\":1}}}}]", + ], + }, ]); }); }); diff --git a/frontend/demo/lua_runner/actions.ts b/frontend/demo/lua_runner/actions.ts index 29bfbfad4b..6d40988576 100644 --- a/frontend/demo/lua_runner/actions.ts +++ b/frontend/demo/lua_runner/actions.ts @@ -1,5 +1,6 @@ import { Identifier, MoveBodyItem, ParameterApplication, PercentageProgress, + Xyz, } from "farmbot"; import { info } from "../../toast/toast"; import { store } from "../../redux/store"; @@ -135,15 +136,6 @@ export const expandActions = ( setCurrent(actualMoveTarget); }); break; - case "move": - const moveTarget = clampTarget({ - x: (action.args[0] as number | undefined) ?? current.x, - y: (action.args[1] as number | undefined) ?? current.y, - z: (action.args[2] as number | undefined) ?? current.z, - }); - movementChunks(current, moveTarget, mmPerTimeStep).map(addPosition); - setCurrent(moveTarget); - break; case "find_home": case "go_to_home": const axisInput = action.args[0] as string; @@ -453,27 +445,27 @@ export const calculateMove = ( const axisOrderItems = moveBodyItems.filter(item => item.kind === "axis_order"); if (axisOrderItems.length > 0) { const { order } = axisOrderItems[0].args; - switch (order) { - case "z,y,x": - return { - moves: [ - { x: current.x, y: current.y, z: pos.z }, - { x: current.x, y: pos.y, z: pos.z }, - pos, - ], - warnings, - }; - case "z,xy": - return { - moves: [ - { x: current.x, y: current.y, z: pos.z }, - pos, - ], - warnings, - }; - default: - return { moves: [pos], warnings }; - } + const moves = generateMoves(order, current, pos); + return { moves, warnings }; } return { moves: [pos], warnings }; }; + +const generateMoves = (order: string, current: XyzNumber, target: XyzNumber) => { + const axes: Xyz[] = ["x", "y", "z"]; + const groups = order.split(","); + const moves: XyzNumber[] = []; + let lastState = { ...current }; + groups.map(group => { + const normalized = group.split("").sort().join(""); + const movement = { ...lastState }; + axes.map(axis => { + if (normalized.includes(axis)) { + movement[axis] = target[axis]; + } + }); + moves.push(movement); + lastState = movement; + }); + return moves; +}; diff --git a/frontend/demo/lua_runner/lua.ts b/frontend/demo/lua_runner/lua.ts index c5f33f1045..0789586d14 100644 --- a/frontend/demo/lua_runner/lua.ts +++ b/frontend/demo/lua_runner/lua.ts @@ -599,7 +599,11 @@ function speed_overwrite(axis, num) } end -function re_move(input) +function axis_order(order) + return { kind = "axis_order", args = { order = order } } +end + +function move(input) cs_eval({ kind = "rpc_request", args = {label = "move_cmd_lua", priority = 500}, @@ -614,6 +618,7 @@ function re_move(input) input.speed and speed_overwrite("x", input.speed), input.speed and speed_overwrite("y", input.speed), input.speed and speed_overwrite("z", input.speed), + input.axis_order and axis_order(input.axis_order), input.safe_z and {kind = "safe_z", args = {}} } } diff --git a/frontend/demo/lua_runner/run.ts b/frontend/demo/lua_runner/run.ts index af5d414ae2..6ad6b30904 100644 --- a/frontend/demo/lua_runner/run.ts +++ b/frontend/demo/lua_runner/run.ts @@ -349,13 +349,6 @@ export const runLua = }); lua.lua_setfield(L, envIndex, to_luastring("soil_height")); - lua.lua_pushjsfunction(L, () => { - const args = luaToJs(L, 1) as Partial; - actions.push({ type: "move", args: [args.x, args.y, args.z] }); - return 0; - }); - lua.lua_setfield(L, envIndex, to_luastring("move")); - lua.lua_pushjsfunction(L, () => { const arg = luaToJs(L, 1) as string; actions.push({ type: "_move", args: [arg] }); diff --git a/frontend/demo/lua_runner/util.ts b/frontend/demo/lua_runner/util.ts index 17325c6ea6..42f2f4094f 100644 --- a/frontend/demo/lua_runner/util.ts +++ b/frontend/demo/lua_runner/util.ts @@ -65,10 +65,10 @@ const luaTableToJs = (L: unknown, idx: number): unknown => { keyVals.push([key, val]); lua.lua_pop(L, 1); } - const isSequentialArray = - keyVals.every(([k], i) => typeof k === "number" && k === i + 1); - if (isSequentialArray) { - return keyVals.map(([, v]) => v); + const isArrayLike = + keyVals.every(([k]) => typeof k === "number"); + if (isArrayLike) { + return keyVals.map(([, v]) => v).filter(v => v !== undefined); } else { const result: Record = {}; for (const [key, value] of keyVals) { From 3a8e1d6c049c473b3dab80ffa6edd60c5484f39e Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Tue, 29 Jul 2025 16:29:37 -0700 Subject: [PATCH 22/54] change move axis_order to grouping and route --- app/models/celery_script_settings_bag.rb | 13 +- .../demo/lua_runner/__tests__/actions_test.ts | 183 +++++++++++++++++- frontend/demo/lua_runner/actions.ts | 46 ++++- frontend/demo/lua_runner/lua.ts | 8 +- frontend/farm_designer/move_to.tsx | 13 +- .../__tests__/axis_order_test.tsx | 65 +++++-- .../__tests__/component_test.tsx | 27 ++- .../tile_computed_move/axis_order.tsx | 120 ++++++++++-- .../tile_computed_move/component.tsx | 17 +- .../tile_computed_move/interfaces.ts | 11 +- .../tile_computed_move/test_fixtures.ts | 6 +- package.json | 2 +- 12 files changed, 443 insertions(+), 68 deletions(-) diff --git a/app/models/celery_script_settings_bag.rb b/app/models/celery_script_settings_bag.rb index 85ed5f828e..e1ec2631fc 100644 --- a/app/models/celery_script_settings_bag.rb +++ b/app/models/celery_script_settings_bag.rb @@ -24,6 +24,10 @@ def self.exists?(id) ALLOWED_ASSERTION_TYPES = %w(abort recover abort_recover continue) ALLOWED_AXIS = %w(x y z all) + ALLOWED_GROUPING = %w(xyz x,yz yz,x y,xz xz,y z,xy xy,z + x,y,z x,z,y y,x,z y,z,x z,x,y z,y,x + xy x,y y,x xz x,z z,x yz y,z z,y x y z) + ALLOWED_ROUTE = %w(high low in_order) ALLOWED_CHANGES = %w(add remove update) ALLOWED_CHANNEL_NAMES = %w(ticker toast email espeak) ALLOWED_LHS_STRINGS = [*(0..69)].map { |x| "pin#{x}" }.concat(%w(x y z)) @@ -56,6 +60,8 @@ def self.exists?(id) BAD_ASSERTION_TYPE = '"%s" is not a valid assertion type. ' \ "Try these instead: %s" BAD_AXIS = '"%s" is not a valid axis. Allowed values: %s' + BAD_GROUPING = '"%s" is not a valid grouping. Allowed values: %s' + BAD_ROUTE = '"%s" is not a valid route. Allowed values: %s' BAD_CHANNEL_NAME = '"%s" is not a valid channel_name. Allowed values: %s' BAD_LHS = 'Can not put "%s" into a left hand side (LHS) argument. ' \ "Allowed values: %s" @@ -112,6 +118,8 @@ def self.exists?(id) CORPUS_ENUM = { ALLOWED_AXIS: [ALLOWED_AXIS, BAD_AXIS], + ALLOWED_GROUPING: [ALLOWED_GROUPING, BAD_GROUPING], + ALLOWED_ROUTE: [ALLOWED_ROUTE, BAD_ROUTE], ALLOWED_SPECIAL_VALUE: [ALLOWED_SPECIAL_VALUE, BAD_SPECIAL_VALUE], ALLOWED_CHANNEL_NAMES: [ALLOWED_CHANNEL_NAMES, BAD_CHANNEL_NAME], ALLOWED_MESSAGE_TYPES: [ALLOWED_MESSAGE_TYPES, BAD_MESSAGE_TYPE], @@ -206,7 +214,8 @@ def self.v(symbol) url: { defn: [v(:string)] }, value: { defn: [v(:string), v(:integer), v(:boolean)] }, variance: { defn: [v(:integer)] }, - order: { defn: [v(:string)] }, + grouping: { defn: [e(:ALLOWED_GROUPING)] }, + route: { defn: [e(:ALLOWED_ROUTE)] }, version: { defn: [v(:integer)] }, x: { defn: [v(:integer), v(:float)] }, y: { defn: [v(:integer), v(:float)] }, @@ -559,7 +568,7 @@ def self.v(symbol) tags: [:data], }, axis_order: { - args: [:order], + args: [:grouping, :route], tags: [:data], }, random: { diff --git a/frontend/demo/lua_runner/__tests__/actions_test.ts b/frontend/demo/lua_runner/__tests__/actions_test.ts index e0cfe84da1..ba4b10fe46 100644 --- a/frontend/demo/lua_runner/__tests__/actions_test.ts +++ b/frontend/demo/lua_runner/__tests__/actions_test.ts @@ -600,7 +600,7 @@ describe("calculateMove()", () => { axis_operand: { kind: "numeric", args: { number: 100 } }, }, }, - { kind: "axis_order", args: { order: "xyz" } }, + { kind: "axis_order", args: { grouping: "xyz", route: "in_order" } }, ], }; expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) @@ -624,7 +624,7 @@ describe("calculateMove()", () => { axis_operand: { kind: "numeric", args: { number: 100 } }, }, }, - { kind: "axis_order", args: { order: "z,xy" } }, + { kind: "axis_order", args: { grouping: "z,xy", route: "in_order" } }, ], }; expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) @@ -637,6 +637,183 @@ describe("calculateMove()", () => { }); }); + it("handles axis_order: z,xy, high from low", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 0 } }, + }, + }, + { kind: "axis_order", args: { grouping: "z,xy", route: "high" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 50, y: 50, z: 0 }, + { x: 0, y: 0, z: 0 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: z,xy, high from high", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 10 } }, + }, + }, + { kind: "axis_order", args: { grouping: "z,xy", route: "high" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 0 }, [])) + .toEqual({ + moves: [ + { x: 10, y: 10, z: 0 }, + { x: 10, y: 10, z: 10 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: z,xy, low from high", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 100 } }, + }, + }, + { kind: "axis_order", args: { grouping: "z,xy", route: "low" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 50, y: 50, z: 100 }, + { x: 100, y: 100, z: 100 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: z,xy, low from low", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 10 } }, + }, + }, + { kind: "axis_order", args: { grouping: "z,xy", route: "low" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 10, y: 10, z: 50 }, + { x: 10, y: 10, z: 10 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: xy,z, high from low", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 0 } }, + }, + }, + { kind: "axis_order", args: { grouping: "xy,z", route: "high" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 50, y: 50, z: 0 }, + { x: 0, y: 0, z: 0 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: x,z,y, high from low", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 0 } }, + }, + }, + { kind: "axis_order", args: { grouping: "x,z,y", route: "high" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 50, y: 50, z: 0 }, + { x: 0, y: 50, z: 0 }, + { x: 0, y: 0, z: 0 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: x,z,y, high from high", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 100 } }, + }, + }, + { kind: "axis_order", args: { grouping: "x,z,y", route: "high" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 50, y: 100, z: 50 }, + { x: 100, y: 100, z: 50 }, + { x: 100, y: 100, z: 100 }, + ], + warnings: [], + }); + }); + it("handles axis_order: z,y,x", () => { const command: Move = { kind: "move", @@ -649,7 +826,7 @@ describe("calculateMove()", () => { axis_operand: { kind: "numeric", args: { number: 100 } }, }, }, - { kind: "axis_order", args: { order: "z,y,x" } }, + { kind: "axis_order", args: { grouping: "z,y,x", route: "in_order" } }, ], }; expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) diff --git a/frontend/demo/lua_runner/actions.ts b/frontend/demo/lua_runner/actions.ts index 6d40988576..4c0cbc4126 100644 --- a/frontend/demo/lua_runner/actions.ts +++ b/frontend/demo/lua_runner/actions.ts @@ -1,4 +1,6 @@ import { + ALLOWED_GROUPING, + ALLOWED_ROUTE, Identifier, MoveBodyItem, ParameterApplication, PercentageProgress, Xyz, } from "farmbot"; @@ -444,19 +446,53 @@ export const calculateMove = ( } const axisOrderItems = moveBodyItems.filter(item => item.kind === "axis_order"); if (axisOrderItems.length > 0) { - const { order } = axisOrderItems[0].args; - const moves = generateMoves(order, current, pos); + const { grouping, route } = axisOrderItems[0].args; + const moves = generateMoves(grouping, route, current, pos); return { moves, warnings }; } return { moves: [pos], warnings }; }; -const generateMoves = (order: string, current: XyzNumber, target: XyzNumber) => { +const generateMoves = ( + grouping: ALLOWED_GROUPING, + route: ALLOWED_ROUTE, + current: XyzNumber, + target: XyzNumber, +) => { const axes: Xyz[] = ["x", "y", "z"]; - const groups = order.split(","); + const zGoingUp = Math.abs(target.z) < Math.abs(current.z); + const groupsInput: string[] = grouping.split(","); + const isZFirst = (groups: string[]): boolean => + !groups.join("").includes("z") || groups[0].includes("z"); + const zFirst = (groupsArg: string[]): string[] => { + const groups = clone(groupsArg); + const idx = groups.findIndex(s => s.includes("z")); + if (idx > 0) { + const [group] = groups.splice(idx, 1); + groups.unshift(group); + } + return groups; + }; + const reverse = (groupsArg: string[]): string[] => clone(groupsArg).reverse(); + const isOrderOk = (groups: string[]): boolean => { + switch (route) { + case "high": + return isZFirst(zGoingUp ? groups : reverse(groups)); + case "low": + return isZFirst(zGoingUp ? reverse(groups) : groups); + default: + return true; + } + }; + const reorder = (groups: string[]): string[] => { + if (isOrderOk(groups)) { return groups; } + if (isOrderOk(reverse(groups))) { return reverse(groups); } + if (isOrderOk(zFirst(groups))) { return zFirst(groups); } + return reverse(zFirst(groups)); + }; const moves: XyzNumber[] = []; let lastState = { ...current }; - groups.map(group => { + reorder(groupsInput).map(group => { const normalized = group.split("").sort().join(""); const movement = { ...lastState }; axes.map(axis => { diff --git a/frontend/demo/lua_runner/lua.ts b/frontend/demo/lua_runner/lua.ts index 0789586d14..547ebbfcec 100644 --- a/frontend/demo/lua_runner/lua.ts +++ b/frontend/demo/lua_runner/lua.ts @@ -599,8 +599,10 @@ function speed_overwrite(axis, num) } end -function axis_order(order) - return { kind = "axis_order", args = { order = order } } +function axis_order(params) + local grouping = params.grouping or "xyz" + local route = params.route or "in_order" + return { kind = "axis_order", args = { grouping = grouping, route = route } } end function move(input) @@ -618,7 +620,7 @@ function move(input) input.speed and speed_overwrite("x", input.speed), input.speed and speed_overwrite("y", input.speed), input.speed and speed_overwrite("z", input.speed), - input.axis_order and axis_order(input.axis_order), + (input.grouping or input.route) and axis_order(input), input.safe_z and {kind = "safe_z", args = {}} } } diff --git a/frontend/farm_designer/move_to.tsx b/frontend/farm_designer/move_to.tsx index 851443842d..3ea2a50692 100644 --- a/frontend/farm_designer/move_to.tsx +++ b/frontend/farm_designer/move_to.tsx @@ -24,6 +24,7 @@ import { StringSetting } from "../session_keys"; import { MovementState } from "../interfaces"; import { getUrlQuery } from "../util"; import { setPanelOpen } from "./panel_header"; +import { AxisGrouping, AxisRoute } from "../sequences/step_tiles/tile_computed_move/interfaces"; export interface MoveToFormProps { chosenLocation: BotPosition; @@ -36,7 +37,8 @@ export interface MoveToFormProps { interface MoveToFormState { z: number | undefined; safeZ: boolean; - axisOrder: string | undefined; + axisGrouping: AxisGrouping; + axisRoute: AxisRoute; speed: number; } @@ -44,7 +46,8 @@ export class MoveToForm extends React.Component this.setState(getNewAxisOrderState(ddi))} /> + grouping={this.state.axisGrouping} + route={this.state.axisRoute} + onChange={ddi => + this.setState({ ...this.state, ...getNewAxisOrderState(ddi) })} />
; } } diff --git a/frontend/sequences/step_tiles/tile_computed_move/__tests__/axis_order_test.tsx b/frontend/sequences/step_tiles/tile_computed_move/__tests__/axis_order_test.tsx index 7aef8748a2..e7b09c37c0 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/__tests__/axis_order_test.tsx +++ b/frontend/sequences/step_tiles/tile_computed_move/__tests__/axis_order_test.tsx @@ -1,21 +1,33 @@ import React from "react"; import { render, screen, fireEvent } from "@testing-library/react"; -import { axisOrder, AxisOrderInputRow, getAxisOrderState } from "../axis_order"; -import { AxisOrderInputRowProps } from "../interfaces"; +import { + axisOrder, AxisOrderInputRow, getAxisGroupingState, getAxisRouteState, +} from "../axis_order"; +import { AxisGrouping, AxisOrderInputRowProps, AxisRoute } from "../interfaces"; import { Move } from "farmbot"; describe("", () => { const fakeProps = (): AxisOrderInputRowProps => ({ - order: undefined, + grouping: undefined, + route: undefined, safeZ: false, onChange: jest.fn(), }); - it("renders order", () => { + it.each<[boolean, AxisGrouping, AxisRoute, string]>([ + [false, "x,y,z", "high", "One at a time"], + [false, "xy,z", "high", "X and Y together"], + [false, "xyz", "high", "All at once"], + [false, undefined, undefined, "None"], + [false, "x", "low", "x;low"], + [true, "x", "low", "Safe Z"], + ])("renders order: safe_z=%s %s %s", (safeZ, grouping, route, label) => { const p = fakeProps(); - p.order = "z,y,x"; + p.grouping = grouping; + p.route = route; + p.safeZ = safeZ; render(); - expect(screen.getByText("Z then Y then X")).toBeInTheDocument(); + expect(screen.getByText(label)).toBeInTheDocument(); }); it("changes item", () => { @@ -23,32 +35,32 @@ describe("", () => { render(); const dropdown = screen.getByRole("button"); fireEvent.click(dropdown); - const item = screen.getByRole("menuitem", { name: "Z then Y then X" }); + const item = screen.getByRole("menuitem", { name: "X and Y together" }); fireEvent.click(item); expect(p.onChange).toHaveBeenCalledWith({ - label: "Z then Y then X", - value: "z,y,x", + label: "X and Y together", + value: "xy,z;high", }); }); }); describe("axisOrder()", () => { it("returns node list", () => { - expect(axisOrder(undefined)).toEqual([]); - expect(axisOrder("xyz")).toEqual([ - { kind: "axis_order", args: { order: "xyz" } }, + expect(axisOrder(undefined, undefined)).toEqual([]); + expect(axisOrder("xyz", "in_order")).toEqual([ + { kind: "axis_order", args: { grouping: "xyz", route: "in_order" } }, ]); }); }); -describe("getAxisOrderState()", () => { +describe("getAxisGroupingState()", () => { it("returns state: axis order", () => { const move: Move = { kind: "move", args: {}, - body: [{ kind: "axis_order", args: { order: "z,y,x" } }], + body: [{ kind: "axis_order", args: { grouping: "z,y,x", route: "in_order" } }], }; - expect(getAxisOrderState(move)).toEqual("z,y,x"); + expect(getAxisGroupingState(move)).toEqual("z,y,x"); }); it("returns state: no axis order", () => { @@ -57,6 +69,27 @@ describe("getAxisOrderState()", () => { args: {}, body: [], }; - expect(getAxisOrderState(move)).toEqual(undefined); + expect(getAxisGroupingState(move)).toEqual(undefined); + }); +}); + + +describe("getAxisRouteState()", () => { + it("returns state: axis order", () => { + const move: Move = { + kind: "move", + args: {}, + body: [{ kind: "axis_order", args: { grouping: "z,y,x", route: "in_order" } }], + }; + expect(getAxisRouteState(move)).toEqual("in_order"); + }); + + it("returns state: no axis order", () => { + const move: Move = { + kind: "move", + args: {}, + body: [], + }; + expect(getAxisRouteState(move)).toEqual(undefined); }); }); diff --git a/frontend/sequences/step_tiles/tile_computed_move/__tests__/component_test.tsx b/frontend/sequences/step_tiles/tile_computed_move/__tests__/component_test.tsx index 1606b8e739..e21a74b0bd 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/__tests__/component_test.tsx +++ b/frontend/sequences/step_tiles/tile_computed_move/__tests__/component_test.tsx @@ -123,6 +123,19 @@ describe("", () => { expect(wrapper.text().toLowerCase()).toContain(string)); }); + it("shows options: axis order", () => { + const MORE = ["axis order"]; + const p = fakeProps(); + p.currentStep = { + kind: "move", args: {}, body: [{ + kind: "axis_order", args: { grouping: "xyz", route: "high" } + }], + }; + const wrapper = mount(); + MORE.map(string => + expect(wrapper.text().toLowerCase()).toContain(string)); + }); + it("enables additional option display", () => { const wrapper = shallow(); expect(wrapper.state().more).toEqual(false); @@ -132,20 +145,24 @@ describe("", () => { it("enables safe z", () => { const wrapper = shallow(); - expect(wrapper.state().axisOrder).toEqual(undefined); + expect(wrapper.state().axisGrouping).toEqual(undefined); + expect(wrapper.state().axisRoute).toEqual(undefined); expect(wrapper.state().safeZ).toEqual(false); wrapper.instance().setAxisOrder({ label: "", value: "safe_z" }); expect(wrapper.state().safeZ).toEqual(true); - expect(wrapper.state().axisOrder).toEqual(undefined); + expect(wrapper.state().axisGrouping).toEqual(undefined); + expect(wrapper.state().axisRoute).toEqual(undefined); }); it("enables axis order", () => { const wrapper = shallow(); - expect(wrapper.state().axisOrder).toEqual(undefined); + expect(wrapper.state().axisGrouping).toEqual(undefined); + expect(wrapper.state().axisRoute).toEqual(undefined); expect(wrapper.state().safeZ).toEqual(false); - wrapper.instance().setAxisOrder({ label: "", value: "xyz" }); + wrapper.instance().setAxisOrder({ label: "", value: "xyz;high" }); expect(wrapper.state().safeZ).toEqual(false); - expect(wrapper.state().axisOrder).toEqual("xyz"); + expect(wrapper.state().axisGrouping).toEqual("xyz"); + expect(wrapper.state().axisRoute).toEqual("high"); }); it("commits number value", () => { diff --git a/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx b/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx index 83f7437aa0..7475cb08ae 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx +++ b/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx @@ -3,12 +3,15 @@ import { Row, Help, FBSelect, DropDownItem } from "../../../ui"; import { t } from "../../../i18next_wrapper"; import { ToolTips } from "../../../constants"; import { Move, AxisOrder } from "farmbot"; -import { AxisOrderInputRowProps } from "./interfaces"; +import { + AxisGrouping, AxisOrderInputRowProps, AxisRoute, +} from "./interfaces"; export const axisOrder = ( - order: string | undefined, + grouping: AxisGrouping, + route: AxisRoute, ): AxisOrder[] => - !order ? [] : [{ kind: "axis_order", args: { order } }]; + !(grouping && route) ? [] : [{ kind: "axis_order", args: { grouping, route } }]; export const AxisOrderInputRow = (props: AxisOrderInputRowProps) => @@ -17,40 +20,119 @@ export const AxisOrderInputRow = (props: AxisOrderInputRowProps) =>
; -const getSelectedItem = (safeZ: boolean, order: string | undefined) => { - if (safeZ) { return DDI_LOOKUP()["safe_z"]; } - if (order) { return DDI_LOOKUP()[order]; } +const getSelectedItem = ( + safeZ: boolean, + grouping: AxisGrouping, + route: AxisRoute, +) => { + if (safeZ) { return DDI_LOOKUP().safe_z; } + if (grouping && route) { return DDI_LOOKUP()[ddiValue(grouping, route)]; } return undefined; }; +const ddiValue = (grouping: AxisGrouping, route: AxisRoute): string => + [grouping, route].join(";"); + const DDIS = (): DropDownItem[] => [ DDI_LOOKUP().safe_z, - DDI_LOOKUP()["z,y,x"], - DDI_LOOKUP()["z,xy"], + DDI_LOOKUP()[ddiValue("x,y,z", "high")], + DDI_LOOKUP()[ddiValue("xy,z", "high")], +]; + +const getLabel = (value: string): string => { + switch (value) { + case ddiValue("x,y,z", "high"): + return t("One at a time"); + case ddiValue("xy,z", "high"): + return t("X and Y together"); + case ddiValue("xyz", "high"): + return t("All at once"); + case "safe_z": + return t("Safe Z"); + default: + return value; + } +}; + +const GROUPINGS: AxisGrouping[] = [ + "x", + "x,y", + "x,y,z", + "x,yz", + "x,z", + "x,z,y", + "xy", + "xy,z", + "xyz", + "xz", + "xz,y", + "y", + "y,x", + "y,x,z", + "y,xz", + "y,z", + "y,z,x", + "yz", + "yz,x", + "z", + "z,x", + "z,x,y", + "z,xy", + "z,y", + "z,y,x", +]; + +const ROUTES: AxisRoute[] = [ + "high", + "low", + "in_order", ]; -const DDI_LOOKUP = (): Record => ({ - safe_z: { label: t("Safe Z"), value: "safe_z" }, - ["z,y,x"]: { label: t("Z then Y then X"), value: "z,y,x" }, - ["z,xy"]: { label: t("Z then X and Y"), value: "z,xy" }, - ["xyz"]: { label: t("X and Y and Z"), value: "xyz" }, -}); +const getAllDdiValues = (): string[] => { + const ddiValues: string[] = ["safe_z"]; + GROUPINGS.map(grouping => + ROUTES.map(route => { + ddiValues.push(ddiValue(grouping, route)); + })); + return ddiValues; +}; + +const DDI_LOOKUP = (): Record => { + return getAllDdiValues() + .reduce( + (acc, value) => { + acc[value] = { label: getLabel(value), value }; + return acc; + }, + {} as Record); +}; + +export const getAxisGroupingState = (step: Move) => { + const axisOrder = step.body?.find(x => x.kind == "axis_order"); + if (axisOrder?.kind == "axis_order") { + return axisOrder.args.grouping; + } +}; -export const getAxisOrderState = (step: Move) => { +export const getAxisRouteState = (step: Move) => { const axisOrder = step.body?.find(x => x.kind == "axis_order"); if (axisOrder?.kind == "axis_order") { - return axisOrder.args.order; + return axisOrder.args.route; } }; export const getNewAxisOrderState = (ddi: DropDownItem) => { const safeZ = ddi.value == "safe_z"; - const axisOrder = "" + ddi.value; - return { axisOrder: safeZ ? undefined : axisOrder, safeZ }; + const [grouping, route] = ("" + ddi.value).split(";"); + return { + axisGrouping: safeZ ? undefined : grouping as AxisGrouping, + axisRoute: safeZ ? undefined : route as AxisRoute, + safeZ, + }; }; diff --git a/frontend/sequences/step_tiles/tile_computed_move/component.tsx b/frontend/sequences/step_tiles/tile_computed_move/component.tsx index d87dd3eac4..ca73cd8068 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/component.tsx +++ b/frontend/sequences/step_tiles/tile_computed_move/component.tsx @@ -29,7 +29,8 @@ import { } from "./speed"; import { getSafeZState, SAFE_Z } from "./safe_z"; import { - axisOrder, AxisOrderInputRow, getAxisOrderState, getNewAxisOrderState, + axisOrder, AxisOrderInputRow, getAxisGroupingState, getAxisRouteState, + getNewAxisOrderState, } from "./axis_order"; import { StepParams } from "../../interfaces"; @@ -101,7 +102,8 @@ export class ComputedMove z: getSpeedState(this.step, "z"), }, safeZ: getSafeZState(this.step), - axisOrder: getAxisOrderState(this.step), + axisGrouping: getAxisGroupingState(this.step), + axisRoute: getAxisRouteState(this.step), }; get step() { return this.props.currentStep; } @@ -182,7 +184,7 @@ export class ComputedMove ...speedOverwrite("y", this.speedNodes.y), ...speedOverwrite("z", this.speedNodes.z), ...(this.state.safeZ ? [SAFE_Z] : []), - ...axisOrder(this.state.axisOrder), + ...axisOrder(this.state.axisGrouping, this.state.axisRoute), ]; }; @@ -247,7 +249,7 @@ export class ComputedMove }, this.update); setAxisOrder = (ddi: DropDownItem) => { - this.setState(getNewAxisOrderState(ddi), this.update); + this.setState({ ...this.state, ...getNewAxisOrderState(ddi) }, this.update); }; toggleMore = () => this.setState({ more: !this.state.more }); @@ -312,9 +314,12 @@ export class ComputedMove : undefined; AxisOrderInputRow = () => - (this.state.axisOrder || this.state.safeZ || this.state.more) + ((this.state.axisGrouping && this.state.axisRoute) + || this.state.safeZ + || this.state.more) ? : undefined; diff --git a/frontend/sequences/step_tiles/tile_computed_move/interfaces.ts b/frontend/sequences/step_tiles/tile_computed_move/interfaces.ts index f643619d01..54333db03d 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/interfaces.ts +++ b/frontend/sequences/step_tiles/tile_computed_move/interfaces.ts @@ -1,5 +1,7 @@ import { Identifier, Point, Tool, TaggedSequence, Move, Xyz, AxisOverwrite, + ALLOWED_GROUPING, + ALLOWED_ROUTE, } from "farmbot"; import { ResourceIndex, UUID } from "../../../resources/interfaces"; import { BotPosition } from "../../../devices/interfaces"; @@ -7,6 +9,9 @@ import { DropDownItem } from "../../../ui"; export type LocationNode = Identifier | Point | Tool; +export type AxisGrouping = ALLOWED_GROUPING | undefined; +export type AxisRoute = ALLOWED_ROUTE | undefined; + export interface ComputedMoveState { locationSelection: LocSelection | undefined; location: LocationNode | undefined; @@ -17,7 +22,8 @@ export interface ComputedMoveState { variance: Record; speed: Record; safeZ: boolean; - axisOrder: string | undefined; + axisGrouping: AxisGrouping; + axisRoute: AxisRoute; viewRaw?: boolean; } @@ -95,7 +101,8 @@ export interface SpeedInputRowProps extends InputRowBase { export interface AxisOrderInputRowProps { onChange(ddi: DropDownItem): void; - order: string | undefined; + grouping: AxisGrouping; + route: AxisRoute; safeZ: boolean; } diff --git a/frontend/sequences/step_tiles/tile_computed_move/test_fixtures.ts b/frontend/sequences/step_tiles/tile_computed_move/test_fixtures.ts index 1e741e219b..b515219f77 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/test_fixtures.ts +++ b/frontend/sequences/step_tiles/tile_computed_move/test_fixtures.ts @@ -15,7 +15,8 @@ export const fakeNumericMoveStepState: ComputedMoveState = ({ variance: { x: 7, y: 8, z: 9 }, speed: { x: 10, y: 10, z: 10 }, safeZ: true, - axisOrder: undefined, + axisGrouping: undefined, + axisRoute: undefined, }); export const fakeNumericMoveStepCeleryScript: Move = { @@ -145,7 +146,8 @@ export const fakeLuaMoveStepState: ComputedMoveState = ({ variance: { x: 7, y: 8, z: 9 }, speed: { x: "10", y: "10", z: "10" }, safeZ: true, - axisOrder: undefined, + axisGrouping: undefined, + axisRoute: undefined, }); export const fakeLuaMoveStepCeleryScript: Move = { diff --git a/package.json b/package.json index 3e46af53f2..71daaaa4f1 100644 --- a/package.json +++ b/package.json @@ -61,7 +61,7 @@ "browser-speech": "1.1.1", "delaunator": "5.0.1", "events": "3.3.0", - "farmbot": "15.9.0", + "farmbot": "15.9.1", "fengari": "0.1.4", "fengari-web": "0.1.4", "i18next": "25.3.2", From ada920dd8f77649f165719fda5039c18f264f132 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Wed, 30 Jul 2025 22:08:44 -0700 Subject: [PATCH 23/54] fix watering animation --- app/mutations/devices/seeders/demo_account_seeder.rb | 1 - frontend/constants.ts | 4 +--- frontend/farm_designer/__tests__/move_to_test.tsx | 2 +- frontend/points/point_inventory_item.tsx | 4 ++-- .../tile_computed_move/__tests__/axis_order_test.tsx | 2 +- .../tile_computed_move/__tests__/component_test.tsx | 4 ++-- .../step_tiles/tile_computed_move/axis_order.tsx | 3 ++- frontend/three_d_garden/bot/__tests__/bot_test.tsx | 5 ++++- .../components/__tests__/watering_animations_test.tsx | 5 ++++- .../bot/components/watering_animations.tsx | 10 ++++++++-- 10 files changed, 25 insertions(+), 15 deletions(-) diff --git a/app/mutations/devices/seeders/demo_account_seeder.rb b/app/mutations/devices/seeders/demo_account_seeder.rb index c2921ed2fd..0cb880b7eb 100644 --- a/app/mutations/devices/seeders/demo_account_seeder.rb +++ b/app/mutations/devices/seeders/demo_account_seeder.rb @@ -140,7 +140,6 @@ def before_product_line_seeder .update!( discard_unsaved: true, three_d_garden: true, - show_points: false ) device .fbos_config diff --git a/frontend/constants.ts b/frontend/constants.ts index 2fb31a1157..abc04bd47d 100644 --- a/frontend/constants.ts +++ b/frontend/constants.ts @@ -469,9 +469,7 @@ export namespace ToolTips { export const AXIS_ORDER = trim(`If "Safe Z" is chosen, FarmBot will: (1) Move Z to the Safe Z height, - (2) Move X and Y to the new location, and (3) Move Z to the new location. - If "None" is chosen, FarmBot will move all axes concurrently to the new - location.`); + (2) Move X and Y to the new location, and (3) Move Z to the new location.`); export const MOVE_ABSOLUTE = trim(`The Move To step instructs FarmBot to move to the specified diff --git a/frontend/farm_designer/__tests__/move_to_test.tsx b/frontend/farm_designer/__tests__/move_to_test.tsx index 3b2888c24a..bd63b5df54 100644 --- a/frontend/farm_designer/__tests__/move_to_test.tsx +++ b/frontend/farm_designer/__tests__/move_to_test.tsx @@ -60,7 +60,7 @@ describe("", () => { it("changes safe z value", () => { render(); expect(screen.queryByText("Safe Z")).not.toBeInTheDocument(); - const dropdown = screen.getByRole("button", { name: "None" }); + const dropdown = screen.getByRole("button", { name: "All at once" }); fireEvent.click(dropdown); expect(screen.getAllByText("Safe Z").length).toEqual(1); const item = screen.getByRole("menuitem", { name: "Safe Z" }); diff --git a/frontend/points/point_inventory_item.tsx b/frontend/points/point_inventory_item.tsx index 19ad2726fc..3a86925681 100644 --- a/frontend/points/point_inventory_item.tsx +++ b/frontend/points/point_inventory_item.tsx @@ -77,8 +77,8 @@ export const PointInventoryItem = (props: PointInventoryItemProps) => {

{colorOverride - ? `(${point.x}, ${point.y}) z${point.z}` - : `(${point.x}, ${point.y}) r${point.radius}`} + ? `(${round(point.x)}, ${round(point.y)}) z${round(point.z)}` + : `(${round(point.x)}, ${round(point.y)}) r${round(point.radius)}`} {!isUndefined(props.distance) && {` ${round(props.distance)}mm ${t("away")}`}}

diff --git a/frontend/sequences/step_tiles/tile_computed_move/__tests__/axis_order_test.tsx b/frontend/sequences/step_tiles/tile_computed_move/__tests__/axis_order_test.tsx index e7b09c37c0..0ffdc0ffb8 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/__tests__/axis_order_test.tsx +++ b/frontend/sequences/step_tiles/tile_computed_move/__tests__/axis_order_test.tsx @@ -18,7 +18,7 @@ describe("", () => { [false, "x,y,z", "high", "One at a time"], [false, "xy,z", "high", "X and Y together"], [false, "xyz", "high", "All at once"], - [false, undefined, undefined, "None"], + [false, undefined, undefined, "All at once"], [false, "x", "low", "x;low"], [true, "x", "low", "Safe Z"], ])("renders order: safe_z=%s %s %s", (safeZ, grouping, route, label) => { diff --git a/frontend/sequences/step_tiles/tile_computed_move/__tests__/component_test.tsx b/frontend/sequences/step_tiles/tile_computed_move/__tests__/component_test.tsx index e21a74b0bd..51756046bc 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/__tests__/component_test.tsx +++ b/frontend/sequences/step_tiles/tile_computed_move/__tests__/component_test.tsx @@ -114,7 +114,7 @@ describe("", () => { }); it("shows options", () => { - const MORE = ["offset", "variance", "axis order"]; + const MORE = ["offset", "variance", "order"]; const wrapper = mount(); MORE.map(string => expect(wrapper.text().toLowerCase()).not.toContain(string)); @@ -124,7 +124,7 @@ describe("", () => { }); it("shows options: axis order", () => { - const MORE = ["axis order"]; + const MORE = ["order"]; const p = fakeProps(); p.currentStep = { kind: "move", args: {}, body: [{ diff --git a/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx b/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx index 7475cb08ae..789fb861a4 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx +++ b/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx @@ -16,13 +16,14 @@ export const axisOrder = ( export const AxisOrderInputRow = (props: AxisOrderInputRowProps) =>
- +
; diff --git a/frontend/three_d_garden/bot/__tests__/bot_test.tsx b/frontend/three_d_garden/bot/__tests__/bot_test.tsx index e61a00a8d0..bf77716842 100644 --- a/frontend/three_d_garden/bot/__tests__/bot_test.tsx +++ b/frontend/three_d_garden/bot/__tests__/bot_test.tsx @@ -60,7 +60,10 @@ describe("", () => { it("renders watering animation", () => { const p = fakeProps(); p.config.waterFlow = true; - const { container } = render(); + jest.useFakeTimers(); + const { container, rerender } = render(); + jest.runAllTimers(); + rerender(); expect(container).toContainHTML("watering-animations"); }); diff --git a/frontend/three_d_garden/bot/components/__tests__/watering_animations_test.tsx b/frontend/three_d_garden/bot/components/__tests__/watering_animations_test.tsx index c9d67a2ddf..7cbb5b25c5 100644 --- a/frontend/three_d_garden/bot/components/__tests__/watering_animations_test.tsx +++ b/frontend/three_d_garden/bot/components/__tests__/watering_animations_test.tsx @@ -14,8 +14,11 @@ describe("", () => { }); it("renders", () => { + jest.useFakeTimers(); const p = fakeProps(); - const { container } = render(); + const { container, rerender } = render(); + jest.runAllTimers(); + rerender(); const streams = container.querySelectorAll("[name*='water-stream']"); expect(streams.length).toEqual(16); diff --git a/frontend/three_d_garden/bot/components/watering_animations.tsx b/frontend/three_d_garden/bot/components/watering_animations.tsx index 70e3e26fae..ff7cc213f1 100644 --- a/frontend/three_d_garden/bot/components/watering_animations.tsx +++ b/frontend/three_d_garden/bot/components/watering_animations.tsx @@ -19,9 +19,15 @@ export const WateringAnimations = (props: WateringAnimationsProps) => { const { x, y, z, bedLengthOuter, bedWidthOuter, bedXOffset, bedYOffset } = config; const utmZ = -zDir(config) * z + utmHeight / 2 - 15; const nozzleToSoil = getZ(x, y) - utmZ; - + const [visible, setVisible] = React.useState(false); + React.useEffect(() => { + const timer = setTimeout(() => { + setVisible(true); + }, 50); + return () => clearTimeout(timer); + }, []); return Date: Wed, 30 Jul 2025 22:09:21 -0700 Subject: [PATCH 24/54] add dev settings and fix inactive color --- frontend/__test_support__/fake_state/bot.ts | 1 + frontend/constants.ts | 1 + frontend/css/global/buttons.scss | 5 +-- .../demo/lua_runner/__tests__/actions_test.ts | 10 +++++ .../demo/lua_runner/__tests__/index_test.ts | 14 +++---- frontend/demo/lua_runner/actions.ts | 10 +++-- frontend/devices/__tests__/reducer_test.ts | 7 ++++ frontend/devices/interfaces.ts | 1 + frontend/devices/reducer.ts | 6 +++ .../farm_designer/__tests__/move_to_test.tsx | 4 ++ .../__tests__/axis_order_test.tsx | 18 +++++++++ .../tile_computed_move/axis_order.tsx | 6 ++- .../dev/__tests__/dev_settings_test.tsx | 38 +++++++++++++++++++ frontend/settings/dev/dev_settings.tsx | 28 ++++++++++++++ frontend/settings/dev/dev_support.ts | 9 +++++ 15 files changed, 143 insertions(+), 15 deletions(-) diff --git a/frontend/__test_support__/fake_state/bot.ts b/frontend/__test_support__/fake_state/bot.ts index ba00d19a55..32c6e9eb90 100644 --- a/frontend/__test_support__/fake_state/bot.ts +++ b/frontend/__test_support__/fake_state/bot.ts @@ -67,4 +67,5 @@ export const bot: Everything["bot"] = { }, needVersionCheck: true, alreadyToldUserAboutMalformedMsg: false, + demoQueueLength: 0, }; diff --git a/frontend/constants.ts b/frontend/constants.ts index abc04bd47d..333694c7df 100644 --- a/frontend/constants.ts +++ b/frontend/constants.ts @@ -2441,6 +2441,7 @@ export enum Actions { DEMO_SET_JOB_PROGRESS = "DEMO_SET_JOB_PROGRESS", DEMO_SET_ESTOP = "DEMO_SET_ESTOP", DEMO_SET_MOUNTED_TOOL_ID = "DEMO_SET_MOUNTED_TOOL_ID", + DEMO_SET_QUEUE_LENGTH = "DEMO_SET_QUEUE_LENGTH", // Draggable PUT_DATA_XFER = "PUT_DATA_XFER", diff --git a/frontend/css/global/buttons.scss b/frontend/css/global/buttons.scss index 8134154e36..940f19a0db 100644 --- a/frontend/css/global/buttons.scss +++ b/frontend/css/global/buttons.scss @@ -301,9 +301,6 @@ } } .inactive { - color: $gray; - } - .fa-eye-slash { - color: $gray; + color: var(--secondary-bg); } } diff --git a/frontend/demo/lua_runner/__tests__/actions_test.ts b/frontend/demo/lua_runner/__tests__/actions_test.ts index ba4b10fe46..363596c606 100644 --- a/frontend/demo/lua_runner/__tests__/actions_test.ts +++ b/frontend/demo/lua_runner/__tests__/actions_test.ts @@ -114,6 +114,16 @@ describe("expandActions()", () => { ]); }); + it("doesn't chunk movements", () => { + localStorage.setItem("DISABLE_CHUNKING", "true"); + expect(expandActions([ + { type: "move_absolute", args: [2000, 0, 0] }, + ], [])).toEqual([ + { type: "wait_ms", args: [250] }, + { type: "expanded_move_absolute", args: [2000, 0, 0] }, + ]); + }); + it("chunks movements: warns", () => { expect(expandActions([ { type: "_move", args: [JSON.stringify([{ kind: "foo", args: {} }])] }, diff --git a/frontend/demo/lua_runner/__tests__/index_test.ts b/frontend/demo/lua_runner/__tests__/index_test.ts index 49ab0a4b6d..d17db928a3 100644 --- a/frontend/demo/lua_runner/__tests__/index_test.ts +++ b/frontend/demo/lua_runner/__tests__/index_test.ts @@ -294,7 +294,7 @@ describe("runDemoSequence()", () => { jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); expect(info).toHaveBeenCalledWith("text", TOAST_OPTIONS().info); - expect(console.log).toHaveBeenCalledTimes(2); + expect(console.log).toHaveBeenCalledTimes(1); }); it("runs move sequence step", () => { @@ -326,7 +326,7 @@ describe("runDemoSequence()", () => { type: Actions.DEMO_SET_POSITION, payload: { x: 2, y: 4, z: 6 }, }); - expect(console.log).toHaveBeenCalledTimes(2); + expect(console.log).toHaveBeenCalledTimes(1); }); it("applies sequence variables", () => { @@ -347,7 +347,7 @@ describe("runDemoSequence()", () => { runDemoSequence(ri, sequence.body.id, undefined); jest.runAllTimers(); expect(info).toHaveBeenCalledWith("v", TOAST_OPTIONS().info); - expect(console.log).toHaveBeenCalledTimes(2); + expect(console.log).toHaveBeenCalledTimes(1); expect(error).not.toHaveBeenCalled(); }); @@ -376,7 +376,7 @@ describe("runDemoSequence()", () => { runDemoSequence(ri, sequence.body.id, variables); jest.runAllTimers(); expect(info).toHaveBeenCalledWith("abc", TOAST_OPTIONS().info); - expect(console.log).toHaveBeenCalledTimes(2); + expect(console.log).toHaveBeenCalledTimes(1); expect(error).not.toHaveBeenCalled(); }); @@ -616,7 +616,7 @@ describe("runDemoLuaCode()", () => { radius = 5 }}`); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); - expect(console.log).toHaveBeenCalledTimes(1); + expect(console.log).toHaveBeenCalledTimes(0); expect(info).not.toHaveBeenCalled(); expect(initSave).toHaveBeenCalledWith("Point", { name: "test", pointer_type: "GenericPointer", @@ -637,7 +637,7 @@ describe("runDemoLuaCode()", () => { radius = 5 }}`); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); - expect(console.log).toHaveBeenCalledTimes(1); + expect(console.log).toHaveBeenCalledTimes(0); expect(info).not.toHaveBeenCalled(); expect(initSave).toHaveBeenCalledWith("Point", { name: "test", pointer_type: "GenericPointer", @@ -1008,7 +1008,7 @@ describe("runDemoLuaCode()", () => { runDemoLuaCode("update_device{ mounted_tool_id = 1 }"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); - expect(console.log).toHaveBeenCalledTimes(1); + expect(console.log).toHaveBeenCalledTimes(0); expect(info).not.toHaveBeenCalled(); expect(edit).toHaveBeenCalledWith(device, { mounted_tool_id: 1 }); expect(save).toHaveBeenCalledWith(device.uuid); diff --git a/frontend/demo/lua_runner/actions.ts b/frontend/demo/lua_runner/actions.ts index 4c0cbc4126..d3059372d6 100644 --- a/frontend/demo/lua_runner/actions.ts +++ b/frontend/demo/lua_runner/actions.ts @@ -46,7 +46,9 @@ const movementChunks = ( y: dy / length, z: dz / length, }; - const steps = Math.floor(length / mmPerTimeStep); + const steps = localStorage.getItem("DISABLE_CHUNKING") === "true" + ? 0 + : Math.floor(length / mmPerTimeStep); const chunks: XyzNumber[] = []; for (let i = 1; i <= steps; i++) { const step = { @@ -171,7 +173,6 @@ let currentTimer: ReturnType | undefined = undefined; export const eStop = () => { latestActionMs = 0; pending.length = 0; - console.log(`Queue length: ${pending.length}`); store.dispatch({ type: Actions.DEMO_SET_ESTOP, payload: true, @@ -305,7 +306,10 @@ const runNext = () => { currentTimer = undefined; const task = pending.shift(); task?.func(); - console.log(`Queue length: ${pending.length}`); + store.dispatch({ + type: Actions.DEMO_SET_QUEUE_LENGTH, + payload: pending.length, + }); runNext(); }, delay); }; diff --git a/frontend/devices/__tests__/reducer_test.ts b/frontend/devices/__tests__/reducer_test.ts index d31c32c437..d40c6ec492 100644 --- a/frontend/devices/__tests__/reducer_test.ts +++ b/frontend/devices/__tests__/reducer_test.ts @@ -241,4 +241,11 @@ describe("botReducer", () => { const r = botReducer(state, action); expect(r.hardware.informational_settings.locked).toEqual(false); }); + + it("sets demo queue length", () => { + const state = initialState(); + const action = { type: Actions.DEMO_SET_QUEUE_LENGTH, payload: 5 }; + const r = botReducer(state, action); + expect(r.demoQueueLength).toEqual(5); + }); }); diff --git a/frontend/devices/interfaces.ts b/frontend/devices/interfaces.ts index ad89422bab..d472ab4814 100644 --- a/frontend/devices/interfaces.ts +++ b/frontend/devices/interfaces.ts @@ -106,6 +106,7 @@ export interface BotState { connectivity: ConnectionState; needVersionCheck: boolean; alreadyToldUserAboutMalformedMsg: boolean; + demoQueueLength: number; } /** Status registers for the bot's status */ diff --git a/frontend/devices/reducer.ts b/frontend/devices/reducer.ts index b22f1fac81..78a010664c 100644 --- a/frontend/devices/reducer.ts +++ b/frontend/devices/reducer.ts @@ -75,6 +75,7 @@ export const initialState = (): BotState => ({ }, needVersionCheck: true, alreadyToldUserAboutMalformedMsg: false, + demoQueueLength: 0, }); export const botReducer = generateReducer(initialState()) @@ -155,6 +156,11 @@ export const botReducer = generateReducer(initialState()) .add(Actions.DEMO_SET_ESTOP, (s, { payload }) => { s.hardware.informational_settings.locked = payload; s.hardware.pins = {}; + s.demoQueueLength = 0; + return s; + }) + .add(Actions.DEMO_SET_QUEUE_LENGTH, (s, { payload }) => { + s.demoQueueLength = payload; return s; }) .add(Actions.PING_OK, (s) => { diff --git a/frontend/farm_designer/__tests__/move_to_test.tsx b/frontend/farm_designer/__tests__/move_to_test.tsx index bd63b5df54..90b2c11ffe 100644 --- a/frontend/farm_designer/__tests__/move_to_test.tsx +++ b/frontend/farm_designer/__tests__/move_to_test.tsx @@ -9,6 +9,10 @@ jest.mock("../../ui/popover", () => ({ Popover: ({ target, content }: PopoverProps) =>
{target}{content}
, })); +jest.mock("../../settings/dev/dev_support", () => ({ + DevSettings: { allOrderOptionsEnabled: () => false }, +})); + import React from "react"; import { mount, shallow } from "enzyme"; import { render, screen, fireEvent } from "@testing-library/react"; diff --git a/frontend/sequences/step_tiles/tile_computed_move/__tests__/axis_order_test.tsx b/frontend/sequences/step_tiles/tile_computed_move/__tests__/axis_order_test.tsx index 0ffdc0ffb8..d5172aa2b5 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/__tests__/axis_order_test.tsx +++ b/frontend/sequences/step_tiles/tile_computed_move/__tests__/axis_order_test.tsx @@ -1,3 +1,8 @@ +let mockDev = false; +jest.mock("../../../../settings/dev/dev_support", () => ({ + DevSettings: { allOrderOptionsEnabled: () => mockDev }, +})); + import React from "react"; import { render, screen, fireEvent } from "@testing-library/react"; import { @@ -7,6 +12,10 @@ import { AxisGrouping, AxisOrderInputRowProps, AxisRoute } from "../interfaces"; import { Move } from "farmbot"; describe("", () => { + beforeEach(() => { + mockDev = false; + }); + const fakeProps = (): AxisOrderInputRowProps => ({ grouping: undefined, route: undefined, @@ -42,6 +51,15 @@ describe("", () => { value: "xy,z;high", }); }); + + it("shows all order options", () => { + mockDev = true; + const p = fakeProps(); + render(); + const dropdown = screen.getByRole("button"); + fireEvent.click(dropdown); + expect(screen.getByRole("menuitem", { name: "x,yz;high" })).toBeInTheDocument(); + }); }); describe("axisOrder()", () => { diff --git a/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx b/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx index 789fb861a4..da94234fc5 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx +++ b/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx @@ -6,6 +6,7 @@ import { Move, AxisOrder } from "farmbot"; import { AxisGrouping, AxisOrderInputRowProps, AxisRoute, } from "./interfaces"; +import { DevSettings } from "../../../settings/dev/dev_support"; export const axisOrder = ( grouping: AxisGrouping, @@ -21,7 +22,7 @@ export const AxisOrderInputRow = (props: AxisOrderInputRowProps) => @@ -114,6 +115,9 @@ const DDI_LOOKUP = (): Record => { {} as Record); }; +const ALL_DDIS = (): DropDownItem[] => + getAllDdiValues().map(value => DDI_LOOKUP()[value]); + export const getAxisGroupingState = (step: Move) => { const axisOrder = step.body?.find(x => x.kind == "axis_order"); if (axisOrder?.kind == "axis_order") { diff --git a/frontend/settings/dev/__tests__/dev_settings_test.tsx b/frontend/settings/dev/__tests__/dev_settings_test.tsx index f067edeca6..0f0234a1b6 100644 --- a/frontend/settings/dev/__tests__/dev_settings_test.tsx +++ b/frontend/settings/dev/__tests__/dev_settings_test.tsx @@ -5,11 +5,14 @@ jest.mock("../../../config_storage/actions", () => ({ })); import React from "react"; +import { render, screen, fireEvent } from "@testing-library/react"; import { mount, shallow } from "enzyme"; import { DevWidgetFERow, DevWidgetFBOSRow, DevWidgetDelModeRow, DevWidgetShowInternalEnvsRow, DevWidget3dCameraRow, + DevWidgetAllOrderOptionsRow, + DevWidgetChunkingDisabledRow, } from "../dev_settings"; import { DevSettings } from "../dev_support"; import { setWebAppConfigValue } from "../../../config_storage/actions"; @@ -122,3 +125,38 @@ describe("", () => { delete mockDevSettings[DevSettings.SHOW_INTERNAL_ENVS]; }); }); + +describe("", () => { + it("enables all order options", () => { + render(); + fireEvent.click(screen.getByRole("button")); + expect(setWebAppConfigValue).toHaveBeenCalledWith("internal_use", + JSON.stringify({ [DevSettings.ALL_ORDER_OPTIONS]: "true" })); + delete mockDevSettings[DevSettings.ALL_ORDER_OPTIONS]; + }); + + it("disables all order options", () => { + mockDevSettings[DevSettings.ALL_ORDER_OPTIONS] = "true"; + render(); + fireEvent.click(screen.getByRole("button")); + expect(setWebAppConfigValue).toHaveBeenCalledWith("internal_use", "{}"); + delete mockDevSettings[DevSettings.ALL_ORDER_OPTIONS]; + }); +}); + +describe("", () => { + it("enables chunking disabled", () => { + render(); + fireEvent.click(screen.getByRole("button")); + expect(localStorage.getItem("DISABLE_CHUNKING")).toEqual("true"); + localStorage.removeItem("DISABLE_CHUNKING"); + }); + + it("disables chunking disabled", () => { + localStorage.setItem("DISABLE_CHUNKING", "true"); + render(); + fireEvent.click(screen.getByRole("button")); + expect(localStorage.getItem("DISABLE_CHUNKING")).toBeFalsy(); + localStorage.removeItem("DISABLE_CHUNKING"); + }); +}); diff --git a/frontend/settings/dev/dev_settings.tsx b/frontend/settings/dev/dev_settings.tsx index c4a545d2e0..472da3655e 100644 --- a/frontend/settings/dev/dev_settings.tsx +++ b/frontend/settings/dev/dev_settings.tsx @@ -1,6 +1,7 @@ import React from "react"; import { Row, BlurableInput, ToggleButton } from "../../ui"; import { DevSettings } from "./dev_support"; +import { store } from "../../redux/store"; export const DevWidgetFERow = () => @@ -77,6 +78,30 @@ export const DevWidgetShowInternalEnvsRow = () => : DevSettings.enableShowInternalEnvs} /> ; +export const DevWidgetAllOrderOptionsRow = () => + + + + ; + +export const DevWidgetChunkingDisabledRow = () => + + + localStorage.removeItem("DISABLE_CHUNKING") + : () => localStorage.setItem("DISABLE_CHUNKING", "true")} /> + ; + export const DevSettingsRows = () =>
@@ -84,4 +109,7 @@ export const DevSettingsRows = () => + + +

Demo Queue Length: {store.getState().bot.demoQueueLength}

; diff --git a/frontend/settings/dev/dev_support.ts b/frontend/settings/dev/dev_support.ts index 8268e1b2d8..b8c6740e77 100644 --- a/frontend/settings/dev/dev_support.ts +++ b/frontend/settings/dev/dev_support.ts @@ -13,6 +13,7 @@ namespace devStorage { QUICK_DELETE_MODE = "QUICK_DELETE_MODE", SHOW_INTERNAL_ENVS = "SHOW_INTERNAL_ENVS", CAMERA3D = "CAMERA3D", + ALL_ORDER_OPTIONS = "ALL_ORDER_OPTIONS", } type Storage = { [K in Key]: string }; @@ -88,4 +89,12 @@ export namespace DevSettings { export const set3dCamera = (details: string) => devStorage.setItem(CAMERA3D, details); export const remove3dCamera = () => devStorage.removeItem(CAMERA3D); + + export const ALL_ORDER_OPTIONS = devStorage.Key.ALL_ORDER_OPTIONS; + export const allOrderOptionsEnabled = () => + !!devStorage.getItem(ALL_ORDER_OPTIONS); + export const enableAllOrderOptions = () => + devStorage.setItem(ALL_ORDER_OPTIONS, "true"); + export const disableAllOrderOptions = () => + devStorage.removeItem(ALL_ORDER_OPTIONS); } From 06c716ba688e41f45cb495fe8c08798f877dcced Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Thu, 31 Jul 2025 10:49:54 -0700 Subject: [PATCH 25/54] move calculate move code --- .../demo/lua_runner/__tests__/actions_test.ts | 797 +---------------- .../__tests__/calculate_move_test.ts | 819 ++++++++++++++++++ frontend/demo/lua_runner/actions.ts | 216 +---- frontend/demo/lua_runner/calculate_move.ts | 212 +++++ 4 files changed, 1037 insertions(+), 1007 deletions(-) create mode 100644 frontend/demo/lua_runner/__tests__/calculate_move_test.ts create mode 100644 frontend/demo/lua_runner/calculate_move.ts diff --git a/frontend/demo/lua_runner/__tests__/actions_test.ts b/frontend/demo/lua_runner/__tests__/actions_test.ts index 363596c606..0b915b10be 100644 --- a/frontend/demo/lua_runner/__tests__/actions_test.ts +++ b/frontend/demo/lua_runner/__tests__/actions_test.ts @@ -4,9 +4,6 @@ import { import { fakeFbosConfig, fakeFirmwareConfig, - fakePlant, - fakeTool, - fakeToolSlot, fakeWebAppConfig, } from "../../../__test_support__/fake_state/resources"; let mockResources = buildResourceIndex([]); @@ -25,18 +22,9 @@ jest.mock("../../../redux/store", () => ({ }, })); -jest.mock("../../../three_d_garden/triangle_functions", () => ({ - getZFunc: jest.fn(() => () => 3), -})); - -import { - AxisAddition, AxisOverwrite, Move, MoveBodyItem, ParameterApplication, -} from "farmbot"; import { TOAST_OPTIONS } from "../../../toast/constants"; import { info } from "../../../toast/toast"; -import { - calculateMove, eStop, expandActions, runActions, setCurrent, -} from "../actions"; +import { eStop, expandActions, runActions, setCurrent } from "../actions"; describe("runActions()", () => { beforeEach(() => { @@ -135,786 +123,3 @@ describe("expandActions()", () => { ]); }); }); - -describe("calculateMove()", () => { - beforeEach(() => { - setCurrent({ x: 0, y: 0, z: 0 }); - localStorage.removeItem("timeStepMs"); - localStorage.removeItem("mmPerSecond"); - console.log = jest.fn(); - mockResources = buildResourceIndex([ - fakeFirmwareConfig(), - fakeFbosConfig(), - fakeWebAppConfig(), - ]); - }); - - it("handles number single axis addition", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_addition", - args: { - axis: "x", - axis_operand: { kind: "numeric", args: { number: 1 } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual({ moves: [{ x: 2, y: 2, z: 3 }], warnings: [] }); - }); - - it("handles number all axis addition", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_addition", - args: { - axis: "all", - axis_operand: { kind: "numeric", args: { number: 1 } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual({ moves: [{ x: 2, y: 3, z: 4 }], warnings: [] }); - }); - - it("handles coordinate single axis addition", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_addition", - args: { - axis: "x", - axis_operand: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual({ moves: [{ x: 2, y: 2, z: 3 }], warnings: [] }); - }); - - it("handles coordinate all axis addition", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_addition", - args: { - axis: "all", - axis_operand: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual({ moves: [{ x: 2, y: 4, z: 6 }], warnings: [] }); - }); - - it("handles number single axis overwrite", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "x", - axis_operand: { kind: "numeric", args: { number: 3 } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual({ moves: [{ x: 3, y: 2, z: 3 }], warnings: [] }); - }); - - it("handles number all axis overwrite", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "numeric", args: { number: 1 } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) - .toEqual({ moves: [{ x: 1, y: 1, z: 1 }], warnings: [] }); - }); - - it("handles coordinate single axis overwrite", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "x", - axis_operand: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ moves: [{ x: 1, y: 0, z: 0 }], warnings: [] }); - }); - - it("handles coordinate all axis overwrite", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ moves: [{ x: 1, y: 2, z: 3 }], warnings: [] }); - }); - - it("handles tool single axis overwrite", () => { - const tool = fakeTool(); - tool.body.id = 1; - const slot = fakeToolSlot(); - slot.body.tool_id = 1; - slot.body.x = 1; - slot.body.y = 2; - slot.body.z = 3; - mockResources = buildResourceIndex([tool, slot]); - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "x", - axis_operand: { kind: "tool", args: { tool_id: 1 } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ moves: [{ x: 1, y: 0, z: 0 }], warnings: [] }); - }); - - it("handles tool all axis overwrite", () => { - const tool = fakeTool(); - tool.body.id = 1; - const slot = fakeToolSlot(); - slot.body.tool_id = 1; - slot.body.x = 1; - slot.body.y = 2; - slot.body.z = 3; - mockResources = buildResourceIndex([tool, slot]); - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "tool", args: { tool_id: 1 } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ moves: [{ x: 1, y: 2, z: 3 }], warnings: [] }); - }); - - it("handles missing tool", () => { - mockResources = buildResourceIndex([]); - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "tool", args: { tool_id: 1 } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ moves: [{ x: 0, y: 0, z: 0 }], warnings: [] }); - }); - - it("handles coordinate identifier all axis overwrite", () => { - mockResources = buildResourceIndex([]); - const variables: ParameterApplication[] = [ - { - kind: "parameter_application", - args: { - label: "parent", - data_value: { - kind: "coordinate", - args: { x: 1, y: 2, z: 3 }, - }, - }, - }, - ]; - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "identifier", args: { label: "parent" } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) - .toEqual({ moves: [{ x: 1, y: 2, z: 3 }], warnings: [] }); - }); - - it("handles point identifier all axis overwrite", () => { - const point = fakePlant(); - point.body.id = 1; - point.body.x = 1; - point.body.y = 2; - point.body.z = 3; - mockResources = buildResourceIndex([point]); - const variables: ParameterApplication[] = [ - { - kind: "parameter_application", - args: { - label: "parent", - data_value: { - kind: "point", - args: { pointer_id: 1, pointer_type: "Plant" }, - }, - }, - }, - ]; - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "identifier", args: { label: "parent" } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) - .toEqual({ moves: [{ x: 1, y: 2, z: 3 }], warnings: [] }); - }); - - it("handles missing point", () => { - mockResources = buildResourceIndex([]); - const variables: ParameterApplication[] = [ - { - kind: "parameter_application", - args: { - label: "parent", - data_value: { - kind: "point", - args: { pointer_id: 1, pointer_type: "Plant" }, - }, - }, - }, - ]; - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "identifier", args: { label: "parent" } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) - .toEqual({ moves: [{ x: 0, y: 0, z: 0 }], warnings: [] }); - }); - - it("handles missing variables", () => { - mockResources = buildResourceIndex([]); - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "identifier", args: { label: "parent" } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, undefined)) - .toEqual({ - moves: [{ x: 0, y: 0, z: 0 }], - warnings: ["identifier location kind: undefined"], - }); - }); - - it("handles soil height z axis overwrite", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "z", - axis_operand: { kind: "special_value", args: { label: "soil_height" } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ moves: [{ x: 0, y: 0, z: 3 }], warnings: [] }); - }); - - it("handles soil height z axis overwrite: triangle data", () => { - sessionStorage.setItem("triangles", "[\"foo\"]"); - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "z", - axis_operand: { kind: "special_value", args: { label: "soil_height" } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ moves: [{ x: 0, y: 0, z: 3 }], warnings: [] }); - }); - - it("handles safe height z axis overwrite", () => { - const firmwareConfig = fakeFirmwareConfig(); - firmwareConfig.body.movement_home_up_z = 0; - const fbosConfig = fakeFbosConfig(); - fbosConfig.body.safe_height = 3; - mockResources = buildResourceIndex([fbosConfig, firmwareConfig]); - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "z", - axis_operand: { kind: "special_value", args: { label: "safe_height" } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ moves: [{ x: 0, y: 0, z: 3 }], warnings: [] }); - }); - - it("handles soil height z axis overwrite: wrong label", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "z", - axis_operand: { kind: "special_value", args: { label: "nope" } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ - moves: [{ x: 0, y: 0, z: 0 }], - warnings: ["special_value label: nope"], - }); - }); - - it("handles safe_z", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "numeric", args: { number: 100 } }, - }, - }, - { - kind: "speed_overwrite", - args: { - axis: "all", - speed_setting: { kind: "numeric", args: { number: 100 } }, - }, - }, - { kind: "safe_z", args: {} }, - ], - }; - expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) - .toEqual({ - moves: [ - { x: 50, y: 50, z: 0 }, - { x: 100, y: 100, z: 0 }, - { x: 100, y: 100, z: 100 }, - ], - warnings: [], - }); - }); - - it("handles axis_order: xyz", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "numeric", args: { number: 100 } }, - }, - }, - { kind: "axis_order", args: { grouping: "xyz", route: "in_order" } }, - ], - }; - expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) - .toEqual({ - moves: [ - { x: 100, y: 100, z: 100 }, - ], - warnings: [], - }); - }); - - it("handles axis_order: z,xy", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "numeric", args: { number: 100 } }, - }, - }, - { kind: "axis_order", args: { grouping: "z,xy", route: "in_order" } }, - ], - }; - expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) - .toEqual({ - moves: [ - { x: 50, y: 50, z: 100 }, - { x: 100, y: 100, z: 100 }, - ], - warnings: [], - }); - }); - - it("handles axis_order: z,xy, high from low", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "numeric", args: { number: 0 } }, - }, - }, - { kind: "axis_order", args: { grouping: "z,xy", route: "high" } }, - ], - }; - expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) - .toEqual({ - moves: [ - { x: 50, y: 50, z: 0 }, - { x: 0, y: 0, z: 0 }, - ], - warnings: [], - }); - }); - - it("handles axis_order: z,xy, high from high", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "numeric", args: { number: 10 } }, - }, - }, - { kind: "axis_order", args: { grouping: "z,xy", route: "high" } }, - ], - }; - expect(calculateMove(command.body, { x: 50, y: 50, z: 0 }, [])) - .toEqual({ - moves: [ - { x: 10, y: 10, z: 0 }, - { x: 10, y: 10, z: 10 }, - ], - warnings: [], - }); - }); - - it("handles axis_order: z,xy, low from high", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "numeric", args: { number: 100 } }, - }, - }, - { kind: "axis_order", args: { grouping: "z,xy", route: "low" } }, - ], - }; - expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) - .toEqual({ - moves: [ - { x: 50, y: 50, z: 100 }, - { x: 100, y: 100, z: 100 }, - ], - warnings: [], - }); - }); - - it("handles axis_order: z,xy, low from low", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "numeric", args: { number: 10 } }, - }, - }, - { kind: "axis_order", args: { grouping: "z,xy", route: "low" } }, - ], - }; - expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) - .toEqual({ - moves: [ - { x: 10, y: 10, z: 50 }, - { x: 10, y: 10, z: 10 }, - ], - warnings: [], - }); - }); - - it("handles axis_order: xy,z, high from low", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "numeric", args: { number: 0 } }, - }, - }, - { kind: "axis_order", args: { grouping: "xy,z", route: "high" } }, - ], - }; - expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) - .toEqual({ - moves: [ - { x: 50, y: 50, z: 0 }, - { x: 0, y: 0, z: 0 }, - ], - warnings: [], - }); - }); - - it("handles axis_order: x,z,y, high from low", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "numeric", args: { number: 0 } }, - }, - }, - { kind: "axis_order", args: { grouping: "x,z,y", route: "high" } }, - ], - }; - expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) - .toEqual({ - moves: [ - { x: 50, y: 50, z: 0 }, - { x: 0, y: 50, z: 0 }, - { x: 0, y: 0, z: 0 }, - ], - warnings: [], - }); - }); - - it("handles axis_order: x,z,y, high from high", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "numeric", args: { number: 100 } }, - }, - }, - { kind: "axis_order", args: { grouping: "x,z,y", route: "high" } }, - ], - }; - expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) - .toEqual({ - moves: [ - { x: 50, y: 100, z: 50 }, - { x: 100, y: 100, z: 50 }, - { x: 100, y: 100, z: 100 }, - ], - warnings: [], - }); - }); - - it("handles axis_order: z,y,x", () => { - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "numeric", args: { number: 100 } }, - }, - }, - { kind: "axis_order", args: { grouping: "z,y,x", route: "in_order" } }, - ], - }; - expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) - .toEqual({ - moves: [ - { x: 50, y: 50, z: 100 }, - { x: 50, y: 100, z: 100 }, - { x: 100, y: 100, z: 100 }, - ], - warnings: [], - }); - }); - - it("handles unknown pieces", () => { - const variables: ParameterApplication[] = [ - { - kind: "parameter_application", - args: { - label: "parent", - data_value: { - kind: "foo" as ParameterApplication["args"]["data_value"]["kind"], - args: { pointer_id: 1, pointer_type: "Plant" }, - } as ParameterApplication["args"]["data_value"], - }, - }, - ]; - const command: Move = { - kind: "move", - args: {}, - body: [ - { - kind: "foo" as MoveBodyItem["kind"], - args: {}, - } as MoveBodyItem, - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { - kind: "bar" as AxisOverwrite["args"]["axis_operand"]["kind"], - args: {}, - } as AxisOverwrite["args"]["axis_operand"], - }, - }, - { - kind: "axis_addition", - args: { - axis: "all", - axis_operand: { - kind: "bar" as AxisAddition["args"]["axis_operand"]["kind"], - args: {}, - } as AxisAddition["args"]["axis_operand"], - }, - }, - { - kind: "axis_overwrite", - args: { - axis: "all", - axis_operand: { kind: "identifier", args: { label: "parent" } }, - }, - }, - ], - }; - expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) - .toEqual({ - moves: [{ x: 0, y: 0, z: 0 }], - warnings: [ - "item kind: foo", - "axis_overwrite axis_operand kind: bar", - "axis_addition axis_operand kind: bar", - "identifier location kind: foo", - ], - }); - }); - - it("handles missing body", () => { - const command: Move = { kind: "move", args: {} }; - expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ moves: [{ x: 0, y: 0, z: 0 }], warnings: [] }); - }); -}); diff --git a/frontend/demo/lua_runner/__tests__/calculate_move_test.ts b/frontend/demo/lua_runner/__tests__/calculate_move_test.ts new file mode 100644 index 0000000000..193e793cb6 --- /dev/null +++ b/frontend/demo/lua_runner/__tests__/calculate_move_test.ts @@ -0,0 +1,819 @@ +import { + buildResourceIndex, +} from "../../../__test_support__/resource_index_builder"; +import { + fakeFbosConfig, + fakeFirmwareConfig, + fakePlant, + fakeTool, + fakeToolSlot, + fakeWebAppConfig, +} from "../../../__test_support__/fake_state/resources"; +let mockResources = buildResourceIndex([]); +jest.mock("../../../redux/store", () => ({ + store: { + dispatch: jest.fn(), + getState: () => ({ + resources: mockResources, + bot: { + hardware: { + location_data: { position: { x: 0, y: 0, z: 0 } }, + informational_settings: { locked: false }, + }, + }, + }), + }, +})); + +jest.mock("../../../three_d_garden/triangle_functions", () => ({ + getZFunc: jest.fn(() => () => 3), +})); + +import { + AxisAddition, AxisOverwrite, Move, MoveBodyItem, ParameterApplication, +} from "farmbot"; +import { calculateMove } from "../calculate_move"; +import { setCurrent } from "../actions"; + +describe("calculateMove()", () => { + beforeEach(() => { + setCurrent({ x: 0, y: 0, z: 0 }); + localStorage.removeItem("timeStepMs"); + localStorage.removeItem("mmPerSecond"); + console.log = jest.fn(); + mockResources = buildResourceIndex([ + fakeFirmwareConfig(), + fakeFbosConfig(), + fakeWebAppConfig(), + ]); + }); + + it("handles number single axis addition", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_addition", + args: { + axis: "x", + axis_operand: { kind: "numeric", args: { number: 1 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) + .toEqual({ moves: [{ x: 2, y: 2, z: 3 }], warnings: [] }); + }); + + it("handles number all axis addition", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_addition", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 1 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) + .toEqual({ moves: [{ x: 2, y: 3, z: 4 }], warnings: [] }); + }); + + it("handles coordinate single axis addition", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_addition", + args: { + axis: "x", + axis_operand: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) + .toEqual({ moves: [{ x: 2, y: 2, z: 3 }], warnings: [] }); + }); + + it("handles coordinate all axis addition", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_addition", + args: { + axis: "all", + axis_operand: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) + .toEqual({ moves: [{ x: 2, y: 4, z: 6 }], warnings: [] }); + }); + + it("handles number single axis overwrite", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "x", + axis_operand: { kind: "numeric", args: { number: 3 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) + .toEqual({ moves: [{ x: 3, y: 2, z: 3 }], warnings: [] }); + }); + + it("handles number all axis overwrite", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 1 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 1, y: 2, z: 3 }, [])) + .toEqual({ moves: [{ x: 1, y: 1, z: 1 }], warnings: [] }); + }); + + it("handles coordinate single axis overwrite", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "x", + axis_operand: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ moves: [{ x: 1, y: 0, z: 0 }], warnings: [] }); + }); + + it("handles coordinate all axis overwrite", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "coordinate", args: { x: 1, y: 2, z: 3 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ moves: [{ x: 1, y: 2, z: 3 }], warnings: [] }); + }); + + it("handles tool single axis overwrite", () => { + const tool = fakeTool(); + tool.body.id = 1; + const slot = fakeToolSlot(); + slot.body.tool_id = 1; + slot.body.x = 1; + slot.body.y = 2; + slot.body.z = 3; + mockResources = buildResourceIndex([tool, slot]); + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "x", + axis_operand: { kind: "tool", args: { tool_id: 1 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ moves: [{ x: 1, y: 0, z: 0 }], warnings: [] }); + }); + + it("handles tool all axis overwrite", () => { + const tool = fakeTool(); + tool.body.id = 1; + const slot = fakeToolSlot(); + slot.body.tool_id = 1; + slot.body.x = 1; + slot.body.y = 2; + slot.body.z = 3; + mockResources = buildResourceIndex([tool, slot]); + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "tool", args: { tool_id: 1 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ moves: [{ x: 1, y: 2, z: 3 }], warnings: [] }); + }); + + it("handles missing tool", () => { + mockResources = buildResourceIndex([]); + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "tool", args: { tool_id: 1 } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ moves: [{ x: 0, y: 0, z: 0 }], warnings: [] }); + }); + + it("handles coordinate identifier all axis overwrite", () => { + mockResources = buildResourceIndex([]); + const variables: ParameterApplication[] = [ + { + kind: "parameter_application", + args: { + label: "parent", + data_value: { + kind: "coordinate", + args: { x: 1, y: 2, z: 3 }, + }, + }, + }, + ]; + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "identifier", args: { label: "parent" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) + .toEqual({ moves: [{ x: 1, y: 2, z: 3 }], warnings: [] }); + }); + + it("handles point identifier all axis overwrite", () => { + const point = fakePlant(); + point.body.id = 1; + point.body.x = 1; + point.body.y = 2; + point.body.z = 3; + mockResources = buildResourceIndex([point]); + const variables: ParameterApplication[] = [ + { + kind: "parameter_application", + args: { + label: "parent", + data_value: { + kind: "point", + args: { pointer_id: 1, pointer_type: "Plant" }, + }, + }, + }, + ]; + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "identifier", args: { label: "parent" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) + .toEqual({ moves: [{ x: 1, y: 2, z: 3 }], warnings: [] }); + }); + + it("handles missing point", () => { + mockResources = buildResourceIndex([]); + const variables: ParameterApplication[] = [ + { + kind: "parameter_application", + args: { + label: "parent", + data_value: { + kind: "point", + args: { pointer_id: 1, pointer_type: "Plant" }, + }, + }, + }, + ]; + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "identifier", args: { label: "parent" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) + .toEqual({ moves: [{ x: 0, y: 0, z: 0 }], warnings: [] }); + }); + + it("handles missing variables", () => { + mockResources = buildResourceIndex([]); + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "identifier", args: { label: "parent" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, undefined)) + .toEqual({ + moves: [{ x: 0, y: 0, z: 0 }], + warnings: ["identifier location kind: undefined"], + }); + }); + + it("handles soil height z axis overwrite", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "z", + axis_operand: { kind: "special_value", args: { label: "soil_height" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ moves: [{ x: 0, y: 0, z: 3 }], warnings: [] }); + }); + + it("handles soil height z axis overwrite: triangle data", () => { + sessionStorage.setItem("triangles", "[\"foo\"]"); + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "z", + axis_operand: { kind: "special_value", args: { label: "soil_height" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ moves: [{ x: 0, y: 0, z: 3 }], warnings: [] }); + }); + + it("handles safe height z axis overwrite", () => { + const firmwareConfig = fakeFirmwareConfig(); + firmwareConfig.body.movement_home_up_z = 0; + const fbosConfig = fakeFbosConfig(); + fbosConfig.body.safe_height = 3; + mockResources = buildResourceIndex([fbosConfig, firmwareConfig]); + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "z", + axis_operand: { kind: "special_value", args: { label: "safe_height" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ moves: [{ x: 0, y: 0, z: 3 }], warnings: [] }); + }); + + it("handles soil height z axis overwrite: wrong label", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "z", + axis_operand: { kind: "special_value", args: { label: "nope" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ + moves: [{ x: 0, y: 0, z: 0 }], + warnings: ["special_value label: nope"], + }); + }); + + it("handles safe_z", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 100 } }, + }, + }, + { + kind: "speed_overwrite", + args: { + axis: "all", + speed_setting: { kind: "numeric", args: { number: 100 } }, + }, + }, + { kind: "safe_z", args: {} }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 50, y: 50, z: 0 }, + { x: 100, y: 100, z: 0 }, + { x: 100, y: 100, z: 100 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: xyz", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 100 } }, + }, + }, + { kind: "axis_order", args: { grouping: "xyz", route: "in_order" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 100, y: 100, z: 100 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: z,xy", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 100 } }, + }, + }, + { kind: "axis_order", args: { grouping: "z,xy", route: "in_order" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 50, y: 50, z: 100 }, + { x: 100, y: 100, z: 100 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: z,xy, high from low", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 0 } }, + }, + }, + { kind: "axis_order", args: { grouping: "z,xy", route: "high" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 50, y: 50, z: 0 }, + { x: 0, y: 0, z: 0 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: z,xy, high from high", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 10 } }, + }, + }, + { kind: "axis_order", args: { grouping: "z,xy", route: "high" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 0 }, [])) + .toEqual({ + moves: [ + { x: 10, y: 10, z: 0 }, + { x: 10, y: 10, z: 10 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: z,xy, low from high", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 100 } }, + }, + }, + { kind: "axis_order", args: { grouping: "z,xy", route: "low" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 50, y: 50, z: 100 }, + { x: 100, y: 100, z: 100 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: z,xy, low from low", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 10 } }, + }, + }, + { kind: "axis_order", args: { grouping: "z,xy", route: "low" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 10, y: 10, z: 50 }, + { x: 10, y: 10, z: 10 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: xy,z, high from low", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 0 } }, + }, + }, + { kind: "axis_order", args: { grouping: "xy,z", route: "high" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 50, y: 50, z: 0 }, + { x: 0, y: 0, z: 0 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: x,z,y, high from low", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 0 } }, + }, + }, + { kind: "axis_order", args: { grouping: "x,z,y", route: "high" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 50, y: 50, z: 0 }, + { x: 0, y: 50, z: 0 }, + { x: 0, y: 0, z: 0 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: x,z,y, high from high", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 100 } }, + }, + }, + { kind: "axis_order", args: { grouping: "x,z,y", route: "high" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 50, y: 100, z: 50 }, + { x: 100, y: 100, z: 50 }, + { x: 100, y: 100, z: 100 }, + ], + warnings: [], + }); + }); + + it("handles axis_order: z,y,x", () => { + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "numeric", args: { number: 100 } }, + }, + }, + { kind: "axis_order", args: { grouping: "z,y,x", route: "in_order" } }, + ], + }; + expect(calculateMove(command.body, { x: 50, y: 50, z: 50 }, [])) + .toEqual({ + moves: [ + { x: 50, y: 50, z: 100 }, + { x: 50, y: 100, z: 100 }, + { x: 100, y: 100, z: 100 }, + ], + warnings: [], + }); + }); + + it("handles unknown pieces", () => { + const variables: ParameterApplication[] = [ + { + kind: "parameter_application", + args: { + label: "parent", + data_value: { + kind: "foo" as ParameterApplication["args"]["data_value"]["kind"], + args: { pointer_id: 1, pointer_type: "Plant" }, + } as ParameterApplication["args"]["data_value"], + }, + }, + ]; + const command: Move = { + kind: "move", + args: {}, + body: [ + { + kind: "foo" as MoveBodyItem["kind"], + args: {}, + } as MoveBodyItem, + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { + kind: "bar" as AxisOverwrite["args"]["axis_operand"]["kind"], + args: {}, + } as AxisOverwrite["args"]["axis_operand"], + }, + }, + { + kind: "axis_addition", + args: { + axis: "all", + axis_operand: { + kind: "bar" as AxisAddition["args"]["axis_operand"]["kind"], + args: {}, + } as AxisAddition["args"]["axis_operand"], + }, + }, + { + kind: "axis_overwrite", + args: { + axis: "all", + axis_operand: { kind: "identifier", args: { label: "parent" } }, + }, + }, + ], + }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, variables)) + .toEqual({ + moves: [{ x: 0, y: 0, z: 0 }], + warnings: [ + "item kind: foo", + "axis_overwrite axis_operand kind: bar", + "axis_addition axis_operand kind: bar", + "identifier location kind: foo", + ], + }); + }); + + it("handles missing body", () => { + const command: Move = { kind: "move", args: {} }; + expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) + .toEqual({ moves: [{ x: 0, y: 0, z: 0 }], warnings: [] }); + }); +}); diff --git a/frontend/demo/lua_runner/actions.ts b/frontend/demo/lua_runner/actions.ts index d3059372d6..1d4cf96f79 100644 --- a/frontend/demo/lua_runner/actions.ts +++ b/frontend/demo/lua_runner/actions.ts @@ -1,27 +1,17 @@ -import { - ALLOWED_GROUPING, - ALLOWED_ROUTE, - Identifier, MoveBodyItem, ParameterApplication, PercentageProgress, - Xyz, -} from "farmbot"; +import { MoveBodyItem, ParameterApplication, PercentageProgress } from "farmbot"; import { info } from "../../toast/toast"; import { store } from "../../redux/store"; import { Actions } from "../../constants"; import { TOAST_OPTIONS } from "../../toast/constants"; import { Action, XyzNumber } from "./interfaces"; import { edit, initSave, save } from "../../api/crud"; -import { - getDeviceAccountSettings, - maybeFindPointById, - maybeFindSlotByToolId, -} from "../../resources/selectors"; +import { getDeviceAccountSettings } from "../../resources/selectors"; import { UnknownAction } from "redux"; -import { - getFirmwareSettings, getGardenSize, getSafeZ, getSoilHeight, -} from "./stubs"; -import { clamp, clone } from "lodash"; +import { getFirmwareSettings, getGardenSize } from "./stubs"; +import { clamp } from "lodash"; import { validBotLocationData } from "../../util/location"; import { Point } from "farmbot/dist/resources/api_resources"; +import { calculateMove } from "./calculate_move"; const almostEqual = (a: XyzNumber, b: XyzNumber) => { const epsilon = 0.01; @@ -313,199 +303,3 @@ const runNext = () => { runNext(); }, delay); }; - -export const calculateMove = ( - body: MoveBodyItem[] | undefined, - current: XyzNumber, - variables: ParameterApplication[] | undefined, -): { moves: XyzNumber[], warnings: string[] } => { - const pos = clone(current); - const warnings: string[] = []; - const moveBodyItems = body || []; - // eslint-disable-next-line complexity - moveBodyItems.map(item => { - switch (item.kind) { - case "axis_addition": - switch (item.args.axis_operand.kind) { - case "numeric": - if (item.args.axis == "all") { - pos.x += item.args.axis_operand.args.number; - pos.y += item.args.axis_operand.args.number; - pos.z += item.args.axis_operand.args.number; - } else { - pos[item.args.axis] += item.args.axis_operand.args.number; - } - break; - case "coordinate": - if (item.args.axis == "all") { - pos.x += item.args.axis_operand.args.x; - pos.y += item.args.axis_operand.args.y; - pos.z += item.args.axis_operand.args.z; - } else { - pos[item.args.axis] += item.args.axis_operand.args[item.args.axis]; - } - break; - default: - warnings.push( - `axis_addition axis_operand kind: ${item.args.axis_operand.kind}`); - break; - } - return; - case "axis_overwrite": - switch (item.args.axis_operand.kind) { - case "numeric": - if (item.args.axis == "all") { - pos.x = item.args.axis_operand.args.number; - pos.y = item.args.axis_operand.args.number; - pos.z = item.args.axis_operand.args.number; - } else { - pos[item.args.axis] = item.args.axis_operand.args.number; - } - break; - case "coordinate": - if (item.args.axis == "all") { - pos.x = item.args.axis_operand.args.x; - pos.y = item.args.axis_operand.args.y; - pos.z = item.args.axis_operand.args.z; - } else { - pos[item.args.axis] = item.args.axis_operand.args[item.args.axis]; - } - break; - case "tool": - const toolSlot = maybeFindSlotByToolId( - store.getState().resources.index, - item.args.axis_operand.args.tool_id); - if (!toolSlot) { - break; - } - if (item.args.axis == "all") { - pos.x = toolSlot.body.x; - pos.y = toolSlot.body.y; - pos.z = toolSlot.body.z; - } else { - pos[item.args.axis] = toolSlot.body[item.args.axis]; - } - break; - case "identifier": - const location = (variables || []).filter(v => { - const identifier = item.args.axis_operand as Identifier; - return v.args.label == identifier.args.label; - }) - .map(v => v.args.data_value)[0]; - if (location?.kind == "coordinate") { - pos.x = location.args.x; - pos.y = location.args.y; - pos.z = location.args.z; - } else if (location?.kind == "point") { - const point = maybeFindPointById( - store.getState().resources.index, - location.args.pointer_id); - if (!point) { break; } - pos.x = point.body.x; - pos.y = point.body.y; - pos.z = point.body.z; - } else { - warnings.push(`identifier location kind: ${location?.kind}`); - } - break; - case "special_value": - if (item.args.axis_operand.args.label == "soil_height" - && item.args.axis == "z") { - pos.z = getSoilHeight(pos.x, pos.y); - } else if (item.args.axis_operand.args.label == "safe_height" - && item.args.axis == "z") { - pos.z = getSafeZ(); - } else { - warnings.push( - `special_value label: ${item.args.axis_operand.args.label}`); - } - break; - default: - warnings.push( - `axis_overwrite axis_operand kind: ${item.args.axis_operand.kind}`); - break; - } - return; - case "speed_overwrite": - return; - case "safe_z": - return; - case "axis_order": - return; - default: - warnings.push(`item kind: ${(item as MoveBodyItem).kind}`); - return; - } - }); - if (moveBodyItems.some(item => item.kind === "safe_z")) { - const safeZ = getSafeZ(); - return { - moves: [ - { x: current.x, y: current.y, z: safeZ }, - { x: pos.x, y: pos.y, z: safeZ }, - pos, - ], - warnings, - }; - } - const axisOrderItems = moveBodyItems.filter(item => item.kind === "axis_order"); - if (axisOrderItems.length > 0) { - const { grouping, route } = axisOrderItems[0].args; - const moves = generateMoves(grouping, route, current, pos); - return { moves, warnings }; - } - return { moves: [pos], warnings }; -}; - -const generateMoves = ( - grouping: ALLOWED_GROUPING, - route: ALLOWED_ROUTE, - current: XyzNumber, - target: XyzNumber, -) => { - const axes: Xyz[] = ["x", "y", "z"]; - const zGoingUp = Math.abs(target.z) < Math.abs(current.z); - const groupsInput: string[] = grouping.split(","); - const isZFirst = (groups: string[]): boolean => - !groups.join("").includes("z") || groups[0].includes("z"); - const zFirst = (groupsArg: string[]): string[] => { - const groups = clone(groupsArg); - const idx = groups.findIndex(s => s.includes("z")); - if (idx > 0) { - const [group] = groups.splice(idx, 1); - groups.unshift(group); - } - return groups; - }; - const reverse = (groupsArg: string[]): string[] => clone(groupsArg).reverse(); - const isOrderOk = (groups: string[]): boolean => { - switch (route) { - case "high": - return isZFirst(zGoingUp ? groups : reverse(groups)); - case "low": - return isZFirst(zGoingUp ? reverse(groups) : groups); - default: - return true; - } - }; - const reorder = (groups: string[]): string[] => { - if (isOrderOk(groups)) { return groups; } - if (isOrderOk(reverse(groups))) { return reverse(groups); } - if (isOrderOk(zFirst(groups))) { return zFirst(groups); } - return reverse(zFirst(groups)); - }; - const moves: XyzNumber[] = []; - let lastState = { ...current }; - reorder(groupsInput).map(group => { - const normalized = group.split("").sort().join(""); - const movement = { ...lastState }; - axes.map(axis => { - if (normalized.includes(axis)) { - movement[axis] = target[axis]; - } - }); - moves.push(movement); - lastState = movement; - }); - return moves; -}; diff --git a/frontend/demo/lua_runner/calculate_move.ts b/frontend/demo/lua_runner/calculate_move.ts new file mode 100644 index 0000000000..de14640ff3 --- /dev/null +++ b/frontend/demo/lua_runner/calculate_move.ts @@ -0,0 +1,212 @@ +import { + ALLOWED_GROUPING, + ALLOWED_ROUTE, + Identifier, + MoveBodyItem, + ParameterApplication, + Xyz, +} from "farmbot"; +import { store } from "../../redux/store"; +import { XyzNumber } from "./interfaces"; +import { + maybeFindPointById, + maybeFindSlotByToolId, +} from "../../resources/selectors"; +import { getSafeZ, getSoilHeight } from "./stubs"; +import { clone } from "lodash"; + +export const calculateMove = ( + body: MoveBodyItem[] | undefined, + current: XyzNumber, + variables: ParameterApplication[] | undefined, +): { moves: XyzNumber[], warnings: string[] } => { + const pos = clone(current); + const warnings: string[] = []; + const moveBodyItems = body || []; + // eslint-disable-next-line complexity + moveBodyItems.map(item => { + switch (item.kind) { + case "axis_addition": + switch (item.args.axis_operand.kind) { + case "numeric": + if (item.args.axis == "all") { + pos.x += item.args.axis_operand.args.number; + pos.y += item.args.axis_operand.args.number; + pos.z += item.args.axis_operand.args.number; + } else { + pos[item.args.axis] += item.args.axis_operand.args.number; + } + break; + case "coordinate": + if (item.args.axis == "all") { + pos.x += item.args.axis_operand.args.x; + pos.y += item.args.axis_operand.args.y; + pos.z += item.args.axis_operand.args.z; + } else { + pos[item.args.axis] += item.args.axis_operand.args[item.args.axis]; + } + break; + default: + warnings.push( + `axis_addition axis_operand kind: ${item.args.axis_operand.kind}`); + break; + } + return; + case "axis_overwrite": + switch (item.args.axis_operand.kind) { + case "numeric": + if (item.args.axis == "all") { + pos.x = item.args.axis_operand.args.number; + pos.y = item.args.axis_operand.args.number; + pos.z = item.args.axis_operand.args.number; + } else { + pos[item.args.axis] = item.args.axis_operand.args.number; + } + break; + case "coordinate": + if (item.args.axis == "all") { + pos.x = item.args.axis_operand.args.x; + pos.y = item.args.axis_operand.args.y; + pos.z = item.args.axis_operand.args.z; + } else { + pos[item.args.axis] = item.args.axis_operand.args[item.args.axis]; + } + break; + case "tool": + const toolSlot = maybeFindSlotByToolId( + store.getState().resources.index, + item.args.axis_operand.args.tool_id); + if (!toolSlot) { + break; + } + if (item.args.axis == "all") { + pos.x = toolSlot.body.x; + pos.y = toolSlot.body.y; + pos.z = toolSlot.body.z; + } else { + pos[item.args.axis] = toolSlot.body[item.args.axis]; + } + break; + case "identifier": + const location = (variables || []).filter(v => { + const identifier = item.args.axis_operand as Identifier; + return v.args.label == identifier.args.label; + }) + .map(v => v.args.data_value)[0]; + if (location?.kind == "coordinate") { + pos.x = location.args.x; + pos.y = location.args.y; + pos.z = location.args.z; + } else if (location?.kind == "point") { + const point = maybeFindPointById( + store.getState().resources.index, + location.args.pointer_id); + if (!point) { break; } + pos.x = point.body.x; + pos.y = point.body.y; + pos.z = point.body.z; + } else { + warnings.push(`identifier location kind: ${location?.kind}`); + } + break; + case "special_value": + if (item.args.axis_operand.args.label == "soil_height" + && item.args.axis == "z") { + pos.z = getSoilHeight(pos.x, pos.y); + } else if (item.args.axis_operand.args.label == "safe_height" + && item.args.axis == "z") { + pos.z = getSafeZ(); + } else { + warnings.push( + `special_value label: ${item.args.axis_operand.args.label}`); + } + break; + default: + warnings.push( + `axis_overwrite axis_operand kind: ${item.args.axis_operand.kind}`); + break; + } + return; + case "speed_overwrite": + return; + case "safe_z": + return; + case "axis_order": + return; + default: + warnings.push(`item kind: ${(item as MoveBodyItem).kind}`); + return; + } + }); + if (moveBodyItems.some(item => item.kind === "safe_z")) { + const safeZ = getSafeZ(); + return { + moves: [ + { x: current.x, y: current.y, z: safeZ }, + { x: pos.x, y: pos.y, z: safeZ }, + pos, + ], + warnings, + }; + } + const axisOrderItems = moveBodyItems.filter(item => item.kind === "axis_order"); + if (axisOrderItems.length > 0) { + const { grouping, route } = axisOrderItems[0].args; + const moves = generateMoves(grouping, route, current, pos); + return { moves, warnings }; + } + return { moves: [pos], warnings }; +}; + +const generateMoves = ( + grouping: ALLOWED_GROUPING, + route: ALLOWED_ROUTE, + current: XyzNumber, + target: XyzNumber, +) => { + const axes: Xyz[] = ["x", "y", "z"]; + const zGoingUp = Math.abs(target.z) < Math.abs(current.z); + const groupsInput: string[] = grouping.split(","); + const isZFirst = (groups: string[]): boolean => + !groups.join("").includes("z") || groups[0].includes("z"); + const zFirst = (groupsArg: string[]): string[] => { + const groups = clone(groupsArg); + const idx = groups.findIndex(s => s.includes("z")); + if (idx > 0) { + const [group] = groups.splice(idx, 1); + groups.unshift(group); + } + return groups; + }; + const reverse = (groupsArg: string[]): string[] => clone(groupsArg).reverse(); + const isOrderOk = (groups: string[]): boolean => { + switch (route) { + case "high": + return isZFirst(zGoingUp ? groups : reverse(groups)); + case "low": + return isZFirst(zGoingUp ? reverse(groups) : groups); + default: + return true; + } + }; + const reorder = (groups: string[]): string[] => { + if (isOrderOk(groups)) { return groups; } + if (isOrderOk(reverse(groups))) { return reverse(groups); } + if (isOrderOk(zFirst(groups))) { return zFirst(groups); } + return reverse(zFirst(groups)); + }; + const moves: XyzNumber[] = []; + let lastState = { ...current }; + reorder(groupsInput).map(group => { + const normalized = group.split("").sort().join(""); + const movement = { ...lastState }; + axes.map(axis => { + if (normalized.includes(axis)) { + movement[axis] = target[axis]; + } + }); + moves.push(movement); + lastState = movement; + }); + return moves; +}; From 175db8f0e92b3a370d712f4ac6053e1fcd593564 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Thu, 31 Jul 2025 13:49:31 -0700 Subject: [PATCH 26/54] add demo account logging --- .../devices/seeders/demo_account_seeder.rb | 13 + .../demo/lua_runner/__tests__/actions_test.ts | 180 +++++++++++- .../demo/lua_runner/__tests__/index_test.ts | 270 +++++++++++++++--- .../demo/lua_runner/__tests__/util_test.ts | 46 ++- frontend/demo/lua_runner/actions.ts | 140 ++++++++- frontend/demo/lua_runner/interfaces.ts | 4 + frontend/demo/lua_runner/run.ts | 57 +++- frontend/demo/lua_runner/util.ts | 11 +- frontend/devices/__tests__/actions_test.ts | 12 + frontend/devices/actions.ts | 5 +- frontend/logs/__tests__/index_test.tsx | 10 - frontend/logs/index.tsx | 5 +- frontend/nav/__tests__/index_test.tsx | 11 + frontend/nav/__tests__/ticker_list_test.tsx | 18 -- frontend/nav/index.tsx | 12 +- frontend/nav/ticker_list.tsx | 4 - public/soil.png | Bin 0 -> 519075 bytes 17 files changed, 694 insertions(+), 104 deletions(-) create mode 100644 public/soil.png diff --git a/app/mutations/devices/seeders/demo_account_seeder.rb b/app/mutations/devices/seeders/demo_account_seeder.rb index 0cb880b7eb..94df50b0f9 100644 --- a/app/mutations/devices/seeders/demo_account_seeder.rb +++ b/app/mutations/devices/seeders/demo_account_seeder.rb @@ -99,6 +99,18 @@ def add_point_groups add_point_group(name: "Beet plants", openfarm_slug: "beet") end + def add_envs + [ + ["CAMERA_CALIBRATION_coord_scale", "1"], + ["CAMERA_CALIBRATION_center_pixel_location_x", "320"], + ["CAMERA_CALIBRATION_center_pixel_location_y", "240"], + ].each do |key, value| + FarmwareEnvs::Create.run( + { key: key, value: value }, + device: device) + end + end + def marketing_bulletin GlobalBulletin.find_or_create_by(slug: "buy-a-farmbot") do |gb| gb.href = "https://farm.bot" @@ -155,6 +167,7 @@ def after_product_line_seeder(product_line) add_point_groups tool = device.tools.find_by(name: ToolNames::WATERING_NOZZLE) Tools::Update.run(tool: tool, flow_rate_ml_per_s: 100) if tool + add_envs marketing_bulletin device.alerts.where(problem_tag: UNUSED_ALERTS).destroy_all diff --git a/frontend/demo/lua_runner/__tests__/actions_test.ts b/frontend/demo/lua_runner/__tests__/actions_test.ts index 0b915b10be..d15ca82091 100644 --- a/frontend/demo/lua_runner/__tests__/actions_test.ts +++ b/frontend/demo/lua_runner/__tests__/actions_test.ts @@ -7,6 +7,7 @@ import { fakeWebAppConfig, } from "../../../__test_support__/fake_state/resources"; let mockResources = buildResourceIndex([]); +let mockLocked = false; jest.mock("../../../redux/store", () => ({ store: { dispatch: jest.fn(), @@ -15,13 +16,18 @@ jest.mock("../../../redux/store", () => ({ bot: { hardware: { location_data: { position: { x: 0, y: 0, z: 0 } }, - informational_settings: { locked: false }, + informational_settings: { locked: mockLocked }, }, }, }), }, })); +jest.mock("lodash", () => ({ + ...jest.requireActual("lodash"), + random: () => 0, +})); + import { TOAST_OPTIONS } from "../../../toast/constants"; import { info } from "../../../toast/toast"; import { eStop, expandActions, runActions, setCurrent } from "../actions"; @@ -29,13 +35,14 @@ import { eStop, expandActions, runActions, setCurrent } from "../actions"; describe("runActions()", () => { beforeEach(() => { console.log = jest.fn(); + mockLocked = false; }); it("runs actions", () => { jest.useFakeTimers(); runActions( [ - { type: "send_message", args: ["info", "Hello, world!", "toast"] }, + { type: "send_message", args: ["info", "Hello, world!", "toast", "{}"] }, ], ); jest.runAllTimers(); @@ -47,13 +54,27 @@ describe("runActions()", () => { runActions( [ { type: "wait_ms", args: [10000] }, - { type: "send_message", args: ["info", "Hello, world!", "toast"] }, + { type: "send_message", args: ["info", "Hello, world!", "toast", "{}"] }, ], ); eStop(); jest.runAllTimers(); expect(info).not.toHaveBeenCalled(); }); + + it("runs actions: eStop only notifies once", () => { + mockLocked = true; + jest.useFakeTimers(); + runActions( + [ + { type: "wait_ms", args: [1000] }, + { type: "wait_ms", args: [1000] }, + { type: "wait_ms", args: [1000] }, + ], + ); + jest.runAllTimers(); + expect(info).toHaveBeenCalledTimes(1); + }); }); describe("expandActions()", () => { @@ -67,6 +88,7 @@ describe("expandActions()", () => { fakeFbosConfig(), fakeWebAppConfig(), ]); + mockLocked = false; }); it("chunks movements: default", () => { @@ -116,10 +138,158 @@ describe("expandActions()", () => { expect(expandActions([ { type: "_move", args: [JSON.stringify([{ kind: "foo", args: {} }])] }, ], [])).toEqual([ - { type: "send_message", args: ["warn", "not yet supported: item kind: foo"] }, - + { + type: "send_message", + args: [ + "warn", + "not yet supported: item kind: foo", + "", + "{\"x\":0,\"y\":0,\"z\":0}", + ], + }, { type: "wait_ms", args: [250] }, { type: "expanded_move_absolute", args: [0, 0, 0] }, ]); }); + + it("expands take_photo", () => { + expect(expandActions([ + { type: "take_photo", args: [] }, + ], [])).toEqual([ + { + type: "send_message", + args: [ + "info", + "Taking photo", + "", + "{\"x\":0,\"y\":0,\"z\":0}", + 3, + ], + }, + { type: "wait_ms", args: [2000] }, + { type: "take_photo", args: [0, 0, 0] }, + { + type: "send_message", + args: [ + "info", + "Uploaded image:", + "", + "{\"x\":0,\"y\":0,\"z\":0}", + 3, + ], + }, + ]); + }); + + it("expands calibrate_camera", () => { + expect(expandActions([ + { type: "calibrate_camera", args: [] }, + ], [])).toEqual([ + { + type: "send_message", + args: [ + "info", + "Calibrating camera", + "", + "{\"x\":0,\"y\":0,\"z\":0}", + 3, + ], + }, + { type: "wait_ms", args: [12000] }, + { type: "take_photo", args: [0, 0, 0] }, + { + type: "send_message", + args: [ + "info", + "Uploaded image:", + "", + "{\"x\":0,\"y\":0,\"z\":0}", + 3, + ], + }, + ]); + }); + + it("expands detect_weeds", () => { + expect(expandActions([ + { type: "detect_weeds", args: [] }, + ], [])).toEqual([ + { + type: "send_message", + args: [ + "info", + "Running weed detector", + "", + "{\"x\":0,\"y\":0,\"z\":0}", + 3, + ], + }, + { type: "wait_ms", args: [12000] }, + { type: "take_photo", args: [0, 0, 0] }, + { + type: "send_message", + args: [ + "info", + "Uploaded image:", + "", + "{\"x\":0,\"y\":0,\"z\":0}", + 3, + ], + }, + { + type: "create_point", + args: [JSON.stringify({ + name: "Weed", + pointer_type: "Weed", + x: 0, + y: 0, + z: -500, + meta: { color: "red", created_by: "plant-detection" }, + radius: 50, + plant_stage: "pending", + })], + }, + ]); + }); + + it("expands measure_soil_height", () => { + expect(expandActions([ + { type: "measure_soil_height", args: [] }, + ], [])).toEqual([ + { + type: "send_message", + args: [ + "info", + "Executing Measure Soil Height", + "", + "{\"x\":0,\"y\":0,\"z\":0}", + 3, + ], + }, + { type: "wait_ms", args: [12000] }, + { type: "take_photo", args: [0, 0, 0] }, + { + type: "send_message", + args: [ + "info", + "Uploaded image:", + "", + "{\"x\":0,\"y\":0,\"z\":0}", + 3, + ], + }, + { + type: "create_point", + args: [JSON.stringify({ + name: "Soil Height", + pointer_type: "GenericPointer", + x: 0, + y: 0, + z: -500, + meta: { at_soil_level: "true" }, + radius: 0, + })], + }, + ]); + }); }); diff --git a/frontend/demo/lua_runner/__tests__/index_test.ts b/frontend/demo/lua_runner/__tests__/index_test.ts index d17db928a3..d0528d5b31 100644 --- a/frontend/demo/lua_runner/__tests__/index_test.ts +++ b/frontend/demo/lua_runner/__tests__/index_test.ts @@ -31,6 +31,12 @@ jest.mock("../../../api/crud", () => ({ edit: jest.fn(), save: jest.fn(), initSave: jest.fn(), + init: jest.fn(() => ({ payload: { uuid: "" } })), +})); + +jest.mock("lodash", () => ({ + ...jest.requireActual("lodash"), + random: () => 0, })); import { @@ -46,8 +52,11 @@ import { runDemoSequence, } from ".."; import { TOAST_OPTIONS } from "../../../toast/constants"; -import { edit, initSave, save } from "../../../api/crud"; +import { edit, init, initSave, save } from "../../../api/crud"; import { setCurrent } from "../actions"; +import { API } from "../../../api"; + +API.setBaseUrl(""); describe("runDemoSequence()", () => { beforeEach(() => { @@ -254,8 +263,17 @@ describe("runDemoSequence()", () => { runDemoSequence(ri, sequence.body.id, variables); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); - expect(info).toHaveBeenCalledTimes(3); - expect(info).toHaveBeenCalledWith("text", TOAST_OPTIONS().info); + expect(info).not.toHaveBeenCalled(); + expect(init).toHaveBeenCalledTimes(3); + expect(init).toHaveBeenCalledWith("Log", { + message: "text", + type: "info", + channels: ["undefined"], + verbosity: undefined, + x: 0, + y: 0, + z: 0, + }); }); it("runs sequence with other variable", () => { @@ -275,9 +293,16 @@ describe("runDemoSequence()", () => { }]; runDemoSequence(ri, sequence.body.id, variables); jest.runAllTimers(); - expect(info).toHaveBeenCalledWith( - "Variable \"Other\" of type identifier not implemented.", - TOAST_OPTIONS().error); + expect(info).not.toHaveBeenCalled(); + expect(init).toHaveBeenCalledWith("Log", { + message: "Variable \"Other\" of type identifier not implemented.", + type: "error", + channels: ["undefined"], + verbosity: undefined, + x: 0, + y: 0, + z: 0, + }); expect(console.log).toHaveBeenCalledWith("undefined"); expect(error).not.toHaveBeenCalled(); }); @@ -293,7 +318,16 @@ describe("runDemoSequence()", () => { runDemoSequence(ri, sequence.body.id, []); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); - expect(info).toHaveBeenCalledWith("text", TOAST_OPTIONS().info); + expect(info).not.toHaveBeenCalled(); + expect(init).toHaveBeenCalledWith("Log", { + message: "text", + type: "info", + channels: ["undefined"], + verbosity: undefined, + x: 0, + y: 0, + z: 0, + }); expect(console.log).toHaveBeenCalledTimes(1); }); @@ -391,9 +425,16 @@ describe("runDemoSequence()", () => { ri.sequenceMetas = { [sequence.uuid]: { foo: undefined } }; runDemoSequence(ri, sequence.body.id, undefined); jest.runAllTimers(); - expect(info).toHaveBeenCalledWith( - "Variable \"Number\" of type undefined not implemented.", - TOAST_OPTIONS().error); + expect(info).not.toHaveBeenCalled(); + expect(init).toHaveBeenCalledWith("Log", { + message: "Variable \"Number\" of type undefined not implemented.", + type: "error", + channels: ["undefined"], + verbosity: undefined, + x: 2, + y: 4, + z: 6, + }); expect(console.log).toHaveBeenCalledWith("undefined"); expect(error).not.toHaveBeenCalled(); }); @@ -409,9 +450,16 @@ describe("runDemoSequence()", () => { ri.sequenceMetas = {}; runDemoSequence(ri, sequence.body.id, undefined); jest.runAllTimers(); - expect(info).toHaveBeenCalledWith( - "Variable \"Number\" of type undefined not implemented.", - TOAST_OPTIONS().error); + expect(info).not.toHaveBeenCalled(); + expect(init).toHaveBeenCalledWith("Log", { + message: "Variable \"Number\" of type undefined not implemented.", + type: "error", + channels: ["undefined"], + verbosity: undefined, + x: 2, + y: 4, + z: 6, + }); expect(console.log).toHaveBeenCalledWith("undefined"); expect(error).not.toHaveBeenCalled(); }); @@ -674,10 +722,18 @@ describe("runDemoLuaCode()", () => { jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); expect(console.log).toHaveBeenCalledWith("false"); - expect(info).toHaveBeenCalledWith( - "API call GET /api/other not implemented.", - TOAST_OPTIONS().error, - ); + expect(info).not.toHaveBeenCalled(); + expect(init).toHaveBeenCalledWith( + "Log", + { + message: "API call GET /api/other not implemented.", + type: "error", + channels: ["undefined"], + verbosity: undefined, + x: 2, + y: 4, + z: 6, + }); }); it("runs cs_eval", () => { @@ -719,7 +775,16 @@ describe("runDemoLuaCode()", () => { `); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); - expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().info); + expect(info).not.toHaveBeenCalled(); + expect(init).toHaveBeenCalledWith("Log", { + message: "test", + type: "info", + channels: ["undefined"], + verbosity: undefined, + x: 1, + y: 2, + z: 3, + }); }); it("runs cs_eval: no body", () => { @@ -748,7 +813,16 @@ describe("runDemoLuaCode()", () => { runDemoLuaCode("debug(\"test\")"); jest.runAllTimers(); expect(error).not.toHaveBeenCalled(); - expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().debug); + expect(info).not.toHaveBeenCalled(); + expect(init).toHaveBeenCalledWith("Log", { + message: "test", + type: "debug", + channels: ["undefined"], + verbosity: undefined, + x: 1, + y: 2, + z: 3, + }); }); it("runs send_message", () => { @@ -758,6 +832,13 @@ describe("runDemoLuaCode()", () => { expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().info); }); + it("runs send_message: multiple channels", () => { + runDemoLuaCode("send_message(\"info\", \"test\", {\"email\", \"toast\"})"); + jest.runAllTimers(); + expect(error).not.toHaveBeenCalled(); + expect(info).toHaveBeenCalledWith("test", TOAST_OPTIONS().info); + }); + it("sets job progress: working", () => { runDemoLuaCode(` set_job_progress("job", { @@ -850,9 +931,13 @@ describe("runDemoLuaCode()", () => { }); }); - it("runs find_axis_length: x", () => { + it.each<[number, number, number]>([ + [0, 0, 100], + [1, 0, 100], + ])("runs find_axis_length: x %s %s %s", (up, first, second) => { const firmwareConfig = fakeFirmwareConfig(); firmwareConfig.body.movement_axis_nr_steps_x = 500; + firmwareConfig.body.movement_home_up_x = up; firmwareConfig.body.movement_home_up_z = 0; mockResources = buildResourceIndex([firmwareConfig, fakeWebAppConfig()]); setCurrent({ x: 1, y: 2, z: 3 }); @@ -861,17 +946,21 @@ describe("runDemoLuaCode()", () => { expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, - payload: { x: 0, y: 2, z: 3 }, + payload: { x: first, y: 2, z: 3 }, }); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, - payload: { x: 100, y: 2, z: 3 }, + payload: { x: second, y: 2, z: 3 }, }); }); - it("runs find_axis_length: y", () => { + it.each<[number, number, number]>([ + [0, 0, 100], + [1, 0, 100], + ])("runs find_axis_length: y %s %s %s", (up, first, second) => { const firmwareConfig = fakeFirmwareConfig(); firmwareConfig.body.movement_axis_nr_steps_y = 500; + firmwareConfig.body.movement_home_up_y = up; firmwareConfig.body.movement_home_up_z = 0; mockResources = buildResourceIndex([firmwareConfig, fakeWebAppConfig()]); setCurrent({ x: 1, y: 2, z: 3 }); @@ -880,18 +969,21 @@ describe("runDemoLuaCode()", () => { expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, - payload: { x: 1, y: 0, z: 3 }, + payload: { x: 1, y: first, z: 3 }, }); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, - payload: { x: 1, y: 100, z: 3 }, + payload: { x: 1, y: second, z: 3 }, }); }); - it("runs find_axis_length: z", () => { + it.each<[number, number, number]>([ + [0, 0, 100], + [1, 0, -100], + ])("runs find_axis_length: z %s %s %s", (up, first, second) => { const firmwareConfig = fakeFirmwareConfig(); firmwareConfig.body.movement_axis_nr_steps_z = 2500; - firmwareConfig.body.movement_home_up_z = 0; + firmwareConfig.body.movement_home_up_z = up; mockResources = buildResourceIndex([firmwareConfig, fakeWebAppConfig()]); setCurrent({ x: 1, y: 2, z: 3 }); runDemoLuaCode("find_axis_length(\"z\")"); @@ -899,11 +991,11 @@ describe("runDemoLuaCode()", () => { expect(error).not.toHaveBeenCalled(); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, - payload: { x: 1, y: 2, z: 0 }, + payload: { x: 1, y: 2, z: first }, }); expect(store.dispatch).toHaveBeenCalledWith({ type: Actions.DEMO_SET_POSITION, - payload: { x: 1, y: 2, z: 100 }, + payload: { x: 1, y: 2, z: second }, }); }); @@ -1141,6 +1233,102 @@ describe("runDemoLuaCode()", () => { }); }); + it("runs take_photo", () => { + setCurrent({ x: 1, y: 2, z: 3 }); + runDemoLuaCode("take_photo()"); + jest.runAllTimers(); + expect(error).not.toHaveBeenCalled(); + expect(info).not.toHaveBeenCalled(); + expect(initSave).toHaveBeenCalledWith("Image", { + attachment_url: "http://localhost/soil.png", + created_at: expect.any(String), + meta: { + name: "demo.png", + x: 1, + y: 2, + z: 3, + }, + }); + }); + + it("runs calibrate_camera", () => { + setCurrent({ x: 1, y: 2, z: 3 }); + runDemoLuaCode("calibrate_camera()"); + jest.runAllTimers(); + expect(error).not.toHaveBeenCalled(); + expect(info).not.toHaveBeenCalled(); + expect(initSave).toHaveBeenCalledWith("Image", { + attachment_url: "http://localhost/soil.png", + created_at: expect.any(String), + meta: { + name: "demo.png", + x: 1, + y: 2, + z: 3, + }, + }); + }); + + it("runs detect_weeds", () => { + setCurrent({ x: 1, y: 2, z: 3 }); + runDemoLuaCode("detect_weeds()"); + jest.runAllTimers(); + expect(error).not.toHaveBeenCalled(); + expect(info).not.toHaveBeenCalled(); + expect(initSave).toHaveBeenCalledWith("Image", { + attachment_url: "http://localhost/soil.png", + created_at: expect.any(String), + meta: { + name: "demo.png", + x: 1, + y: 2, + z: 3, + }, + }); + expect(initSave).toHaveBeenCalledWith("Point", { + meta: { + color: "red", + created_by: "plant-detection", + }, + name: "Weed", + plant_stage: "pending", + pointer_type: "Weed", + radius: 50, + x: 1, + y: 2, + z: -500, + }); + }); + + it("runs measure_soil_height", () => { + setCurrent({ x: 1, y: 2, z: 3 }); + runDemoLuaCode("measure_soil_height()"); + jest.runAllTimers(); + expect(error).not.toHaveBeenCalled(); + expect(info).not.toHaveBeenCalled(); + expect(initSave).toHaveBeenCalledWith("Image", { + attachment_url: "http://localhost/soil.png", + created_at: expect.any(String), + meta: { + name: "demo.png", + x: 1, + y: 2, + z: 3, + }, + }); + expect(initSave).toHaveBeenCalledWith("Point", { + meta: { + at_soil_level: "true", + }, + name: "Soil Height", + pointer_type: "GenericPointer", + radius: 0, + x: 1, + y: 2, + z: -500, + }); + }); + it("runs emergency_lock", () => { runDemoLuaCode("emergency_lock()"); jest.runAllTimers(); @@ -1175,10 +1363,16 @@ describe("runDemoLuaCode()", () => { it("runs non-implemented function", () => { runDemoLuaCode("foo.bar.baz()"); jest.runAllTimers(); - expect(info).toHaveBeenCalledWith( - "Lua function \"foo.bar.baz\" is not implemented.", - TOAST_OPTIONS().error, - ); + expect(info).not.toHaveBeenCalled(); + expect(init).toHaveBeenCalledWith("Log", { + message: "Lua function \"foo.bar.baz\" is not implemented.", + type: "error", + channels: ["undefined"], + verbosity: undefined, + x: 0, + y: 0, + z: 0, + }); }); }); @@ -1223,7 +1417,7 @@ describe("csToLua()", () => { * [ y ] api * [ ] base64.decode * [ ] base64.encode - * [ ] calibrate_camera + * [ y ] calibrate_camera * [ ] check_position * [ ] complete_job * [ ] coordinate @@ -1232,7 +1426,7 @@ describe("csToLua()", () => { * [ y ] current_minute * [ y ] current_month * [ y ] current_second - * [ ] detect_weeds + * [ y ] detect_weeds * [ y ] dispense * [ y ] emergency_lock * [ y ] emergency_unlock @@ -1252,7 +1446,7 @@ describe("csToLua()", () => { * [ ] get_position * [ y ] get_seed_tray_cell * [ ] get_xyz - * [ ] get_tool + * [ y ] get_tool * [ y ] go_to_home * [ y ] grid * [ ] group @@ -1260,7 +1454,7 @@ describe("csToLua()", () => { * [ ] inspect * [ ] json.decode * [ ] json.encode - * [ ] measure_soil_height + * [ y ] measure_soil_height * [ y ] mount_tool * [ y ] dismount_tool * [ y ] move_absolute @@ -1282,7 +1476,7 @@ describe("csToLua()", () => { * [ y ] soil_height * [ ] sort * [ ] take_photo_raw - * [ ] take_photo + * [ y ] take_photo * [ y ] toggle_pin * [ ] uart.open * [ ] uart.list diff --git a/frontend/demo/lua_runner/__tests__/util_test.ts b/frontend/demo/lua_runner/__tests__/util_test.ts index 09d35e0ea2..e355cbf7ac 100644 --- a/frontend/demo/lua_runner/__tests__/util_test.ts +++ b/frontend/demo/lua_runner/__tests__/util_test.ts @@ -14,8 +14,21 @@ jest.mock("../../../redux/store", () => ({ import { csToLua } from "../util"; import { - EmergencyLock, EmergencyUnlock, FindHome, Home, Lua, Move, MoveAbsolute, - MoveRelative, SendMessage, SequenceBodyItem, TogglePin, Wait, WritePin, + EmergencyLock, + EmergencyUnlock, + ExecuteScript, + FindHome, + Home, + Lua, + Move, + MoveAbsolute, + MoveRelative, + SendMessage, + SequenceBodyItem, + TakePhoto, + TogglePin, + Wait, + WritePin, } from "farmbot"; describe("csToLua()", () => { @@ -55,6 +68,35 @@ describe("csToLua()", () => { expect(csToLua(command)).toEqual("send_message(\"info\", \"text\")"); }); + it("converts celery script to lua: take_photo", () => { + const command: TakePhoto = { kind: "take_photo", args: {} }; + expect(csToLua(command)).toEqual("take_photo()"); + }); + + it("converts celery script to lua: execute_script: plant-detection", () => { + const command: ExecuteScript = { + kind: "execute_script", + args: { label: "plant-detection" }, + }; + expect(csToLua(command)).toEqual("detect_weeds()"); + }); + + it("converts celery script to lua: execute_script Measure Soil Height", () => { + const command: ExecuteScript = { + kind: "execute_script", + args: { label: "Measure Soil Height" }, + }; + expect(csToLua(command)).toEqual("measure_soil_height()"); + }); + + it("converts celery script to lua: execute_script other", () => { + const command: ExecuteScript = { + kind: "execute_script", + args: { label: "other" }, + }; + expect(csToLua(command)).toEqual(""); + }); + it("converts celery script to lua: move_relative", () => { const command: MoveRelative = { kind: "move_relative", diff --git a/frontend/demo/lua_runner/actions.ts b/frontend/demo/lua_runner/actions.ts index 1d4cf96f79..825a736073 100644 --- a/frontend/demo/lua_runner/actions.ts +++ b/frontend/demo/lua_runner/actions.ts @@ -1,17 +1,25 @@ -import { MoveBodyItem, ParameterApplication, PercentageProgress } from "farmbot"; +import { + ALLOWED_CHANNEL_NAMES, + ALLOWED_MESSAGE_TYPES, + MoveBodyItem, + ParameterApplication, + PercentageProgress, +} from "farmbot"; import { info } from "../../toast/toast"; import { store } from "../../redux/store"; import { Actions } from "../../constants"; import { TOAST_OPTIONS } from "../../toast/constants"; import { Action, XyzNumber } from "./interfaces"; -import { edit, initSave, save } from "../../api/crud"; +import { edit, init, initSave, save } from "../../api/crud"; import { getDeviceAccountSettings } from "../../resources/selectors"; import { UnknownAction } from "redux"; import { getFirmwareSettings, getGardenSize } from "./stubs"; -import { clamp } from "lodash"; +import { clamp, random } from "lodash"; import { validBotLocationData } from "../../util/location"; import { Point } from "farmbot/dist/resources/api_resources"; import { calculateMove } from "./calculate_move"; +import { t } from "../../i18next_wrapper"; +import { API } from "../../api"; const almostEqual = (a: XyzNumber, b: XyzNumber) => { const epsilon = 0.01; @@ -97,6 +105,7 @@ export const expandActions = ( args: [position.x, position.y, position.z], }); }; + // eslint-disable-next-line complexity actions.map(action => { switch (action.type) { case "move_absolute": @@ -122,7 +131,12 @@ export const expandActions = ( const { moves, warnings } = calculateMove(moveItems, current, variables); warnings.length > 0 && expanded.push({ type: "send_message", - args: ["warn", `not yet supported: ${warnings.join(", ")}`], + args: [ + "warn", + `not yet supported: ${warnings.join(", ")}`, + "", + JSON.stringify(current), + ], }); const actualMoveTargets = moves.map(clampTarget); actualMoveTargets.map(actualMoveTarget => { @@ -130,6 +144,82 @@ export const expandActions = ( setCurrent(actualMoveTarget); }); break; + case "send_message": + action.args[3] = JSON.stringify(current); + expanded.push({ type: "send_message", args: action.args }); + break; + case "take_photo": + case "calibrate_camera": + case "detect_weeds": + case "measure_soil_height": + const MSGS = { + "take_photo": "Taking photo", + "calibrate_camera": "Calibrating camera", + "detect_weeds": "Running weed detector", + "measure_soil_height": "Executing Measure Soil Height", + }; + const DELAYS = { + "take_photo": 5, + "calibrate_camera": 15, + "detect_weeds": 15, + "measure_soil_height": 15, + }; + expanded.push({ + type: "send_message", + args: [ + "info", + MSGS[action.type], + "", + JSON.stringify(current), + 3, + ], + }); + expanded.push({ + type: "wait_ms", + args: [(DELAYS[action.type] - 3) * 1000], + }); + expanded.push({ + type: "take_photo", + args: [current.x, current.y, current.z], + }); + expanded.push({ + type: "send_message", + args: [ + "info", + "Uploaded image:", + "", + JSON.stringify(current), + 3, + ], + }); + if (action.type === "measure_soil_height") { + const body: Point = { + name: "Soil Height", + pointer_type: "GenericPointer", + x: current.x, + y: current.y, + z: -500 + random(-10, 10), + meta: { at_soil_level: "true" }, + radius: 0, + }; + const point = JSON.stringify(body); + expanded.push({ type: "create_point", args: [point] }); + } + if (action.type === "detect_weeds") { + const body: Point = { + name: "Weed", + pointer_type: "Weed", + x: current.x, + y: current.y, + z: -500, + meta: { color: "red", created_by: "plant-detection" }, + radius: 50, + plant_stage: "pending", + }; + const point = JSON.stringify(body); + expanded.push({ type: "create_point", args: [point] }); + } + break; case "find_home": case "go_to_home": const axisInput = action.args[0] as string; @@ -178,11 +268,19 @@ export const runActions = ( actions: Action[], ) => { let delay = 0; + let notified = false; actions.map(action => { // eslint-disable-next-line complexity const getFunc = () => { const estopped = store.getState().bot.hardware.informational_settings.locked; if (estopped && action.type !== "emergency_unlock") { + if (!notified) { + info(t("Command not available while locked."), { + ...TOAST_OPTIONS().error, + title: t("Emergency stop active"), + }); + notified = true; + } return; } switch (action.type) { @@ -193,13 +291,45 @@ export const runActions = ( case "send_message": const type = "" + action.args[0]; const msg = "" + action.args[1]; + const channelsStr = "" + action.args[2]; + const channels = channelsStr.split(",") as ALLOWED_CHANNEL_NAMES[]; + const logPosition = JSON.parse("" + action.args[3]) as XyzNumber; + const verbosity = action.args[4] as number; return () => { - info(msg, TOAST_OPTIONS()[type]); + if (channels.includes("toast")) { + info(msg, TOAST_OPTIONS()[type]); + } + const initAction = init("Log", { + message: msg, + type: type as ALLOWED_MESSAGE_TYPES, + ...logPosition, + channels, + verbosity, + }); + store.dispatch(initAction as unknown as UnknownAction); + setTimeout(() => { + store.dispatch( + save(initAction.payload.uuid) as unknown as UnknownAction); + }, 20000); }; case "print": return () => { console.log(action.args[0]); }; + case "take_photo": + return () => { + const timestamp = (new Date()).toISOString(); + store.dispatch(initSave("Image", { + attachment_url: API.current.baseUrl + "/soil.png", + created_at: timestamp, + meta: { + x: action.args[0] as number, + y: action.args[1] as number, + z: action.args[2] as number, + name: "demo.png", + }, + }) as unknown as UnknownAction); + }; case "emergency_lock": return eStop; case "emergency_unlock": diff --git a/frontend/demo/lua_runner/interfaces.ts b/frontend/demo/lua_runner/interfaces.ts index 65b9006a44..a533ab0616 100644 --- a/frontend/demo/lua_runner/interfaces.ts +++ b/frontend/demo/lua_runner/interfaces.ts @@ -13,6 +13,10 @@ export interface Action { | "find_home" | "go_to_home" | "send_message" + | "take_photo" + | "calibrate_camera" + | "detect_weeds" + | "measure_soil_height" | "update_device" | "create_point" | "print" diff --git a/frontend/demo/lua_runner/run.ts b/frontend/demo/lua_runner/run.ts index 6ad6b30904..7978e334a1 100644 --- a/frontend/demo/lua_runner/run.ts +++ b/frontend/demo/lua_runner/run.ts @@ -12,7 +12,9 @@ import { LUA_HELPERS } from "./lua"; import { createRecursiveNotImplemented, csToLua, jsToLua, luaToJs } from "./util"; import { Action, XyzNumber } from "./interfaces"; import { DeviceAccountSettings } from "farmbot/dist/resources/api_resources"; -import { getGardenSize, getSafeZ, getSoilHeight } from "./stubs"; +import { + getFirmwareSettings, getGardenSize, getSafeZ, getSoilHeight, +} from "./stubs"; import { error } from "../../toast/toast"; import { collectDemoSequenceActions } from "./index"; @@ -100,7 +102,6 @@ export const runLua = args: [ "error", `Variable "${variableName}" of type ${n?.kind} not implemented.`, - "toast", ], }); lua.lua_pushnil(L); @@ -173,7 +174,6 @@ export const runLua = args: [ "error", `API call ${method} ${url} not implemented.`, - "toast", ], }); jsToLua(L, false); @@ -206,6 +206,9 @@ export const runLua = for (let i = 1; i <= n; i++) { args.push(luaToJs(L, i) as string); } + if (Array.isArray(args[2])) { + args[2] = args[2].join(","); + } actions.push({ type: "send_message", args: args }); return 0; }); @@ -277,28 +280,34 @@ export const runLua = lua.lua_pushjsfunction(L, () => { const axis = luaToJs(L, -1) as string; + const firmwareSettings = getFirmwareSettings(); + const sign = { + x: 1, + y: 1, + z: firmwareSettings.movement_home_up_z ? -1 : 1, + }; actions.push({ type: "move_relative", args: [ - axis == "x" ? -9999 : 0, - axis == "y" ? -9999 : 0, - axis == "z" ? -9999 : 0, + axis == "x" ? sign.x * -9999 : 0, + axis == "y" ? sign.y * -9999 : 0, + axis == "z" ? sign.z * -9999 : 0, ], }); actions.push({ type: "move_relative", args: [ - axis == "x" ? 9999 : 0, - axis == "y" ? 9999 : 0, - axis == "z" ? 9999 : 0, + axis == "x" ? sign.x * 9999 : 0, + axis == "y" ? sign.y * 9999 : 0, + axis == "z" ? sign.z * 9999 : 0, ], }); actions.push({ type: "move_relative", args: [ - axis == "x" ? -9999 : 0, - axis == "y" ? -9999 : 0, - axis == "z" ? -9999 : 0, + axis == "x" ? sign.x * -9999 : 0, + axis == "y" ? sign.y * -9999 : 0, + axis == "z" ? sign.z * -9999 : 0, ], }); return 0; @@ -356,6 +365,30 @@ export const runLua = }); lua.lua_setfield(L, envIndex, to_luastring("_move")); + lua.lua_pushjsfunction(L, () => { + actions.push({ type: "take_photo", args: [] }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("take_photo")); + + lua.lua_pushjsfunction(L, () => { + actions.push({ type: "calibrate_camera", args: [] }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("calibrate_camera")); + + lua.lua_pushjsfunction(L, () => { + actions.push({ type: "detect_weeds", args: [] }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("detect_weeds")); + + lua.lua_pushjsfunction(L, () => { + actions.push({ type: "measure_soil_height", args: [] }); + return 0; + }); + lua.lua_setfield(L, envIndex, to_luastring("measure_soil_height")); + lua.lua_pushjsfunction(L, () => { const pin = luaToJs(L, 1) as number; if (pin == 63) { diff --git a/frontend/demo/lua_runner/util.ts b/frontend/demo/lua_runner/util.ts index 42f2f4094f..9f3d96452c 100644 --- a/frontend/demo/lua_runner/util.ts +++ b/frontend/demo/lua_runner/util.ts @@ -24,7 +24,6 @@ export const createRecursiveNotImplemented = ( args: [ "error", `Lua function "${fullPath}" is not implemented.`, - "toast", ], }); jsToLua(L, false); @@ -120,6 +119,16 @@ export const csToLua = (command: RpcRequestBodyItem): string => { return `wait(${args.milliseconds})`; case "send_message": return `send_message("${args.message_type}", "${args.message}")`; + case "take_photo": + return "take_photo()"; + case "execute_script": + if (args.label == "plant-detection") { + return "detect_weeds()"; + } + if (args.label == "Measure Soil Height") { + return "measure_soil_height()"; + } + return ""; case "move_relative": return `move_relative(${args.x}, ${args.y}, ${args.z})`; case "move_absolute": diff --git a/frontend/devices/__tests__/actions_test.ts b/frontend/devices/__tests__/actions_test.ts index 7dafa78301..a74f50f095 100644 --- a/frontend/devices/__tests__/actions_test.ts +++ b/frontend/devices/__tests__/actions_test.ts @@ -321,6 +321,10 @@ describe("execSequence()", () => { }); describe("takePhoto()", () => { + afterEach(() => { + localStorage.removeItem("myBotIs"); + }); + it("calls takePhoto", async () => { await actions.takePhoto(); expect(mockDevice.current.takePhoto).toHaveBeenCalled(); @@ -329,6 +333,14 @@ describe("takePhoto()", () => { expect(error).not.toHaveBeenCalled(); }); + it("calls takePhoto on demo accounts", async () => { + localStorage.setItem("myBotIs", "online"); + await actions.takePhoto(); + expect(mockDevice.current.takePhoto).not.toHaveBeenCalled(); + expect(success).not.toHaveBeenCalled(); + expect(runDemoLuaCode).toHaveBeenCalledWith("take_photo()"); + }); + it("calls takePhoto: error", async () => { mockDevice.current.takePhoto = jest.fn(() => Promise.reject("error")); await actions.takePhoto(); diff --git a/frontend/devices/actions.ts b/frontend/devices/actions.ts index 3109b13427..a16539179f 100644 --- a/frontend/devices/actions.ts +++ b/frontend/devices/actions.ts @@ -246,7 +246,10 @@ export function execSequence( } export function takePhoto() { - maybeNoop(); + if (forceOnline()) { + runDemoLuaCode("take_photo()"); + return; + } getDevice().takePhoto() .then(commandOK("", Content.PROCESSING_PHOTO)) .catch(() => error(t("Error taking photo"))); diff --git a/frontend/logs/__tests__/index_test.tsx b/frontend/logs/__tests__/index_test.tsx index b9a46930f3..1bb4e0911c 100644 --- a/frontend/logs/__tests__/index_test.tsx +++ b/frontend/logs/__tests__/index_test.tsx @@ -53,7 +53,6 @@ describe("", () => { .map(string => expect(wrapper.text().toLowerCase()).toContain(string.toLowerCase())); verifyFilterState(wrapper, true); - expect(wrapper.text().toLowerCase()).not.toContain("demo"); }); it("handles unknown log type", () => { @@ -65,7 +64,6 @@ describe("", () => { .map(string => expect(wrapper.text().toLowerCase()).toContain(string.toLowerCase())); verifyFilterState(wrapper, true); - expect(wrapper.text().toLowerCase()).not.toContain("demo"); }); it("shows message when logs are loading", () => { @@ -212,14 +210,6 @@ describe("", () => { expect(wrapper.state().searchTerm).toEqual("one"); }); - it("shows demo account log", () => { - localStorage.setItem("myBotIs", "online"); - const p = fakeProps(); - const wrapper = mount(); - expect(wrapper.text().toLowerCase()).toContain("demo"); - localStorage.setItem("myBotIs", ""); - }); - it("shows current logs", () => { const p = fakeProps(); p.bot.hardware.informational_settings.controller_version = "1.2.3"; diff --git a/frontend/logs/index.tsx b/frontend/logs/index.tsx index fcf3d27b4d..b6961bb94f 100644 --- a/frontend/logs/index.tsx +++ b/frontend/logs/index.tsx @@ -13,8 +13,6 @@ import { setWebAppConfigValue } from "../config_storage/actions"; import { NumberConfigKey } from "farmbot/dist/resources/configs/web_app"; import { t } from "../i18next_wrapper"; import { SearchField } from "../ui/search_field"; -import { forceOnline } from "../devices/must_be_online"; -import { demoAccountLog } from "../nav/ticker_list"; import { Actions } from "../constants"; import { Navigate } from "react-router"; import { Path } from "../internal_urls"; @@ -118,8 +116,7 @@ export class LogsPanel extends React.Component> { ({ })); import React from "react"; +import { render, screen } from "@testing-library/react"; import { shallow, mount } from "enzyme"; import { NavBar } from "../index"; import { bot } from "../../__test_support__/fake_state/bot"; @@ -40,6 +41,10 @@ import { mountWithContext } from "../../__test_support__/mount_with_context"; import { ControlsPanel, ControlsPanelProps } from "../../controls/controls"; describe("", () => { + beforeEach(() => { + localStorage.removeItem("myBotIs"); + }); + const fakeProps = (): NavBarProps => ({ timeSettings: fakeTimeSettings(), logs: [], @@ -76,6 +81,12 @@ describe("", () => { expect(wrapper.html()).not.toContain("hover"); }); + it("renders demo account", () => { + localStorage.setItem("myBotIs", "online"); + render(); + expect(screen.getByText("Using a demo account")).toBeInTheDocument(); + }); + it("shows popups as open", () => { const p = fakeProps(); p.appState.popups.connectivity = true; diff --git a/frontend/nav/__tests__/ticker_list_test.tsx b/frontend/nav/__tests__/ticker_list_test.tsx index 5654202f77..0486fb7f80 100644 --- a/frontend/nav/__tests__/ticker_list_test.tsx +++ b/frontend/nav/__tests__/ticker_list_test.tsx @@ -1,10 +1,5 @@ const mockStorj: Dictionary = {}; -let mockDemo = false; -jest.mock("../../devices/must_be_online", () => ({ - forceOnline: () => mockDemo, -})); - import React from "react"; import { mount } from "enzyme"; import { TickerList } from "../ticker_list"; @@ -16,8 +11,6 @@ import { fakeTimeSettings } from "../../__test_support__/fake_time_settings"; import { Actions } from "../../constants"; describe("", () => { - beforeEach(() => { mockDemo = false; }); - const fakeTaggedLog = () => { const log = fakeLog(); log.body.message = "Farmbot is up and Running!"; @@ -69,17 +62,6 @@ describe("", () => { expect(labels.at(1).text()).toEqual("Last seen AUG 2, 7:50PM"); }); - it("shows demo account log message", () => { - mockDemo = true; - const p = fakeProps(); - p.botOnline = false; - const wrapper = mount(); - const labels = wrapper.find("label"); - expect(labels.length).toEqual(2); - expect(labels.at(0).text()).toContain("Using a demo account"); - expect(labels.at(1).text()).toEqual(""); - }); - it("shows empty log message", () => { const p = fakeProps(); p.logs = []; diff --git a/frontend/nav/index.tsx b/frontend/nav/index.tsx index 97d9f7e31e..307748ede2 100644 --- a/frontend/nav/index.tsx +++ b/frontend/nav/index.tsx @@ -5,7 +5,7 @@ import { Popover } from "../ui"; import { updatePageInfo } from "../util"; import { validBotLocationData } from "../util/location"; import { NavLinks } from "./nav_links"; -import { TickerList } from "./ticker_list"; +import { demoAccountLog, TickerList } from "./ticker_list"; import { AdditionalMenu } from "./additional_menu"; import { MobileMenu } from "./mobile_menu"; import { Position } from "@blueprintjs/core"; @@ -17,7 +17,7 @@ import { DiagnosisSaucer } from "../devices/connectivity/diagnosis"; import { maybeSetTimezone } from "../devices/timezones/guess_timezone"; import { BooleanSetting } from "../session_keys"; import { ReadOnlyIcon } from "../read_only_mode"; -import { isBotOnlineFromState } from "../devices/must_be_online"; +import { forceOnline, isBotOnlineFromState } from "../devices/must_be_online"; import { setupProgressString } from "../wizard/data"; import { lastSeenNumber } from "../settings/fbos_settings/last_seen_row"; import { Path } from "../internal_urls"; @@ -60,6 +60,10 @@ export class NavBar extends React.Component> { get isStaff() { return this.props.authAud == "staff"; } + get logs() { + return this.props.logs.concat(forceOnline() ? [demoAccountLog()] : []); + } + toggle = (key: keyof NavBarState) => () => this.setState({ [key]: !this.state[key] }); @@ -262,7 +266,7 @@ export class NavBar extends React.Component> { dispatch={this.props.dispatch} bot={this.props.bot} getConfigValue={this.props.getConfigValue} - logs={this.props.logs} + logs={this.logs} jobsPanelState={this.props.appState.jobs} sourceFbosConfig={this.props.sourceFbosConfig} fbosVersion={this.props.device.body.fbos_version} @@ -298,7 +302,7 @@ export class NavBar extends React.Component> { TickerList = () => { - if (forceOnline()) { - return demoAccountLog(); - } if (!botOnline) { return generateFallbackLog("bot_offline", t("FarmBot is offline"), lastSeen); } diff --git a/public/soil.png b/public/soil.png new file mode 100644 index 0000000000000000000000000000000000000000..f2e072f21ae477d76bce48258aaccc27bdf84de8 GIT binary patch literal 519075 zcmW(-2RzjMAHOrt2_I!jpo92SJFWQ+e$2g#Dh?CswE#732IgWvTHqjp~; 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z+1$L@Hay>4GP5kfLI;H{D49nc^dUMZs>Nkx@L!+MFe(&drY>m*g9!YLs6{Vn`SLg( zSMA@fH9!B!u^H#OHCS?vtrCxD%;LA@z71CMynX6j1^dik)g8~xmD5U3 zVqhKq{qI>L Date: Sat, 2 Aug 2025 11:14:45 -0700 Subject: [PATCH 27/54] upgrade deps (ruby) --- .ruby-version | 2 +- Gemfile | 2 +- Gemfile.lock | 31 ++++++++++++----------- docker_configs/api.Dockerfile | 2 +- frontend/__test_support__/setup_enzyme.ts | 3 ++- package.json | 26 +++++++++---------- 6 files changed, 34 insertions(+), 32 deletions(-) diff --git a/.ruby-version b/.ruby-version index f9892605c7..4f5e69734c 100755 --- a/.ruby-version +++ b/.ruby-version @@ -1 +1 @@ -3.4.4 +3.4.5 diff --git a/Gemfile b/Gemfile index 47c474e4af..fb8cd29f13 100755 --- a/Gemfile +++ b/Gemfile @@ -1,5 +1,5 @@ source "https://rubygems.org" -ruby "~> 3.4.4" +ruby "~> 3.4.5" gem "rails", "~> 6" gem "active_model_serializers" diff --git a/Gemfile.lock b/Gemfile.lock index 87171928d7..c862e31ccc 100644 --- a/Gemfile.lock +++ b/Gemfile.lock @@ -87,9 +87,9 @@ GEM crass (1.0.6) database_cleaner (2.1.0) database_cleaner-active_record (>= 2, < 3) - database_cleaner-active_record (2.2.1) + database_cleaner-active_record (2.2.2) activerecord (>= 5.a) - database_cleaner-core (~> 2.0.0) + database_cleaner-core (~> 2.0) database_cleaner-core (2.0.1) date (3.4.1) declarative (0.0.20) @@ -120,7 +120,7 @@ GEM railties (>= 6.1.0) faker (3.5.2) i18n (>= 1.8.11, < 2) - faraday (2.13.2) + faraday (2.13.4) faraday-net_http (>= 2.0, < 3.5) json logger @@ -140,7 +140,7 @@ GEM retriable (>= 2.0, < 4.a) google-apis-iamcredentials_v1 (0.24.0) google-apis-core (>= 0.15.0, < 2.a) - google-apis-storage_v1 (0.54.0) + google-apis-storage_v1 (0.55.0) google-apis-core (>= 0.15.0, < 2.a) google-cloud-core (1.8.0) google-cloud-env (>= 1.0, < 3.a) @@ -173,7 +173,7 @@ GEM mutex_m i18n (1.14.7) concurrent-ruby (~> 1.0) - json (2.12.2) + json (2.13.2) jsonapi-renderer (0.2.2) jwt (2.10.2) base64 @@ -207,7 +207,7 @@ GEM method_source (1.1.0) mini_mime (1.1.5) minitest (5.25.5) - multi_json (1.16.0) + multi_json (1.17.0) mutations (0.9.1) activesupport mutex_m (0.3.0) @@ -223,18 +223,19 @@ GEM net-smtp (0.5.1) net-protocol nio4r (2.7.4) - nokogiri (1.18.8-aarch64-linux-gnu) + nokogiri (1.18.9-aarch64-linux-gnu) racc (~> 1.4) - nokogiri (1.18.8-x86_64-linux-gnu) + nokogiri (1.18.9-x86_64-linux-gnu) racc (~> 1.4) orm_adapter (0.5.0) os (1.1.4) - ostruct (0.6.2) + ostruct (0.6.3) passenger (6.0.27) rack (>= 1.6.13) rackup (>= 1.0.1) rake (>= 12.3.3) - pg (1.5.9) + pg (1.6.0-aarch64-linux) + pg (1.6.0-x86_64-linux) pry (0.15.2) coderay (~> 1.1) method_source (~> 1.0) @@ -343,10 +344,10 @@ GEM docile (~> 1.1) simplecov-html (~> 0.11) simplecov_json_formatter (~> 0.1) - simplecov-cobertura (2.1.0) + simplecov-cobertura (3.0.0) rexml simplecov (~> 0.19) - simplecov-html (0.13.1) + simplecov-html (0.13.2) simplecov_json_formatter (0.1.4) sorted_set (1.0.3) rbtree @@ -359,7 +360,7 @@ GEM actionpack (>= 6.1) activesupport (>= 6.1) sprockets (>= 3.0.0) - thor (1.3.2) + thor (1.4.0) thwait (0.2.0) e2mmap timeout (0.4.3) @@ -438,7 +439,7 @@ DEPENDENCIES webmock RUBY VERSION - ruby 3.4.4p34 + ruby 3.4.5p51 BUNDLED WITH - 2.6.9 + 2.7.1 diff --git a/docker_configs/api.Dockerfile b/docker_configs/api.Dockerfile index f5496a05c6..b32180adff 100644 --- a/docker_configs/api.Dockerfile +++ b/docker_configs/api.Dockerfile @@ -1,4 +1,4 @@ -FROM ruby:3.4.4 +FROM ruby:3.4.5 RUN curl https://www.postgresql.org/media/keys/ACCC4CF8.asc | gpg --dearmor | tee /etc/apt/trusted.gpg.d/apt.postgresql.org.gpg > /dev/null && \ sh -c '. /etc/os-release; echo $VERSION_CODENAME; echo "deb http://apt.postgresql.org/pub/repos/apt/ $VERSION_CODENAME-pgdg main" >> /etc/apt/sources.list.d/pgdg.list' && \ apt-get update -qq && apt-get install -y build-essential libpq-dev postgresql postgresql-contrib && \ diff --git a/frontend/__test_support__/setup_enzyme.ts b/frontend/__test_support__/setup_enzyme.ts index 59798bedaf..babb483049 100644 --- a/frontend/__test_support__/setup_enzyme.ts +++ b/frontend/__test_support__/setup_enzyme.ts @@ -1,5 +1,6 @@ import { TextEncoder } from "util"; -global.TextEncoder = TextEncoder; +// eslint-disable-next-line @typescript-eslint/no-explicit-any +global.TextEncoder = TextEncoder as any; import Enzyme from "enzyme"; import Adapter from "@wojtekmaj/enzyme-adapter-react-17"; diff --git a/package.json b/package.json index 71daaaa4f1..b232df7391 100644 --- a/package.json +++ b/package.json @@ -37,26 +37,26 @@ "@parcel/watcher": "2.1.0" }, "dependencies": { - "@blueprintjs/core": "6.0.0", - "@blueprintjs/select": "6.0.0", + "@blueprintjs/core": "6.1.0", + "@blueprintjs/select": "6.0.1", "@monaco-editor/react": "4.7.0", "@parcel/transformer-sass": "2.15.4", "@parcel/transformer-typescript-tsc": "2.15.4", "@react-spring/three": "10.0.1", "@react-three/drei": "9.122.0", "@react-three/fiber": "8.18.0", - "@rollbar/react": "0.12.1", + "@rollbar/react": "1.0.0", "@types/lodash": "4.17.20", "@types/markdown-it": "14.1.2", - "@types/node": "24.0.13", + "@types/node": "24.1.0", "@types/promise-timeout": "1.3.3", - "@types/react": "19.1.8", + "@types/react": "19.1.9", "@types/react-color": "3.0.13", - "@types/react-dom": "19.1.6", + "@types/react-dom": "19.1.7", "@types/three": "0.178.1", "@types/ws": "8.18.1", "@xterm/xterm": "5.5.0", - "axios": "1.10.0", + "axios": "1.11.0", "bowser": "2.11.0", "browser-speech": "1.1.1", "delaunator": "5.0.1", @@ -70,8 +70,8 @@ "markdown-it-emoji": "3.0.0", "moment": "2.30.1", "monaco-editor": "0.52.2", - "mqtt": "5.13.2", - "npm": "11.4.2", + "mqtt": "5.14.0", + "npm": "11.5.2", "parcel": "2.15.4", "process": "0.11.10", "promise-timeout": "1.3.0", @@ -81,7 +81,7 @@ "react-color": "2.19.3", "react-dom": "18.3.1", "react-redux": "9.2.0", - "react-router": "7.6.3", + "react-router": "7.7.1", "redux": "5.0.1", "redux-immutable-state-invariant": "2.1.0", "redux-thunk": "3.1.0", @@ -89,13 +89,13 @@ "suncalc": "1.9.0", "takeme": "0.12.0", "three": "0.178.0", - "typescript": "5.8.3", + "typescript": "5.9.2", "url": "0.11.4" }, "devDependencies": { "@react-three/eslint-plugin": "0.1.2", - "@testing-library/dom": "10.4.0", - "@testing-library/jest-dom": "6.6.3", + "@testing-library/dom": "10.4.1", + "@testing-library/jest-dom": "6.6.4", "@testing-library/react": "16.3.0", "@testing-library/user-event": "14.6.1", "@types/delaunator": "5.0.3", From 1d6f702b48aa9a36166791bfb654556f21f104da Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Sat, 2 Aug 2025 15:33:28 -0700 Subject: [PATCH 28/54] add default axis order setting --- ...3_add_default_axis_order_to_fbos_config.rb | 9 +++++ db/structure.sql | 6 ++- .../__test_support__/fake_state/resources.ts | 3 +- frontend/constants.ts | 4 ++ .../__tests__/calculate_move_test.ts | 19 ++++++++- .../__tests__/{subs_test.ts => stubs_test.ts} | 26 ++++++++++++- frontend/demo/lua_runner/calculate_move.ts | 11 +++++- frontend/demo/lua_runner/stubs.ts | 19 +++++++++ .../__tests__/location_info_test.tsx | 11 +++++- .../farm_designer/__tests__/move_to_test.tsx | 3 +- frontend/farm_designer/location_info.tsx | 6 +++ frontend/farm_designer/move_to.tsx | 6 ++- .../__tests__/axis_order_test.tsx | 23 +++++++++-- .../__tests__/component_test.tsx | 15 +++++++ .../tile_computed_move/axis_order.tsx | 20 +++++++--- .../tile_computed_move/component.tsx | 9 ++++- .../tile_computed_move/interfaces.ts | 1 + frontend/settings/__tests__/index_test.tsx | 6 ++- .../__tests__/default_axis_order_test.tsx | 26 +++++++++++++ .../fbos_settings/default_axis_order.tsx | 39 +++++++++++++++++++ .../settings/fbos_settings/default_values.ts | 5 ++- frontend/settings/fbos_settings/interfaces.ts | 5 +++ .../__tests__/axis_settings_test.tsx | 4 +- .../__tests__/default_values_test.ts | 2 + .../hardware_settings/axis_settings.tsx | 4 ++ frontend/settings/maybe_highlight.tsx | 1 + package.json | 2 +- 27 files changed, 258 insertions(+), 27 deletions(-) create mode 100644 db/migrate/20250802174543_add_default_axis_order_to_fbos_config.rb rename frontend/demo/lua_runner/__tests__/{subs_test.ts => stubs_test.ts} (67%) create mode 100644 frontend/settings/fbos_settings/__tests__/default_axis_order_test.tsx create mode 100644 frontend/settings/fbos_settings/default_axis_order.tsx diff --git a/db/migrate/20250802174543_add_default_axis_order_to_fbos_config.rb b/db/migrate/20250802174543_add_default_axis_order_to_fbos_config.rb new file mode 100644 index 0000000000..5cc9d5461e --- /dev/null +++ b/db/migrate/20250802174543_add_default_axis_order_to_fbos_config.rb @@ -0,0 +1,9 @@ +class AddDefaultAxisOrderToFbosConfig < ActiveRecord::Migration[6.1] + def up + add_column :fbos_configs, :default_axis_order, :string, default: "xy,z;high", limit: 10 + end + + def down + remove_column :fbos_configs, :default_axis_order + end +end diff --git a/db/structure.sql b/db/structure.sql index 037175f7b7..9a974c3f62 100644 --- a/db/structure.sql +++ b/db/structure.sql @@ -577,7 +577,8 @@ CREATE TABLE public.fbos_configs ( boot_sequence_id integer, safe_height integer DEFAULT 0, soil_height integer DEFAULT 0, - gantry_height integer DEFAULT 0 + gantry_height integer DEFAULT 0, + default_axis_order character varying(10) DEFAULT 'xy,z;high'::character varying ); @@ -3985,6 +3986,7 @@ INSERT INTO "schema_migrations" (version) VALUES ('20250221191831'), ('20250502201109'), ('20250514203443'), -('20250722234106'); +('20250722234106'), +('20250802174543'); diff --git a/frontend/__test_support__/fake_state/resources.ts b/frontend/__test_support__/fake_state/resources.ts index 286f519416..1f80dad22c 100644 --- a/frontend/__test_support__/fake_state/resources.ts +++ b/frontend/__test_support__/fake_state/resources.ts @@ -313,7 +313,8 @@ export function fakeFbosConfig(): TaggedFbosConfig { sequence_init_log: false, firmware_hardware: "arduino", os_auto_update: false, - arduino_debug_messages: false + arduino_debug_messages: false, + default_axis_order: "xyz;high", }); } diff --git a/frontend/constants.ts b/frontend/constants.ts index 333694c7df..050e65967c 100644 --- a/frontend/constants.ts +++ b/frontend/constants.ts @@ -176,6 +176,9 @@ export namespace ToolTips { manually measure the height at various locations in the garden and add corresponding soil height points from the points panel. (default: 0)`); + export const DEFAULT_AXIS_ORDER = + trim(`Default axis order for movement. (default: X and Y together)`); + // Hardware Settings: Motors export const MAX_SPEED = trim(`Maximum travel speed after acceleration in millimeters per second. @@ -2084,6 +2087,7 @@ export enum DeviceSetting { gantryHeight = `Gantry Height`, safeHeight = `Safe Height`, fallbackSoilHeight = `Fallback Soil Height`, + defaultAxisOrder = `Default Axis Order`, // Motors motors = `Motors`, diff --git a/frontend/demo/lua_runner/__tests__/calculate_move_test.ts b/frontend/demo/lua_runner/__tests__/calculate_move_test.ts index 193e793cb6..c62aab0cb5 100644 --- a/frontend/demo/lua_runner/__tests__/calculate_move_test.ts +++ b/frontend/demo/lua_runner/__tests__/calculate_move_test.ts @@ -32,9 +32,26 @@ jest.mock("../../../three_d_garden/triangle_functions", () => ({ import { AxisAddition, AxisOverwrite, Move, MoveBodyItem, ParameterApplication, } from "farmbot"; -import { calculateMove } from "../calculate_move"; +import { addDefaults, calculateMove } from "../calculate_move"; import { setCurrent } from "../actions"; +describe("addDefaults()", () => { + it("adds defaults", () => { + const config = fakeFbosConfig(); + config.body.default_axis_order = "safe_z"; + mockResources = buildResourceIndex([config]); + expect(addDefaults([])).toEqual([{ kind: "safe_z", args: {} }]); + }); + + it("doesn't add defaults", () => { + expect(addDefaults([ + { kind: "axis_order", args: { grouping: "xyz", route: "in_order" } }, + ])).toEqual([ + { kind: "axis_order", args: { grouping: "xyz", route: "in_order" } }, + ]); + }); +}); + describe("calculateMove()", () => { beforeEach(() => { setCurrent({ x: 0, y: 0, z: 0 }); diff --git a/frontend/demo/lua_runner/__tests__/subs_test.ts b/frontend/demo/lua_runner/__tests__/stubs_test.ts similarity index 67% rename from frontend/demo/lua_runner/__tests__/subs_test.ts rename to frontend/demo/lua_runner/__tests__/stubs_test.ts index 1d884f2c6e..f3b33fd427 100644 --- a/frontend/demo/lua_runner/__tests__/subs_test.ts +++ b/frontend/demo/lua_runner/__tests__/stubs_test.ts @@ -1,3 +1,4 @@ +import { TaggedFbosConfig } from "farmbot"; import { fakeFbosConfig, fakeFirmwareConfig, @@ -6,14 +7,14 @@ import { let mockFirmwareConfig = fakeFirmwareConfig(); let mockWebAppConfig = fakeWebAppConfig(); -let mockFbosConfig = fakeFbosConfig(); +let mockFbosConfig: TaggedFbosConfig | undefined = fakeFbosConfig(); jest.mock("../../../resources/getters", () => ({ getFirmwareConfig: () => mockFirmwareConfig, getWebAppConfig: () => mockWebAppConfig, getFbosConfig: () => mockFbosConfig, })); -import { getGardenSize, getSafeZ } from "../stubs"; +import { getDefaultAxisOrder, getGardenSize, getSafeZ } from "../stubs"; describe("getGardenSize()", () => { it("gets garden size: axis lengths", () => { @@ -52,3 +53,24 @@ describe("getSafeZ()", () => { expect(getSafeZ()).toEqual(-200); }); }); + +describe("getDefaultAxisOrder()", () => { + it("handles undefined", () => { + mockFbosConfig = undefined; + expect(getDefaultAxisOrder()).toEqual([]); + }); + + it("returns safe_z", () => { + mockFbosConfig = fakeFbosConfig(); + mockFbosConfig.body.default_axis_order = "safe_z"; + expect(getDefaultAxisOrder()).toEqual([{ kind: "safe_z", args: {} }]); + }); + + it("returns axis_order", () => { + mockFbosConfig = fakeFbosConfig(); + mockFbosConfig.body.default_axis_order = "xyz;high"; + expect(getDefaultAxisOrder()).toEqual([ + { kind: "axis_order", args: { grouping: "xyz", route: "high" } }, + ]); + }); +}); diff --git a/frontend/demo/lua_runner/calculate_move.ts b/frontend/demo/lua_runner/calculate_move.ts index de14640ff3..347ae936e2 100644 --- a/frontend/demo/lua_runner/calculate_move.ts +++ b/frontend/demo/lua_runner/calculate_move.ts @@ -12,9 +12,16 @@ import { maybeFindPointById, maybeFindSlotByToolId, } from "../../resources/selectors"; -import { getSafeZ, getSoilHeight } from "./stubs"; +import { getDefaultAxisOrder, getSafeZ, getSoilHeight } from "./stubs"; import { clone } from "lodash"; +export const addDefaults = (body: MoveBodyItem[]): MoveBodyItem[] => { + if (body.some(item => item.kind === "axis_order")) { + return body; + } + return body.concat(getDefaultAxisOrder()); +}; + export const calculateMove = ( body: MoveBodyItem[] | undefined, current: XyzNumber, @@ -22,7 +29,7 @@ export const calculateMove = ( ): { moves: XyzNumber[], warnings: string[] } => { const pos = clone(current); const warnings: string[] = []; - const moveBodyItems = body || []; + const moveBodyItems = addDefaults(body || []); // eslint-disable-next-line complexity moveBodyItems.map(item => { switch (item.kind) { diff --git a/frontend/demo/lua_runner/stubs.ts b/frontend/demo/lua_runner/stubs.ts index 6ec739d75f..f032a6eed4 100644 --- a/frontend/demo/lua_runner/stubs.ts +++ b/frontend/demo/lua_runner/stubs.ts @@ -1,5 +1,9 @@ import { store } from "../../redux/store"; import { + ALLOWED_GROUPING, + ALLOWED_ROUTE, + AxisOrder, + SafeZ, TaggedFbosConfig, TaggedFirmwareConfig, TaggedWebAppConfig, } from "farmbot"; import { calculateAxialLengths } from "../../controls/move/direction_axes_props"; @@ -66,3 +70,18 @@ export const getGroupPoints = (resources: ResourceIndex, groupId: number) => { const groupPoints = pointsSelectedByGroup(group, allPoints); return sortGroupBy(group.body.sort_type, groupPoints); }; + +export const getDefaultAxisOrder = (): (SafeZ | AxisOrder)[] => { + const fbosConfig = getFbosConfig(store.getState().resources.index); + const defaultAxisOrder = fbosConfig?.body.default_axis_order; + switch (defaultAxisOrder) { + case "safe_z": + return [{ kind: "safe_z", args: {} }]; + case undefined: + return []; + default: + const [grouping, route] = + defaultAxisOrder.split(";") as [ALLOWED_GROUPING, ALLOWED_ROUTE]; + return [{ kind: "axis_order", args: { grouping, route } }]; + } +}; diff --git a/frontend/farm_designer/__tests__/location_info_test.tsx b/frontend/farm_designer/__tests__/location_info_test.tsx index ab0d1bb601..065837d52d 100644 --- a/frontend/farm_designer/__tests__/location_info_test.tsx +++ b/frontend/farm_designer/__tests__/location_info_test.tsx @@ -9,6 +9,7 @@ import { BooleanSetting } from "../../session_keys"; import { fakeTimeSettings } from "../../__test_support__/fake_time_settings"; import { buildResourceIndex } from "../../__test_support__/resource_index_builder"; import { + fakeFbosConfig, fakeImage, fakePlant, fakePoint, fakeSensor, fakeSensorReading, fakeWebAppConfig, } from "../../__test_support__/fake_state/resources"; import { tagAsSoilHeight } from "../../points/soil_height"; @@ -37,6 +38,7 @@ describe("", () => { farmwareEnvs: [], arduinoBusy: false, movementState: fakeMovementState(), + defaultAxisOrder: "safe_z", }); it("renders empty panel", () => { @@ -163,10 +165,17 @@ describe("", () => { describe("mapStateToProps()", () => { it("returns props", () => { const state = fakeState(); - state.resources = buildResourceIndex([fakeWebAppConfig()]); + state.resources = buildResourceIndex([fakeWebAppConfig(), fakeFbosConfig()]); const props = mapStateToProps(state); expect(props.getConfigValue(BooleanSetting.xy_swap)).toEqual(false); }); + + it("handles missing config", () => { + const state = fakeState(); + state.resources = buildResourceIndex([]); + const props = mapStateToProps(state); + expect(props.getConfigValue(BooleanSetting.xy_swap)).toEqual(undefined); + }); }); describe("", () => { diff --git a/frontend/farm_designer/__tests__/move_to_test.tsx b/frontend/farm_designer/__tests__/move_to_test.tsx index 90b2c11ffe..2d54c4e8dd 100644 --- a/frontend/farm_designer/__tests__/move_to_test.tsx +++ b/frontend/farm_designer/__tests__/move_to_test.tsx @@ -36,6 +36,7 @@ describe("", () => { botOnline: true, locked: false, dispatch: jest.fn(), + defaultAxisOrder: "safe_z", }); it("moves to location: custom z value", () => { @@ -64,7 +65,7 @@ describe("", () => { it("changes safe z value", () => { render(); expect(screen.queryByText("Safe Z")).not.toBeInTheDocument(); - const dropdown = screen.getByRole("button", { name: "All at once" }); + const dropdown = screen.getByRole("button", { name: "Use default (Safe Z)" }); fireEvent.click(dropdown); expect(screen.getAllByText("Safe Z").length).toEqual(1); const item = screen.getByRole("menuitem", { name: "Safe Z" }); diff --git a/frontend/farm_designer/location_info.tsx b/frontend/farm_designer/location_info.tsx index bcdb99b7ae..f577b9ecb1 100644 --- a/frontend/farm_designer/location_info.tsx +++ b/frontend/farm_designer/location_info.tsx @@ -46,6 +46,7 @@ import { PhotoFooter } from "../photos/images/photos"; import { Path } from "../internal_urls"; import { NavigationContext } from "../routes_helpers"; import { DrawnPointPayl } from "./interfaces"; +import { getFbosConfig } from "../resources/getters"; export const mapStateToProps = (props: Everything): LocationInfoProps => ({ chosenLocation: props.resources.consumers.farm_designer.chosenLocation, @@ -67,6 +68,7 @@ export const mapStateToProps = (props: Everything): LocationInfoProps => ({ timeSettings: maybeGetTimeSettings(props.resources.index), arduinoBusy: props.bot.hardware.informational_settings.busy, movementState: props.app.movement, + defaultAxisOrder: getFbosConfig(props.resources.index)?.body.default_axis_order, }); export interface LocationInfoProps { @@ -87,6 +89,7 @@ export interface LocationInfoProps { farmwareEnvs: TaggedFarmwareEnv[]; arduinoBusy: boolean; movementState: MovementState; + defaultAxisOrder: string | undefined; } export class RawLocationInfo extends React.Component { @@ -142,6 +145,7 @@ export class RawLocationInfo extends React.Component { graphic={EmptyStateGraphic.points}>
{ const navigate = useNavigate(); return
this.setState({ speed })} /> ", () => { [false, "x,y,z", "high", "One at a time"], [false, "xy,z", "high", "X and Y together"], [false, "xyz", "high", "All at once"], - [false, undefined, undefined, "All at once"], + [false, undefined, undefined, "Use default"], [false, "x", "low", "x;low"], [true, "x", "low", "Safe Z"], ])("renders order: safe_z=%s %s %s", (safeZ, grouping, route, label) => { @@ -52,6 +52,16 @@ describe("", () => { }); }); + it("shows default", () => { + const p = fakeProps(); + p.defaultValue = "safe_z"; + render(); + const dropdown = screen.getByRole("button"); + fireEvent.click(dropdown); + expect(screen.getByRole("menuitem", { name: "Use default (Safe Z)" })) + .toBeInTheDocument(); + }); + it("shows all order options", () => { mockDev = true; const p = fakeProps(); @@ -59,6 +69,8 @@ describe("", () => { const dropdown = screen.getByRole("button"); fireEvent.click(dropdown); expect(screen.getByRole("menuitem", { name: "x,yz;high" })).toBeInTheDocument(); + expect(screen.getByRole("menuitem", { name: "Use default" })) + .toBeInTheDocument(); }); }); @@ -76,7 +88,9 @@ describe("getAxisGroupingState()", () => { const move: Move = { kind: "move", args: {}, - body: [{ kind: "axis_order", args: { grouping: "z,y,x", route: "in_order" } }], + body: [ + { kind: "axis_order", args: { grouping: "z,y,x", route: "in_order" } }, + ], }; expect(getAxisGroupingState(move)).toEqual("z,y,x"); }); @@ -91,13 +105,14 @@ describe("getAxisGroupingState()", () => { }); }); - describe("getAxisRouteState()", () => { it("returns state: axis order", () => { const move: Move = { kind: "move", args: {}, - body: [{ kind: "axis_order", args: { grouping: "z,y,x", route: "in_order" } }], + body: [ + { kind: "axis_order", args: { grouping: "z,y,x", route: "in_order" } }, + ], }; expect(getAxisRouteState(move)).toEqual("in_order"); }); diff --git a/frontend/sequences/step_tiles/tile_computed_move/__tests__/component_test.tsx b/frontend/sequences/step_tiles/tile_computed_move/__tests__/component_test.tsx index 51756046bc..3df19e6564 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/__tests__/component_test.tsx +++ b/frontend/sequences/step_tiles/tile_computed_move/__tests__/component_test.tsx @@ -2,6 +2,7 @@ const mockEditStep = jest.fn(); jest.mock("../../../../api/crud", () => ({ editStep: mockEditStep })); import React from "react"; +import { fireEvent, render, screen } from "@testing-library/react"; import { mount, shallow } from "enzyme"; import { ComputedMove } from "../component"; import { Move, SpecialValue } from "farmbot"; @@ -16,6 +17,10 @@ import { } from "../test_fixtures"; import { inputEvent } from "../../../../__test_support__/fake_html_events"; import { StepParams } from "../../../interfaces"; +import { + buildResourceIndex, +} from "../../../../__test_support__/resource_index_builder"; +import { fakeFbosConfig } from "../../../../__test_support__/fake_state/resources"; describe("", () => { const fakeProps = (): StepParams => { @@ -165,6 +170,16 @@ describe("", () => { expect(wrapper.state().axisRoute).toEqual("high"); }); + it("handles config", () => { + const p = fakeProps(); + const config = fakeFbosConfig(); + config.body.default_axis_order = "safe_z"; + p.resources = buildResourceIndex([config]).index; + render(); + fireEvent.click(screen.getByText("[]")); + expect(screen.getByText("Use default (Safe Z)")).toBeInTheDocument(); + }); + it("commits number value", () => { const p = fakeProps(); const wrapper = shallow(); diff --git a/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx b/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx index da94234fc5..6e58b20bac 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx +++ b/frontend/sequences/step_tiles/tile_computed_move/axis_order.tsx @@ -14,21 +14,28 @@ export const axisOrder = ( ): AxisOrder[] => !(grouping && route) ? [] : [{ kind: "axis_order", args: { grouping, route } }]; -export const AxisOrderInputRow = (props: AxisOrderInputRowProps) => - +export const AxisOrderInputRow = (props: AxisOrderInputRowProps) => { + const defaultLabel = props.defaultValue + ? ` (${DDI_LOOKUP()[props.defaultValue].label})` + : ""; + return
; +}; + +export const getAxisOrderOptions = () => + DevSettings.allOrderOptionsEnabled() ? ALL_DDIS() : DDIS(); -const getSelectedItem = ( +export const getSelectedAxisOrder = ( safeZ: boolean, grouping: AxisGrouping, route: AxisRoute, @@ -45,6 +52,7 @@ const DDIS = (): DropDownItem[] => [ DDI_LOOKUP().safe_z, DDI_LOOKUP()[ddiValue("x,y,z", "high")], DDI_LOOKUP()[ddiValue("xy,z", "high")], + DDI_LOOKUP()[ddiValue("xyz", "high")], ]; const getLabel = (value: string): string => { diff --git a/frontend/sequences/step_tiles/tile_computed_move/component.tsx b/frontend/sequences/step_tiles/tile_computed_move/component.tsx index ca73cd8068..85912630c4 100644 --- a/frontend/sequences/step_tiles/tile_computed_move/component.tsx +++ b/frontend/sequences/step_tiles/tile_computed_move/component.tsx @@ -33,6 +33,7 @@ import { getNewAxisOrderState, } from "./axis_order"; import { StepParams } from "../../interfaces"; +import { getFbosConfig } from "../../../resources/getters"; /** * _Computed move_ @@ -313,16 +314,20 @@ export class ComputedMove setAxisState={this.setAxisState} /> : undefined; - AxisOrderInputRow = () => - ((this.state.axisGrouping && this.state.axisRoute) + AxisOrderInputRow = () => { + const defaultAxisOrder = + getFbosConfig(this.props.resources)?.body.default_axis_order; + return ((this.state.axisGrouping && this.state.axisRoute) || this.state.safeZ || this.state.more) ? : undefined; + }; render() { return ", () => { getConfigValue: () => 0, firmwareConfig: undefined, sourceFwConfig: () => ({ value: 10, consistent: true }), - sourceFbosConfig: () => ({ value: 10, consistent: true }), + sourceFbosConfig: x => ({ + value: fakeFbosConfig().body[x as keyof FbosConfig], consistent: true, + }), resources: buildResourceIndex([]).index, deviceAccount: fakeDevice(), alerts: [], diff --git a/frontend/settings/fbos_settings/__tests__/default_axis_order_test.tsx b/frontend/settings/fbos_settings/__tests__/default_axis_order_test.tsx new file mode 100644 index 0000000000..10a0e1aa1b --- /dev/null +++ b/frontend/settings/fbos_settings/__tests__/default_axis_order_test.tsx @@ -0,0 +1,26 @@ +jest.mock("../../../devices/actions", () => ({ + updateConfig: jest.fn(), +})); + +import React from "react"; +import { render, screen, fireEvent } from "@testing-library/react"; +import { DefaultAxisOrder } from "../default_axis_order"; +import { DefaultAxisOrderProps } from "../interfaces"; +import { updateConfig } from "../../../devices/actions"; + +describe("", () => { + const fakeProps = (): DefaultAxisOrderProps => ({ + sourceFbosConfig: () => ({ value: "safe_z", consistent: true }), + dispatch: jest.fn(), + }); + + it("renders", () => { + render(); + expect(screen.getByText("Safe Z")).toBeInTheDocument(); + const dropdown = screen.getByRole("button"); + fireEvent.click(dropdown); + const item = screen.getByRole("menuitem", { name: "X and Y together" }); + fireEvent.click(item); + expect(updateConfig).toHaveBeenCalledWith({ default_axis_order: "xy,z;high" }); + }); +}); diff --git a/frontend/settings/fbos_settings/default_axis_order.tsx b/frontend/settings/fbos_settings/default_axis_order.tsx new file mode 100644 index 0000000000..86ad92f9fb --- /dev/null +++ b/frontend/settings/fbos_settings/default_axis_order.tsx @@ -0,0 +1,39 @@ +import React from "react"; +import { t } from "../../i18next_wrapper"; +import { Row, Help, FBSelect } from "../../ui"; +import { DeviceSetting, ToolTips } from "../../constants"; +import { Highlight } from "../maybe_highlight"; +import { DefaultAxisOrderProps } from "./interfaces"; +import { getModifiedClassName } from "./default_values"; +import { + getAxisOrderOptions, + getSelectedAxisOrder, +} from "../../sequences/step_tiles/tile_computed_move/axis_order"; +import { + AxisGrouping, AxisRoute, +} from "../../sequences/step_tiles/tile_computed_move/interfaces"; +import { updateConfig } from "../../devices/actions"; + +export const DefaultAxisOrder = (props: DefaultAxisOrderProps) => { + const value = props.sourceFbosConfig("default_axis_order").value as string; + const modified = getModifiedClassName("default_axis_order", value, undefined); + const safeZ = value === "safe_z"; + const [grouping, route] = value.split(";") as [AxisGrouping, AxisRoute]; + return + +
+ + +
+ { + props.dispatch(updateConfig({ default_axis_order: "" + ddi.value })); + }} /> + + ; +}; diff --git a/frontend/settings/fbos_settings/default_values.ts b/frontend/settings/fbos_settings/default_values.ts index b7befdec60..507068291d 100644 --- a/frontend/settings/fbos_settings/default_values.ts +++ b/frontend/settings/fbos_settings/default_values.ts @@ -7,7 +7,9 @@ import { ConfigurationName, FirmwareHardware } from "farmbot"; import { getModifiedClassNameSpecifyModified } from "../default_values"; import { cloneDeep } from "lodash"; -type Key = BooleanFbosConfigKey | StringFbosConfigKey | NumberFbosConfigKey +type Key = BooleanFbosConfigKey + | StringFbosConfigKey + | NumberFbosConfigKey | ConfigurationName; type Value = string | number | boolean | undefined; const DEFAULT_FBOS_CONFIG_VALUES: Record = { @@ -29,6 +31,7 @@ const DEFAULT_FBOS_CONFIG_VALUES: Record = { safe_height: 0, soil_height: 0, gantry_height: 120, + default_axis_order: "xy,z;high", }; const DEFAULT_EXPRESS_FBOS_CONFIG_VALUES = diff --git a/frontend/settings/fbos_settings/interfaces.ts b/frontend/settings/fbos_settings/interfaces.ts index 04bb09e3f7..a4c943a3c3 100644 --- a/frontend/settings/fbos_settings/interfaces.ts +++ b/frontend/settings/fbos_settings/interfaces.ts @@ -102,3 +102,8 @@ export interface ZHeightInputProps { dispatch: Function; sourceFbosConfig: SourceFbosConfig; } + +export interface DefaultAxisOrderProps { + dispatch: Function; + sourceFbosConfig: SourceFbosConfig; +} diff --git a/frontend/settings/hardware_settings/__tests__/axis_settings_test.tsx b/frontend/settings/hardware_settings/__tests__/axis_settings_test.tsx index 4ffd7cc7d7..90a63c5ca2 100644 --- a/frontend/settings/hardware_settings/__tests__/axis_settings_test.tsx +++ b/frontend/settings/hardware_settings/__tests__/axis_settings_test.tsx @@ -16,6 +16,7 @@ import { mount, shallow } from "enzyme"; import { AxisSettings } from "../axis_settings"; import { bot } from "../../../__test_support__/fake_state/bot"; import { + fakeFbosConfig, fakeFirmwareConfig, } from "../../../__test_support__/fake_state/resources"; import { error, warning } from "../../../toast/toast"; @@ -29,6 +30,7 @@ import { buildResourceIndex, } from "../../../__test_support__/resource_index_builder"; import { edit, save } from "../../../api/crud"; +import { FbosConfig } from "farmbot/dist/resources/configs/fbos"; describe("", () => { const state = fakeState(); @@ -43,7 +45,7 @@ describe("", () => { value: bot.hardware.mcu_params[x], consistent: true }), sourceFbosConfig: x => ({ - value: bot.hardware.configuration[x], consistent: true + value: fakeFbosConfig().body[x as keyof FbosConfig], consistent: true, }), firmwareConfig: fakeConfig.body, botOnline: true, diff --git a/frontend/settings/hardware_settings/__tests__/default_values_test.ts b/frontend/settings/hardware_settings/__tests__/default_values_test.ts index 3b78e8bb3e..643db3e933 100644 --- a/frontend/settings/hardware_settings/__tests__/default_values_test.ts +++ b/frontend/settings/hardware_settings/__tests__/default_values_test.ts @@ -21,5 +21,7 @@ describe("getModifiedClassName()", () => { expect(getModifiedClassName("encoder_enabled_x", 1, "arduino")).toEqual(""); expect(getModifiedClassName("encoder_enabled_x", 0, "arduino")) .toEqual("modified"); + expect(getModifiedClassName("encoder_enabled_x", 0, "arduino", () => 1)) + .toEqual(""); }); }); diff --git a/frontend/settings/hardware_settings/axis_settings.tsx b/frontend/settings/hardware_settings/axis_settings.tsx index 076cf2eda4..2706189475 100644 --- a/frontend/settings/hardware_settings/axis_settings.tsx +++ b/frontend/settings/hardware_settings/axis_settings.tsx @@ -21,6 +21,7 @@ import { } from "../fbos_settings/z_height_inputs"; import { setAxisLength } from "../../controls/move/bot_position_rows"; import { validBotLocationData } from "../../util/location"; +import { DefaultAxisOrder } from "../fbos_settings/default_axis_order"; export const AxisSettings = (props: AxisSettingsProps) => { @@ -176,6 +177,9 @@ export const AxisSettings = (props: AxisSettingsProps) => { + ; }; diff --git a/frontend/settings/maybe_highlight.tsx b/frontend/settings/maybe_highlight.tsx index b265d6c079..5ff7dd0cc9 100644 --- a/frontend/settings/maybe_highlight.tsx +++ b/frontend/settings/maybe_highlight.tsx @@ -50,6 +50,7 @@ const AXES_PANEL = [ DeviceSetting.axisLength, DeviceSetting.safeHeight, DeviceSetting.fallbackSoilHeight, + DeviceSetting.defaultAxisOrder, ]; const MOTORS_PANEL = [ DeviceSetting.motors, diff --git a/package.json b/package.json index b232df7391..b55bf8129b 100644 --- a/package.json +++ b/package.json @@ -61,7 +61,7 @@ "browser-speech": "1.1.1", "delaunator": "5.0.1", "events": "3.3.0", - "farmbot": "15.9.1", + "farmbot": "15.9.2", "fengari": "0.1.4", "fengari-web": "0.1.4", "i18next": "25.3.2", From f2f8d903fded5f652efcefa662d42d7b1bbd76ee Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Sat, 2 Aug 2025 16:54:16 -0700 Subject: [PATCH 29/54] eslint-ignore problem file --- .eslintignore | 1 + frontend/wizard/step.tsx | 1 + 2 files changed, 2 insertions(+) diff --git a/.eslintignore b/.eslintignore index 3b7973f239..4008f52cc8 100644 --- a/.eslintignore +++ b/.eslintignore @@ -1,2 +1,3 @@ hacks.d.ts .eslintrc.js +frontend/wizard/step.tsx diff --git a/frontend/wizard/step.tsx b/frontend/wizard/step.tsx index 26b635dd59..5069246e79 100644 --- a/frontend/wizard/step.tsx +++ b/frontend/wizard/step.tsx @@ -1,3 +1,4 @@ +/** Warning: This file has been ignored by eslint due to a call stack error. */ import React from "react"; import { t } from "../i18next_wrapper"; import { Collapse } from "@blueprintjs/core"; From 92bfa11daecc9dba37bd83df85a5725acf1bb8b1 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Tue, 12 Aug 2025 16:05:15 -0700 Subject: [PATCH 30/54] use correct tooltip --- frontend/settings/fbos_settings/default_axis_order.tsx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/frontend/settings/fbos_settings/default_axis_order.tsx b/frontend/settings/fbos_settings/default_axis_order.tsx index 86ad92f9fb..add638621a 100644 --- a/frontend/settings/fbos_settings/default_axis_order.tsx +++ b/frontend/settings/fbos_settings/default_axis_order.tsx @@ -25,7 +25,7 @@ export const DefaultAxisOrder = (props: DefaultAxisOrderProps) => { - +
Date: Wed, 13 Aug 2025 11:02:18 -0700 Subject: [PATCH 31/54] add 3D sequence visualization and fix demo trough movements --- .../__tests__/calculate_move_test.ts | 3 +- frontend/demo/lua_runner/actions.ts | 4 + frontend/demo/lua_runner/calculate_move.ts | 10 ++- .../sequences/__tests__/all_steps_test.tsx | 4 +- .../sequence_editor_middle_active_test.tsx | 15 +++- .../__tests__/sequence_editor_middle_test.tsx | 1 + .../sequences/__tests__/sequences_test.tsx | 1 + frontend/sequences/all_steps.tsx | 2 +- frontend/sequences/interfaces.ts | 2 +- .../sequences/panel/__tests__/editor_test.tsx | 1 + .../sequences/panel/__tests__/list_test.tsx | 1 + frontend/sequences/sequence_editor_middle.tsx | 1 + .../sequence_editor_middle_active.tsx | 3 + frontend/sequences/sequences.tsx | 1 + frontend/sequences/state_to_props.ts | 2 +- .../__tests__/visualization_test.tsx | 78 +++++++++++++++++++ frontend/three_d_garden/garden_model.tsx | 4 + frontend/three_d_garden/visualization.tsx | 46 +++++++++++ 18 files changed, 168 insertions(+), 11 deletions(-) create mode 100644 frontend/three_d_garden/__tests__/visualization_test.tsx create mode 100644 frontend/three_d_garden/visualization.tsx diff --git a/frontend/demo/lua_runner/__tests__/calculate_move_test.ts b/frontend/demo/lua_runner/__tests__/calculate_move_test.ts index c62aab0cb5..a7020bc92a 100644 --- a/frontend/demo/lua_runner/__tests__/calculate_move_test.ts +++ b/frontend/demo/lua_runner/__tests__/calculate_move_test.ts @@ -243,6 +243,7 @@ describe("calculateMove()", () => { slot.body.x = 1; slot.body.y = 2; slot.body.z = 3; + slot.body.gantry_mounted = true; mockResources = buildResourceIndex([tool, slot]); const command: Move = { kind: "move", @@ -258,7 +259,7 @@ describe("calculateMove()", () => { ], }; expect(calculateMove(command.body, { x: 0, y: 0, z: 0 }, [])) - .toEqual({ moves: [{ x: 1, y: 2, z: 3 }], warnings: [] }); + .toEqual({ moves: [{ x: 0, y: 2, z: 3 }], warnings: [] }); }); it("handles missing tool", () => { diff --git a/frontend/demo/lua_runner/actions.ts b/frontend/demo/lua_runner/actions.ts index 825a736073..4cdadf54e7 100644 --- a/frontend/demo/lua_runner/actions.ts +++ b/frontend/demo/lua_runner/actions.ts @@ -90,6 +90,7 @@ export const setCurrent = (position: XyzNumber) => { export const expandActions = ( actions: Action[], variables: ParameterApplication[] | undefined, + stashedCurrentPosition?: XyzNumber, ): Action[] => { const expanded: Action[] = []; const timeStepMs = parseInt(localStorage.getItem("timeStepMs") || "250"); @@ -239,6 +240,9 @@ export const expandActions = ( break; } }); + if (stashedCurrentPosition) { + setCurrent(stashedCurrentPosition); + } return expanded; }; diff --git a/frontend/demo/lua_runner/calculate_move.ts b/frontend/demo/lua_runner/calculate_move.ts index 347ae936e2..a92a79e945 100644 --- a/frontend/demo/lua_runner/calculate_move.ts +++ b/frontend/demo/lua_runner/calculate_move.ts @@ -86,12 +86,14 @@ export const calculateMove = ( if (!toolSlot) { break; } + const toolSlotBody = clone(toolSlot.body); + if (toolSlotBody.gantry_mounted) { toolSlotBody.x = pos.x; } if (item.args.axis == "all") { - pos.x = toolSlot.body.x; - pos.y = toolSlot.body.y; - pos.z = toolSlot.body.z; + pos.x = toolSlotBody.x; + pos.y = toolSlotBody.y; + pos.z = toolSlotBody.z; } else { - pos[item.args.axis] = toolSlot.body[item.args.axis]; + pos[item.args.axis] = toolSlotBody[item.args.axis]; } break; case "identifier": diff --git a/frontend/sequences/__tests__/all_steps_test.tsx b/frontend/sequences/__tests__/all_steps_test.tsx index 4696d73119..bdf60a539c 100644 --- a/frontend/sequences/__tests__/all_steps_test.tsx +++ b/frontend/sequences/__tests__/all_steps_test.tsx @@ -62,7 +62,7 @@ describe("", () => { it("displays hover highlight", () => { const p = fakeProps(); - p.visualized = true; + p.visualized = "uuid"; p.sequence.body.body = [{ kind: "wait", args: { milliseconds: 0 } }]; p.sequence.body.body.map(step => maybeTagStep(step)); p.hoveredStep = getStepTag(p.sequence.body.body[0]); @@ -72,7 +72,7 @@ describe("", () => { it("doesn't display hover highlight", () => { const p = fakeProps(); - p.visualized = false; + p.visualized = undefined; p.sequence.body.body = [{ kind: "wait", args: { milliseconds: 0 } }]; p.sequence.body.body.map(step => maybeTagStep(step)); p.hoveredStep = getStepTag(p.sequence.body.body[0]); diff --git a/frontend/sequences/__tests__/sequence_editor_middle_active_test.tsx b/frontend/sequences/__tests__/sequence_editor_middle_active_test.tsx index 72e5c83007..3289adedce 100644 --- a/frontend/sequences/__tests__/sequence_editor_middle_active_test.tsx +++ b/frontend/sequences/__tests__/sequence_editor_middle_active_test.tsx @@ -65,6 +65,7 @@ import { ImportedBanner, AddCommandButtonProps, } from "../sequence_editor_middle_active"; +import { render } from "@testing-library/react"; import { mount, shallow } from "enzyme"; import { ActiveMiddleProps, SequenceBtnGroupProps, SequenceSettingProps, @@ -120,6 +121,7 @@ describe("", () => { getWebAppConfigValue: jest.fn(), sequencesState: emptyState().consumers.sequences, showName: true, + visualized: undefined, }; }; @@ -313,7 +315,7 @@ describe("", () => { it("un-visualizes", () => { location.pathname = Path.mock(Path.designerSequences("1")); const p = fakeProps(); - p.visualized = true; + p.visualized = "uuid"; const wrapper = mount(); wrapper.find(".fa-eye").simulate("click"); expect(p.dispatch).toHaveBeenCalledWith({ @@ -322,6 +324,16 @@ describe("", () => { }); }); + it("re-visualizes", () => { + const p = fakeProps(); + p.visualized = "not uuid"; + render(); + expect(p.dispatch).toHaveBeenCalledWith({ + type: Actions.VISUALIZE_SEQUENCE, + payload: p.sequence.uuid, + }); + }); + it("pins sequence", () => { location.pathname = Path.mock(Path.sequences("1")); const p = fakeProps(); @@ -587,6 +599,7 @@ describe("", () => { toggleViewSequenceCeleryScript: jest.fn(), sequencesState: emptyState().consumers.sequences, viewCeleryScript: true, + visualized: undefined, }); it("edits color", () => { diff --git a/frontend/sequences/__tests__/sequence_editor_middle_test.tsx b/frontend/sequences/__tests__/sequence_editor_middle_test.tsx index 26ff988f2a..42a2139f80 100644 --- a/frontend/sequences/__tests__/sequence_editor_middle_test.tsx +++ b/frontend/sequences/__tests__/sequence_editor_middle_test.tsx @@ -21,6 +21,7 @@ describe("", () => { farmwareData: fakeFarmwareData(), getWebAppConfigValue: jest.fn(), sequencesState: emptyState().consumers.sequences, + visualized: undefined, }; } diff --git a/frontend/sequences/__tests__/sequences_test.tsx b/frontend/sequences/__tests__/sequences_test.tsx index 17aecbc332..9a776fa54c 100644 --- a/frontend/sequences/__tests__/sequences_test.tsx +++ b/frontend/sequences/__tests__/sequences_test.tsx @@ -45,6 +45,7 @@ describe("", () => { sequencesState: emptyState().consumers.sequences, folderData: mapStateToFolderProps(fakeState()), sequencesPanelState: sequencesPanelState(), + visualized: undefined, }); it("renders", () => { diff --git a/frontend/sequences/all_steps.tsx b/frontend/sequences/all_steps.tsx index 180874fd61..af0a7fdf23 100644 --- a/frontend/sequences/all_steps.tsx +++ b/frontend/sequences/all_steps.tsx @@ -22,7 +22,7 @@ export interface AllStepsProps { farmwareData?: FarmwareData; showPins?: boolean; expandStepOptions?: boolean; - visualized?: boolean; + visualized?: string | undefined; hoveredStep?: string | undefined; sequencesState: SequenceReducerState; } diff --git a/frontend/sequences/interfaces.ts b/frontend/sequences/interfaces.ts index 6d65176efc..d934c0353b 100644 --- a/frontend/sequences/interfaces.ts +++ b/frontend/sequences/interfaces.ts @@ -42,7 +42,7 @@ interface SequencePropsBase { resources: ResourceIndex; sequencesState: SequenceReducerState; getWebAppConfigValue: GetWebAppConfigValue; - visualized?: boolean; + visualized: string | undefined; } export interface SequencesProps extends SequencePropsBase { diff --git a/frontend/sequences/panel/__tests__/editor_test.tsx b/frontend/sequences/panel/__tests__/editor_test.tsx index e44034dfbc..0c8bc680ea 100644 --- a/frontend/sequences/panel/__tests__/editor_test.tsx +++ b/frontend/sequences/panel/__tests__/editor_test.tsx @@ -70,6 +70,7 @@ describe("", () => { sequencesState: emptyState().consumers.sequences, folderData: mapStateToFolderProps(fakeState()), sequencesPanelState: sequencesPanelState(), + visualized: undefined, }); it("renders", () => { diff --git a/frontend/sequences/panel/__tests__/list_test.tsx b/frontend/sequences/panel/__tests__/list_test.tsx index 0fef3620bf..f218c650f0 100644 --- a/frontend/sequences/panel/__tests__/list_test.tsx +++ b/frontend/sequences/panel/__tests__/list_test.tsx @@ -72,6 +72,7 @@ describe("", () => { sequencesState: emptyState().consumers.sequences, folderData: mapStateToFolderProps(fakeState()), sequencesPanelState: sequencesPanelState(), + visualized: undefined, }); it("renders", () => { diff --git a/frontend/sequences/sequence_editor_middle.tsx b/frontend/sequences/sequence_editor_middle.tsx index 670a52d2ac..1dae377108 100644 --- a/frontend/sequences/sequence_editor_middle.tsx +++ b/frontend/sequences/sequence_editor_middle.tsx @@ -27,6 +27,7 @@ export class SequenceEditorMiddle hardwareFlags={this.props.hardwareFlags} farmwareData={this.props.farmwareData} getWebAppConfigValue={this.props.getWebAppConfigValue} + visualized={undefined} sequencesState={this.props.sequencesState} />} ; } diff --git a/frontend/sequences/sequence_editor_middle_active.tsx b/frontend/sequences/sequence_editor_middle_active.tsx index 77e87663d6..e0e667cfe8 100644 --- a/frontend/sequences/sequence_editor_middle_active.tsx +++ b/frontend/sequences/sequence_editor_middle_active.tsx @@ -265,6 +265,9 @@ export const SequenceBtnGroup = ({ viewCeleryScript, visualized, }: SequenceBtnGroupProps) => { + if (visualized && sequence.uuid != visualized) { + dispatch(visualizeInMap(sequence.uuid)); + } const [processingTitle, setProcessingTitle] = React.useState(false); const [processingColor, setProcessingColor] = React.useState(false); const isProcessing = processingColor || processingTitle; diff --git a/frontend/sequences/sequences.tsx b/frontend/sequences/sequences.tsx index 0df850eae7..7b000ebeb3 100644 --- a/frontend/sequences/sequences.tsx +++ b/frontend/sequences/sequences.tsx @@ -66,6 +66,7 @@ export class RawSequences extends React.Component { hardwareFlags={this.props.hardwareFlags} farmwareData={this.props.farmwareData} getWebAppConfigValue={this.props.getWebAppConfigValue} + visualized={undefined} sequencesState={sequencesState} />
diff --git a/frontend/sequences/state_to_props.ts b/frontend/sequences/state_to_props.ts index d807dc13ec..e83f6548b3 100644 --- a/frontend/sequences/state_to_props.ts +++ b/frontend/sequences/state_to_props.ts @@ -59,7 +59,7 @@ export function mapStateToProps(props: Everything): SequencesProps { getWebAppConfigValue: getConfig, sequencesState: props.resources.consumers.sequences, folderData: mapStateToFolderProps(props), - visualized: !!props.resources.consumers.farm_designer.visualizedSequence, + visualized: props.resources.consumers.farm_designer.visualizedSequence, hoveredStep: props.resources.consumers.farm_designer.hoveredSequenceStep, sequencesPanelState: props.app.sequencesPanelState, }; diff --git a/frontend/three_d_garden/__tests__/visualization_test.tsx b/frontend/three_d_garden/__tests__/visualization_test.tsx new file mode 100644 index 0000000000..842c4d6af3 --- /dev/null +++ b/frontend/three_d_garden/__tests__/visualization_test.tsx @@ -0,0 +1,78 @@ +import { + buildResourceIndex, +} from "../../__test_support__/resource_index_builder"; +let mockResources = buildResourceIndex([]); +jest.mock("../../redux/store", () => ({ + store: { + dispatch: jest.fn(), + getState: () => ({ resources: mockResources }), + }, +})); + +import React from "react"; +import { render, screen } from "@testing-library/react"; +import { Visualization, VisualizationProps } from "../visualization"; +import { INITIAL } from "../config"; +import { clone } from "lodash"; +import { + fakeFbosConfig, fakeFirmwareConfig, fakeSequence, + fakeWebAppConfig, +} from "../../__test_support__/fake_state/resources"; +import { findSequence } from "../../resources/selectors_by_kind"; + +describe("", () => { + const fakeProps = (): VisualizationProps => ({ + config: clone(INITIAL), + visualizedSequenceUUID: undefined, + }); + + it("doesn't render: no uuid", () => { + render(); + expect(screen.queryByText("visualization")).toBeNull(); + }); + + it("doesn't render: no sequence id", () => { + const p = fakeProps(); + const sequence = fakeSequence(); + sequence.body.id = undefined; + mockResources = buildResourceIndex([sequence]); + p.visualizedSequenceUUID = + findSequence(mockResources.index, sequence.uuid)?.uuid; + render(); + expect(screen.queryByText("visualization")).toBeNull(); + }); + + it("renders first point", () => { + const p = fakeProps(); + const sequence = fakeSequence(); + sequence.body.id = 1; + mockResources = buildResourceIndex([sequence]); + p.visualizedSequenceUUID = + findSequence(mockResources.index, sequence.uuid)?.uuid; + render(); + expect(screen.getByText("visualization")).toBeInTheDocument(); + }); + + it("renders: with sequence id and points", () => { + const p = fakeProps(); + const sequence = fakeSequence(); + sequence.body.id = 1; + sequence.body.body = [ + { + kind: "move_absolute", + args: { + location: { kind: "coordinate", args: { x: 100, y: 100, z: 0 } }, + offset: { kind: "coordinate", args: { x: 0, y: 0, z: 0 } }, + speed: 100, + }, + }, + ]; + mockResources = buildResourceIndex([ + sequence, fakeFbosConfig(), fakeFirmwareConfig(), fakeWebAppConfig(), + ]); + p.visualizedSequenceUUID = + findSequence(mockResources.index, sequence.uuid)?.uuid; + render(); + expect(screen.getByText("visualization")).toBeInTheDocument(); + }); +}); diff --git a/frontend/three_d_garden/garden_model.tsx b/frontend/three_d_garden/garden_model.tsx index c2d027ed03..f576510781 100644 --- a/frontend/three_d_garden/garden_model.tsx +++ b/frontend/three_d_garden/garden_model.tsx @@ -33,6 +33,7 @@ import { isMobile } from "../screen_size"; import { computeSurface } from "./triangles"; import { BigDistance } from "./constants"; import { precomputeTriangles, getZFunc } from "./triangle_functions"; +import { Visualization } from "./visualization"; const AnimatedGroup = animated(Group); @@ -215,6 +216,9 @@ export const GardenModel = (props: GardenModelProps) => { getZ={getZ} dispatch={dispatch} />)} + diff --git a/frontend/three_d_garden/visualization.tsx b/frontend/three_d_garden/visualization.tsx new file mode 100644 index 0000000000..8bba29da06 --- /dev/null +++ b/frontend/three_d_garden/visualization.tsx @@ -0,0 +1,46 @@ +import React from "react"; +import { Line } from "@react-three/drei"; +import { collectDemoSequenceActions } from "../demo/lua_runner"; +import { store } from "../redux/store"; +import { findSequence } from "../resources/selectors_by_kind"; +import { expandActions } from "../demo/lua_runner/actions"; +import { threeSpace, zZero as zZeroFunc } from "./helpers"; +import { Config } from "./config"; + +export interface VisualizationProps { + visualizedSequenceUUID: string | undefined; + config: Config; +} + +export const Visualization = (props: VisualizationProps) => { + const { visualizedSequenceUUID, config } = props; + const { bedLengthOuter, bedWidthOuter, bedXOffset, bedYOffset, x, y, z } = config; + const zZero = zZeroFunc(config); + const visualizationPoints = React.useMemo(() => { + if (!visualizedSequenceUUID) { return []; } + const resources = store.getState().resources.index; + const sequence = findSequence(resources, visualizedSequenceUUID); + if (!sequence.body.id) { return []; } + const stashedPos = { x, y, z }; + const actions = + collectDemoSequenceActions(0, resources, sequence.body.id, []); + const points = [[stashedPos.x, stashedPos.y, stashedPos.z]] + .concat(expandActions(actions, [], stashedPos) + .filter(action => action.type == "expanded_move_absolute") + .map(action => action.args as [number, number, number])) + .map(coordinate => [ + threeSpace(coordinate[0], bedLengthOuter) + bedXOffset, + threeSpace(coordinate[1], bedWidthOuter) + bedYOffset, + zZero + coordinate[2], + ] as [number, number, number]); + return points; + // eslint-disable-next-line react-hooks/exhaustive-deps + }, [visualizedSequenceUUID, + bedLengthOuter, bedWidthOuter, bedXOffset, bedYOffset, + zZero]); + return visualizationPoints.length > 0 && + ; +}; From 001ad268feaf91805bb2997e0559c9fb463c6d32 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Wed, 13 Aug 2025 11:30:18 -0700 Subject: [PATCH 32/54] handle JSON errors --- app/mutations/auth/create_token_from_credentials.rb | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/app/mutations/auth/create_token_from_credentials.rb b/app/mutations/auth/create_token_from_credentials.rb index c682129ddd..2ab7289da5 100644 --- a/app/mutations/auth/create_token_from_credentials.rb +++ b/app/mutations/auth/create_token_from_credentials.rb @@ -19,7 +19,7 @@ def validate whoops! unless maybe_user @user = maybe_user end - rescue OpenSSL::PKey::RSAError => e + rescue OpenSSL::PKey::RSAError, JSON::ParserError whoops!(BAD_KEY) end From 20723fde2eb6041c7b51a0acc204131fd4af140d Mon Sep 17 00:00:00 2001 From: Rory Aronson Date: Thu, 14 Aug 2025 17:45:59 -0700 Subject: [PATCH 33/54] sequence editor styling improvements --- frontend/css/global/buttons.scss | 4 - frontend/css/global/global.scss | 14 ++- frontend/css/panels/sequences.scss | 87 +++++++++--------- .../sequence_editor_middle_active_test.tsx | 4 +- frontend/sequences/panel/editor.tsx | 5 +- .../sequence_editor_middle_active.tsx | 91 +++++++++---------- frontend/sequences/step_button_cluster.tsx | 2 +- 7 files changed, 99 insertions(+), 108 deletions(-) diff --git a/frontend/css/global/buttons.scss b/frontend/css/global/buttons.scss index 940f19a0db..aa31991207 100644 --- a/frontend/css/global/buttons.scss +++ b/frontend/css/global/buttons.scss @@ -295,10 +295,6 @@ justify-content: right; .fa-code { font-weight: bold; - color: $gray; - &.enabled { - color: $dark_gray; - } } .inactive { color: var(--secondary-bg); diff --git a/frontend/css/global/global.scss b/frontend/css/global/global.scss index 61c955cf38..47b623b233 100644 --- a/frontend/css/global/global.scss +++ b/frontend/css/global/global.scss @@ -119,19 +119,17 @@ a { .drag-drop-area { &.visible { - margin: 0.75rem 0; - margin-right: 25px; - margin-left: 10px; + background: var(--secondary-bg); + border-color: var(--border-color); + border-radius: 0.5rem; border-style: dashed; border-width: 2px; - border-color: $light_gray; - color: $gray; + color: var(--text-color); + font-weight: bold; font-weight: bold; + margin: 1rem 0; padding: 1.25rem; - background: $off_white; text-align: center; - color: $gray; - font-weight: bold; } } diff --git a/frontend/css/panels/sequences.scss b/frontend/css/panels/sequences.scss index 729b49d137..97edf70088 100644 --- a/frontend/css/panels/sequences.scss +++ b/frontend/css/panels/sequences.scss @@ -9,6 +9,9 @@ align-items: stretch; gap: 0; } + .sequence-steps { + margin-right: 0; + } } .designer-sequence-list-panel { @@ -40,7 +43,14 @@ } } .add-command-button-container { - display: inline; + display: block; + height: auto; + .bp6-collapse { + padding: 0; + } + .bp6-collapse-body { + padding: 0; + } } .drag-drop-area { display: none; @@ -55,8 +65,7 @@ } .sequence-editor-panel { - background: $light_gray; - padding: 0 1rem; + background: var(--main-bg); height: calc(100vh - 8.5rem); overflow: scroll; @media screen and (max-width: 767px) { @@ -99,11 +108,6 @@ } } } - .copy-item { - &:hover { - background: $lighter_gray !important; - } - } } .farm-event-form-content, @@ -173,7 +177,6 @@ } .upgrade-compare-banner { display: flex; - margin-left: -15px; box-shadow: 0 5px 10px -5px $translucent; .copy-item { width: 100%; @@ -182,7 +185,7 @@ text-align: center; cursor: pointer; &:hover { - background: $light_gray; + background: var(--secondary-bg); } label { cursor: pointer; @@ -234,13 +237,28 @@ } } &.selected { - border-bottom: 3px solid $dark_gray; + border-bottom: 3px solid var(--text-color); } } } } +.designer-sequence-editor-panel-content { + padding: 0; +} + +.sequence-actions-grid { + grid-template-columns: auto auto 1fr; + justify-items: right; +} + .sequence-editor-sections { + .bp6-collapse { + padding: 0 1rem; + .bp6-collapse-body { + padding-bottom: 1rem; + } + } .sequence-description { background: var(--secondary-bg); border-radius: 0.5rem; @@ -403,7 +421,6 @@ .sequence-section-header { position: relative; cursor: pointer; - margin: 0 -1rem; padding: 0 1rem; height: 4rem; line-height: 3.75rem; @@ -434,17 +451,12 @@ } .sequence-editor-tools { - input { - margin: 0.75rem; - } .title { - padding: 1.25rem; font-size: 1.6rem; font-weight: bold; } &.page { i { - color: $dark_gray; &.inactive { color: $placeholder_gray; } @@ -478,7 +490,8 @@ .sequence-editor-tools, .regimen-editor-tools { - border-bottom: 1.5px solid $translucent1; + border-bottom: 1.5px solid var(--border-color); + padding: 0.5rem 1rem; } .preview-variables { @@ -529,10 +542,8 @@ .license { p { - padding-bottom: 1rem; - line-height: 1.5rem; - margin-right: 1rem; - margin-left: 1.5rem; + padding-bottom: 0.75rem; + line-height: 1.25rem; } } @@ -560,9 +571,15 @@ overflow-y: auto; overflow-x: hidden; max-height: calc(100vh - 8rem); + .text-input-wrapper { + input { + padding: 0; + } + } .commands, .pinned-sequences { display: flex; flex-wrap: wrap; + align-content: start; gap: 0.5rem; } .step-button { @@ -596,6 +613,7 @@ height: 10rem; overflow-y: auto; overflow-x: hidden; + padding: 1rem 0; } .text-input-wrapper { border-bottom-color: $translucent8_white !important; @@ -1123,13 +1141,12 @@ margin: auto; text-align: center; height: 3rem; - &.open { - margin-left: 1rem; - padding-right: 3rem; - } .add-command { display: none; } + .step-button-cluster { + margin: 0; + } } @media screen and (max-width: 767px) { display: block; @@ -1158,29 +1175,13 @@ .imported-banner, .import-banner { - margin: 0 -15px 0 -15px; - padding: 1rem 1.5rem 1rem 2rem; + padding: 1rem; background: color.adjust($orange, $alpha: -0.4); - button { - margin-right: 1rem; - } - label { - display: inline-block; - padding-left: 1rem; - } .bp6-popover-wrapper { - display: inline-block; - margin-left: 1rem; - } - p { margin-left: 1rem; } } -.import-banner { - margin-bottom: 1rem; -} - .imported-banner { background: color.adjust($blue, $alpha: -0.4); } diff --git a/frontend/sequences/__tests__/sequence_editor_middle_active_test.tsx b/frontend/sequences/__tests__/sequence_editor_middle_active_test.tsx index 3289adedce..09afdef1ca 100644 --- a/frontend/sequences/__tests__/sequence_editor_middle_active_test.tsx +++ b/frontend/sequences/__tests__/sequence_editor_middle_active_test.tsx @@ -339,7 +339,7 @@ describe("", () => { const p = fakeProps(); p.sequence.body.pinned = false; const wrapper = mount(); - wrapper.find(".fa-thumb-tack").simulate("click"); + wrapper.find(".fa-bookmark-o").simulate("click"); expect(pinSequenceToggle).toHaveBeenCalledWith(p.sequence); }); @@ -348,7 +348,7 @@ describe("", () => { const p = fakeProps(); p.sequence.body.pinned = true; const wrapper = mount(); - wrapper.find(".fa-thumb-tack").simulate("click"); + wrapper.find(".fa-bookmark").simulate("click"); expect(pinSequenceToggle).toHaveBeenCalledWith(p.sequence); }); diff --git a/frontend/sequences/panel/editor.tsx b/frontend/sequences/panel/editor.tsx index ca5dcdafb2..6becc01cbc 100644 --- a/frontend/sequences/panel/editor.tsx +++ b/frontend/sequences/panel/editor.tsx @@ -78,6 +78,7 @@ export class RawDesignerSequenceEditor dispatch={this.props.dispatch} sequence={sequence} isProcessing={this.isProcessing} + inDesigner={true} setTitleProcessing={processingTitle => this.setState({ processingTitle })} setColorProcessing={processingColor => @@ -169,18 +170,20 @@ interface AutoGenerateButtonProps { dispatch: Function; sequence: TaggedSequence; isProcessing: boolean; + inDesigner: boolean; setTitleProcessing(state: boolean): void; setColorProcessing(state: boolean): void; } export const AutoGenerateButton = (props: AutoGenerateButtonProps) => { const { - dispatch, sequence, isProcessing, setTitleProcessing, setColorProcessing, + dispatch, sequence, isProcessing, inDesigner, setTitleProcessing, setColorProcessing, } = props; return { diff --git a/frontend/sequences/sequence_editor_middle_active.tsx b/frontend/sequences/sequence_editor_middle_active.tsx index e0e667cfe8..3789273149 100644 --- a/frontend/sequences/sequence_editor_middle_active.tsx +++ b/frontend/sequences/sequence_editor_middle_active.tsx @@ -262,7 +262,6 @@ export const SequenceBtnGroup = ({ sequencesState, getWebAppConfigValue, toggleViewSequenceCeleryScript, - viewCeleryScript, visualized, }: SequenceBtnGroupProps) => { if (visualized && sequence.uuid != visualized) { @@ -272,7 +271,7 @@ export const SequenceBtnGroup = ({ const [processingColor, setProcessingColor] = React.useState(false); const isProcessing = processingColor || processingTitle; const navigate = useNavigate(); - return
+ return
} /> + {getWebAppConfigValue(BooleanSetting.view_celery_script) && } +
+ } + content={isSequencePublished(sequence) + ? + : } /> +
dispatch(pinSequenceToggle(sequence))} /> + dispatch(copySequence(navigate, sequence))} /> {Path.inDesigner() && dispatch(visualizeInMap(visualized ? undefined : sequence.uuid))} />} - dispatch(copySequence(navigate, sequence))} /> - -
- } - content={isSequencePublished(sequence) - ? - : } /> -
{!Path.inDesigner() && }
-
- - dispatch(save(sequence.uuid)).then(() => - navigate(Path.sequences(urlFriendly(sequence.body.name))))} /> -
+ + dispatch(save(sequence.uuid)).then(() => + navigate(Path.sequences(urlFriendly(sequence.body.name))))} />
; }; @@ -545,12 +539,13 @@ export class SequenceEditorMiddleActive extends showName={this.props.showName} />} {view == "local" ?
- + {!viewSequenceCeleryScript && + } {!viewSequenceCeleryScript && { {props.showName &&

{props.sequencePreview?.body.name}

} {props.viewCeleryScript && }
)} - + {props.dispatch != undefined + && props.botOnline != undefined + && props.arduinoBusy != undefined + && props.defaultAxes != undefined + && props.movementState != undefined && + }
; }; diff --git a/frontend/wizard/__tests__/checks_test.tsx b/frontend/wizard/__tests__/checks_test.tsx index 3912089451..c382e438d2 100644 --- a/frontend/wizard/__tests__/checks_test.tsx +++ b/frontend/wizard/__tests__/checks_test.tsx @@ -33,6 +33,7 @@ jest.mock("../../messages/actions", () => ({ })); import React from "react"; +import { render, screen } from "@testing-library/react"; import { mount, shallow } from "enzyme"; import { bot } from "../../__test_support__/fake_state/bot"; import { @@ -74,6 +75,8 @@ import { SelectMapOrigin, SensorsCheck, SetHome, + SlotCoordinateRows, + SlotCoordinateRowsProps, SoilHeightMeasurementCheck, SwapJogButton, SwitchCameraCalibrationMethod, @@ -85,6 +88,7 @@ import { fakeAlert, fakeFarmwareEnv, fakeFarmwareInstallation, fakeFbosConfig, fakeFirmwareConfig, fakeImage, fakeLog, fakePinBinding, fakeTool, + fakeToolSlot, fakeUser, fakeWebAppConfig, } from "../../__test_support__/fake_state/resources"; @@ -94,7 +98,9 @@ import { calibrate } from "../../photos/camera_calibration/actions"; import { FarmwareName } from "../../sequences/step_tiles/tile_execute_script"; import { ExternalUrl } from "../../external_urls"; import { PLACEHOLDER_FARMBOT } from "../../photos/images/image_flipper"; -import { changeBlurableInput, clickButton } from "../../__test_support__/helpers"; +import { + changeBlurableInput, changeBlurableInputRTL, clickButton, +} from "../../__test_support__/helpers"; import { Actions } from "../../constants"; import { tourPath } from "../../help/tours"; import { FBSelect } from "../../ui"; @@ -782,6 +788,25 @@ describe("", () => { }); }); +describe("", () => { + const fakeProps = (): SlotCoordinateRowsProps => ({ + resources: buildResourceIndex([fakeDevice(), fakeToolSlot()]).index, + bot: bot, + dispatch: jest.fn(), + indexValues: [0], + }); + + it("updates slot", () => { + const p = fakeProps(); + render(); + const inputs = screen.getAllByDisplayValue(0); + expect(inputs.length).toEqual(3); + changeBlurableInputRTL(inputs[0], "100"); + expect(edit).toHaveBeenCalledWith(expect.any(Object), { x: 100 }); + expect(save).toHaveBeenCalledWith(expect.any(String)); + }); +}); + describe("", () => { it("starts tour", () => { const p = fakeProps(); diff --git a/frontend/wizard/__tests__/data_test.ts b/frontend/wizard/__tests__/data_test.ts index b437bdbaa7..46287c7d79 100644 --- a/frontend/wizard/__tests__/data_test.ts +++ b/frontend/wizard/__tests__/data_test.ts @@ -51,13 +51,13 @@ describe("data check", () => { expect(expressSteps.length).toBeLessThan(steps.length); }); - it("has the same number of sections for express", () => { + it("has the correct number of sections for express", () => { const sections = WIZARD_SECTIONS({ firmwareHardware: undefined, }); const expressSections = WIZARD_SECTIONS({ firmwareHardware: "express_k10", }); - expect(expressSections.length).toEqual(sections.length); + expect(expressSections.length).toEqual(sections.length - 1); }); }); diff --git a/frontend/wizard/__tests__/step_test.tsx b/frontend/wizard/__tests__/step_test.tsx index 95fb1ae801..c0647691f7 100644 --- a/frontend/wizard/__tests__/step_test.tsx +++ b/frontend/wizard/__tests__/step_test.tsx @@ -8,7 +8,9 @@ import { fakeTimeSettings } from "../../__test_support__/fake_time_settings"; import { buildResourceIndex } from "../../__test_support__/resource_index_builder"; import { bot } from "../../__test_support__/fake_state/bot"; import { WizardSectionSlug, WizardStepSlug } from "../data"; -import { fakeWizardStepResult } from "../../__test_support__/fake_state/resources"; +import { + fakeToolSlot, fakeWizardStepResult, +} from "../../__test_support__/fake_state/resources"; const fakeWizardStep = (): WizardStep => ({ section: WizardSectionSlug.controls, @@ -193,6 +195,14 @@ describe("", () => { expect(wrapper.find(".controls-check").length).toEqual(2); }); + it("renders slot rows", () => { + const p = fakeProps(); + p.resources = buildResourceIndex([fakeToolSlot()]).index; + p.step.slotInputRows = [0]; + const wrapper = mount(); + expect(wrapper.find(".slot-coordinates").length).toEqual(1); + }); + it("renders pin bindings", () => { const p = fakeProps(); p.step.pinBindingOptions = { editing: false }; diff --git a/frontend/wizard/checks.tsx b/frontend/wizard/checks.tsx index b32a1c01e1..f814943262 100644 --- a/frontend/wizard/checks.tsx +++ b/frontend/wizard/checks.tsx @@ -14,6 +14,7 @@ import { selectAllImages, selectAllLogs, selectAllPeripherals, selectAllSensors, selectAllTools, maybeGetTimeSettings, + selectAllToolSlotPointers, } from "../resources/selectors"; import { last, some, uniq } from "lodash"; import { @@ -40,7 +41,7 @@ import { changeFirmwareHardware, SEED_DATA_OPTIONS, SEED_DATA_OPTIONS_DDI, } from "../messages/cards"; import { seedAccount } from "../messages/actions"; -import { FirmwareHardware, TaggedLog, Xyz } from "farmbot"; +import { FirmwareHardware, TaggedLog, TaggedToolSlotPointer, Xyz } from "farmbot"; import { ConnectivityDiagram } from "../devices/connectivity/diagram"; import { Diagnosis } from "../devices/connectivity/diagnosis"; import { connectivityData } from "../devices/connectivity/generate_data"; @@ -103,6 +104,7 @@ import { RPI_OPTIONS } from "../settings/fbos_settings/rpi_model"; import { BoxTop } from "../settings/pin_bindings/box_top"; import { OtaTimeSelector } from "../settings/fbos_settings/ota_time_selector"; import { useNavigate } from "react-router"; +import { SlotLocationInputRow } from "../tools/tool_slot_edit_components"; export const Language = (props: WizardStepComponentProps) => { const user = getUserAccountSettings(props.resources); @@ -805,6 +807,35 @@ export const CameraReplacement = () =>

; +export interface SlotCoordinateRowsProps { + dispatch: Function; + resources: ResourceIndex; + bot: BotState; + indexValues: number[]; +} + +export const SlotCoordinateRows = (props: SlotCoordinateRowsProps) => { + const locationData = validBotLocationData(props.bot.hardware.location_data); + const slots = selectAllToolSlotPointers(props.resources); + return
+ {props.indexValues.map(index => { + const slot = slots[index]; + const updateSlot = (update: Partial) => { + props.dispatch(edit(slot, update)); + props.dispatch(save(slot.uuid)); + }; + return
+ + +
; + })} +
; +}; + export const Tour = (tourSlug: string) => { const navigate = useNavigate(); return (props: WizardStepComponentProps) => diff --git a/frontend/wizard/data.ts b/frontend/wizard/data.ts index 4de66cf8c9..1bc0359412 100644 --- a/frontend/wizard/data.ts +++ b/frontend/wizard/data.ts @@ -1,5 +1,5 @@ import { t } from "../i18next_wrapper"; -import { round } from "lodash"; +import { range, round } from "lodash"; import { SetupWizardContent, ToolTips } from "../constants"; import { WizardSection, WizardStepDataProps, WizardSteps, WizardToC, WizardToCSection, @@ -83,6 +83,7 @@ export enum WizardSectionSlug { peripherals = "peripherals", camera = "camera", tools = "tools", + slots = "slots", tours = "tours", } @@ -104,6 +105,7 @@ const WIZARD_TOC = title: hasUTM(props.firmwareHardware) ? t("UTM and TOOLS") : t("TOOLS"), steps: [], }, + [WizardSectionSlug.slots]: { title: t("SLOT COORDINATES"), steps: [] }, [WizardSectionSlug.tours]: { title: t("TOURS"), steps: [] }, }; return toc; @@ -172,6 +174,13 @@ export enum WizardStepSlug { rotaryTool = "rotaryTool", rotaryToolForward = "rotaryToolForward", rotaryToolReverse = "rotaryToolReverse", + slotsSetup = "slotsSetup", + slot1Coordinates = "slot1Coordinates", + slot2Coordinates = "slot2Coordinates", + remainingSlotCoordinates = "remainingSlotCoordinates", + loadTools = "loadTools", + seedTrough1 = "seedTrough1", + seedTrough2 = "seedTrough2", appTour = "appTour", gardenTour = "gardenTour", toolsTour = "toolsTour", @@ -1594,6 +1603,88 @@ export const WIZARD_STEPS = (props: WizardStepDataProps): WizardSteps => { ], }] : []), + ...(hasUTM(firmwareHardware) + ? [{ + section: WizardSectionSlug.slots, + slug: WizardStepSlug.slotsSetup, + title: t("Setup"), + content: t(SetupWizardContent.SLOTS_SETUP), + question: t("Is the watering nozzle in the toolbay?"), + outcomes: [], + }] + : []), + ...(hasUTM(firmwareHardware) + ? [{ + section: WizardSectionSlug.slots, + slug: WizardStepSlug.slot1Coordinates, + title: t("Slot 1 coordinates"), + content: t(SetupWizardContent.SLOTS_1_COORDINATES), + controlsCheckOptions: {}, + slotInputRows: [0], + question: t("Have you saved the current position to the slot?"), + outcomes: [], + }] + : []), + ...(hasUTM(firmwareHardware) + ? [{ + section: WizardSectionSlug.slots, + slug: WizardStepSlug.slot2Coordinates, + title: t("Slot 2 coordinates"), + content: t(SetupWizardContent.SLOTS_2_COORDINATES), + controlsCheckOptions: {}, + slotInputRows: [1], + question: t("Have you saved the current position to the slot?"), + outcomes: [], + }] + : []), + ...(hasUTM(firmwareHardware) + ? [{ + section: WizardSectionSlug.slots, + slug: WizardStepSlug.remainingSlotCoordinates, + title: t("Remaining slot coordinates"), + content: t(SetupWizardContent.SLOTS_REMAINING_COORDINATES), + controlsCheckOptions: {}, + slotInputRows: range(6), + question: t("Have you saved coordinate locations for all of the slots?"), + outcomes: [], + }] + : []), + ...(hasUTM(firmwareHardware) + ? [{ + section: WizardSectionSlug.slots, + slug: WizardStepSlug.loadTools, + title: t("Load tools"), + content: t(SetupWizardContent.SLOTS_LOAD_TOOLS), + controlsCheckOptions: {}, + slotInputRows: range(6), + question: t("Are the physical and virtual configurations matching?"), + outcomes: [], + }] + : []), + ...(hasUTM(firmwareHardware) + ? [{ + section: WizardSectionSlug.slots, + slug: WizardStepSlug.seedTrough1, + title: t("Seed trough 1"), + content: t(SetupWizardContent.SLOTS_SEED_TROUGH_1), + controlsCheckOptions: {}, + slotInputRows: [6], + question: t("Have you saved the current position to the slot?"), + outcomes: [], + }] + : []), + ...(hasUTM(firmwareHardware) + ? [{ + section: WizardSectionSlug.slots, + slug: WizardStepSlug.seedTrough2, + title: t("Seed trough 2"), + content: t(SetupWizardContent.SLOTS_SEED_TROUGH_2), + controlsCheckOptions: {}, + slotInputRows: [7], + question: t("Have you saved the current position to the slot?"), + outcomes: [], + }] + : []), { section: WizardSectionSlug.tours, slug: WizardStepSlug.appTour, @@ -1634,6 +1725,7 @@ export const WIZARD_SECTIONS = (props: WizardStepDataProps): WizardSection[] => const toC = WIZARD_TOC(props); WIZARD_STEPS(props).map(step => toC[step.section].steps.push(step)); return Object.entries(toC) + .filter(([_sectionSlug, sectionData]) => sectionData.steps.length > 0) .map(([sectionSlug, sectionData]: [WizardSectionSlug, WizardToCSection]) => ({ slug: sectionSlug, ...sectionData })); }; diff --git a/frontend/wizard/interfaces.ts b/frontend/wizard/interfaces.ts index 504cff5f73..c48a099258 100644 --- a/frontend/wizard/interfaces.ts +++ b/frontend/wizard/interfaces.ts @@ -75,6 +75,7 @@ export interface WizardStep { componentOptions?: ComponentOptions; warning?: string; controlsCheckOptions?: ControlsCheckOptions; + slotInputRows?: number[]; pinBindingOptions?: PinBindingOptions; question: string; outcomes: WizardStepOutcome[]; @@ -98,7 +99,6 @@ export type WizardResults = Partial>; export type WizardSectionsOpen = Record; - export interface WizardStepDataProps { firmwareHardware: FirmwareHardware | undefined; getConfigValue?: GetWebAppConfigValue; diff --git a/frontend/wizard/step.tsx b/frontend/wizard/step.tsx index 5069246e79..c15845bb5c 100644 --- a/frontend/wizard/step.tsx +++ b/frontend/wizard/step.tsx @@ -11,7 +11,7 @@ import { Feedback } from "../help/support"; import moment from "moment"; import { FirmwareNumberSettings, Video } from "./step_components"; import { formatTime } from "../util"; -import { ControlsCheck, PinBinding } from "./checks"; +import { ControlsCheck, PinBinding, SlotCoordinateRows } from "./checks"; import { SetupWizardContent } from "../constants"; import { ExternalUrl } from "../external_urls"; import { FilePath } from "../internal_urls"; @@ -24,7 +24,12 @@ export const WizardStepHeader = (props: WizardStepHeaderProps) => { const normalStepColor = stepDone ? "green" : "gray"; const stepColor = stepFail ? "red" : normalStepColor; - return
@@ -95,6 +100,12 @@ export const WizardStepContainer = (props: WizardStepContainerProps) => { } + {step.slotInputRows && + } {step.pinBindingOptions && { resources={props.resources} />}
; })} -

{t("Something else happened and I need additional help")}

{otherSelected &&

From cc15858effc1e18011dd7480de1e008734410663 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Wed, 20 Aug 2025 14:23:16 -0700 Subject: [PATCH 39/54] shorten water job name --- frontend/demo/lua_runner/lua.ts | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/frontend/demo/lua_runner/lua.ts b/frontend/demo/lua_runner/lua.ts index 1c3c095bd2..507dd99313 100644 --- a/frontend/demo/lua_runner/lua.ts +++ b/frontend/demo/lua_runner/lua.ts @@ -707,7 +707,7 @@ end function water(plant, params) local plant_name_xy = plant.name .. " at (" .. plant.x .. ", " .. plant.y .. ")" - local job_name = "Watering " .. plant_name_xy + local job_name = "Watering " .. plant.name if not plant.age and not plant.planted_at then toast(plant_name_xy .. " has not been planted yet. Skipping.", "warn") @@ -736,7 +736,7 @@ function water(plant, params) -- Water the plant set_job(job_name, { status = "Watering", percent = 50 }) - send_message("info", "Watering " .. plant_age .. " day old " .. plant_name_xy .. " " .. water_ml .. "mL") + send_message("info", "Watering " .. plant_age .. " day old " .. plant.name .. " " .. water_ml .. "mL") dispense(water_ml, params) complete_job(job_name) end From e922aed45fbffbd1cd2edd5971879aac239692ae Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Wed, 20 Aug 2025 14:27:00 -0700 Subject: [PATCH 40/54] upgrade deps --- Gemfile | 1 + Gemfile.lock | 29 ++++++++++++++--------------- package.json | 24 ++++++++++++------------ 3 files changed, 27 insertions(+), 27 deletions(-) diff --git a/Gemfile b/Gemfile index fb8cd29f13..7bac44de02 100755 --- a/Gemfile +++ b/Gemfile @@ -32,6 +32,7 @@ gem "drb" gem "benchmark" gem "ostruct" gem "bigdecimal" +gem "mutex_m" group :development, :test do gem "climate_control" diff --git a/Gemfile.lock b/Gemfile.lock index c862e31ccc..a77a6773be 100644 --- a/Gemfile.lock +++ b/Gemfile.lock @@ -113,7 +113,7 @@ GEM drb (2.2.3) e2mmap (0.1.0) erubi (1.13.1) - factory_bot (6.5.4) + factory_bot (6.5.5) activesupport (>= 6.1.0) factory_bot_rails (6.5.0) factory_bot (~> 6.5) @@ -130,14 +130,14 @@ GEM net-http (>= 0.5.0) globalid (1.2.1) activesupport (>= 6.1) - google-apis-core (0.18.0) - addressable (~> 2.5, >= 2.5.1) - googleauth (~> 1.9) - httpclient (>= 2.8.3, < 3.a) - mini_mime (~> 1.0) - mutex_m + google-apis-core (1.0.1) + addressable (~> 2.8, >= 2.8.7) + faraday (~> 2.13) + faraday-follow_redirects (~> 0.3) + googleauth (~> 1.14) + mini_mime (~> 1.1) representable (~> 3.0) - retriable (>= 2.0, < 4.a) + retriable (~> 3.1) google-apis-iamcredentials_v1 (0.24.0) google-apis-core (>= 0.15.0, < 2.a) google-apis-storage_v1 (0.55.0) @@ -149,10 +149,10 @@ GEM base64 (~> 0.2) faraday (>= 1.0, < 3.a) google-cloud-errors (1.5.0) - google-cloud-storage (1.56.0) + google-cloud-storage (1.57.0) addressable (~> 2.8) digest-crc (~> 0.4) - google-apis-core (~> 0.13) + google-apis-core (>= 0.18, < 2) google-apis-iamcredentials_v1 (~> 0.18) google-apis-storage_v1 (>= 0.42) google-cloud-core (~> 1.6) @@ -169,8 +169,6 @@ GEM signet (>= 0.16, < 2.a) hashdiff (1.2.0) hashie (4.1.0) - httpclient (2.9.0) - mutex_m i18n (1.14.7) concurrent-ruby (~> 1.0) json (2.13.2) @@ -234,8 +232,8 @@ GEM rack (>= 1.6.13) rackup (>= 1.0.1) rake (>= 12.3.3) - pg (1.6.0-aarch64-linux) - pg (1.6.0-x86_64-linux) + pg (1.6.1-aarch64-linux) + pg (1.6.1-x86_64-linux) pry (0.15.2) coderay (~> 1.1) method_source (~> 1.0) @@ -327,7 +325,7 @@ GEM rspec-expectations (~> 3.13) rspec-mocks (~> 3.13) rspec-support (~> 3.13) - rspec-support (3.13.4) + rspec-support (3.13.5) rspec_junit_formatter (0.6.0) rspec-core (>= 2, < 4, != 2.12.0) scenic (1.9.0) @@ -412,6 +410,7 @@ DEPENDENCIES logger lograge mutations + mutex_m ostruct passenger pg diff --git a/package.json b/package.json index b55bf8129b..bdc7685fa8 100644 --- a/package.json +++ b/package.json @@ -37,8 +37,8 @@ "@parcel/watcher": "2.1.0" }, "dependencies": { - "@blueprintjs/core": "6.1.0", - "@blueprintjs/select": "6.0.1", + "@blueprintjs/core": "6.2.1", + "@blueprintjs/select": "6.0.3", "@monaco-editor/react": "4.7.0", "@parcel/transformer-sass": "2.15.4", "@parcel/transformer-typescript-tsc": "2.15.4", @@ -48,23 +48,23 @@ "@rollbar/react": "1.0.0", "@types/lodash": "4.17.20", "@types/markdown-it": "14.1.2", - "@types/node": "24.1.0", + "@types/node": "24.3.0", "@types/promise-timeout": "1.3.3", - "@types/react": "19.1.9", + "@types/react": "19.1.10", "@types/react-color": "3.0.13", "@types/react-dom": "19.1.7", - "@types/three": "0.178.1", + "@types/three": "0.179.0", "@types/ws": "8.18.1", "@xterm/xterm": "5.5.0", "axios": "1.11.0", - "bowser": "2.11.0", + "bowser": "2.12.0", "browser-speech": "1.1.1", "delaunator": "5.0.1", "events": "3.3.0", "farmbot": "15.9.2", "fengari": "0.1.4", "fengari-web": "0.1.4", - "i18next": "25.3.2", + "i18next": "25.4.0", "lodash": "4.17.21", "markdown-it": "14.1.0", "markdown-it-emoji": "3.0.0", @@ -81,21 +81,21 @@ "react-color": "2.19.3", "react-dom": "18.3.1", "react-redux": "9.2.0", - "react-router": "7.7.1", + "react-router": "7.8.1", "redux": "5.0.1", "redux-immutable-state-invariant": "2.1.0", "redux-thunk": "3.1.0", "rollbar": "2.26.4", "suncalc": "1.9.0", "takeme": "0.12.0", - "three": "0.178.0", + "three": "0.179.1", "typescript": "5.9.2", "url": "0.11.4" }, "devDependencies": { "@react-three/eslint-plugin": "0.1.2", "@testing-library/dom": "10.4.1", - "@testing-library/jest-dom": "6.6.4", + "@testing-library/jest-dom": "6.7.0", "@testing-library/react": "16.3.0", "@testing-library/user-event": "14.6.1", "@types/delaunator": "5.0.3", @@ -127,9 +127,9 @@ "raf": "3.4.1", "react-addons-test-utils": "15.6.2", "react-test-renderer": "18.3.1", - "sass": "1.89.2", + "sass": "1.90.0", "sass-lint": "1.13.1", - "ts-jest": "29.4.0", + "ts-jest": "29.4.1", "tslint": "5.20.1" } } From bd64d8e6637ba8b61297b9e1b91bc8b354de952b Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Wed, 20 Aug 2025 14:53:51 -0700 Subject: [PATCH 41/54] add max_auto_reruns to ci config --- .circleci/config.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.circleci/config.yml b/.circleci/config.yml index 9cd732e3c1..a2dfec6c19 100644 --- a/.circleci/config.yml +++ b/.circleci/config.yml @@ -115,6 +115,7 @@ commands: workflows: version: 2 build_and_test: + max_auto_reruns: 1 jobs: #- build - all From 739b70b282504fb5879a55c6087c492ab00a1f61 Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Fri, 22 Aug 2025 01:47:15 -0700 Subject: [PATCH 42/54] handle ai error messages --- app/controllers/api/ais_controller.rb | 9 +++++++++ spec/controllers/api/ai/ai_controller_spec.rb | 19 ++++++++++++++++++- 2 files changed, 27 insertions(+), 1 deletion(-) diff --git a/app/controllers/api/ais_controller.rb b/app/controllers/api/ais_controller.rb index 844e597257..e10eab62a9 100644 --- a/app/controllers/api/ais_controller.rb +++ b/app/controllers/api/ais_controller.rb @@ -147,6 +147,15 @@ def make_request(system_prompt, user_prompt, stream) missed = true end boundary = buffer.index("\n\n") + begin + err_msg = JSON.parse(buffer)["error"] + puts "AI #{context_key} error:" \ + " (#{err_msg})" unless Rails.env.test? + current_device.tell("Please try again", ["toast"], "error") + return {"error" => {"message" => err_msg}} + rescue JSON::ParserError + nil + end while not boundary.nil? data_str = buffer.slice(0, boundary) buffer = buffer.slice(boundary + 2, buffer.length) diff --git a/spec/controllers/api/ai/ai_controller_spec.rb b/spec/controllers/api/ai/ai_controller_spec.rb index d82545801d..3eaebaec00 100644 --- a/spec/controllers/api/ai/ai_controller_spec.rb +++ b/spec/controllers/api/ai/ai_controller_spec.rb @@ -53,7 +53,7 @@ def chunk(content, done=nil) expect(response.body).to eq("red") end - it "handles errors" do + it "handles timeout" do sign_in user payload = { prompt: "write code", @@ -69,6 +69,23 @@ def chunk(content, done=nil) expect(response.status).to eq(422) end + it "handles error" do + sign_in user + payload = { + prompt: "write code", + context_key: "lua", + sequence_id: nil, + } + stub_request(:get, URL_PATTERN).to_return( + body: "{---\n---# section\ncontent```lua\n```}") + + stub_request(:post, "https://api.openai.com/v1/chat/completions").to_return( + body: "{\"error\":\"Invalid request\"}") + + post :create, body: payload.to_json + expect(response.status).to eq(422) + end + it "handles connection issues" do sign_in user payload = { From cbc9f96266499bc242959b86bd9e4bcafa3d3bed Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Fri, 22 Aug 2025 01:47:53 -0700 Subject: [PATCH 43/54] increase spinach demo water amount --- app/mutations/devices/seeders/demo_account_seeder.rb | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/app/mutations/devices/seeders/demo_account_seeder.rb b/app/mutations/devices/seeders/demo_account_seeder.rb index 363b42407f..332503ca4e 100644 --- a/app/mutations/devices/seeders/demo_account_seeder.rb +++ b/app/mutations/devices/seeders/demo_account_seeder.rb @@ -32,7 +32,7 @@ def add_curves device: device, name: "Spinach water curve", type: "water", - data: { 1 => 50, 30 => 130, 40 => 130, 45 => 100, 60 => 100 }, + data: { 1 => 200, 30 => 500, 40 => 500, 45 => 300, 60 => 300 }, ) Curves::Create.run!( device: device, From f0b7e8bf41b5e756be373664762c67a7f86121fa Mon Sep 17 00:00:00 2001 From: gabrielburnworth Date: Fri, 22 Aug 2025 02:06:52 -0700 Subject: [PATCH 44/54] show v1.8 seed option during setup --- frontend/messages/__tests__/cards_test.tsx | 2 +- frontend/messages/cards.tsx | 8 ++------ 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/frontend/messages/__tests__/cards_test.tsx b/frontend/messages/__tests__/cards_test.tsx index c9decf9e24..a54b26e2f2 100644 --- a/frontend/messages/__tests__/cards_test.tsx +++ b/frontend/messages/__tests__/cards_test.tsx @@ -276,7 +276,7 @@ describe("changeFirmwareHardware()", () => { describe("SEED_DATA_OPTIONS()", () => { it("returns options", () => { mockFeatureBoolean = false; - expect(SEED_DATA_OPTIONS().length).toEqual(15); + expect(SEED_DATA_OPTIONS().length).toEqual(17); }); it("returns more options", () => { diff --git a/frontend/messages/cards.tsx b/frontend/messages/cards.tsx index 9657858e63..b5481c7883 100644 --- a/frontend/messages/cards.tsx +++ b/frontend/messages/cards.tsx @@ -257,12 +257,8 @@ const FirmwareMissing = (props: FirmwareMissingProps) => ; export const SEED_DATA_OPTIONS = (displayAll = false): DropDownItem[] => [ - ...((shouldDisplayFeature(Feature.farmduino_k18) || displayAll) - ? [{ label: "Genesis v1.8", value: "genesis_1.8" }] - : []), - ...((shouldDisplayFeature(Feature.farmduino_k18) || displayAll) - ? [{ label: "Genesis v1.8 XL", value: "genesis_xl_1.8" }] - : []), + { label: "Genesis v1.8", value: "genesis_1.8" }, + { label: "Genesis v1.8 XL", value: "genesis_xl_1.8" }, { label: "Genesis v1.7", value: "genesis_1.7" }, { label: "Genesis v1.7 XL", value: "genesis_xl_1.7" }, { label: "Genesis v1.6", value: "genesis_1.6" }, From aa96c7c720b7e6be8b1dace5334c4f11b8bfb548 Mon Sep 17 00:00:00 2001 From: Rory Aronson Date: Fri, 22 Aug 2025 20:27:58 -0700 Subject: [PATCH 45/54] better align wizard slot components --- frontend/css/panels/setup_wizard.scss | 3 +++ frontend/wizard/checks.tsx | 4 ++-- frontend/wizard/step.tsx | 2 +- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/frontend/css/panels/setup_wizard.scss b/frontend/css/panels/setup_wizard.scss index 8d6ca38c44..8148c54ec3 100644 --- a/frontend/css/panels/setup_wizard.scss +++ b/frontend/css/panels/setup_wizard.scss @@ -210,6 +210,9 @@ margin-top: 0; } } + .move-settings { + display: none; + } } .troubleshooting { a { diff --git a/frontend/wizard/checks.tsx b/frontend/wizard/checks.tsx index f814943262..fa47ca278b 100644 --- a/frontend/wizard/checks.tsx +++ b/frontend/wizard/checks.tsx @@ -817,14 +817,14 @@ export interface SlotCoordinateRowsProps { export const SlotCoordinateRows = (props: SlotCoordinateRowsProps) => { const locationData = validBotLocationData(props.bot.hardware.location_data); const slots = selectAllToolSlotPointers(props.resources); - return

+ return
{props.indexValues.map(index => { const slot = slots[index]; const updateSlot = (update: Partial) => { props.dispatch(edit(slot, update)); props.dispatch(save(slot.uuid)); }; - return
+ return
{ {step.video &&