Merge pull request #1446 from FarmBot/numeric_variables

Numeric variables, HTTP client bug fix

Author: RickCarlino

.gitignore

@@ -15,7 +15,6 @@ _nerves-tmp
 *.db*
 *.ez
 *.img
-*.lua
 *.o
 *.pem
 *.priv

CHANGELOG.md

@@ -1,5 +1,13 @@
 # Changelog
 
+# 14.6.2
+
+ * Fix bug where firmware parameters would appear to not be uploaded.
+ * Ability to handle `numeric` sequence variables from Lua
+ * Silence timeout error messages from user log stream
+ * Add `photo_grid()` technical preview to Lua VM.
+ * Better handling of timeout errors in lua `http()` function.
+
 # 14.6.2
 
  * Fix bug where Lua scripts would not stop sending GCode during estop

VERSION

@@ -1 +1 @@
-14.6.2
+14.6.4-rc3

lib/celery/compilers/variable_transformer.ex

@@ -21,6 +21,10 @@ defmodule FarmbotOS.Celery.Compiler.VariableTransformer do
     [FarmbotOS.Celery.SysCallGlue.get_toolslot_for_tool(tool_id)]
   end
 
+  def run!(%{args: %{number: number}}) do
+    [number]
+  end
+
   def run!(nil) do
     error = "LUA ERROR: Sequence does not contain variable"
     [%{kind: :error, error: error, x: nil, y: nil, z: nil}, error]

lib/ext/dirty_worker.ex

@@ -181,7 +181,7 @@ defmodule FarmbotOS.DirtyWorker do
     e = inspect(error)
     id = Repo.encode_local_id(dirty.local_id)
     msg = "[#{m} #{id} #{inspect(self())}] HTTP Error: #{e}"
-    FarmbotOS.Logger.error(2, msg)
+    Logger.error(msg)
     error
   end
 

lib/firmware/config_uploader.ex

@@ -67,7 +67,7 @@ defmodule FarmbotOS.Firmware.ConfigUploader do
     key = Parameter.translate(p)
     expected = Map.fetch!(conf, key)
 
-    unless actual == expected do
+    if actual == expected do
       :ok = BotState.set_firmware_config(key, actual)
     end
   end

lib/os/lua.ex

@@ -101,6 +101,7 @@ defmodule FarmbotOS.Lua do
 
   def builtins() do
     %{
+      photo_grid: &DataManipulation.photo_grid/2,
       base64: [
         {:decode, &DataManipulation.b64_decode/2},
         {:encode, &DataManipulation.b64_encode/2}

lib/os/lua/data_manipulation.ex

@@ -6,9 +6,11 @@ defmodule FarmbotOS.Lua.DataManipulation do
   alias FarmbotOS.{Asset, JSON}
   alias FarmbotOS.Asset.{Device, FbosConfig, FirmwareConfig}
   alias FarmbotOS.Lua.Util
+  alias FarmbotOS.Lua
   alias FarmbotOS.SysCalls.ResourceUpdate
   alias FarmbotOS.HTTP
   alias FarmbotOS.Celery.SpecialValue
+  require FarmbotOS.Logger
 
   @methods %{
     "connect" => :connect,
@@ -40,14 +42,22 @@ defmodule FarmbotOS.Lua.DataManipulation do
     #      {"Content-Type", "application/json; charset=utf-8"},
     #    ], #Reference<0.3657984643.824705025.36946>}
     # }
-    {:ok, status, resp_headers, client_ref} =
-      hackney.request(method, url, headers, body, options)
-
-    # Example response body: {:ok, "{\"whatever\": \"foo_bar_baz\"}"}
-    {:ok, resp_body} = hackney.body(client_ref)
-    result = %{body: resp_body, headers: Map.new(resp_headers), status: status}
-
-    {[Util.map_to_table(result)], lua}
+    with {:ok, status, resp_headers, client_ref} <-
+           hackney.request(method, url, headers, body, options),
+         # Example response body: {:ok, "{\"whatever\": \"foo_bar_baz\"}"}
+         {:ok, resp_body} <- hackney.body(client_ref) do
+      result = %{
+        body: resp_body,
+        headers: Map.new(resp_headers),
+        status: status
+      }
+
+      {[Util.map_to_table(result)], lua}
+    else
+      error ->
+        FarmbotOS.Logger.error(3, inspect(error))
+        {[nil, "HTTP CLIENT ERROR - See log for details"], lua}
+    end
   end
 
   def env([key, value], lua) do
@@ -205,4 +215,15 @@ defmodule FarmbotOS.Lua.DataManipulation do
         {[nil, data], lua}
     end
   end
+
+  def photo_grid(_, lua) do
+    lua_code = File.read!("#{:code.priv_dir(:farmbot)}/lua/photo_grid.lua")
+
+    with {:ok, result} <- Lua.raw_eval(lua, lua_code) do
+      {result, lua}
+    else
+      error ->
+        {[nil, "ERROR: #{inspect(error)}"], lua}
+    end
+  end
 end

priv/lua/photo_grid.lua

@@ -0,0 +1,99 @@
+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
+        send_message("error", "You must first run camera calibration", "toast")
+        os.exit()
+    end
+end
+
+local cam_rotation = fwe("total_rotation_angle")
+local scale = fwe("coord_scale")
+local z = fwe("camera_z")
+local raw_img_size_x_px = fwe("center_pixel_location_x") * 2
+local raw_img_size_y_px = fwe("center_pixel_location_y") * 2
+local raw_img_size_x_mm = raw_img_size_x_px * scale
+local raw_img_size_y_mm = raw_img_size_y_px * scale
+local margin_mm = cropAmount(raw_img_size_x_px, raw_img_size_y_px, cam_rotation)
+local cropped_img_size_x_mm = raw_img_size_x_mm - margin_mm
+local cropped_img_size_y_mm = raw_img_size_y_mm - margin_mm
+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
+local grid_size_x_mm = garden_size().x - x_spacing_mm
+local y_grid_size_mm = garden_size().y - y_spacing_mm
+local x_grid_points = math.ceil(grid_size_x_mm / x_spacing_mm)
+local y_grid_points = math.ceil(y_grid_size_mm / y_spacing_mm)
+local total = (x_grid_points + 1) * (y_grid_points + 1)
+local x_grid_start_mm = (x_spacing_mm / 2)
+local y_grid_start_mm = (y_spacing_mm / 2)
+local x_offset_mm = fwe("camera_offset_x")
+local y_offset_mm = fwe("camera_offset_y")
+
+local each = function(callback)
+    local y = 0
+    local count = 0
+    for x_grid_index = 0, x_grid_points do
+        for y_grid_points = 0, y_grid_points do
+            count = count + 1
+            local y_temp1 = (y_spacing_mm * y_grid_points)
+            if (x_grid_index % 2) == 0 then
+                y = (y_grid_size_mm + (y_temp1 - y_offset_mm))
+            else
+                y = (y_grid_size_mm - (y_temp1 - y_offset_mm))
+            end
+            callback({
+                x = (x_grid_start_mm + (x_spacing_mm * x_grid_index) -
+                    x_offset_mm),
+                y = y,
+                z = z,
+                count = count
+            })
+        end
+    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_points = x_grid_points,
+    z = z,
+    total = total,
+    each = each
+}

test/farmbot_celery_script/variable_transformer_test.exs

@@ -7,6 +7,12 @@ defmodule FarmbotOS.Celery.VariableTransformerTest do
 
   setup :verify_on_exit!
 
+  test "numeric types" do
+    num = %{kind: :numeric, args: %{number: 26}}
+    actual = VariableTransformer.run!(num)
+    assert actual == [26]
+  end
+
   test "always has an x/y/z value at root" do
     actual = VariableTransformer.run!(%{x: 1, y: 2, z: 3.4})
     expected = [%{x: 1, y: 2, z: 3.4}]