def move_absolute_point(self, point):
move_offset_x = (0 if self.config["move_offset_x"] is None else
self.config["move_offset_x"])
move_offset_y = (0 if self.config["move_offset_y"] is None else
self.config["move_offset_y"])
move_z = 0 if self.config["move_z"] is None else self.config["move_z"]
point_desc = ("{} of type {}".format(
point["name"], point["pointer_type"]) if "name" in point else "")
log(
"Move absolute to {} ({}, {}) with offset ({}, {}) and move_z {}".
format(point_desc, point["x"], point["y"], move_offset_x,
move_offset_y, move_z),
title="move_absolute_point",
)
if Logger.LOGGER_LEVEL < 2:
device.move_absolute(
location=device.assemble_coordinate(point["x"], point["y"],
move_z),
offset=device.assemble_coordinate(move_offset_x, move_offset_y,
0),
speed=self.config["move_speed"],
)
def moveto_smart(self, target: Union[Coordinate, Tool, Dict[str, int]], speed: int = 100, offset_x: int = 0, offset_y: int = 0, offset_z: int = 0, travel_height: Optional[int] = 0,
proximity_range: int = 20) -> Coordinate:
"""
Perform a smart movement to the given point.
:returns The previous position
"""
position = self.bot_state().location_data.position
if not self.debug:
if isinstance(target, Tool):
target = self.get_toolslots(tool_id=target.id)[0]
if not isinstance(target, Coordinate):
target = position.merge(target)
if (travel_height is not None) and (travel_height > position.z or travel_height > target.z) and (
abs(position.x - target.x) > proximity_range or abs(position.y - target.y) > proximity_range):
# travel height must be respected
if target.z + offset_z > travel_height:
travel_height = target.z + offset_z
device.move_relative(0, 0, travel_height - position.z, speed)
device.move_absolute(target.merge({'z': travel_height}).to_coordinate(), speed, device.assemble_coordinate(offset_x, offset_y, 0))
if abs((target.z + offset_z) - travel_height) <= 2:
return position
device.move_absolute(target.to_coordinate(), speed, device.assemble_coordinate(offset_x, offset_y, offset_z))
return position
alternateInBetweenGrid1 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='alternateInBetweenGrid1', value_type=int) startLastRowOfGrid1 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='startLastRowOfGrid1', value_type=int) rowsGrid2 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='rowsGrid2', value_type=int) colsGrid2 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='colsGrid2', value_type=int) spaceBetweenRowsGrid2 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='spaceBetweenRowsGrid2', value_type=float) spaceBetweenColsGrid2 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='spaceBetweenColsGrid2', value_type=float) startXGrid2 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='startXGrid2', value_type=float) startYGrid2 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='startYGrid2', value_type=float) startZGrid2 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='startZGrid2', value_type=float) alternateInBetweenGrid2 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='alternateInBetweenGrid2', value_type=int) device.log(message='Done params', message_type='success') device.move_absolute( device.assemble_coordinate(100, 100, 0), 100, device.assemble_coordinate(0, 0, 0)) # Initialise row (X) and column (Y) indexes for all grids rowGrid1Index = 0 colGrid1Index = 0 rowGrid2Index = 0 colGrid2Index = 0 # Initialise the current Position Found flags to not found currentPositionGrid1Found = False currentPositionGrid2Found = False # Set constant Z positions zPosGrid1 = startZGrid1
def __init__(self, x=0, y=0, z=0, ox=0, oy=0, oz=0, speed=100):
self.coordinate_node = device.assemble_coordinate(x, y, z)
self.offset_node = device.assemble_coordinate(ox, oy, oz)
self.speed = speed
A simple Farmware example that tells FarmBot to log a new message including the provided input.
'''
from farmware_tools import get_config_value, device
INPUT_VALUE = get_config_value(
farmware_name='Hello Farmware Test', config_name='input', value_type=str)
device.log(message='Hello Farmware! Test input was: {}'.format(
INPUT_VALUE), message_type='success')
device.log(message="Message 1 Test", message_type="success")
device.log(message="Message 2 Test", message_type="success")
device.log(message="Message 3 Test", message_type="success")
device.log(message="Message 4 Test", message_type="success")
device.log(message="Message 5 Test", message_type="success")
zero = device.assemble_coordinate(0, 0, 0)
one = device.assemble_coordinate(10, 10, 0)
two = device.assemble_coordinate(20, 20, 0)
three = device.assemble_coordinate(30, 30, 0)
four = device.assemble_coordinate(40, 40, 0)
five = device.assemble_coordinate(50, 50, 0)
device.move_absolute(one, 100, zero)
device.move_absolute(two, 100, zero)
device.move_absolute(three, 100, zero)
device.move_absolute(four, 100, zero)
device.move_absolute(five, 100, zero)
def to_coordinate(self) -> Dict[str, Any]:
return device.assemble_coordinate(self.x, self.y, self.z)
#!/usr/bin/env python
'''
' Single Axis
'''
import os
from farmware_tools import device
from farmware_tools import app
from farmware_tools import get_config_value
# create Celery coordinate node
coord = device.assemble_coordinate(0, 0, 0)
# apply currrent positions to coordinate node
for axis in coord['args']:
coord['args'][axis] = device.get_current_position(axis)
# get the desired axis to modify and set the coordinate node to the desired value
single_axis = get_config_value('Single Axis', 'axis', str).lower()
coord['args'][single_axis] = int(get_config_value('Single Axis', 'pos'))
#log = 'Axis: {}, Coordinate: {}'.format(single_axis, coord)
log = "Moving '%s' axis to %d" % (single_axis.upper(),
coord['args'][single_axis])
device.log(log, 'info', ['toast'])
# perform the move
device.move_absolute(coord, 100, device.assemble_coordinate(0, 0, 0))
def run_tests(TEST, app_login):
'Run device tests.'
COORDINATE = device.assemble_coordinate(1, 0, 1)
OFFSET = device.assemble_coordinate(0, 0, 0)
URL = 'https://raw.githubusercontent.com/FarmBot-Labs/farmware_manifests/' \
'master/packages/take-photo/manifest.json'
app.post('sequences', {'name': 'test', 'body': []}, get_info=app_login)
SEQUENCE = app.find_sequence_by_name(name='test', get_info=app_login)
TESTS = [
{'command': device.log, 'kwargs': {'message': 'hi'}},
{'command': device.log,
'kwargs': {'message': 'hi', 'channels': ['toast']}},
{'command': device.log,
'kwargs': {'message': 'hi', 'rpc_id': 'abcd'}},
{'command': device.check_updates,
'kwargs': {'package': 'farmbot_os'}},
{'command': device.emergency_lock, 'kwargs': {},
'expected': {'status': [{
'keys': ['informational_settings', 'locked'],
'value': True}]}},
{'command': device.emergency_unlock, 'kwargs': {},
'expected': {'log': ['F09'], 'status': [{
'keys': ['informational_settings', 'locked'],
'value': False}]}},
{'command': device.execute, 'kwargs': {'sequence_id': SEQUENCE}},
{'command': device.execute_script,
'kwargs': {
'label': 'take-photo',
'inputs': {'input_1': 1, 'take_photo_input_2': 'two'}}},
{'command': device.run_farmware, 'kwargs': {'label': 'take-photo'}},
{'command': device.find_home, 'kwargs': {'axis': 'y'},
'expected': {'log': ['F12']}},
{'command': device.home, 'kwargs': {'axis': 'z'},
'expected': {'log': ['G00 Z0']}},
{'command': device.install_farmware, 'kwargs': {'url': URL}},
{'command': device.install_first_party_farmware, 'kwargs': {}},
{'command': device.move_absolute,
'kwargs': {'location': COORDINATE, 'speed': 100, 'offset': OFFSET},
'expected': {'log': ['G00 X1.0 Y0.0 Z1.0']}},
{'command': device.move_relative,
'kwargs': {'x': -1, 'y': 0, 'z': -1, 'speed': 100},
'expected': {'log': ['G00 X0.0 Y0.0 Z0.0']}},
{'command': device.read_pin,
'kwargs': {'pin_number': 1, 'label': 'label', 'pin_mode': 0},
'expected': {'log': ['F42 P1 M0']}},
{'command': device.read_status, 'kwargs': {}},
{'command': device.remove_farmware,
'kwargs': {'package': 'farmware'}},
{'command': device.set_pin_io_mode,
'kwargs': {'pin_io_mode': 0, 'pin_number': 47},
'expected': {'log': ['F43 P47 M0']}},
{'command': device.set_servo_angle,
'kwargs': {'pin_number': 4, 'pin_value': 1},
'expected': {'log': ['F61 P4 V1']}},
{'command': device.set_user_env,
'kwargs': {'key': 'test_key', 'value': 1}},
{'command': device.sync, 'kwargs': {},
'expected': {'status': [{
'keys': ['informational_settings', 'sync_status'],
'value': 'synced'}]}},
{'command': device.take_photo, 'kwargs': {}},
{'command': device.toggle_pin, 'kwargs': {'pin_number': 1},
'expected': {'log': ['F41 P1 V']}},
{'command': device.update_farmware,
'kwargs': {'package': 'take-photo'}},
{'command': device.wait, 'kwargs': {'milliseconds': 100}},
{'command': device.write_pin,
'kwargs': {'pin_number': 1, 'pin_value': 1, 'pin_mode': 0},
'expected': {'log': ['F41 P1 V1 M0'], 'status': [{
'keys': ['pins', '1', 'value'],
'value': 1}]}},
{'command': device.zero, 'kwargs': {'axis': 'y'},
'expected': {'log': ['F84 Y1'], 'status': [
{'keys': ['location_data', 'position', 'y'], 'value': 0},
{'keys': ['location_data', 'scaled_encoders', 'y'], 'value': 0}
]}},
]
TEST.setup()
for test in TESTS:
try:
_rpc_id = test['kwargs'].pop('rpc_id')
except KeyError:
_rpc_id = None
print()
time.sleep(3)
TEST.test(test['command'](**test['kwargs'])['command'],
rpc_id=_rpc_id, expected=test.get('expected'))
print('=' * 20)
TEST.print_elapsed_time()
print()
TEST.teardown()
TEST.print_summary()
def move_absolute(position,offset,speed):
as_position= device.assemble_coordinate(position[0],position[1],position[2])
as_offset=device.assemble_coordinate(offset[0],offset[1],offset[2])
device.move_absolute(as_position, speed=speed, offset=as_offset)
#!/usr/bin/env python
from farmware_tools import app
from farmware_tools import device
from farmware_tools import env
from farmware_tools import get_config_value
try:
#device.move_absolute(location=device.assemble_coordinate(100, 50, 0), speed=100, offset=device.assemble_coordinate(0, 0, 0))
device.move_absolute(device.assemble_coordinate(100, 100, 0), 100,
device.assemble_coordinate(0, 0, 0))
INPUT_VALUE = get_config_value(farmware_name="Hello Farmware Input",
config_name="input",
value_type=str)
device.log(message="Hello Farmware! Input was: {}".format(INPUT_VALUE),
message_type="success")
except Exception as error:
device.log(repr(error))
